[ODE] quickStep doesn't work for me.

[Russ Smith]

> I'm also having problems with quickstep.  Here's a sample:

to improve the situation with motored joints i have improved the
quickstep method to use warm starting - which means that the previous
solution that was found for the constraint forces will be used as the
starting point for the next solution. on my ant simulation this helps
the situation a LOT - now only 20 iterations are needed for reasonably
good stability. this increases the size of the joint structure by
dReal[6] though.

please try your sim again.

warm starting does not work for contacts yet - that will come when there
is proper contact coherence.

i've regenerated the source release.

BTW i also fixed a bug in QuickStep's handling of friction.

russ.

-- 
Russell Smith
http://www.q12.org