[ODE] quickStep doesn't work for me.

[Nguyen Binh]

Hi Russ,

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

RS> please try your sim again.

    Your new check-in seem to break test_crash.cpp .
    The buggy just explode after colliding the wall.

    I'm using newest
    http://opende.sourceforge.net/snapshots/ode-040518.tar.gz

    Note : previous version of this file works fine.

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

RS> i've regenerated the source release.

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

RS> russ.


-- 
Best regards,

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   Nguyen Binh
   Software Engineer
   Glass Egg Digital Media
   
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