[ODE] AutoDisable optimization

[Aras Pranckevicius]

> When you "Check if body avel and lvel are big enough" I presume this
is
> performed when the object is in resting contact? Otherwise you might
make an
> object come to rest prematurely... for example a box is thrown upwards
with
> some velocity. You have gravity acting downwards. At some point, the

No, this is done all the time (you can't easily know which objects are
"resting" ones in current ODE).

To prevent "box will stop and stay there" situations are the "idle time"
and "idle steps" parameters - the body has to be idle for some time and
steps to be disabled.


Aras Pranckevicius aka NeARAZ
http://www.gim.ktu.lt/nesnausk/nearaz/