[ODE] Some SSE in Quick step

[Nguyen Binh]

        Aside from technical thing (SSE/3DNow stuff), we need to
        re-arrange some major data of ODE.

        Right now, the J (Joint) matrix is not properly 4 bytes
        aligned. Although we do use
        J = ALLOCA16 (m*12)
        But internally, a J element is four 3 element vectors. That
        mean those vector is not SSE friendly.

        Change the data in J involved rather much work as we have to
        take care of all joints and some place in the solver.
        
-- 
Best regards,

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   Nguyen Binh
   Software Engineer
   Glass Egg Digital Media
   
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