[ODE] Accelerating ODE

[ruipaul at student.dei.uc.pt]

Hi all,

I'm using ODE to simulate the "walking" of a table. I have hinges in the
"table's legs" and the aim of my project is to teach the table how to walk by
means of neural networks and genetic algorithms. I use ODE to simulate the
physics but each generation is taking about 32 seconds. As I'm newbie in ODE I
would like to know ways of accelerating this process. I tried to use
worldstepfast but I get a linking error.
Is there anyone who has some advices in how to put the thing faster?

thanks a lot,

Rui