[ODE] joint feedback added to quickstep

[Russ Smith]

> I use joint feedback for joint breaking. With this new quickstep
> version (ODE 0.5), it's working well for me (but reported values are
> lower than they were with BigMatrixSolver (tm), is it normal ?)

well, the two solvers will find different solutions, since QuickStep is
an approximate solver, so the reported constraint force will often be
different.

russ.

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