[ODE] Contacts and multiple updates per frame

[Megan Fox]

It does slow it down, but it gives "proper" response.  You're also
going to need to nest any physical impulse application inside each of
those loops to keep the experience consistent between PCs, which means
adding an additional per-object Process() of some sort to boot.

It does have the effect of slowing it down, but to me, this is just
the cost associated with doing it the "right" way (that is, getting a
very stable simulation).  Skimping on this strikes me as the same
thing as reducing the number of quickstep iterations or similar - an
optimization that sacrifices stability somewhere down the line.

-Megan Fox

> I have tried this too, and had good experience in my simulations,
> however I repeatedly ran into problems with contact joints. The problem
> seems to be that ODE behaves badly (sometimes) when a contact joint is
> kept for more than one update (probably because thebodies are already
> seperated again in the later updates ?).
> 
> regards,
> mucki
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