[ODE] Running ODE backwards in time?

[Adam Moravanszky [NovodeX]]

Marc Toussaint wrote:
-- Adam, your matlab example uses a different code for forward and  
backward simulation only because of the finite time steps and plain 
Euler  integration, right? Actually, I thought, that ODE should make 
something  smarter than Euler integration, maybe Runge-Kutta 4th order 
or  something...?


Actually ODE uses pretty much the same thing.  RK4 would have to run the 
constraint solver, collision detection, etc. four times per time step 
without any good reason. 

-- Adam