[ODE] movement force conversion

[Jon Watte]

> new_ang_vel = (new_angle - old_angle) / delta_time;

Don't divide desired velocity by delta-time, because your 
desired velocity is not dependent on the time step size. 
You can instead multiply by a response constant K, which 
you can tune.

Also, this way of getting angular velocity will favor the 
three cardinal axes, because it's a velocity "box" instead 
of a single ("sphere"-morphic) vector.

> torque = Inertia * (new_ang_vel - old_ang_vel) / delta_time;

What's the value of Inertia? And if it's the inertia tensor, 
what reference frame is it in?

Cheers,

			/ h+