[ODE] Infinite sliding... ?

[Jason Perkins]

On 8/16/06, Jon Watte (ODE) <hplus-ode at mindcontrol.org> wrote:
> The reason non-equal step size is bad, is that objects keep falling into
> ground (because of gravity), but "stabilize" at a small depth into the
> ground. When step sizes vary, the ideal "stable" position will change
> each step, and thus the object will jitter (and may very well gain energy!)

This subject comes up a LOT. Would it be worth implementing a
fixed-update loop within ODE itself? Something like
dWorldStep(new_world_time, step_size) - which will step multiple times
under the hood until it catches up with the world time?

Jason