[ODE] Variable step size (Was: Infinite sliding... ?)

[David Walters]

> What if we added a new call, like dWorldAdvance(world) (it is a shame
> that dWorldStep is taken :p )  This will use as parameters
> dWorldSetStepSize() and dWorldSetStepMethod() to set the fixed step
> size (as suggested by David) and the stepper implementation (quick,
> fast, etc.) The existing dWorld...Step() methods are left unchanged,
> but are marked as deprecated and discouraged. We modify the wiki to
> show a typical fixed stepsize simulation loop based on the new
> functions, and change all the tests to use it.
>
> This would a) make it more obvious that you should use a fixed step
> size, b) hide the different steppers from newbies, c) open up some
> possible optimization opportunities, and d) maybe rid the list of the
> most commonly asked questions ;)
>
> If Rodrigo can work his magic on the automake stuff, I would be
> inclined to put this off for the next version and release 0.7 ASAP.
> David's heightfields are enough for one release, IMHO.
>

FWIW, I agree with all of that.

Dave.