[ODE] faststep questions

[Adam D. Moss]

Thomas Yeh wrote:
> Also, what is the reason for the transition to quickstep?

It's rather simpler, faster, and better understood
(the faststep author vanished utterly).  Unfortunately it
has some weaknesses (higher contact/joint-jitter most
noticably AFAIK) that faststep didn't, but overall it's
a reasonable win, even accounting for the increased number
of iterations needed to dampen the jitter...

--Adam
-- 
Adam D. Moss   -   adam at gimp.org