[ODE] Patch to optimize contactGetInfo2 submitted on SF

[Remi Ricard]

Hi,

I'm only posting this here to let the developers with svn access know
that there is a new patch.I submitted the patch on the sourceforge website.

This patch do some simple optimization of the function
contactGetInfo2.

- Unroll for loops and delete the indexing variable
- Remove unneeded initialization
- Do a check only when needed. ( move the "if (j->the_m >= 3)" inside 
the "if (j->the_m >= 2)"

This is a patch against the latest trunk code (revision 1017).

The patch was produced with:
diff -b -c3 joint.cpp my_new_joint.cpp > joint-trunk-1017.patch


Remi