[ODE] Interesting... quirks

[Jean de Largentaye]

Sorry to badger in here, but the following lines worries me:

On 7/18/06, Wesley Paugh <wespaugh at gmail.com> wrote:
>             dWorldStep(theWorld, simStepSize + (0 - timeTilStep)); //
> simulate one step
>             timeTilStep = simStepSize;

The only way I understand this is you're simulating with a variable
step size. IMHO, variable step size with ODE is asking for trouble.
It's probably unrelated, but did you try with a fixed step size?

John