[ODE] Different between velocity and position non-penetration constraints

[Nguyen Binh]

Hi!

We've made a simple demo to show the different between Stewart-Trinkle  and
Anitescu Potra (ODE using this now) time stepper.
As you can see, even with high time step, you'll never see penetration in ST
time stepper.

Grab the demo at my colleague's website:
http://www.cs.rpi.edu/~sberard/lcp_applet/

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Binh Nguyen
Computer Science Department
Rensselaer Polytechnic Institute
Troy, NY, 12180
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