[ODE] Boxes floating in a plane

[Geoff Carlton]

> Personally I don't care what an object would do when it is intersecting. It doesn't happen in nature 
> so the behavior is undefined and we can do whatever we want to solve it. But from the moment the 
> object is no longer intersecting, I would expect it to behave 'normal'. Which it doesn't in ODE 
> because it 'inherits' the correction force as part of it's momentum.
>
>
> Martijn
>   
I agree.  I think that a solution that doesn't actually add momentum 
would be far superior, as in the provided patch.  Haven't had the need 
nor free time to test it out though.

Geoff