[ODE] SOR Iteration count

[Josh Knight]

Mark Williams asked:

> What's the relationship (if any) between the "SOR over-relaxation
> parameter" set by dWorldSetQuickStepW and the number of iterations?
> I'm not too experienced with the internals of solvers but would like to be
> able to tweak these parameters in a meaningful way to yield better simulations.

How about dWorldSetQuickStepNumIterations(dWorldID w, int num) ?

The default seems to be 20, but like you, I'm not an expert on these
sorts of solvers, so I'm not sure how this number was chosen.

Josh