[ODE] Found my LCP solver replacement bug

[gl]

> infinity * 0 = nan
>
> Doh!
>
> That comes up when you have a "grazing" contact (i.e. 0 normal force),
> dContactApprox1, and infinite friction all at once.  I don't think that
> dContactApprox1 and mu = infinity really make any sense together... but
> the LCP source said infinity * 0 = 0 for this case, so I followed that
> convention.

Nice one.

> Now that the auto-disabling code is in there, it's pointing out the jitter
> I thought I got rid of... or maybe I moved something around that needed to
> stay.  Grrrr.  I'll commit to CVS tomorrow night whether or not I get the
> jitter fixed.

Are you sure you're not just seeing bodies that are arkwardly resting on
each other re-enabling each other constantly?  I found that's an issue with
auto-disabling, and often requires quite severe min vel/time params.
--
gl