[ODE] Constraint theorizing

[Mattias Fagerlund]

> Also it's possible to avoid the island construction 
> process entirely (see ProcessIsland subroutine).
> Simply iterate for all constraints.  Again, should 
> be possible to parallelize the computation of several 
> constraints (that is, several iterations) if they 
> involve different bodies.

This sounds like simple relaxation, for instance, see 
http://www.ioi.dk/Homepages/thomasj/publications/gdc2001.htm "Solving 
several concurrent constraints by relaxation"

cheers,
m