[ODE] jitter

[Michael Powers]

thanks for the postings - i tried the same settings as
chris' code but still get the non-stop spinning of
boxes after they land on the ground - the contact
points seem to be generated correctly - i am getting 3
contact points

i am using the quaternion calls to get the rotations -
then converting them to euler angles - it couldnt be
that the quaternion code is returning the last
recorded rotation everytime could it? here is my
conversion code

sqw = q1[0]*q1[0];
sqx = q1[1]*q1[1];    
sqy = q1[2]*q1[2];    
sqz = q1[3]*q1[3];  
block_ptr->rotate_y((float)atan2(2.0 * (q1[1]*q1[3] +
q1[2]*q1[0]),(sqx - sqy - sqz + sqw)));
block_ptr->rotate_z((float)asin(-2.0 * (q1[1]*q1[2] -
q1[3]*q1[0])));
block_ptr->rotate_x((float)atan2(-2.0 * (q1[3]*q1[2] +
q1[1]*q1[0]),(-sqx - sqy + sqz + sqw)));

other odd behavior - when i set the sim time step to
0.25 rather than 0.05 i get a crash (in the LCP
solver)

so that means i get crashes when i try to change the
timestep or when i try to turn soft CFM on



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