[ODE] Iterative solution

[Gary R. Van Sickle]

> Billy Zelsnack wrote:
> > Islands are still important because each island can converge in its own
> > number of steps.
>
> Quite so, excellent point.  It's just a shame that the island-finding
> is what, O(nlogn) itself?  But a cheap one.

Should be O(n+e), n==number of bodies, e==number of constraints, no?  Isn't it
just a series of simple DFS's of the graph formed by the bodies and joints?

--
Gary R. Van Sickle
Brewer.  Patriot.