[ODE] Some remarks

[Erwin de Vries]

Hi,

dGeomSetBody asserts on CHECK_NOT_LOCKED, but this isnt always correct. The
comments in the function say:
    // dGeomMoved() should not be called if the body is being set to 0, as
the
    // new position of the geom is set to the old position of the body, so
the
    // effective position of the geom remains unchanged.

This means that CHECK_NOT_LOCKED should only be performed when actually
moving the body, which is not the case in this clause.

Another weird thing occured to me. It is possible to stack tens of spheres,
but it isnt possible to stack even 2 CCylinders. But it is possible to make
a stack of a CCylinder, sphere, CCylinder, sphere, etc. When looking in
single step mode i saw why. CCylinder-CCylinder collision doesnt work
correctly. The top one sinks for about 50% into the other, and then suddenly
they notice the collision, and pop out. Is this a known bug?

Erwin