[ODE] Improved QuickStep stability...?

[Adam D. Moss]

This updated patch does the same thing, just a bit
quicker.
--Adam

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Index: quickstep.cpp
===================================================================
RCS file: /cvsroot/opende/ode/ode/src/quickstep.cpp,v
retrieving revision 1.1
diff -u -u -r1.1 quickstep.cpp
--- quickstep.cpp	18 May 2004 18:12:30 -0000	1.1
+++ quickstep.cpp	19 May 2004 09:52:27 -0000
@@ -30,6 +30,7 @@
 #include <ode/timer.h>
 #include <ode/error.h>
 #include <ode/matrix.h>
+#include <ode/misc.h>
 #include "lcp.h"
 #include "util.h"
 
@@ -211,6 +212,16 @@
 		}
 		qsort (order,m,sizeof(IndexError),&compare_index_error);
 #endif
+
+#if 1
+                // adam
+                for (i=1; i<m; ++i) {
+                  IndexError tmp = order[i];
+                  int swapi = dRandInt(i+1);
+                  order[i] = order[swapi];
+                  order[swapi] = tmp;
+                }
+#endif                
 	
 		//@@@ potential optimization: swap lambda and last_lambda pointers rather
 		//    than copying the data. we must make sure lambda is properly