[ODE] QuickStep comparison to Tokamak - large-scale stacking

[Nguyen Binh]

        Mention high gravity value, I think that's one reason make
        Tokamak fast as high gravity make object fall faster and then
        sleep faster. Am I right?

        And, many commercial physical simulation project use penalty
        force for deep contact penetration. For example, from public
        code given by Novodex, I can see they : apply penalty force
        equal to 0.6 * fc (constraint force) if the depth is larger
        than 0.05. This thing is like the way I had tried to solve
        deep penetration in cylinder - sphere collider. But I had
        tried to exaggerate the depth (maybe a bad thing).

        Implement those thing is not too hard though.

-- 
Best regards,

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   Nguyen Binh
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