[ODE] Patch for eliminating penetration bounce mega-force?

[John Miles]

>  Another, more clean aproach is to create tests, you start with a
> library that pass a set of tests, when you apply the patch, the test
> should run for the patch to be accepted, and it must provide new tests
> for the next iteration.

I think that's a key point.  Right now, the ODE demos are not adequate for
regression testing ("Run test_moving_trimesh, drop some stuff.  Yep, hardly
anything ends up inside the bunny, ship it.")

Making ODE work with the ODF Rocket framework would be a big step forward in
testability.

-- jm