[ODE] Still Spheres Vs Trimesh at Triangle Edges

[Bram Stolk]

Jaroslav Sinecky wrote:
.
> So I changed it to following: depth is calculated as triangle-sphere
> penetration depth projected to triangle (=contact) normal. This is still
> just aproximation but I find it better than previous two implementations.
> Also reorganized a bit the code to pull out duplicate calculations. Checked
> in svn trunk.

Jaroslav... this is perfect!
test_basket nows actually shoots the ball through the hoop. :-)
I had to fix the double precision build though, dus to some
float/dReal mixing.

   Bram