[ODE] clock stepping and ODE

[Jon Watte (ODE)]

The first-order integrator and general game-ey-ness of ODE is a deep 
design goal. ODE is not intended as an engineering solver -- in fact, 
the overall method it uses for rigid body simulation (allowing 
penetrations and then fixing them) wouldn't be the one used by any 
"real" engineering simulator. Of course, "real" engineering simulators 
cost lots of money, usually...

Cheers,

          / h+


Kevin Quigley wrote:
> Since it will be a while before I have time to look, how deeply
> integrated are the first-order integrator and constraints?  If it's a
>