Currently, ODEDynamics uses ode.quickStep(...) for advancing the physics simulation. However, in certain scenes, ode.step() gives better results, although it is slower.
Therefore, it would be better if the user could select the ODE stepping method (step or quickStep) from the ODEDynamics object.
The patch contains a new parameter to ODEDynamics class: use_quick_step, with default value: True.
Therefore, existing code will run unmodified, using quickStep method, as before.
Users who want better accuracy from ODE simulation could call either:
odeSim = odeDynamics(...., use_quick_step = False) # at the constructor
odeSim = odeDynamics(....)
odeSim.use_quick_step = False # change stepping method during simulation