Contest up and running again!

Hi,

I am glad to announce that I finally found and fixed the bug causing 
Webots to crash under certain circumstances. I thought the problem came 
from the change in the masses, but indeed it came from the additional 
servo I added in the head. The bug was occuring when the two robots hit 
each other (especially the feet). It produced many C++ objects coming 
from the resulting 46 bodies connected through joints to the physics 
engine which store these objects on the system stack. The system stack 
exploded causing Webots to crash in a strange way. I had to patch the 
ODE library so that some C++ objects are now allocated dynamically 
rather than on the stack which fixed the problem. Yesterday's round went 
fine (but late). Today's round should be ok.

I hope that this will renew the competition spirit over the next few days...

This bug fix will be introduced in Webots 4.0.20 to be released within a 
couple of weeks.

-Olivier


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