added some information on time stepping
added some information on time stepping

simbody/simbody,Gjacquenot/simbody,Gjacquenot/simbody,simbody/simbody,scamille/simbody,chrisdembia/simbody,scamille/simbody,robojukie/simbody,elkingtonmcb/simbody,chrisdembia/simbody,robojukie/simbody,elen4/simbody,robojukie/simbody,elkingtonmcb/simbody,chrisdembia/simbody,Gjacquenot/simbody,scamille/simbody,elkingtonmcb/simbody,elen4/simbody