[ODE] Really Weird Bounciness!

[John Shedletsky]

Hello,

	I'm a first-time user of ODE, and unlike most of you (probably), I don't 
have a Ph.D. in physics :-(. I've been playing around trying to create a 
little moon buggy simulation, basing a lot of my code off of the test_buggy 
project that comes with ODE. I'm not very far along, but I have code that 
will create and visualize the buggy, and allow it to fall to the ground. 
The problem is, after it hits the ground, it goes FLYING back up! My 
project's been mostly a cut and paste job from test_buggy up until this 
point, so I don't know where the error could have possibly been introduced. 
I'm sure I'm missing something very simple and would very much appreciate 
it if someone would look at my code 
(http://www.stanford.edu/~jjshed/buggy.zip) and see if a quick five minute 
glance could reveal what's going wrong.

I've tried a lot of different things to try to isolate the error. So far I 
tried making the simulation timestep smaller, but that didn't help (ruling 
out simulation instability) and turning off the wheel suspension on the 
buggy (ruling out some kind of spring effect). Since after bouncing it 
travels upwards at a seemingly constant rate (it will fall back down, on 
the left of the screen, if you wait), I was thinking that maybe the problem 
has to do with gravity. But setting that up seemed rather straightforward, 
so I don't know how I would have screwed it up. Even if you don't have the 
time to look through the code, if you could just run the .exe and post an 
educated guess about what's going wrong, then I'd know where to start 
looking first.

Thanks a bunch,
John Shedletsky