[ODE] How do you get apps to work with gravity=9.8?

[ron taņeza]

I've noticed most test apps have gravity of -0.5. If I set it to -9.8, the objects penetrate through the ground (too heavy?). I tried modifying this line in nearCallback:

Instead of

contact[i].surface.mode=dContactSlip1 | ContactSlip2 |
   dContactSoftERP | dContactSoftCFM;

I use

contact[i].surface.mode = dContactSlip1 | ContactSlip2 

But it's still not correct. For example, in test_buggy, the wheels rest on the ground, but the box is also now near the ground -- it's like now only the box is too heavy, and the joints can't support it.