[ODE] possible bug?

[Alex Holkner]

I have found that I can cause an LCP error with two boxes sitting adjacent
to each other:

  dCreatePlane (space,0,0,1,0);

  dMass m;
  dMassSetBox (&m, 1, 1, 1);
  dMassAdjust (&m, 1);

  body[0] = dBodyCreate (world);
  dBodySetMass (body[0],&m);
  dBodySetPosition (body[0], 0, 0, 0.5);

  geom[0] = dCreateBox(space, 1, 1, 1);
  dGeomSetBody(geom[0], body[0]);

  body[1] = dBodyCreate (world);
  dBodySetMass (body[1],&m);
  dBodySetPosition (body[1], -1, 0, 0.5);

  geom[1] = dCreateBox(space, 1, 1, 1);
  dGeomSetBody(geom[1], body[1]);

Gravity, CFM etc are as for the boxstack test.  Note that if the second box
is placed at (1, 0, 0.5) instead of (-1, 0, 0.5) the error does not occur.

Alex.