[ODE] Cylinder Collision

[Grant James]

Hi,

I have created a simple program where shapes fall from the sky and land on a 
surface. Boxes and spheres work perfectly.

If I make the surface a plane, cylinders work but I do not want it to be a 
plane as I just want to have a finite surface. If I make this a box :

ground = dCreateBox(spaceID, FLOORSIZE, 0.2, FLOORSIZE);
dGeomSetPosition(ground, 0.0, -3.0, 0.0);


then the cylinders collide properly but when they come to rest, they start 
sinking through the surface.

My collision method is as follows :

   dBodyID b1 = dGeomGetBody(o1);
   dBodyID b2 = dGeomGetBody(o2);

   if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
      return;

   dContact contacts[MAX_CONTACTS];

   for (int i = 0; i < MAX_CONTACTS; i++)
   {
      contacts[i].surface.mode = dContactBounce;
      contacts[i].surface.mu = dInfinity;
      contacts[i].surface.mu2 = 0;
      contacts[i].surface.bounce = 0.2;
      contacts[i].surface.bounce_vel = 0.01;
      contacts[i].surface.soft_cfm = 0.0;
      contacts[i].surface.soft_erp = 1.0;
   }

   int numCollisions = 0;

   numCollisions = dCollide(o1, o2, MAX_CONTACTS, &contacts[0].geom, 
sizeof(dContact));

   for (int i = 0; i < numCollisions; i++)
   {
      dJointID jointID = dJointCreateContact(worldID, contactGroupID, 
&contacts[i]);
      dJointAttach(jointID, b1, b2);
   }


Is there anyway to specify that the surface must not accept any 
penetrations.

Thanks,
Grant

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