[ODE] Help with LCP internal error

[Donny Viszneki]

I suspect people have asked about this in the past. Concerning my 
particular situation:

I have 4 bodies, and 5 geometries, distributed among one space and one 
world. The 4 bodies are small cubes with matching geometries. The fifth 
geometry is a platform below them. There four bodies are created with 
some angular momentum, and some upward momentum, and the world is 
subject to Earth gravity. When the 4 cubes land on the platform, they 
"disappear."

I get the following error 4 times from ODE:

ODE Message 3: LCP internal error, s <= 0 (s=nan)

I assume I get one of these for each of the 4 cubes. I would appreciate 
some quick help since I'm trying to meet a deadline for the 
uDevGames.com open source game competition. I'd also like to thank 
anyone in "earshot" for any contributions they have made to ODE, it has 
been very useful, and the LGPL distribution is very convenient.

Thanks in advance for any help!