[ODE] High density sphere passes into plane?

[Anna-Beth Fox]

Hello again all,

I have setup a simple ODE test bed for experiments and the like and when I create a plane (for the floor/ground representation) and a sphere, the sphere "sinks" into the plane under gravity. For example:

...
   dMass m;

   my_world = dWorldCreate();
   my_space = dHashSpaceCreate(NULL);
   contact_group = dJointGroupCreate(0);
   dWorldSetGravity(my_world, 0.0f, -9.81f, 0.0f);
   dWorldSetCFM(my_world, 0.0001f);
   dWorldSetContactMaxCorrectingVel(my_world, 0.1f);
   dWorldSetContactSurfaceLayer(my_world, 0.0001f);
   dCreatePlane(my_space, 0.0f, 1.0f, 0.0f, 0.0f); // Floor

   the_ball.body = dBodyCreate(my_world);
   the_ball.geom = dCreateSphere(my_space, 0.5f);
   dGeomSetBody(the_ball.geom, the_ball.body);

   dMassSetZero(&m);
   dMassSetSphere(&m, 5.0f, 0.5f); // Really any density greater than 2.0!!!
   dBodySetMass(the_ball.body, &m);

What's the issue here? What am I missing or stuffed up? And how do I set the mass of the sphere to be like 21Kg.

TIA peeps.

Anna-Beth

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