[ODE] Rotating Capped Cylinder

[mathys dikmans]

Hello I am working on a simulation program and im fairly new to ODE.

I have created a ccylinder and rotated it 90 degrees. Like this:

    dMass c;
    Object[12].Geom[0] = dCreateCCylinder(Space, radius,0.075);

    dRFromAxisAndAngle(cylinderR, 0, 1, 0, (pi / 2));
    dGeomSetRotation(Object[12].Geom[0],cylinderR);
    dBodySetRotation(Object[12].Body, cylinderR);
    dBodySetPosition(Object[12].Body,0.60f,-0.96f,-2.10f);

    dBodySetData(Object[12].Body, (void*)nameKaliber);

    dMassSetCappedCylinderTotal(&c, DENSITY , 1,radius,0.075);
    dGeomSetBody(Object[12].Geom[0], Object[12].Body);
    dBodySetGravityMode (Object[12].Body, 0);

The cylinder has been rotated but it seems like the conctact points of my
cylinder did not rotate at all.
What else needs to be done in order to keep the collision working properly ?

thx
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