[ODE] simulation reset

[Nate W]

My application periodically needs to reset the simulation to its initial
state.  Sometimes, if the simulation blows up, it will blow up again right
after the reset, which leads me to believe that I'm not resetting the
simulation completely.

Here's what I'm doing at the start of each simulation for each body:

	dBodySetLinearVel  (0, 0, 0);
	dBodySetAngularVel (0, 0, 0);
	dBodySetPosition (initial position)
	dBodySetQuaternion (initial orientation)
	dBodySetMass (mass)

Each hinge and slider gets its anchor and axis reset.

Am I overlooking something?

Thanks.

-- 

Nate Waddoups
Redmond WA USA
http://www.natew.com