[ODE] Rolling ball bouncing problem

[Olivier Michel]

Hi,

It seems after many trials, that ODE has problems handling a rolling 
ball bouncing over a box.
I have set up a pool-like environment with a ball rolling over the 
ground nicely.
However, when the ball hits the surrounding wall, it doesn't bounce as 
expected. Rather, it follows the wall...

This problem can be seen on the test_boxstack example. Drop some boxes, 
then drop some spheres, with some patience, you will see a sphere 
rolling towards a box, hit the box, follow the box edge until the box 
corner and even move around the box... which doesn't look natural at all...

I tryed to make the static friction very low, then the bounce behavior 
is more natural, however, the ball doesn't roll, but it slides... Maybe 
the solution is a fine tunning the of the static / kinetic friction 
parameters...

Any hint to work around this problem ?

-Olivier