[ODE] test_ode and capped cylinders

[Martin Magnusson]

Firstly, I'm having trouble placing the cylinders in my simulation. From 
what I've read in the docs the second argument to 
dMass::setCappedCylinder should dictate the cylinder's initial 
directionm but no matter what I put there, the cylinder still starts out 
vertically (along the z axis). Have I missed something, or do I have to 
call a setRotation to get it the way I want?

When trying to solve this, I noticed that my test_ode seg faults on all 
the tests between textCholeskyFactorization() and testLDLTRemove(), and 
the first test in testMassFunctions() fails. Is this a reason for concern?

/ Martin Magnusson