[ODE] ODE Message 3: LCP internal error, s <= 0 (s=0.0000e+00)

[Olivier Michel]

Hi,

I often get the following ODE message after my simulation has run for a 
while:

ODE Message 3: LCP internal error, s <= 0 (s=0.0000e+00)
ODE Message 3: LCP internal error, s <= 0 (s=-0.0000e+00)
ODE Message 3: LCP internal error, s <= 0 (s=nan)
ODE Message 3: LCP internal error, s <= 0 (s=0.0000e+00)

which blows out my model...

I could I avoid this ? Use double precision instead of single precision 
floating point numbers in ODE ?
Reset somehow my simulation after a given amount of time ?

Any hint would be highly appreciated.

-Olivier