[ODE] Simulating Chess Pieces

[Jeroen van den Belt]

I want to simulate Chess Pieces,

At this moment I represent them by boxes (when this works, I switch over to
cylinders).

I want to let the king fall down on the board, but when I apply a force with
dBodyAddForceAtRelPos, applying
at the top of the piece (0,y,0) ,

I don't get the desired effect, I looks that the lower part moves first.

My question is. What is the right way to move a body? Should I use Torque of
Force? Or should I change the rotation of the body myself.

Thanks