[ODE] unit of masses, sizes - LCP internal error

[Ramona Koch]

Hello,

I've got a very simple question. Which mass unit is expected by  
dBodySetMass? Should I use gramme or kilogram or something else? For the  
sizes I use meter, but maybe its better to use centimeter.

Which units are the best working one?

The reason for my question is the following message:

ODE Message 3: LCP internal error, s<=0 (s=-2,9523e+007)

I got this message after insertion of a gravity of -9.81 to my system.

I hope you can help me.
Ramona