[ODE] Box/trimesh collision problem

[Brad]

It seems I'm having a problem with any sort of collision other than 
sphere collision. Cubes and cylinders will suddenly fly off of a plane 
even if theres no trimesh collision involved anywhere. It does this with 
few or many contact points and fixed or variable timesteps.

When I debug my program with Valgrind, whenever a sphere collides with a 
trimesh or plane it stays calm, but when a cube collides with a trimesh 
or plane then Valgrind reports all sorts of uninitialzed values all 
through ODE (places like contactGetInfo2(), dPlaneSpace(), multiply_J(), 
SOR_LCP()). When I valgrind test_crash.exe it doesn't complain.