[ODE] cylinder and terrain

[Vicente Conejeros]

hello all, i am making my simulation of a capped cylinder and a terrain, the 
player are the cylinder.

with amotors i control the rotation of the cylinder so it allways stand up.
i dont allow any rotation in any degree so, this are the parameters

        dJointSetAMotorParam(Amotor,dParamLoStop,-0);
        dJointSetAMotorParam(Amotor,dParamLoStop3,-0);
        dJointSetAMotorParam(Amotor,dParamLoStop2,-0);
        dJointSetAMotorParam(Amotor,dParamHiStop,0);
        dJointSetAMotorParam(Amotor,dParamHiStop3,0);
        dJointSetAMotorParam(Amotor,dParamHiStop2,0);

before that i rotate the cylinder so it stand up

y control the translation using dBodyAddForce using 
Force=K*(DesiredVel-CurrentVel);

the problem is that the cylinder collide with the floor of the terrain 
normaly but when it collide with non-planar terrain it jumps. getting very 
high velocities and getting out of the terrain, i dont now why that 
happends, maybe something with the contacts joints. i dont know really. if 
some anybody can help i will appreciate that

chao

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