[ODE] ccylinder/box collision problem

[Brad]

I've got a simple program where I've been doing box/box and box/plane 
collisions for a while now, and the other day I added ccylinders. The 
ccylinders collide with other ccylinders, rays, and planes fine, but 
box/ccylinder collisions seem really buggy. If the ccylinder hits the 
box with more than just a little bit of force the ccylinder penetrates 
the box, and then starts dancing around, unable to resolve the 
penetration. The ccylinder even disappears inside the box, occasionally 
peeping out.

Anyone else had similar trouble?