[ODE] Box Plane and Box Heightfield Collision Questions?

[Kay]

Hi, All:

I am wondering why 
no more than 3 contacts per box allowed

in box plane collision. Aren't 4 contacts more stable for a box landing on a plane? Any suggestions how I should modify the code to allow 4 contacts?

Also for box heightfield collision, sometimes I found my box goes under the heightfield, i.e., collision detecter failed to detect collisions until very late. Mostly when the box is moving uphill, but not downhill. Any idea why it's happening? Any suggestions on how to fix it?

thanks,

-Kay
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