[ODE] cylinder woes

[Riley Lark]

Astonishingly, when I increased the flags parameter to dCollide to 32,
I failed to increase the amount of space I allocate for contacts.
This was apparently causing the miles-deep access violation.  With the
proper amount of storage, the simulation runs perfectly with 32
contacts.

So I guess there is a minimum number of contacts that cylinders need,
and right now they are not very graceful about it if there aren't
enough ;)

Thanks for all the help!