[ODE] dWoldStep slowdown

[LR]

Hi,
 
I have a problem when geoms mass is not heavy (0,01 Kg) : after a few
seconds, dWoldStep slowdown (don't crash) using 750ms for 1 time step ... 
 
My robot is a spider with 4 legs (2 geoms for each legs, connected with a
hinge) and a box for the body (connected with legs with 4 hinges2)
 
If every geoms mass is less than ... 200g (0,200), there is a slow down
after few seconds, elsewhere all is OK.
 
Some one have an idea ?
 
Laurent.
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