[ODE] cylinder plane bug

[Geoff Carlton]

LR wrote:
>  I don't know if it can help but :
>
> - cylinder/plane is ok when encapsulated in a transform geom ...
>
>   
I don't think geom offsets are the culprit here.  In your last example, 
you can get the same "drop through floor" failure if you just set the 
rotation of the cyl upside down in reset_state:
  dMatrix3 mat;
  dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI);
  dGeomSetRotation(cylgeom,mat);

That may be fixed with the recent progress on the cyl-plane collider, 
I'm not sure.  Anyway, the problems with contact generation are almost 
certainly independant of any offsets/transforms you use, except for the 
fact that you are probably flushing them out by experimenting with 
various geom orientations.

Thanks,
Geoff