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ODE trimesh buggy. Help!

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Hello, I got some problems with ODE, all help appreciated. I have a big trimesh (a heightfield-based landscape) and a car that I want to drive in the landscape. The car is a box with 4 spheres as wheels since ODE doesn't seem to like colliding my trimesh with cylinders. Thats my first problem, since spheres as wheels makes the car easy to flip over. Also, when driving fast i seem to loose control over the vehicle, also a wheel sometimes get stuck turning full too the left/right. My wheels are connected by Hinge2Joints. If anyone knows ODE and wants to help, I'm very grateful, I can post any of my code if necessary.

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