Hi

My simulation is composed of one cube and a Heightfield, but the collision seems to work differently depending on the heightmap, contact parameters and body's size used. Until now, I found no way to make them collide such as the demo_heightfield (in fact, sometimes the bodies get submerged in the demo also!). I tried removing and decreasing the dContactSoftCFM, I tried using the same parameters as the demo, tried decreasing the step (right now using multiple steps of 1.0 milliseconds), but no results. Sometimes the bodies even collide in such a way as to explode!

Here is the final position of two simulations with gravity in a irregular terrain (both of them features bodies partially or totally submersed in the terrain):
http://img191.imageshack.us/f/heightmap.jpg/
http://img709.imageshack.us/f/heightmap2.jpg/

Here the same simulation, but with a regular Heightfield:
http://img709.imageshack.us/f/planec.jpg/
http://img835.imageshack.us/f/plane2v.jpg/

Any ideas of what may be the error?

I can post further information about the contact parameters, rendering and other things if requested.

Thanks in advance,
zweifel

Thanks Brainsaw. If this was only written on the Manual as something needing fixes would've saved me lot of time. :/

Now I need to decide if I move out to Bullet or remain with ODE using trimesh... any suggestions? I will give a look at Bullet demos.