dWorldStep() will make Windows curl up and die, I strongly recommend using dWorldQuickStep()
with dworldquickstep, everything starts shivering like its got flu or somert :P so i had no choice.
....okay i just realised something
With the original ode wrapper i was calling my own update function; updatephysics(1). I assumed i had done it as a simple wrap to worldstep(1). nope.. i was dividing by ten. Thats much better, (update by .2 not 2!!!) :D
Problem sorted ^.^