@Wayne: Yep, we're using opcode tri collider. I'm not very comfortable with using dTerrain as it requires hacking part of the lib to get it working. I think it would be better to use the opcode tri collider (TriMesh), as hacking the lib may cause all sorts of collision problems elsewhere.
@Shifty Geezer: Apologies, it does say -9.81 in the docs. I found it was better to divide the gravity by 10 (-0.981) and multiply the mass by 10. This made the simulation more stable for me (less twitchy). You should be able to use dGeomContactSetBounce() etc at the point of creating the geom rather than after the dSpaceCollide function. The geom contact settings are averaged with the global world contact settings in the dSpaceCollide function. So both surface properties are considered within the function. ( i.e. SurfaceProperty=GeomContact+GlobalWorldContact/2 ) I would have had some demos showing this but most of my time has been used to address the TriMesh issues. I've also got plans to build some detailed collision demos too.
@KuRiX: Hmm, it looks like the TriMesh is created in the correct space, so that doesn't appear to be the problem either. I'll continue investigating though ;)
@Shifty Geezer: Apologies, it does say -9.81 in the docs. I found it was better to divide the gravity by 10 (-0.981) and multiply the mass by 10. This made the simulation more stable for me (less twitchy). You should be able to use dGeomContactSetBounce() etc at the point of creating the geom rather than after the dSpaceCollide function. The geom contact settings are averaged with the global world contact settings in the dSpaceCollide function. So both surface properties are considered within the function. ( i.e. SurfaceProperty=GeomContact+GlobalWorldContact/2 ) I would have had some demos showing this but most of my time has been used to address the TriMesh issues. I've also got plans to build some detailed collision demos too.
@KuRiX: Hmm, it looks like the TriMesh is created in the correct space, so that doesn't appear to be the problem either. I'll continue investigating though ;)