Do you have some stack options in ODE before you compile the DLL ?
No, the stack size isn't modified. Are you using dWorldQuickStep()? The other function dWorldStep() makes heavy use of the stack and is much more likely to overload it. I'll keep an eye on this though, thanks for the info ;)
Maybe I should just behave myself
Hehe, you should indeed :)
i have set the World ERP/CFM/Mass (Values 0.1-100 tested)
where can I adjust the friction?
Those are the world contact settings which are not the ones I suggested earlier, you should be changing the contact values of the cylinder geoms ;)
Look at your JV-ODE Function Reference document and read through the 'Unique JV-ODE Functions > Collision Functions' section. You need to use these:
dGeomContactSetMode(geom,mode) ; << You MUST set this for these to work properly
dGeomContactSetMu(geom,mu#) ; Friction
dGeomContactSetBounce(geom,bounce#) ; Bounce
dGeomContactSetSoftERP(geom,erp#) ; ERP
dGeomContactSetSoftCFM(geom,cfm#) ; CFM
Or you can damp the velocity instead like the code snippet above does (thanks Wayne & Shifty).