So I assume something like this
Yep, exactly like that :)
Right, the dimensions (using ScaleMesh not ScaleEntity)...
ODE Spheres vs Blitz Spheres - Same
dCreateSphere(Space,3) <- 1x3=3
ScaleMesh mesh,3,3,3
ODE Boxes vs Blitz Cubes - 2x X,Y,Z
dCreateBox(Space,2,4,10) <- 2x1=2 2x2=4 2x5=10
ScaleMesh mesh,1,2,5
ODE Cylinders vs Blitz Cylinders - 1x Radius - 2x Length
dCreateCylinder(Space,1,10) <- 1x1=1 2x5=10
ScaleMesh mesh,1,5,1
ODE Capped Cylinders vs Blitz Cylinders - 1x Radius - 2x Length minus 2x Radius
dCreateCCylinder(Space,1,8) <- 1x1=1 (2x5)-(2x1)=8
ScaleMesh mesh,1,5,1
You specify the dimensions when creating the ODE object, not in the mass functions. When you do use the mass functions, they should have the same dimensions as the ones you used when creating the ODE object. Btw, dReal just refers to a float value in ODE.
Looking forward to checking out your demo :)