   ODE and MingW
  Hi!I'm developing a physics demo with ODE and MingW Developer Studio (similar to DevC++).  And I've noted that collisions doesn't behave stable when I compile with optimizations, F.E. A Box doesn't collide with a trimesh, contacts are frictionless, and spheres rolls bumpy. But with no optimizations, it behaves normal. Why?   
  You mean you've compiled ODE with optimizations or your program with optimizations (or both)?   ;  compiled ODE with optimizations!With MingW, Gcc can support four levels of optimization:-0  : No optimizations-01 : 1st Level. Reduce type checking.-02 : 2nd Level. Optimize Memory.-03 : 3rd Level. Optimize speed. -0s : Optimize Size.ODE only works with -0, because with optimizations the constraint solver becomes unstable. With flag 0 it works fine, but slower than the same app compiled on Microsoft Visual C++, either 6.0 or .NET 2003.With the optimized version of the ODE library compiled on Visual Studio .NET or Visual Studio 6.0, my test application runs faster and stable. So why?