ODE Message 3: LCP internal error, s <= 0 (s=-4.8564e+02)

Game Mechanics
#1

When I run my program using ODE, I get sometimes these errors :

ODE Message 3: LCP internal error, s <= 0 (s=-4.8564e+02)

What does it signify ?

My bodies have a strange behavior, sometimes they just “jump” but they are no special forces acting on them.

#2

I believe this happens, when a body intersects another body. The the distance (s) is <= 0, which is illegal and then ode tries to correct that by appling a very huge force to the outside resulting in a “jump”.

Arne

PS: I’m only guessing, but that are my observations

#3

So ERP++ and CFM-- to correct that ?