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<
< // breakable joints contribution
< dJointSetBreakable (joint[i], 1);
< dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_FORCE);
< dJointSetBreakForce (joint[i], 0.5);
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< ground_box = dCreateBox (space,2,1.5,5);
---
> ground_box = dCreateBox (space,2,1.5,1);
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< dRFromAxisAndAngle (R,0,1,0,-0.85);
< dGeomSetPosition (ground_box,5,0,-1);
---
> dRFromAxisAndAngle (R,0,1,0,-0.15);
> dGeomSetPosition (ground_box,2,0,-0.34);
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