diff -r 0aa5fbdfbc30 -r 3d340a0166ff ode/src/collision_kernel.cpp
--- a/ode/src/collision_kernel.cpp	Tue Apr 27 16:55:05 2010 +0300
+++ b/ode/src/collision_kernel.cpp	Tue May 11 16:27:42 2010 +0300
@@ -978,6 +978,8 @@
 EXPORT_C void dInitODE()
 {
 #ifndef __WINSCW__
+    // clean up cached object if there is any.
+    dClearPosrCache();
     Mem::FillZ( GetGlobalData(), sizeof( TOdeStaticData ) );
     GetGlobalData()->autoEnableDepth = 2;
 #endif // !__WINSCW__