Capsule shapes sink through the ground with ODE collision detector

[azeey]

Bug Report

• I checked the documentation and the forum but found no answer.
• I checked to make sure that this issue has not already been filed.

Environment

• DART version: main
• OS name and version name(or number): Ubuntu 20.04
• Compiler name and version number: GCC 9.3

Expected Behavior

I expect the capsule shape to stay above the ground plane/box in all orientations of the capsule.

Current Behavior

A capsule on it's side placed on the ground slowly sinks through the ground. This doesn't happen if the capsule is vertical and only one hemisphere is in contact with the ground.

A similar problem was fixed in #859 for Bullet as the collision detector. Would it be possible to apply something similar to ODE?

Related:
gazebosim/gz-sim#1306

Steps to Reproduce

1. Build code and tests from fork (branch azeey/issue1654)
2. Run test_Issue1654.

Code to Reproduce

https://github.com/ignition-forks/dart/tree/azeey/issue1654

[azeey]

@jslee02 any chance you can take a look at this or see if #1832 is a viable solution?