dWorldQuickStep crashes on very simple program

I have written a very simple program on Win32 (using TDM-GCC compiler), with ODE as a static lib and single precision, and it crashes on the call to dWorldQuickStep:

#include <ode/ode.h>

int main(int argc, char* argv[]) { dWorldID World = dWorldCreate(); dSpaceID Space = dSimpleSpaceCreate(0); dJointGroupID contactgroup = dJointGroupCreate(0);

dWorldQuickStep(World, 0.05f);

dJointGroupDestroy(contactgroup); dSpaceDestroy(Space); dWorldDestroy(World);

return 0; }

The program is built with the following options:

gcc.exe -m32 -o test.exe main.c -DNDEBUG -DdSINGLE -DODE_LIB -I. -Lode -lode.win32 -lstdc++

I have attached the program, with the lib compiled and a .bat to build the demo and run it.

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