[ODE] collisionresponse between 2 bodies

[Kai Stammerjohann]

hi,

if i detect a collision between 2 ode bodies, how can i calculate the
contact normal for the contact structure (on which body is the face of the
contactnormal) ?

i use an extern collisiondetection lib. it works great between bodies and
non bodies (only geoms), but if 2 bodies collide, i think i calculate wrong
contact informations

thanks