[ODE] Simple beginner's questions (dGeomIDs in dContactGeom)

[Thomas Harte]

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Hi, I apologise if this crops up a lot. I am new, and the mailing list archive seems to lack a search feature (?) In any case, my largest question is this :

If, as it says at the start of section 9, 'an alternative collision detection system can be used ...', then why must I fill in a dGeomID to the dContactGeom structure rather than a dBodyID? Given that I have no interest whatsoever in using the ODE collision functions, what is the recommended way to come up with a dGeomID?

-Thomas
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