[ODE] Collision Detection & Geometry Groups

[Gene Ruebsamen]

Hello All,

I am a bit confused w/regards to the Collision Detection and the
Geometry Groups.

Someone please correct me if I am wrong....

My understanding is:

1) If I create several box geometries all connected by joints and put
them into a geometry group, and then put that geometry group into a
Space, I will lose all collision detection between the individual
geometries in that group. (ie. two box geometries can interpentrate each
other, however, collision detection between the geometries and the
ground still occurs).  

2) If I wanted collision detection between each individual box geometry
in the group, would I have to destroy the group and place each geometry
into the space individually.


Are these correct assumptions? 

Thanks!

Gene Ruebsamen