[ODE] Collision with static objects.

[simon]

Hi.

How would you go about defining an arbitrary shape that rigid bodies can 
collide with? 

Is there a way of supplying triangles to ODE that make up the shape? Or do 
you actually have to decompose the object into a complex combination of 
cylinders, spheres and boxes? 

Since the arbitrary shaped object is not a rigid body, but simply static 
geometry - should i implement my own collision detection routine, and then 
supply ODE with collision points instead? 

Any suggestion would be greatly appreciated. 

Regards,
Simon Thoresen