[ODE] Collision problems

[Anselm Hook]

> I don't seem to get any collisions between capped cylinders and boxes.

You may have to check to see if there is a collision handler for those two
types versus each other.  I recall that there is a collision function
matrix - where each type of primitive is crossed against each other type
and for any given two types there is a function handler.  Capped cylinder
versus box may not be implemented yet despite the value of having it.

-a