[ODE] Collision Detection - Quick Question About ODE Internals

[John Butterfield]

struct dContactGeom {
  dVector3 pos;       // contact position
  dVector3 normal;    // normal vector
  dReal depth;        // penetration depth
  dGeomID g1,g2;      // the colliding geoms
};

Does ODE need the dGeomID's when doing the dynamics? For example, if I use 
alternate collision detection, do I have to use geoms?

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