[ODE] Approximating the shape of a body with several geoms

[Matthias Baas]

Hi,

I have a question about how to group several geom objects together to 
approximate the actual shape of a body. Somehow I feel this is a FAQ, but I 
couldn't find it anywhere.
So what I want to do is as follows, I want to simulate a body that has a 
different shape than one of the ODE geom objects, that's why I'd like to 
approximate its shape with a collection of several geoms that shall act as 
one single geom. Then I'd like to attach the collection to a body so that 
the whole collection is used for collision detection.
The question is, where is that "group geom" that holds the individual geoms 
together? The geometry group class is deprecated and replaced by spaces 
which are geoms now, however they are non-placeable geoms, so I can't 
attach a space to a body. And there's no other geom that can be used as a 
container.

Well, so far I have my geoms, each with a transform geom, but what do I do 
now? Can I attach several geoms to one body? (Well, of course I tried, but 
got a crash, that's why I'm afraid this is not the way to go and why I 
posted this mail).

Would it be possible to make spaces placeable, too? The position and 
orientation of all geoms inside a space would then be given relative to the 
space (like a transform geom that can handle several geoms). Then I could 
just place my geoms into a space and attach that space to a body.

- Matthias -