[ODE] Can this be done?

[John Garcia]

Look here first:
http://www.geocities.com/geforcemx2000/model.gif

As you can see, there is an image of a models lower
half that shows a wireframe of the hitboxes
surrounding the individual body parts.

Note: I'm new to ODE and am still reading the docs. 

My question is:

Can I connect these hitboxes together using ODE's
joint types even though they intercept each other to
start off with? Or would that create a collision
conflict, therefore not allowing me to do so?

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