[ODE] contact joints / attaching them

[gl]

> It isn't.  Collision detection is concerned only with the interpenetration
> or contact of GEOMETRY objects.  When a collision is detected, a contact
> joint must be created between the colliding objects.  After that, it's the
> DYNAMICS code that takes the timestep into account when determining how
> much force to apply to the BODY objects.

Yeah, but the amount of penetration determines the force.  And the amount
will be different with different timesteps - ie. the timestep is relevant to
the collision results indirectly.
--
gl