[ODE] Difference Between Bodies and Geoms

[Bill]

I'm wondering if I need a seperate Geom for every object in the ODE 
simulation. This would be rather memory expensive especially since I 
plan to use TriMeshes. I'd like to be able to re-use a geom, like have 
several objects(bodies) with the geom.

The reason I think this is because dGeomSetBody attaches a geom to a 
body, not the other way around. If I'm right that I'll need to have a 
seperate geom for _every_ object in my simulation, that's just a waste 
and I wonder if that can be changed?

~Billybob