[ODE] dCollide crashes me app!

[Fabian Mathews]

i have a trimesh and a cube, and it crashes in the dCollide line in my code 
when they intersect.

I have tried a plane and a cube, and it works fine, so im not sure if its my 
callback function, or if its my trimesh settup code?

any ideas are appreciated!
thanks from fab,

any way, here is both:


callback:
-------------------------------------------
#define MAX_CONTACTS 40

void PhysicsMgr::NearCollisionCallback(void *data, dGeomID o1, dGeomID o2)
{
int i;
//   if (o1->body && o2->body) return;

  // exit without doing anything if the two bodies are connected by a joint
  dBodyID b1 = dGeomGetBody(o1);
  dBodyID b2 = dGeomGetBody(o2);
  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;

  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per 
box-box
  for (i=0; i<MAX_CONTACTS; i++)
  {
    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
    contact[i].surface.mu = dInfinity;
    contact[i].surface.mu2 = 0;
    contact[i].surface.bounce = 0.1;
    contact[i].surface.bounce_vel = 0.1;
    contact[i].surface.soft_cfm = 0.01;
  }
  printf("hello?\n");

  int numc=dCollide(o1,o2,MAX_CONTACTS,&contact[0].geom,sizeof(dContact));

  printf("hello? 2\n");

  if(numc>0)
  {
    for(i=0;i<numc;i++)
	{
      dJointID c = dJointCreateContact(world,contactgroup,&contact[i]);
      dJointAttach(c,b1,b2);
    }
  }
-------------------------------------------
trimesh setup:
-------------------------------------------
	printf("Building collision mesh!\n");
	meshData = dGeomTriMeshDataCreate();

	dVector3* newVerts = new dVector3[noVertices];
	int* newIdxs = new int[noIndices];

	for( int i = 0; i < noIndices; ++i )
	{
		newIdxs[i] = indices[i];
	}

	for( int v = 0; v < noIndices; ++v )
	{
		newVerts[v][0]= positions[v][0];
		newVerts[v][1]= positions[v][1];
		newVerts[v][2]= positions[v][2];
	}

	dGeomTriMeshDataBuildSimple( meshData, (dReal*)newVerts, noVertices,
			    newIdxs, noIndices );

	geom = dCreateTriMesh( PhysicsMgr::GetInstance().GetSpace(), meshData, 0, 
0, 0 );
---------------------------------------------



-------------------------------
Fabian "SupaGu" Mathews

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