[ODE] Box-box and cilynder-trimesh collisions

[Erin Catto]

It looks like you are destroying the contact joints just after creating
them.

-----Original Message-----

            dJointID jointContactID =
dJointCreateContact(world->getWorldID(),
jointGroup, &contacts[i]);
            dJointAttach(jointContactID, dGeomGetBody(contacts[i].geom.g1),
dGeomGetBody(contacts[i].geom.g2));
            dJointDestroy(jointContactID);