[ODE] Dynamic trimesh's

[Brad]

I'm representing the terrain as a trimesh, and all is well. Now I'm 
trying to add the ability to dynamically change the terrain trimesh. I'm 
having trouble getting ODE to cooperate, though. When I don't touch 
anything, except adjust the verticies that I originally gave ODE to 
generate the trimesh from, wierd things happen. Sometimes I can walk 
into the new trimesh, then it looks like ODE isn't detecting the 
collision, then it'll suddenly detect the collision and applies a huge 
amount of force to resolve the collision, as if it detected that the 
collision occured that deep.

What's the proper way for updating a trimesh geom? Do I have to delete 
the old geom and create a brand new geom?