[ODE] please help me about ODE!

[Guillaume Jouffroy]

First of all the documentation of ODE says
"The contact joint prevents body 1 and body 2 from inter-penetrating at
the contact point."
Which means u need at least one body per object. So is your code
complete or did you forget
to put rigid bodies ?

The second thing which surprise me is that you create only one geom "GeomID"
(bad name ! howfull name !) for two encapsuler geomtransform. Im not
sure you can do that.
In the ode example concerning geomtransform, there is one geom for each
geomtransform.

Guillaume