[ODE] correctly using dContactGeom structur

[Christoph Beyer]

I am writing on a cylinder/cylinder-collision code and want to know
how to fill the dContactGeom-structur correctly:

1. is 'pos' the middle of the penetration or the end of the penetration 
of one geom?
    if "of one geom", then which geom?

2. is 'depth' the whole depth of the penetration, or only the half?

3. is 'normal' the direction to move away from the contactpoint for 
geom1 or for geom2

4. what is 'side1' and 'side2' an how to fill it?

bye

chris