> I wrote a very small program that demonstrates what I think is a bug > in ODE. I think it is a problem with dCollide(), but it only happens > with Transform Geoms. thanks for the example code: yes it was a bug ... dCollideTransform() was getting dxGeom::flags and the dCollide flags parameter confused. it's now fixed in CVS - can you try your application again? russ. -- Russell Smith http://www.q12.org