[ODE] new ODE collision

[Russ Smith]

> - Remember to add dGeomMoved() calls inside of all Set functions of a
> geom. Also SetRadius, etc.

done.

> - I think the destructor of a geom needs to tell the body it might be
> attached to that it wants to remove itself. Otherwise the body will
> use this geom in its linked list after it has been destroyed, which
> crashes.

done. also the previous dGeomSetBody(0) code was completely broken, this
is fixed too (hopefully).

russ.

-- 
Russell Smith
http://www.q12.org