[ODE] collion body vs geom

[slipch]

   Err. I mean :
static dContact contacts[N];
 // get the contacts up to a maximum of N contacts
   ULONG n;
  .............
 n = dCollide(o1, o2, N, &contacts[0].geom, sizeof(dContact));
 ...............................
 for(i = 0; i < n; ++i)
 {
 ..........................
 dBodyID b1 = dGeomGetBody(contacts[i].geom.g1);
 dBodyID b2 = dGeomGetBody(contacts[i].geom.g2);

  if(b1==body[1] && contacts[i].geom.g2==wall ) continue ;
  if(contacts[i].geom.g1==wall &&  b2==body[1] ) continue ;
 
  dJointID contact_joint = dJointCreateContact(phWorld, ContactGroup, &contacts[i]);
  dJointAttach(contact_joint, b1, b2);
 
 }