[ODE] Multiple questions

[The Sukender]

Hi !

I'm new to this mailing list, and a new user of ODE. I've got a lof of 
questions & things to say ! Let's beging with 4 things...

1. I'm very interested in dHeightField primitive. Can anyone tell me more 
about it ? Is it useable or is it only testing code ?

2. Someone told about a "stable and reliable data file format" : I 
definitely agree with that. I would like to add that it could be great to 
organize readers (=loaders) and writers (=savers) the same way that OSG do 
(www.openscenegraph.org) : code is included in distribution, but is deported 
from the core (actually, namespaces and directories separates the 
readers/writers from the core).
In fact, I plan to create something that will "link" ODE and OSG so that you 
could load/save a full 3D / physical object.

3. Is there a way to have a "scaled-sphere" primitive ? (See 
http://www.city-net.com/~amandel/portfolio/images/masters/running_fall2.jpg 
if you don't understand what I mean !). If not, could it be implemented on 
furure releases ?

4. I want to create "High speed bodies", that is to say bodies that go too 
fast for the timestep, but too slow for beeing replaced by rays. The main 
problem is that they can taverse a geom without being in collision... will 
that be modified in future releases (with the use of an interpolation for 
instance) ? Has someone created such bodies ? Any idea ?
I personally plan to use only spheres and use capped cylinders for a "quick 
'n dirty" interpolation...

Thanks !

Sukender