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ODE: objects that respond to collision detection but not to physics

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i implemented ODE and basic simulation is working just fine, now i'd like to add support for objects that other objects can collide with, but that are themselves not subject to physics and that i can translate/rotate manually; the player, e.g., should be able to push around crates and stuff but shouldn't be pushed around or thrown over himself and he shouldn't be able to pass through walls or the floor. i tried the following: - create a geom without a body. this way other objects respond to it (they won't pass through etc), it is not affected by the physics simulation and i can translate/rotate it manually. problem: collision detection doesn't work, the geom just passes through other geometry. - create a geom & a body as usual, but reset linear/angular velocity each frame. this way collision detection works, but i cannot manually control the object. thanks :)

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