- By having a list of Geoms referred in Body instead of just one. But that would require that the Geom have two position/rotation : one position/rotation relative to the body (which doesn't change with stepping), and another absolute (world coordinate, is updated each step with the Body's own position/rotation)
that sounds like GeomTransform. But I don't know, if it works already.
By simply using a Space, but that would also require that the Geom have two position/rotation (relative to Space pos/rot, and world coord).
I don't follow you. The class Space groups geoms, that can collide with each other, so how do you want to force fixed positions into there?
I think using GeomTransform is the easiest way, because it's not as trivial as it first looks to have several geoms in one body, because the problem the solver has to solve gets modified.