How can I disable collision detection between objects? I've tried setting the mass to 0 and infinity - this disables the integrator but other objects still collide with it. I've also tried creating a collision processor callback and using NewtonJointSetCollisionState(contactJoint, 0). This doesn't work either.
On another note, when I set the mass of an object to 0 and a collision does occur there is a large increase in the energy of the non-static object.
Also, the collision objects I'm using are modified convex hulls....