In ODE you have a rigid body which has mass and is affected by gravity and forces etc. Then you have the geom, which is used for collision detection. To create a TriMesh that is non-static, it needs a body like in the Demo-TriMeshes demo. To create a static TriMesh, you only create the geom and omit the body. If you look at the CarDemo-TriMesh-* demo code, you will notice the static terrain TriMeshes don't have a body associated with them.
If you don't specify the mass, ODE will use a default mass value of 1.0, not infinity. As there is no body associated with static objects, they have no mass, but behave as if their mass is infinite.
The cloth demo is in JV-ODE Physics Thread 10, about two-thirds of the way down. The visible sphere meshes can be replaced with anything you like, pivots, mesh bones etc.
If you don't specify the mass, ODE will use a default mass value of 1.0, not infinity. As there is no body associated with static objects, they have no mass, but behave as if their mass is infinite.
The cloth demo is in JV-ODE Physics Thread 10, about two-thirds of the way down. The visible sphere meshes can be replaced with anything you like, pivots, mesh bones etc.