the constructor for Body that does not take a Geom is playing up for me. My work around is
//work around (the constructer without a geom is broke)
Geom geom = new GeomBox(10,10,10);
body = new Body(null, world, geom); //create with a geom
body.removeGeom(geom); //get rid of that geom coz we don't want it
geom.delete(); //we can tidy it up as well!
if I don’t use the 3 parameterized constructor after a world step the get positions and stuff return vectors of NaNs