actor->setGroup((NxActorGroup)_INT(groupID));

NxU32 nbShapes = actor->getNbShapes();
	NxShape * const*shapes = actor->getShapes();

	while (nbShapes--)
	{
		shapes[nbShapes]->setGroup(_INT(groupID));
	}

#include <default.c>
#include <ackphysx.h>

BOOL bCollide = 1;

function on_space_event()
{
	while (key_space){wait (1);}

	bCollide = !bCollide;
	
	pX_setgroupcollision (2, 3, bCollide);
}

void main()
{
	physX_open();
	
	level_load(""); pXent_settype(NULL,PH_STATIC,PH_PLANE);	

	vec_set(camera->x, vector(-150, 0, 50));
	vec_set(camera->pan, vector(0, -10, 0));

	ENTITY *Cube1 = ent_create("CUBE.MDL", vector(0, 0, 60), NULL);
	vec_set(Cube1.blue,COLOR_RED); set(Cube1,LIGHT|CAST);
	pXent_settype(Cube1, PH_RIGID, PH_BOX);
	pXent_setgroup(Cube1,2);
	
	ENTITY *Cube2 = ent_create("CUBE.MDL", vector(0, 0, 30), NULL);
	vec_set(Cube2.blue,COLOR_GREEN); set(Cube2,LIGHT|CAST);
	pXent_settype(Cube2, PH_RIGID, PH_BOX);
	pXent_setgroup(Cube2,3);
	
	while(1)
	{
		draw_text("[SPACE] - Toggle collision", 5, 5, COLOR_WHITE);
		pX_pick();
		wait(1);
	}
}