Easiest way to split mpg

Hi,

I'm trying to rip a dvd by it's chapters. My goal is to leave as much alone as possible, I do not want to unnecessarily process anything. I want to take a dvd, and convert it to a group of files, by chapter.

I normally use vob2mpg to do a simple extraction of the mpg from the dvd. However, this doesn't let me split the chapters.

Is there a better program that will rip the mpg and split it to chapters, or an editor that will let me split the mpg with no re-rendering or encoding of any kind?