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diff --git a/libraries/ode-0.9/GIMPACT/src/gim_trimesh.cpp b/libraries/ode-0.9/GIMPACT/src/gim_trimesh.cpp
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index 1872592..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_trimesh.cpp
+++ /dev/null
@@ -1,364 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- This library is free software; you can redistribute it and/or

- modify it under the terms of EITHER:

-   (1) The GNU Lesser General Public License as published by the Free

-       Software Foundation; either version 2.1 of the License, or (at

-       your option) any later version. The text of the GNU Lesser

-       General Public License is included with this library in the

-       file GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-LICENSE-BSD.TXT.

-

- This library is distributed in the hope that it will be useful,

- but WITHOUT ANY WARRANTY; without even the implied warranty of

- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include <assert.h>

-#include "GIMPACT/gim_trimesh.h"

-

-GUINT gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh)

-{

-    return trimesh->m_tri_index_buffer.m_element_count/3;

-}

-

-//! Creates the aabb set and the triangles cache

-/*!

-

-\param trimesh

-\param vertex_array

-\param triindex_array

-\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.

-\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer)

-*/

-void gim_trimesh_create_from_arrays(GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply)

-{

-    assert(trimesh);

-    assert(vertex_array);

-    assert(triindex_array);

-    gim_buffer_array_copy_ref(vertex_array,&trimesh->m_source_vertex_buffer);

-    gim_buffer_array_copy_ref(triindex_array,&trimesh->m_tri_index_buffer);

-

-    trimesh->m_mask = GIM_TRIMESH_NEED_UPDATE;//needs update

-    //Create the transformed vertices

-    if(transformed_reply==1)

-    {

-        trimesh->m_mask |= GIM_TRIMESH_TRANSFORMED_REPLY;

-        gim_buffer_array_copy_value(vertex_array,&trimesh->m_transformed_vertex_buffer,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);

-    }

-    else

-    {

-        gim_buffer_array_copy_ref(vertex_array,&trimesh->m_transformed_vertex_buffer);

-    }

-    //create the box set

-    GUINT facecount = gim_trimesh_get_triangle_count(trimesh);

-

-    gim_aabbset_alloc(&trimesh->m_aabbset,facecount);

-    //create the planes cache

-    GIM_DYNARRAY_CREATE_SIZED(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer,facecount);

-    //Create the bitset

-    GIM_BITSET_CREATE_SIZED(trimesh->m_planes_cache_bitset,facecount);

-    //Callback is 0

-    trimesh->m_update_callback = 0;

-    //set to identity

-    IDENTIFY_MATRIX_4X4(trimesh->m_transform);

-}

-

-

-

-//! Create a trimesh from vertex array and an index array

-/*!

-

-\param trimesh An uninitialized GIM_TRIMESH  structure

-\param vertex_array A buffer to a vec3f array

-\param vertex_count

-\param triindex_array

-\param index_count

-\param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.

-\param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.

-\param transformed_reply If , then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.

-*/

-void gim_trimesh_create_from_data(GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT vertex_count,char copy_vertices, GUINT * triindex_array, GUINT index_count,char copy_indices,char transformed_reply)

-{

-    GBUFFER_ARRAY buffer_vertex_array;

-    GBUFFER_ARRAY buffer_triindex_array;

-

-    //Create vertices

-    if(copy_vertices == 1)

-    {

-        gim_create_common_buffer_from_data(vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);

-    }

-    else//Create a shared buffer

-    {

-        gim_create_shared_buffer_from_data(vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);

-    }

-    GIM_BUFFER_ARRAY_INIT_TYPE(vec3f,buffer_vertex_array,buffer_vertex_array.m_buffer_id,vertex_count);

-

-

-    //Create vertices

-    if(copy_indices == 1)

-    {

-        gim_create_common_buffer_from_data(triindex_array, index_count*sizeof(GUINT), &buffer_triindex_array.m_buffer_id);

-    }

-    else//Create a shared buffer

-    {

-        gim_create_shared_buffer_from_data(triindex_array, index_count*sizeof(GUINT), &buffer_triindex_array.m_buffer_id);

-    }

-    GIM_BUFFER_ARRAY_INIT_TYPE(GUINT,buffer_triindex_array,buffer_triindex_array.m_buffer_id,index_count);

-

-    gim_trimesh_create_from_arrays(trimesh, &buffer_vertex_array, &buffer_triindex_array,transformed_reply);

-

-    ///always call this after create a buffer_array

-    GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);

-    GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);

-}

-

-//! Clears auxiliary data and releases buffer arrays

-void gim_trimesh_destroy(GIM_TRIMESH * trimesh)

-{

-    gim_aabbset_destroy(&trimesh->m_aabbset);

-

-    GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_buffer);

-    GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_bitset);

-

-    GIM_BUFFER_ARRAY_DESTROY(trimesh->m_transformed_vertex_buffer);

-    GIM_BUFFER_ARRAY_DESTROY(trimesh->m_source_vertex_buffer);

-    GIM_BUFFER_ARRAY_DESTROY(trimesh->m_tri_index_buffer);

-}

-

-//! Copies two meshes

-/*!

-\pre dest_trimesh shouldn't be created

-\post dest_trimesh will be created

-\param source_trimesh

-\param dest_trimesh

-\param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices

-\param transformed_reply IF 1, then it forces the m_trasnformed_vertices to be  a reply of the source vertices

-*/

-void gim_trimesh_copy(GIM_TRIMESH * source_trimesh,GIM_TRIMESH * dest_trimesh, char copy_by_reference, char transformed_reply)

-{

-    if(copy_by_reference==1)

-    {

-        gim_trimesh_create_from_arrays(dest_trimesh, &source_trimesh->m_source_vertex_buffer, &source_trimesh->m_tri_index_buffer,transformed_reply);

-    }

-    else

-    {

-        GBUFFER_ARRAY buffer_vertex_array;

-        GBUFFER_ARRAY buffer_triindex_array;

-

-        gim_buffer_array_copy_value(&source_trimesh->m_source_vertex_buffer,&buffer_vertex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);

-

-        gim_buffer_array_copy_value(&source_trimesh->m_tri_index_buffer,&buffer_triindex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);

-

-        gim_trimesh_create_from_arrays(dest_trimesh, &buffer_vertex_array, &buffer_triindex_array,transformed_reply);

-

-        ///always call this after create a buffer_array

-        GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);

-        GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);

-    }

-}

-

-//! Locks the trimesh for working with it

-/*!

-\post locks m_tri_index_buffer and m_transformed_vertex_buffer.

-\param trimesh

-*/

-void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh)

-{

-    GINT res;

-    res=gim_buffer_array_lock(&trimesh->m_tri_index_buffer,G_MA_READ_ONLY);

-    assert(res==G_BUFFER_OP_SUCCESS);

-    res=gim_buffer_array_lock(&trimesh->m_transformed_vertex_buffer,G_MA_READ_ONLY);

-    assert(res==G_BUFFER_OP_SUCCESS);

-}

-

-//! unlocks the trimesh

-/*!

-\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer.

-\param trimesh

-*/

-void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh)

-{

-    gim_buffer_array_unlock(&trimesh->m_tri_index_buffer);

-    gim_buffer_array_unlock(&trimesh->m_transformed_vertex_buffer);

-}

-

-

-//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer

-char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh)

-{

-    if(trimesh->m_mask&GIM_TRIMESH_TRANSFORMED_REPLY) return 1;

-    return 0;

-}

-

-//! Returns 1 if the trimesh needs to update their aabbset and the planes cache.

-char gim_trimesh_needs_update(GIM_TRIMESH * trimesh)

-{

-    if(trimesh->m_mask&GIM_TRIMESH_NEED_UPDATE) return 1;

-    return 0;

-}

-

-//! Change the state of the trimesh for force it to update

-/*!

-Call it after made changes to the trimesh.

-\post gim_trimesh_need_update(trimesh) will return 1

-*/

-void gim_trimesh_post_update(GIM_TRIMESH * trimesh)

-{

-    trimesh->m_mask |= GIM_TRIMESH_NEED_UPDATE;

-}

-

-//kernel

-#define MULT_MAT_VEC4_KERNEL(_mat,_src,_dst) MAT_DOT_VEC_3X4((_dst),(_mat),(_src))

-

-//! Updates m_transformed_vertex_buffer

-/*!

-\pre m_transformed_vertex_buffer must be unlocked

-*/

-void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh)

-{

-    if(gim_trimesh_has_tranformed_reply(trimesh) == 0) return; //Don't perform transformation

-

-    //Vertices

-    GBUFFER_ARRAY * psource_vertex_buffer = &trimesh->m_source_vertex_buffer;

-    GBUFFER_ARRAY * ptransformed_vertex_buffer = &trimesh->m_transformed_vertex_buffer;

-    //Temp transform

-    mat4f transform;

-    COPY_MATRIX_4X4(transform,trimesh->m_transform);

-

-    GIM_PROCESS_BUFFER_ARRAY(transform,(*psource_vertex_buffer),(*ptransformed_vertex_buffer),MULT_MAT_VEC4_KERNEL,vec3f,vec3f);

-}

-

-//! Updates m_aabbset and m_planes_cache_bitset

-/*!

-\pre gim_trimesh_locks_work_data must be called before

-*/

-void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh)

-{

-    vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

-    assert(transformed_vertices);

-

-    GUINT * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT,trimesh->m_tri_index_buffer,0);

-    assert(triangle_indices);
-    // box set

-    aabb3f * paabb = trimesh->m_aabbset.m_boxes;

-    GUINT triangle_count = gim_trimesh_get_triangle_count(trimesh);

-    float * v1,*v2,*v3;

-    GUINT i;

-    for (i=0; i<triangle_count;i++)
-    {

-        v1 = &transformed_vertices[triangle_indices[0]][0];

-        v2 = &transformed_vertices[triangle_indices[1]][0];

-        v3 = &transformed_vertices[triangle_indices[2]][0];

-        COMPUTEAABB_FOR_TRIANGLE((*paabb),v1,v2,v3);

-        triangle_indices+=3;
-        paabb++;
-    }

-    //Clear planes cache

-    GIM_BITSET_CLEAR_ALL(trimesh->m_planes_cache_bitset);

-    //Sorts set

-    gim_aabbset_update(&trimesh->m_aabbset);

-}

-

-//! Updates the trimesh if needed

-/*!

-\post If gim_trimesh_needs_update returns 1, then it calls  gim_trimesh_update_vertices and gim_trimesh_update_aabbset

-*/

-void gim_trimesh_update(GIM_TRIMESH * trimesh)

-{

-    if(gim_trimesh_needs_update(trimesh)==0) return;

-    gim_trimesh_update_vertices(trimesh);

-    gim_trimesh_locks_work_data(trimesh);

-    gim_trimesh_update_aabbset(trimesh);

-    gim_trimesh_unlocks_work_data(trimesh);

-

-    //Clear update flag

-     trimesh->m_mask &= ~GIM_TRIMESH_NEED_UPDATE;

-}

-

-void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform)

-{

-    GREAL diff = 0.0f;

-    float * originaltrans = &trimesh->m_transform[0][0];

-    float * newtrans = &transform[0][0];

-    GUINT i;

-    for (i=0;i<16;i++)
-    {
-        diff += fabs(originaltrans[i]-newtrans[i]);
-    }

-

-//    if(IS_ZERO(diff)) return ;///don't need to update

-    if(diff< 0.00001f) return ;///don't need to update

-

-    COPY_MATRIX_4X4(trimesh->m_transform,transform);

-

-    gim_trimesh_post_update(trimesh);

-}

-

-void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT triangle_index, GIM_TRIANGLE_DATA * tri_data)

-{

-    vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

-

-    GUINT * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT,trimesh->m_tri_index_buffer,triangle_index*3);

-

-

-    //Copy the vertices

-    VEC_COPY(tri_data->m_vertices[0],transformed_vertices[triangle_indices[0]]);

-    VEC_COPY(tri_data->m_vertices[1],transformed_vertices[triangle_indices[1]]);

-    VEC_COPY(tri_data->m_vertices[2],transformed_vertices[triangle_indices[2]]);

-

-    //Get the planes

-    GIM_TRIPLANES_CACHE * planes = GIM_DYNARRAY_POINTER(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer);

-    planes += triangle_index;

-

-    //verify planes cache

-    GUINT bit_eval;

-    GIM_BITSET_GET(trimesh->m_planes_cache_bitset,triangle_index,bit_eval);

-    if(bit_eval == 0)// Needs to calc the planes

-    {

-        //Calc the face plane

-        TRIANGLE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],tri_data->m_vertices[2],planes->m_planes[0]);

-        //Calc the edge 1

-        EDGE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],(planes->m_planes[0]),(planes->m_planes[1]));

-

-        //Calc the edge 2

-        EDGE_PLANE(tri_data->m_vertices[1],tri_data->m_vertices[2],(planes->m_planes[0]),(planes->m_planes[2]));

-

-        //Calc the edge 3

-        EDGE_PLANE(tri_data->m_vertices[2],tri_data->m_vertices[0],(planes->m_planes[0]), (planes->m_planes[3]));

-

-        //mark

-        GIM_BITSET_SET(trimesh->m_planes_cache_bitset,triangle_index);

-    }

-

-

-    VEC_COPY_4((tri_data->m_planes.m_planes[0]),(planes->m_planes[0]));//face plane

-    VEC_COPY_4((tri_data->m_planes.m_planes[1]),(planes->m_planes[1]));//edge1

-    VEC_COPY_4((tri_data->m_planes.m_planes[2]),(planes->m_planes[2]));//edge2

-    VEC_COPY_4((tri_data->m_planes.m_planes[3]),(planes->m_planes[3]));//edge3

-}

-

-void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT triangle_index, vec3f v1,vec3f v2,vec3f v3)

-{

-    vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

-

-    GUINT * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT,trimesh->m_tri_index_buffer,triangle_index*3);

-

-    //Copy the vertices

-    VEC_COPY(v1,transformed_vertices[triangle_indices[0]]);

-    VEC_COPY(v2,transformed_vertices[triangle_indices[1]]);

-    VEC_COPY(v3,transformed_vertices[triangle_indices[2]]);

-}