one more for the gipper

24 files changed, 7345 insertions, 0 deletions

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new file mode 100644
index 0000000..1cc6caa
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/Makefile.am
@@ -0,0 +1,23 @@
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+libglitch_include_HEADERS =     collision_trimesh.h \
+                                mass.h \
+                                odecpp.h \
+                                common.h \
+                                matrix.h \
+                                odecpp_collision.h \
+                                compatibility.h \
+                                memory.h \
+                                contact.h \
+                                misc.h \
+                                odemath.h \
+                                collision.h \
+                                error.h \
+                                objects.h \
+                                rotation.h \
+                                collision_space.h \
+                                export-dif.h \
+                                ode.h  \
+                                timer.h \
+                                config.h
+
+EXTRA_DIST = config.h.in
diff --git a/libraries/ode-0.9/include/ode/Makefile.in b/libraries/ode-0.9/include/ode/Makefile.in
new file mode 100644
index 0000000..8458adb
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/Makefile.in
@@ -0,0 +1,448 @@
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+                                compatibility.h \
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diff --git a/libraries/ode-0.9/include/ode/README b/libraries/ode-0.9/include/ode/README
new file mode 100644
index 0000000..9d7e99a
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/README
@@ -0,0 +1,18 @@
+
+this is the public C interface to the ODE library.
+
+all these files should be includable from C, i.e. they should not use any
+C++ features. everything should be protected with
+
+        #ifdef __cplusplus
+        extern "C" {
+        #endif
+
+        ...
+
+        #ifdef __cplusplus
+        }
+        #endif
+
+the only exceptions are the odecpp.h and odecpp_collisioh.h files, which define a C++ wrapper for
+the C interface. remember to keep this in sync!
diff --git a/libraries/ode-0.9/include/ode/collision.h b/libraries/ode-0.9/include/ode/collision.h
new file mode 100644
index 0000000..c40bc4a
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/collision.h
@@ -0,0 +1,1386 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COLLISION_H_
+#define _ODE_COLLISION_H_
+
+#include <ode/common.h>
+#include <ode/collision_space.h>
+#include <ode/contact.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @defgroup collide Collision Detection
+ *
+ * ODE has two main components: a dynamics simulation engine and a collision
+ * detection engine. The collision engine is given information about the
+ * shape of each body. At each time step it figures out which bodies touch
+ * each other and passes the resulting contact point information to the user.
+ * The user in turn creates contact joints between bodies.
+ *
+ * Using ODE's collision detection is optional - an alternative collision
+ * detection system can be used as long as it can supply the right kinds of
+ * contact information.
+ */
+
+
+/* ************************************************************************ */
+/* general functions */
+
+/**
+ * @brief Destroy a geom, removing it from any space.
+ *
+ * Destroy a geom, removing it from any space it is in first. This one
+ * function destroys a geom of any type, but to create a geom you must call
+ * a creation function for that type.
+ *
+ * When a space is destroyed, if its cleanup mode is 1 (the default) then all
+ * the geoms in that space are automatically destroyed as well.
+ *
+ * @param geom the geom to be destroyed.
+ * @ingroup collide
+ */
+ODE_API void dGeomDestroy (dGeomID geom);
+
+
+/**
+ * @brief Set the user-defined data pointer stored in the geom.
+ *
+ * @param geom the geom to hold the data
+ * @param data the data pointer to be stored
+ * @ingroup collide
+ */
+ODE_API void dGeomSetData (dGeomID geom, void* data);
+
+
+/**
+ * @brief Get the user-defined data pointer stored in the geom.
+ *
+ * @param geom the geom containing the data
+ * @ingroup collide
+ */
+ODE_API void *dGeomGetData (dGeomID geom);
+
+
+/**
+ * @brief Set the body associated with a placeable geom.
+ *
+ * Setting a body on a geom automatically combines the position vector and
+ * rotation matrix of the body and geom, so that setting the position or
+ * orientation of one will set the value for both objects. Setting a body
+ * ID of zero gives the geom its own position and rotation, independent
+ * from any body. If the geom was previously connected to a body then its
+ * new independent position/rotation is set to the current position/rotation
+ * of the body.
+ *
+ * Calling these functions on a non-placeable geom results in a runtime
+ * error in the debug build of ODE.
+ *
+ * @param geom the geom to connect
+ * @param body the body to attach to the geom
+ * @ingroup collide
+ */
+ODE_API void dGeomSetBody (dGeomID geom, dBodyID body);
+
+
+/**
+ * @brief Get the body associated with a placeable geom.
+ * @param geom the geom to query.
+ * @sa dGeomSetBody
+ * @ingroup collide
+ */
+ODE_API dBodyID dGeomGetBody (dGeomID geom);
+
+
+/**
+ * @brief Set the position vector of a placeable geom.
+ *
+ * If the geom is attached to a body, the body's position will also be changed.
+ * Calling this function on a non-placeable geom results in a runtime error in
+ * the debug build of ODE.
+ *
+ * @param geom the geom to set.
+ * @param x the new X coordinate.
+ * @param y the new Y coordinate.
+ * @param z the new Z coordinate.
+ * @sa dBodySetPosition
+ * @ingroup collide
+ */
+ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);
+
+
+/**
+ * @brief Set the rotation matrix of a placeable geom.
+ *
+ * If the geom is attached to a body, the body's rotation will also be changed.
+ * Calling this function on a non-placeable geom results in a runtime error in
+ * the debug build of ODE.
+ *
+ * @param geom the geom to set.
+ * @param R the new rotation matrix.
+ * @sa dBodySetRotation
+ * @ingroup collide
+ */
+ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R);
+
+
+/**
+ * @brief Set the rotation of a placeable geom.
+ *
+ * If the geom is attached to a body, the body's rotation will also be changed.
+ *
+ * Calling this function on a non-placeable geom results in a runtime error in
+ * the debug build of ODE.
+ *
+ * @param geom the geom to set.
+ * @param Q the new rotation.
+ * @sa dBodySetQuaternion
+ * @ingroup collide
+ */
+ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);
+
+
+/**
+ * @brief Get the position vector of a placeable geom.
+ *
+ * If the geom is attached to a body, the body's position will be returned.
+ *
+ * Calling this function on a non-placeable geom results in a runtime error in
+ * the debug build of ODE.
+ *
+ * @param geom the geom to query.
+ * @returns A pointer to the geom's position vector.
+ * @remarks The returned value is a pointer to the geom's internal
+ *          data structure. It is valid until any changes are made
+ *          to the geom.
+ * @sa dBodyGetPosition
+ * @ingroup collide
+ */
+ODE_API const dReal * dGeomGetPosition (dGeomID geom);
+
+
+/**
+ * @brief Copy the position of a geom into a vector.
+ * @ingroup collide
+ * @param geom  the geom to query
+ * @param pos   a copy of the geom position
+ * @sa dGeomGetPosition
+ */
+ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos);
+
+
+/**
+ * @brief Get the rotation matrix of a placeable geom.
+ *
+ * If the geom is attached to a body, the body's rotation will be returned.
+ *
+ * Calling this function on a non-placeable geom results in a runtime error in
+ * the debug build of ODE.
+ *
+ * @param geom the geom to query.
+ * @returns A pointer to the geom's rotation matrix.
+ * @remarks The returned value is a pointer to the geom's internal
+ *          data structure. It is valid until any changes are made
+ *          to the geom.
+ * @sa dBodyGetRotation
+ * @ingroup collide
+ */
+ODE_API const dReal * dGeomGetRotation (dGeomID geom);
+
+
+/**
+ * @brief Get the rotation matrix of a placeable geom.
+ *
+ * If the geom is attached to a body, the body's rotation will be returned.
+ *
+ * Calling this function on a non-placeable geom results in a runtime error in
+ * the debug build of ODE.
+ *
+ * @param geom   the geom to query.
+ * @param R      a copy of the geom rotation
+ * @sa dGeomGetRotation
+ * @ingroup collide
+ */
+ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R);
+
+
+/**
+ * @brief Get the rotation quaternion of a placeable geom.
+ *
+ * If the geom is attached to a body, the body's quaternion will be returned.
+ *
+ * Calling this function on a non-placeable geom results in a runtime error in
+ * the debug build of ODE.
+ *
+ * @param geom the geom to query.
+ * @param result a copy of the rotation quaternion.
+ * @sa dBodyGetQuaternion
+ * @ingroup collide
+ */
+ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
+
+
+/**
+ * @brief Return the axis-aligned bounding box.
+ *
+ * Return in aabb an axis aligned bounding box that surrounds the given geom.
+ * The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the
+ * geom is a space, a bounding box that surrounds all contained geoms is
+ * returned.
+ *
+ * This function may return a pre-computed cached bounding box, if it can
+ * determine that the geom has not moved since the last time the bounding
+ * box was computed.
+ *
+ * @param geom the geom to query
+ * @param aabb the returned bounding box
+ * @ingroup collide
+ */
+ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
+
+
+/**
+ * @brief Determing if a geom is a space.
+ * @param geom the geom to query
+ * @returns Non-zero if the geom is a space, zero otherwise.
+ * @ingroup collide
+ */
+ODE_API int dGeomIsSpace (dGeomID geom);
+
+
+/**
+ * @brief Query for the space containing a particular geom.
+ * @param geom the geom to query
+ * @returns The space that contains the geom, or NULL if the geom is
+ *          not contained by a space.
+ * @ingroup collide
+ */
+ODE_API dSpaceID dGeomGetSpace (dGeomID);
+
+
+/**
+ * @brief Given a geom, this returns its class.
+ *
+ * The ODE classes are:
+ *  @li dSphereClass
+ *  @li dBoxClass
+ *  @li dCylinderClass
+ *  @li dPlaneClass
+ *  @li dRayClass
+ *  @li dConvexClass
+ *  @li dGeomTransformClass
+ *  @li dTriMeshClass
+ *  @li dSimpleSpaceClass
+ *  @li dHashSpaceClass
+ *  @li dQuadTreeSpaceClass
+ *  @li dFirstUserClass
+ *  @li dLastUserClass
+ *
+ * User-defined class will return their own number.
+ *
+ * @param geom the geom to query
+ * @returns The geom class ID.
+ * @ingroup collide
+ */
+ODE_API int dGeomGetClass (dGeomID geom);
+
+
+/**
+ * @brief Set the "category" bitfield for the given geom.
+ *
+ * The category bitfield is used by spaces to govern which geoms will
+ * interact with each other. The bitfield is guaranteed to be at least
+ * 32 bits wide. The default category values for newly created geoms
+ * have all bits set.
+ *
+ * @param geom the geom to set
+ * @param bits the new bitfield value
+ * @ingroup collide
+ */
+ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
+
+
+/**
+ * @brief Set the "collide" bitfield for the given geom.
+ *
+ * The collide bitfield is used by spaces to govern which geoms will
+ * interact with each other. The bitfield is guaranteed to be at least
+ * 32 bits wide. The default category values for newly created geoms
+ * have all bits set.
+ *
+ * @param geom the geom to set
+ * @param bits the new bitfield value
+ * @ingroup collide
+ */
+ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
+
+
+/**
+ * @brief Get the "category" bitfield for the given geom.
+ *
+ * @param geom the geom to set
+ * @param bits the new bitfield value
+ * @sa dGeomSetCategoryBits
+ * @ingroup collide
+ */
+ODE_API unsigned long dGeomGetCategoryBits (dGeomID);
+
+
+/**
+ * @brief Get the "collide" bitfield for the given geom.
+ *
+ * @param geom the geom to set
+ * @param bits the new bitfield value
+ * @sa dGeomSetCollideBits
+ * @ingroup collide
+ */
+ODE_API unsigned long dGeomGetCollideBits (dGeomID);
+
+
+/**
+ * @brief Enable a geom.
+ *
+ * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
+ * although they can still be members of a space. New geoms are created in
+ * the enabled state.
+ *
+ * @param geom   the geom to enable
+ * @sa dGeomDisable
+ * @sa dGeomIsEnabled
+ * @ingroup collide
+ */
+ODE_API void dGeomEnable (dGeomID geom);
+
+
+/**
+ * @brief Disable a geom.
+ *
+ * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
+ * although they can still be members of a space. New geoms are created in
+ * the enabled state.
+ *
+ * @param geom   the geom to disable
+ * @sa dGeomDisable
+ * @sa dGeomIsEnabled
+ * @ingroup collide
+ */
+ODE_API void dGeomDisable (dGeomID geom);
+
+
+/**
+ * @brief Check to see if a geom is enabled.
+ *
+ * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
+ * although they can still be members of a space. New geoms are created in
+ * the enabled state.
+ *
+ * @param geom   the geom to query
+ * @returns Non-zero if the geom is enabled, zero otherwise.
+ * @sa dGeomDisable
+ * @sa dGeomIsEnabled
+ * @ingroup collide
+ */
+ODE_API int dGeomIsEnabled (dGeomID geom);
+
+/* ************************************************************************ */
+/* geom offset from body */
+
+/**
+ * @brief Set the local offset position of a geom from its body.
+ *
+ * Sets the geom's positional offset in local coordinates.
+ * After this call, the geom will be at a new position determined from the
+ * body's position and the offset.
+ * The geom must be attached to a body.
+ * If the geom did not have an offset, it is automatically created.
+ *
+ * @param geom the geom to set.
+ * @param x the new X coordinate.
+ * @param y the new Y coordinate.
+ * @param z the new Z coordinate.
+ * @ingroup collide
+ */
+ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);
+
+
+/**
+ * @brief Set the local offset rotation matrix of a geom from its body.
+ *
+ * Sets the geom's rotational offset in local coordinates.
+ * After this call, the geom will be at a new position determined from the
+ * body's position and the offset.
+ * The geom must be attached to a body.
+ * If the geom did not have an offset, it is automatically created.
+ *
+ * @param geom the geom to set.
+ * @param R the new rotation matrix.
+ * @ingroup collide
+ */
+ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);
+
+
+/**
+ * @brief Set the local offset rotation of a geom from its body.
+ *
+ * Sets the geom's rotational offset in local coordinates.
+ * After this call, the geom will be at a new position determined from the
+ * body's position and the offset.
+ * The geom must be attached to a body.
+ * If the geom did not have an offset, it is automatically created.
+ *
+ * @param geom the geom to set.
+ * @param Q the new rotation.
+ * @ingroup collide
+ */
+ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);
+
+
+/**
+ * @brief Set the offset position of a geom from its body.
+ *
+ * Sets the geom's positional offset to move it to the new world
+ * coordinates.
+ * After this call, the geom will be at the world position passed in,
+ * and the offset will be the difference from the current body position.
+ * The geom must be attached to a body.
+ * If the geom did not have an offset, it is automatically created.
+ *
+ * @param geom the geom to set.
+ * @param x the new X coordinate.
+ * @param y the new Y coordinate.
+ * @param z the new Z coordinate.
+ * @ingroup collide
+ */
+ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);
+
+
+/**
+ * @brief Set the offset rotation of a geom from its body.
+ *
+ * Sets the geom's rotational offset to orient it to the new world
+ * rotation matrix.
+ * After this call, the geom will be at the world orientation passed in,
+ * and the offset will be the difference from the current body orientation.
+ * The geom must be attached to a body.
+ * If the geom did not have an offset, it is automatically created.
+ *
+ * @param geom the geom to set.
+ * @param R the new rotation matrix.
+ * @ingroup collide
+ */
+ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);
+
+
+/**
+ * @brief Set the offset rotation of a geom from its body.
+ *
+ * Sets the geom's rotational offset to orient it to the new world
+ * rotation matrix.
+ * After this call, the geom will be at the world orientation passed in,
+ * and the offset will be the difference from the current body orientation.
+ * The geom must be attached to a body.
+ * If the geom did not have an offset, it is automatically created.
+ *
+ * @param geom the geom to set.
+ * @param Q the new rotation.
+ * @ingroup collide
+ */
+ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);
+
+
+/**
+ * @brief Clear any offset from the geom.
+ *
+ * If the geom has an offset, it is eliminated and the geom is
+ * repositioned at the body's position.  If the geom has no offset,
+ * this function does nothing.
+ * This is more efficient than calling dGeomSetOffsetPosition(zero)
+ * and dGeomSetOffsetRotation(identiy), because this function actually
+ * eliminates the offset, rather than leaving it as the identity transform.
+ *
+ * @param geom the geom to have its offset destroyed.
+ * @ingroup collide
+ */
+ODE_API void dGeomClearOffset(dGeomID geom);
+
+
+/**
+ * @brief Check to see whether the geom has an offset.
+ *
+ * This function will return non-zero if the offset has been created.
+ * Note that there is a difference between a geom with no offset,
+ * and a geom with an offset that is the identity transform.
+ * In the latter case, although the observed behaviour is identical,
+ * there is a unnecessary computation involved because the geom will
+ * be applying the transform whenever it needs to recalculate its world
+ * position.
+ *
+ * @param geom the geom to query.
+ * @returns Non-zero if the geom has an offset, zero otherwise.
+ * @ingroup collide
+ */
+ODE_API int dGeomIsOffset(dGeomID geom);
+
+
+/**
+ * @brief Get the offset position vector of a geom.
+ *
+ * Returns the positional offset of the geom in local coordinates.
+ * If the geom has no offset, this function returns the zero vector.
+ *
+ * @param geom the geom to query.
+ * @returns A pointer to the geom's offset vector.
+ * @remarks The returned value is a pointer to the geom's internal
+ *          data structure. It is valid until any changes are made
+ *          to the geom.
+ * @ingroup collide
+ */
+ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);
+
+
+/**
+ * @brief Copy the offset position vector of a geom.
+ *
+ * Returns the positional offset of the geom in local coordinates.
+ * If the geom has no offset, this function returns the zero vector.
+ *
+ * @param geom   the geom to query.
+ * @param pos    returns the offset position
+ * @ingroup collide
+ */
+ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos);
+
+
+/**
+ * @brief Get the offset rotation matrix of a geom.
+ *
+ * Returns the rotational offset of the geom in local coordinates.
+ * If the geom has no offset, this function returns the identity
+ * matrix.
+ *
+ * @param geom the geom to query.
+ * @returns A pointer to the geom's offset rotation matrix.
+ * @remarks The returned value is a pointer to the geom's internal
+ *          data structure. It is valid until any changes are made
+ *          to the geom.
+ * @ingroup collide
+ */
+ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);
+
+
+/**
+ * @brief Copy the offset rotation matrix of a geom.
+ *
+ * Returns the rotational offset of the geom in local coordinates.
+ * If the geom has no offset, this function returns the identity
+ * matrix.
+ *
+ * @param geom   the geom to query.
+ * @param R      returns the rotation matrix.
+ * @ingroup collide
+ */
+ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R);
+
+
+/**
+ * @brief Get the offset rotation quaternion of a geom.
+ *
+ * Returns the rotation offset of the geom as a quaternion.
+ * If the geom has no offset, the identity quaternion is returned.
+ *
+ * @param geom the geom to query.
+ * @param result a copy of the rotation quaternion.
+ * @ingroup collide
+ */
+ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);
+
+
+/* ************************************************************************ */
+/* collision detection */
+
+/*
+ *      Just generate any contacts (disables any contact refining).
+ */
+#define CONTACTS_UNIMPORTANT                    0x80000000
+
+/**
+ *
+ * @brief Given two geoms o1 and o2 that potentially intersect,
+ * generate contact information for them.
+ *
+ * Internally, this just calls the correct class-specific collision
+ * functions for o1 and o2.
+ *
+ * @param o1 The first geom to test.
+ * @param o2 The second geom to test.
+ *
+ * @param flags The flags specify how contacts should be generated if
+ * the geoms touch. The lower 16 bits of flags is an integer that
+ * specifies the maximum number of contact points to generate. You must
+ * ask for at least one contact. 
+ * Additionally, following bits may be set:
+ * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining).
+ * All other bits in flags must be set to zero. In the future the other bits 
+ * may be used to select from different contact generation strategies.
+ *
+ * @param contact Points to an array of dContactGeom structures. The array
+ * must be able to hold at least the maximum number of contacts. These
+ * dContactGeom structures may be embedded within larger structures in the
+ * array -- the skip parameter is the byte offset from one dContactGeom to
+ * the next in the array. If skip is sizeof(dContactGeom) then contact
+ * points to a normal (C-style) array. It is an error for skip to be smaller
+ * than sizeof(dContactGeom).
+ *
+ * @returns If the geoms intersect, this function returns the number of contact
+ * points generated (and updates the contact array), otherwise it returns 0
+ * (and the contact array is not touched).
+ *
+ * @remarks If a space is passed as o1 or o2 then this function will collide
+ * all objects contained in o1 with all objects contained in o2, and return
+ * the resulting contact points. This method for colliding spaces with geoms
+ * (or spaces with spaces) provides no user control over the individual
+ * collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead.
+ *
+ * @remarks If o1 and o2 are the same geom then this function will do nothing
+ * and return 0. Technically speaking an object intersects with itself, but it
+ * is not useful to find contact points in this case.
+ *
+ * @remarks This function does not care if o1 and o2 are in the same space or not
+ * (or indeed if they are in any space at all).
+ *
+ * @ingroup collide
+ */
+ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
+              int skip);
+
+/**
+ * @brief Determines which pairs of geoms in a space may potentially intersect,
+ * and calls the callback function for each candidate pair.
+ *
+ * @param space The space to test.
+ *
+ * @param data Passed from dSpaceCollide directly to the callback
+ * function. Its meaning is user defined. The o1 and o2 arguments are the
+ * geoms that may be near each other.
+ *
+ * @param callback A callback function is of type @ref dNearCallback.
+ *
+ * @remarks Other spaces that are contained within the colliding space are
+ * not treated specially, i.e. they are not recursed into. The callback
+ * function may be passed these contained spaces as one or both geom
+ * arguments.
+ *
+ * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom
+ * pairs to the callback function, but may also pass close but
+ * non-intersecting pairs. The number of these calls depends on the
+ * internal algorithms used by the space. Thus you should not expect
+ * that dCollide will return contacts for every pair passed to the
+ * callback.
+ *
+ * @sa dSpaceCollide2
+ * @ingroup collide
+ */
+ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
+
+
+/**
+ * @brief Determines which geoms from one space may potentially intersect with 
+ * geoms from another space, and calls the callback function for each candidate 
+ * pair. 
+ *
+ * @param space1 The first space to test.
+ *
+ * @param space2 The second space to test.
+ *
+ * @param data Passed from dSpaceCollide directly to the callback
+ * function. Its meaning is user defined. The o1 and o2 arguments are the
+ * geoms that may be near each other.
+ *
+ * @param callback A callback function is of type @ref dNearCallback.
+ *
+ * @remarks This function can also test a single non-space geom against a 
+ * space. This function is useful when there is a collision hierarchy, i.e. 
+ * when there are spaces that contain other spaces.
+ *
+ * @remarks Other spaces that are contained within the colliding space are
+ * not treated specially, i.e. they are not recursed into. The callback
+ * function may be passed these contained spaces as one or both geom
+ * arguments.
+ *
+ * @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom
+ * pairs to the callback function, but may also pass close but
+ * non-intersecting pairs. The number of these calls depends on the
+ * internal algorithms used by the space. Thus you should not expect
+ * that dCollide will return contacts for every pair passed to the
+ * callback.
+ *
+ * @sa dSpaceCollide
+ * @ingroup collide
+ */
+ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
+
+
+/* ************************************************************************ */
+/* standard classes */
+
+/* the maximum number of user classes that are supported */
+enum {
+  dMaxUserClasses = 4
+};
+
+/* class numbers - each geometry object needs a unique number */
+enum {
+  dSphereClass = 0,
+  dBoxClass,
+  dCapsuleClass,
+  dCylinderClass,
+  dPlaneClass,
+  dRayClass,
+  dConvexClass,
+  dGeomTransformClass,
+  dTriMeshClass,
+  dHeightfieldClass,
+
+  dFirstSpaceClass,
+  dSimpleSpaceClass = dFirstSpaceClass,
+  dHashSpaceClass,
+  dQuadTreeSpaceClass,
+  dLastSpaceClass = dQuadTreeSpaceClass,
+
+  dFirstUserClass,
+  dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
+  dGeomNumClasses
+};
+
+
+/**
+ * @defgroup collide_sphere Sphere Class
+ * @ingroup collide
+ */
+
+/**
+ * @brief Create a sphere geom of the given radius, and return its ID. 
+ *
+ * @param space   a space to contain the new geom. May be null.
+ * @param radius  the radius of the sphere.
+ *
+ * @returns A new sphere geom.
+ *
+ * @remarks The point of reference for a sphere is its center.
+ *
+ * @sa dGeomDestroy
+ * @sa dGeomSphereSetRadius
+ * @ingroup collide_sphere
+ */
+ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
+
+
+/**
+ * @brief Set the radius of a sphere geom.
+ *
+ * @param sphere  the sphere to set.
+ * @param radius  the new radius.
+ *
+ * @sa dGeomSphereGetRadius
+ * @ingroup collide_sphere
+ */
+ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
+
+
+/**
+ * @brief Retrieves the radius of a sphere geom.
+ *
+ * @param sphere  the sphere to query.
+ *
+ * @sa dGeomSphereSetRadius
+ * @ingroup collide_sphere
+ */
+ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
+
+
+/**
+ * @brief Calculate the depth of the a given point within a sphere.
+ *
+ * @param sphere  the sphere to query.
+ * @param x       the X coordinate of the point.
+ * @param y       the Y coordinate of the point.
+ * @param z       the Z coordinate of the point.
+ *
+ * @returns The depth of the point. Points inside the sphere will have a 
+ * positive depth, points outside it will have a negative depth, and points
+ * on the surface will have a depth of zero.
+ *
+ * @ingroup collide_sphere
+ */
+ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
+
+
+//--> Convex Functions
+ODE_API dGeomID dCreateConvex (dSpaceID space,
+                               dReal *_planes,
+                               unsigned int _planecount,
+                               dReal *_points,
+                               unsigned int _pointcount,unsigned int *_polygons);
+
+ODE_API void dGeomSetConvex (dGeomID g,
+                             dReal *_planes,
+                             unsigned int _count,
+                             dReal *_points,
+                             unsigned int _pointcount,unsigned int *_polygons);
+//<-- Convex Functions
+
+/**
+ * @defgroup collide_box Box Class
+ * @ingroup collide
+ */
+
+/**
+ * @brief Create a box geom with the provided side lengths.
+ *
+ * @param space   a space to contain the new geom. May be null.
+ * @param lx      the length of the box along the X axis
+ * @param ly      the length of the box along the Y axis
+ * @param lz      the length of the box along the Z axis
+ *
+ * @returns A new box geom.
+ *
+ * @remarks The point of reference for a box is its center.
+ *
+ * @sa dGeomDestroy
+ * @sa dGeomBoxSetLengths
+ * @ingroup collide_box
+ */
+ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
+
+
+/**
+ * @brief Set the side lengths of the given box.
+ *
+ * @param box  the box to set
+ * @param lx      the length of the box along the X axis
+ * @param ly      the length of the box along the Y axis
+ * @param lz      the length of the box along the Z axis
+ *
+ * @sa dGeomBoxGetLengths
+ * @ingroup collide_box
+ */
+ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
+
+
+/**
+ * @brief Get the side lengths of a box.
+ *
+ * @param box     the box to query
+ * @param result  the returned side lengths
+ *
+ * @sa dGeomBoxSetLengths
+ * @ingroup collide_box
+ */
+ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
+
+
+/**
+ * @brief Return the depth of a point in a box.
+ * 
+ * @param box  the box to query
+ * @param x    the X coordinate of the point to test.
+ * @param y    the Y coordinate of the point to test.
+ * @param z    the Z coordinate of the point to test.
+ *
+ * @returns The depth of the point. Points inside the box will have a 
+ * positive depth, points outside it will have a negative depth, and points
+ * on the surface will have a depth of zero.
+ */
+ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
+
+
+ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
+ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
+ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
+
+ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
+ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
+ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
+ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
+
+// For now we want to have a backwards compatible C-API, note: C++ API is not.
+#define dCreateCCylinder dCreateCapsule
+#define dGeomCCylinderSetParams dGeomCapsuleSetParams
+#define dGeomCCylinderGetParams dGeomCapsuleGetParams
+#define dGeomCCylinderPointDepth dGeomCapsulePointDepth
+#define dCCylinderClass dCapsuleClass
+
+ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
+ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
+ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
+
+ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
+ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
+ODE_API dReal dGeomRayGetLength (dGeomID ray);
+ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
+                  dReal dx, dReal dy, dReal dz);
+ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
+
+/*
+ * Set/get ray flags that influence ray collision detection.
+ * These flags are currently only noticed by the trimesh collider, because
+ * they can make a major differences there.
+ */
+ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
+ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
+ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
+ODE_API int dGeomRayGetClosestHit (dGeomID g);
+
+#include "collision_trimesh.h"
+
+ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
+ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
+ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
+ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
+ODE_API int dGeomTransformGetCleanup (dGeomID g);
+ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
+ODE_API int dGeomTransformGetInfo (dGeomID g);
+
+
+/* ************************************************************************ */
+/* heightfield functions */
+
+
+// Data storage for heightfield data.
+struct dxHeightfieldData;
+typedef struct dxHeightfieldData* dHeightfieldDataID;
+
+
+/**
+ * @brief Callback prototype
+ *
+ * Used by the callback heightfield data type to sample a height for a
+ * given cell position.
+ *
+ * @param p_user_data User data specified when creating the dHeightfieldDataID
+ * @param x The index of a sample in the local x axis. It is a value
+ * in the range zero to ( nWidthSamples - 1 ).
+ * @param x The index of a sample in the local z axis. It is a value
+ * in the range zero to ( nDepthSamples - 1 ).
+ *
+ * @return The sample height which is then scaled and offset using the
+ * values specified when the heightfield data was created.
+ *
+ * @ingroup collide
+ */
+typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );
+
+
+
+/**
+ * @brief Creates a heightfield geom.
+ *
+ * Uses the information in the given dHeightfieldDataID to construct
+ * a geom representing a heightfield in a collision space.
+ *
+ * @param space The space to add the geom to.
+ * @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and
+ * setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte,
+ * dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat.
+ * @param bPlaceable If non-zero this geom can be transformed in the world using the
+ * usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is
+ * not set as placeable, then it uses a fixed orientation where the global y axis
+ * represents the dynamic 'height' of the heightfield.
+ *
+ * @return A geom id to reference this geom in other calls.
+ *
+ * @ingroup collide
+ */
+ODE_API dGeomID dCreateHeightfield( dSpaceID space,
+                                        dHeightfieldDataID data, int bPlaceable );
+
+
+/**
+ * @brief Creates a new empty dHeightfieldDataID.
+ *
+ * Allocates a new dHeightfieldDataID and returns it. You must call
+ * dGeomHeightfieldDataDestroy to destroy it after the geom has been removed.
+ * The dHeightfieldDataID value is used when specifying a data format type.
+ *
+ * @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback,
+ * dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or
+ * dGeomHeightfieldDataBuildFloat.
+ * @ingroup collide
+ */
+ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate();
+
+
+/**
+ * @brief Destroys a dHeightfieldDataID.
+ *
+ * Deallocates a given dHeightfieldDataID and all managed resources.
+ *
+ * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate
+ * @ingroup collide
+ */
+ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );
+
+
+
+/**
+ * @brief Configures a dHeightfieldDataID to use a callback to
+ * retrieve height data.
+ *
+ * Before a dHeightfieldDataID can be used by a geom it must be
+ * configured to specify the format of the height data.
+ * This call specifies that the heightfield data is computed by
+ * the user and it should use the given callback when determining
+ * the height of a given element of it's shape.
+ *
+ * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
+ *
+ * @param width Specifies the total 'width' of the heightfield along
+ * the geom's local x axis.
+ * @param depth Specifies the total 'depth' of the heightfield along
+ * the geom's local z axis.
+ *
+ * @param widthSamples Specifies the number of vertices to sample
+ * along the width of the heightfield. Each vertex has a corresponding
+ * height value which forms the overall shape.
+ * Naturally this value must be at least two or more.
+ * @param depthSamples Specifies the number of vertices to sample
+ * along the depth of the heightfield.
+ *
+ * @param scale A uniform scale applied to all raw height data.
+ * @param offset An offset applied to the scaled height data.
+ *
+ * @param thickness A value subtracted from the lowest height
+ * value which in effect adds an additional cuboid to the base of the
+ * heightfield. This is used to prevent geoms from looping under the
+ * desired terrain and not registering as a collision. Note that the
+ * thickness is not affected by the scale or offset parameters.
+ *
+ * @param bWrap If non-zero the heightfield will infinitely tile in both
+ * directions along the local x and z axes. If zero the heightfield is
+ * bounded from zero to width in the local x axis, and zero to depth in
+ * the local z axis.
+ *
+ * @ingroup collide
+ */
+ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
+                                void* pUserData, dHeightfieldGetHeight* pCallback,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap );
+
+/**
+ * @brief Configures a dHeightfieldDataID to use height data in byte format.
+ *
+ * Before a dHeightfieldDataID can be used by a geom it must be
+ * configured to specify the format of the height data.
+ * This call specifies that the heightfield data is stored as a rectangular
+ * array of bytes (8 bit unsigned) representing the height at each sample point.
+ *
+ * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
+ *
+ * @param pHeightData A pointer to the height data.
+ * @param bCopyHeightData When non-zero the height data is copied to an
+ * internal store. When zero the height data is accessed by reference and
+ * so must persist throughout the lifetime of the heightfield.
+ *
+ * @param width Specifies the total 'width' of the heightfield along
+ * the geom's local x axis.
+ * @param depth Specifies the total 'depth' of the heightfield along
+ * the geom's local z axis.
+ *
+ * @param widthSamples Specifies the number of vertices to sample
+ * along the width of the heightfield. Each vertex has a corresponding
+ * height value which forms the overall shape.
+ * Naturally this value must be at least two or more.
+ * @param depthSamples Specifies the number of vertices to sample
+ * along the depth of the heightfield.
+ *
+ * @param scale A uniform scale applied to all raw height data.
+ * @param offset An offset applied to the scaled height data.
+ *
+ * @param thickness A value subtracted from the lowest height
+ * value which in effect adds an additional cuboid to the base of the
+ * heightfield. This is used to prevent geoms from looping under the
+ * desired terrain and not registering as a collision. Note that the
+ * thickness is not affected by the scale or offset parameters.
+ *
+ * @param bWrap If non-zero the heightfield will infinitely tile in both
+ * directions along the local x and z axes. If zero the heightfield is
+ * bounded from zero to width in the local x axis, and zero to depth in
+ * the local z axis.
+ *
+ * @ingroup collide
+ */
+ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
+                                const unsigned char* pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness,     int bWrap );
+
+/**
+ * @brief Configures a dHeightfieldDataID to use height data in short format.
+ *
+ * Before a dHeightfieldDataID can be used by a geom it must be
+ * configured to specify the format of the height data.
+ * This call specifies that the heightfield data is stored as a rectangular
+ * array of shorts (16 bit signed) representing the height at each sample point.
+ *
+ * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
+ *
+ * @param pHeightData A pointer to the height data.
+ * @param bCopyHeightData When non-zero the height data is copied to an
+ * internal store. When zero the height data is accessed by reference and
+ * so must persist throughout the lifetime of the heightfield.
+ *
+ * @param width Specifies the total 'width' of the heightfield along
+ * the geom's local x axis.
+ * @param depth Specifies the total 'depth' of the heightfield along
+ * the geom's local z axis.
+ *
+ * @param widthSamples Specifies the number of vertices to sample
+ * along the width of the heightfield. Each vertex has a corresponding
+ * height value which forms the overall shape.
+ * Naturally this value must be at least two or more.
+ * @param depthSamples Specifies the number of vertices to sample
+ * along the depth of the heightfield.
+ *
+ * @param scale A uniform scale applied to all raw height data.
+ * @param offset An offset applied to the scaled height data.
+ *
+ * @param thickness A value subtracted from the lowest height
+ * value which in effect adds an additional cuboid to the base of the
+ * heightfield. This is used to prevent geoms from looping under the
+ * desired terrain and not registering as a collision. Note that the
+ * thickness is not affected by the scale or offset parameters.
+ *
+ * @param bWrap If non-zero the heightfield will infinitely tile in both
+ * directions along the local x and z axes. If zero the heightfield is
+ * bounded from zero to width in the local x axis, and zero to depth in
+ * the local z axis.
+ *
+ * @ingroup collide
+ */
+ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
+                                const short* pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap );
+
+/**
+ * @brief Configures a dHeightfieldDataID to use height data in 
+ * single precision floating point format.
+ *
+ * Before a dHeightfieldDataID can be used by a geom it must be
+ * configured to specify the format of the height data.
+ * This call specifies that the heightfield data is stored as a rectangular
+ * array of single precision floats representing the height at each
+ * sample point.
+ *
+ * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
+ *
+ * @param pHeightData A pointer to the height data.
+ * @param bCopyHeightData When non-zero the height data is copied to an
+ * internal store. When zero the height data is accessed by reference and
+ * so must persist throughout the lifetime of the heightfield.
+ *
+ * @param width Specifies the total 'width' of the heightfield along
+ * the geom's local x axis.
+ * @param depth Specifies the total 'depth' of the heightfield along
+ * the geom's local z axis.
+ *
+ * @param widthSamples Specifies the number of vertices to sample
+ * along the width of the heightfield. Each vertex has a corresponding
+ * height value which forms the overall shape.
+ * Naturally this value must be at least two or more.
+ * @param depthSamples Specifies the number of vertices to sample
+ * along the depth of the heightfield.
+ *
+ * @param scale A uniform scale applied to all raw height data.
+ * @param offset An offset applied to the scaled height data.
+ *
+ * @param thickness A value subtracted from the lowest height
+ * value which in effect adds an additional cuboid to the base of the
+ * heightfield. This is used to prevent geoms from looping under the
+ * desired terrain and not registering as a collision. Note that the
+ * thickness is not affected by the scale or offset parameters.
+ *
+ * @param bWrap If non-zero the heightfield will infinitely tile in both
+ * directions along the local x and z axes. If zero the heightfield is
+ * bounded from zero to width in the local x axis, and zero to depth in
+ * the local z axis.
+ *
+ * @ingroup collide
+ */
+ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
+                                const float* pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap );
+
+/**
+ * @brief Configures a dHeightfieldDataID to use height data in 
+ * double precision floating point format.
+ *
+ * Before a dHeightfieldDataID can be used by a geom it must be
+ * configured to specify the format of the height data.
+ * This call specifies that the heightfield data is stored as a rectangular
+ * array of double precision floats representing the height at each
+ * sample point.
+ *
+ * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
+ *
+ * @param pHeightData A pointer to the height data.
+ * @param bCopyHeightData When non-zero the height data is copied to an
+ * internal store. When zero the height data is accessed by reference and
+ * so must persist throughout the lifetime of the heightfield.
+ *
+ * @param width Specifies the total 'width' of the heightfield along
+ * the geom's local x axis.
+ * @param depth Specifies the total 'depth' of the heightfield along
+ * the geom's local z axis.
+ *
+ * @param widthSamples Specifies the number of vertices to sample
+ * along the width of the heightfield. Each vertex has a corresponding
+ * height value which forms the overall shape.
+ * Naturally this value must be at least two or more.
+ * @param depthSamples Specifies the number of vertices to sample
+ * along the depth of the heightfield.
+ *
+ * @param scale A uniform scale applied to all raw height data.
+ * @param offset An offset applied to the scaled height data.
+ *
+ * @param thickness A value subtracted from the lowest height
+ * value which in effect adds an additional cuboid to the base of the
+ * heightfield. This is used to prevent geoms from looping under the
+ * desired terrain and not registering as a collision. Note that the
+ * thickness is not affected by the scale or offset parameters.
+ *
+ * @param bWrap If non-zero the heightfield will infinitely tile in both
+ * directions along the local x and z axes. If zero the heightfield is
+ * bounded from zero to width in the local x axis, and zero to depth in
+ * the local z axis.
+ *
+ * @ingroup collide
+ */
+ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
+                                const double* pHeightData, int bCopyHeightData,
+                                dReal width, dReal depth, int widthSamples, int depthSamples,
+                                dReal scale, dReal offset, dReal thickness, int bWrap );
+
+/**
+ * @brief Manually set the minimum and maximum height bounds.
+ *
+ * This call allows you to set explicit min / max values after initial
+ * creation typically for callback heightfields which default to +/- infinity,
+ * or those whose data has changed. This must be set prior to binding with a
+ * geom, as the the AABB is not recomputed after it's first generation.
+ *
+ * @remarks The minimum and maximum values are used to compute the AABB
+ * for the heightfield which is used for early rejection of collisions.
+ * A close fit will yield a more efficient collision check.
+ *
+ * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate
+ * @param min_height The new minimum height value. Scale, offset and thickness is then applied.
+ * @param max_height The new maximum height value. Scale and offset is then applied.
+ * @ingroup collide
+ */
+ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
+                                dReal minHeight, dReal maxHeight );
+
+
+/**
+ * @brief Assigns a dHeightfieldDataID to a heightfield geom.
+ *
+ * Associates the given dHeightfieldDataID with a heightfield geom.
+ * This is done without affecting the GEOM_PLACEABLE flag.
+ *
+ * @param g A geom created by dCreateHeightfield
+ * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate
+ * @ingroup collide
+ */
+ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );
+
+
+/**
+ * @brief Gets the dHeightfieldDataID bound to a heightfield geom.
+ *
+ * Returns the dHeightfieldDataID associated with a heightfield geom.
+ *
+ * @param g A geom created by dCreateHeightfield
+ * @return The dHeightfieldDataID which may be NULL if none was assigned.
+ * @ingroup collide
+ */
+ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );
+
+
+
+/* ************************************************************************ */
+/* utility functions */
+
+ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
+                                const dVector3 b1, const dVector3 b2,
+                                dVector3 cp1, dVector3 cp2);
+
+ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
+                    const dVector3 side1, const dVector3 _p2,
+                    const dMatrix3 R2, const dVector3 side2);
+
+// The meaning of flags parameter is the same as in dCollide()
+ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
+             const dVector3 side1, const dVector3 p2,
+             const dMatrix3 R2, const dVector3 side2,
+             dVector3 normal, dReal *depth, int *return_code,
+             int flags, dContactGeom *contact, int skip);
+
+ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
+ODE_API void dInitODE(void);
+ODE_API void dCloseODE(void);
+
+/* ************************************************************************ */
+/* custom classes */
+
+typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
+typedef int dColliderFn (dGeomID o1, dGeomID o2,
+                         int flags, dContactGeom *contact, int skip);
+typedef dColliderFn * dGetColliderFnFn (int num);
+typedef void dGeomDtorFn (dGeomID o);
+typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
+
+typedef struct dGeomClass {
+  int bytes;
+  dGetColliderFnFn *collider;
+  dGetAABBFn *aabb;
+  dAABBTestFn *aabb_test;
+  dGeomDtorFn *dtor;
+} dGeomClass;
+
+ODE_API int dCreateGeomClass (const dGeomClass *classptr);
+ODE_API void * dGeomGetClassData (dGeomID);
+ODE_API dGeomID dCreateGeom (int classnum);
+
+/* ************************************************************************ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/collision_space.h b/libraries/ode-0.9/include/ode/collision_space.h
new file mode 100644
index 0000000..fb1f83f
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/collision_space.h
@@ -0,0 +1,76 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COLLISION_SPACE_H_
+#define _ODE_COLLISION_SPACE_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct dContactGeom;
+
+/**
+ * @brief User callback for geom-geom collision testing.
+ *
+ * @param data The user data object, as passed to dSpaceCollide.
+ * @param o1   The first geom being tested.
+ * @param o2   The second geom being test.
+ *
+ * @remarks The callback function can call dCollide on o1 and o2 to generate 
+ * contact points between each pair. Then these contact points may be added 
+ * to the simulation as contact joints. The user's callback function can of 
+ * course chose not to call dCollide for any pair, e.g. if the user decides 
+ * that those pairs should not interact.
+ *
+ * @ingroup collide
+ */
+typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
+
+
+ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space);
+ODE_API dSpaceID dHashSpaceCreate (dSpaceID space);
+ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth);
+
+ODE_API void dSpaceDestroy (dSpaceID);
+
+ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
+ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);
+
+ODE_API void dSpaceSetCleanup (dSpaceID space, int mode);
+ODE_API int dSpaceGetCleanup (dSpaceID space);
+
+ODE_API void dSpaceAdd (dSpaceID, dGeomID);
+ODE_API void dSpaceRemove (dSpaceID, dGeomID);
+ODE_API int dSpaceQuery (dSpaceID, dGeomID);
+ODE_API void dSpaceClean (dSpaceID);
+ODE_API int dSpaceGetNumGeoms (dSpaceID);
+ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/collision_trimesh.h b/libraries/ode-0.9/include/ode/collision_trimesh.h
new file mode 100755
index 0000000..ad85a6e
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/collision_trimesh.h
@@ -0,0 +1,205 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+ * TriMesh code by Erwin de Vries.
+ *
+ * Trimesh data.
+ * This is where the actual vertexdata (pointers), and BV tree is stored.
+ * Vertices should be single precision!
+ * This should be more sophisticated, so that the user can easyly implement
+ * another collision library, but this is a lot of work, and also costs some
+ * performance because some data has to be copied.
+ */
+
+#ifndef _ODE_COLLISION_TRIMESH_H_
+#define _ODE_COLLISION_TRIMESH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Data storage for triangle meshes.
+ */
+struct dxTriMeshData;
+typedef struct dxTriMeshData* dTriMeshDataID;
+
+/*
+ * These dont make much sense now, but they will later when we add more
+ * features.
+ */
+ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void);
+ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g);
+
+
+
+enum { TRIMESH_FACE_NORMALS };
+ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data);
+ODE_API void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id);
+
+
+
+/**
+ * We need to set the last transform after each time step for 
+ * accurate collision response. These functions get and set that transform.
+ * It is stored per geom instance, rather than per dTriMeshDataID.
+ */
+ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans );
+ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g );
+
+/*
+ * Build TriMesh data with single precision used in vertex data .
+ */
+ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
+                                 const void* Vertices, int VertexStride, int VertexCount, 
+                                 const void* Indices, int IndexCount, int TriStride);
+/* same again with a normals array (used as trimesh-trimesh optimization) */
+ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
+                                  const void* Vertices, int VertexStride, int VertexCount, 
+                                  const void* Indices, int IndexCount, int TriStride,
+                                  const void* Normals);
+/*
+* Build TriMesh data with double pricision used in vertex data .
+*/
+ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, 
+                                 const void* Vertices,  int VertexStride, int VertexCount, 
+                                 const void* Indices, int IndexCount, int TriStride);
+/* same again with a normals array (used as trimesh-trimesh optimization) */
+ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, 
+                                  const void* Vertices,  int VertexStride, int VertexCount, 
+                                  const void* Indices, int IndexCount, int TriStride,
+                                  const void* Normals);
+
+/*
+ * Simple build. Single/double precision based on dSINGLE/dDOUBLE!
+ */
+ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
+                                 const dReal* Vertices, int VertexCount,
+                                 const int* Indices, int IndexCount);
+/* same again with a normals array (used as trimesh-trimesh optimization) */
+ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
+                                  const dReal* Vertices, int VertexCount,
+                                  const int* Indices, int IndexCount,
+                                  const int* Normals);
+
+/* Preprocess the trimesh data to remove mark unnecessary edges and vertices */
+ODE_API void dGeomTriMeshDataPreprocess(dTriMeshDataID g);
+/* Get and set the internal preprocessed trimesh data buffer, for loading and saving */
+ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen);
+ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf);
+
+
+/*
+ * Per triangle callback. Allows the user to say if he wants a collision with
+ * a particular triangle.
+ */
+typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
+ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
+ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
+
+/*
+ * Per object callback. Allows the user to get the list of triangles in 1
+ * shot. Maybe we should remove this one.
+ */
+typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
+ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
+ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
+
+/*
+ * Ray callback.
+ * Allows the user to say if a ray collides with a triangle on barycentric
+ * coords. The user can for example sample a texture with alpha transparency
+ * to determine if a collision should occur.
+ */
+typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
+ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
+ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
+
+/*
+ * Trimesh class
+ * Construction. Callbacks are optional.
+ */
+ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+
+ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
+ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g);
+
+
+// enable/disable/check temporal coherence
+ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable);
+ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
+
+/*
+ * Clears the internal temporal coherence caches. When a geom has its
+ * collision checked with a trimesh once, data is stored inside the trimesh.
+ * With large worlds with lots of seperate objects this list could get huge.
+ * We should be able to do this automagically.
+ */
+ODE_API void dGeomTriMeshClearTCCache(dGeomID g);
+
+
+/*
+ * returns the TriMeshDataID
+ */
+ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
+
+/*
+ * Gets a triangle.
+ */
+ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+
+/*
+ * Gets the point on the requested triangle and the given barycentric
+ * coordinates.
+ */
+ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+
+/*
+
+This is how the strided data works:
+
+struct StridedVertex{
+        dVector3 Vertex;
+        // Userdata
+};
+int VertexStride = sizeof(StridedVertex);
+
+struct StridedTri{
+        int Indices[3];
+        // Userdata
+};
+int TriStride = sizeof(StridedTri);
+
+*/
+
+
+ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g);
+
+ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  /* _ODE_COLLISION_TRIMESH_H_ */
+
diff --git a/libraries/ode-0.9/include/ode/common.h b/libraries/ode-0.9/include/ode/common.h
new file mode 100644
index 0000000..7f0a12d
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/common.h
@@ -0,0 +1,388 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COMMON_H_
+#define _ODE_COMMON_H_
+#include <ode/config.h>
+#include <ode/error.h>
+#include <math.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* configuration stuff */
+
+/* the efficient alignment. most platforms align data structures to some
+ * number of bytes, but this is not always the most efficient alignment.
+ * for example, many x86 compilers align to 4 bytes, but on a pentium it
+ * is important to align doubles to 8 byte boundaries (for speed), and
+ * the 4 floats in a SIMD register to 16 byte boundaries. many other
+ * platforms have similar behavior. setting a larger alignment can waste
+ * a (very) small amount of memory. NOTE: this number must be a power of
+ * two. this is set to 16 by default.
+ */
+#define EFFICIENT_ALIGNMENT 16
+
+
+/* constants */
+
+/* pi and 1/sqrt(2) are defined here if necessary because they don't get
+ * defined in <math.h> on some platforms (like MS-Windows)
+ */
+
+#ifndef M_PI
+#define M_PI REAL(3.1415926535897932384626433832795029)
+#endif
+#ifndef M_SQRT1_2
+#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
+#endif
+
+
+/* debugging:
+ *   IASSERT  is an internal assertion, i.e. a consistency check. if it fails
+ *            we want to know where.
+ *   UASSERT  is a user assertion, i.e. if it fails a nice error message
+ *            should be printed for the user.
+ *   AASSERT  is an arguments assertion, i.e. if it fails "bad argument(s)"
+ *            is printed.
+ *   DEBUGMSG just prints out a message
+ */
+
+#ifndef dNODEBUG
+#ifdef __GNUC__
+#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
+  "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
+#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
+  msg " in %s()", __FUNCTION__);
+#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT,                         \
+msg " in %s() File %s Line %d", __FUNCTION__, __FILE__,__LINE__);
+#else
+#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
+  "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
+#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
+  msg " (%s:%d)", __FILE__,__LINE__);
+#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
+  msg " (%s:%d)", __FILE__,__LINE__);
+#endif
+#else
+#define dIASSERT(a) ;
+#define dUASSERT(a,msg) ;
+#define dDEBUGMSG(msg) ;
+#endif
+#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
+
+// Macro used to suppress unused variable warning
+#define dVARIABLEUSED(a) ((void)a)
+
+/* floating point data type, vector, matrix and quaternion types */
+
+#if defined(dSINGLE)
+typedef float dReal;
+#ifdef dDOUBLE
+#error You can only #define dSINGLE or dDOUBLE, not both.
+#endif // dDOUBLE
+#elif defined(dDOUBLE)
+typedef double dReal;
+#else
+#error You must #define dSINGLE or dDOUBLE
+#endif
+
+// Detect if we've got both trimesh engines enabled.
+#if dTRIMESH_ENABLED
+#if dTRIMESH_OPCODE && dTRIMESH_GIMPACT
+#error You can only #define dTRIMESH_OPCODE or dTRIMESH_GIMPACT, not both.
+#endif
+#endif // dTRIMESH_ENABLED
+
+/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
+ * (used to compute matrix leading dimensions)
+ */
+#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
+
+/* these types are mainly just used in headers */
+typedef dReal dVector3[4];
+typedef dReal dVector4[4];
+typedef dReal dMatrix3[4*3];
+typedef dReal dMatrix4[4*4];
+typedef dReal dMatrix6[8*6];
+typedef dReal dQuaternion[4];
+
+
+/* precision dependent scalar math functions */
+
+#if defined(dSINGLE)
+
+#define REAL(x) (x ## f)                                        /* form a constant */
+#define dRecip(x) ((1.0f/(x)))                          /* reciprocal */
+#define dSqrt(x) (sqrtf(x))                     /* square root */
+#define dRecipSqrt(x) ((1.0f/sqrtf(x)))         /* reciprocal square root */
+#define dSin(x) (sinf(x))                               /* sine */
+#define dCos(x) (cosf(x))                               /* cosine */
+#define dFabs(x) (fabsf(x))                     /* absolute value */
+#define dAtan2(y,x) (atan2f(y,x))               /* arc tangent with 2 args */
+#define dFMod(a,b) (fmodf(a,b))         /* modulo */
+#define dFloor(x) floorf(x)                     /* floor */
+
+#ifdef HAVE___ISNANF
+#define dIsNan(x) (__isnanf(x))
+#elif defined(HAVE__ISNANF)
+#define dIsNan(x) (_isnanf(x))
+#elif defined(HAVE_ISNANF)
+#define dIsNan(x) (isnanf(x))
+#else
+  /*
+     fall back to _isnan which is the VC way,
+     this may seem redundant since we already checked
+     for _isnan before, but if isnan is detected by
+     configure but is not found during compilation
+     we should always make sure we check for __isnanf,
+     _isnanf and isnanf in that order before falling
+     back to a default
+  */
+#define dIsNan(x) (_isnan(x))
+#endif
+
+#define dCopySign(a,b) ((dReal)copysignf(a,b))
+
+#elif defined(dDOUBLE)
+
+#define REAL(x) (x)
+#define dRecip(x) (1.0/(x))
+#define dSqrt(x) sqrt(x)
+#define dRecipSqrt(x) (1.0/sqrt(x))
+#define dSin(x) sin(x)
+#define dCos(x) cos(x)
+#define dFabs(x) fabs(x)
+#define dAtan2(y,x) atan2((y),(x))
+#define dFMod(a,b) (fmod((a),(b)))
+#define dFloor(x) floor(x)
+
+#ifdef HAVE___ISNAN
+#define dIsNan(x) (__isnan(x))
+#elif defined(HAVE__ISNAN)
+#define dIsNan(x) (_isnan(x))
+#elif defined(HAVE_ISNAN)
+#define dIsNan(x) (isnan(x))
+#else
+#define dIsNan(x) (_isnan(x))
+#endif
+
+#define dCopySign(a,b) (copysign((a),(b)))
+
+#else
+#error You must #define dSINGLE or dDOUBLE
+#endif
+
+
+/* utility */
+
+
+/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
+
+#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
+
+
+/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
+ * up to 15 bytes per allocation, depending on what alloca() returns.
+ */
+
+#define dALLOCA16(n) \
+  ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
+
+
+// Use the error-checking memory allocation system.  Because this system uses heap
+//  (malloc) instead of stack (alloca), it is slower.  However, it allows you to
+//  simulate larger scenes, as well as handle out-of-memory errors in a somewhat
+//  graceful manner
+
+// #define dUSE_MALLOC_FOR_ALLOCA
+
+#ifdef dUSE_MALLOC_FOR_ALLOCA
+enum {
+  d_MEMORY_OK = 0,              /* no memory errors */
+  d_MEMORY_OUT_OF_MEMORY        /* malloc failed due to out of memory error */
+};
+
+#endif
+
+
+
+/* internal object types (all prefixed with `dx') */
+
+struct dxWorld;         /* dynamics world */
+struct dxSpace;         /* collision space */
+struct dxBody;          /* rigid body (dynamics object) */
+struct dxGeom;          /* geometry (collision object) */
+struct dxJoint;
+struct dxJointNode;
+struct dxJointGroup;
+
+typedef struct dxWorld *dWorldID;
+typedef struct dxSpace *dSpaceID;
+typedef struct dxBody *dBodyID;
+typedef struct dxGeom *dGeomID;
+typedef struct dxJoint *dJointID;
+typedef struct dxJointGroup *dJointGroupID;
+
+
+/* error numbers */
+
+enum {
+  d_ERR_UNKNOWN = 0,            /* unknown error */
+  d_ERR_IASSERT,                /* internal assertion failed */
+  d_ERR_UASSERT,                /* user assertion failed */
+  d_ERR_LCP                     /* user assertion failed */
+};
+
+
+/* joint type numbers */
+
+enum {
+  dJointTypeNone = 0,           /* or "unknown" */
+  dJointTypeBall,
+  dJointTypeHinge,
+  dJointTypeSlider,
+  dJointTypeContact,
+  dJointTypeUniversal,
+  dJointTypeHinge2,
+  dJointTypeFixed,
+  dJointTypeNull,
+  dJointTypeAMotor,
+  dJointTypeLMotor,
+  dJointTypePlane2D,
+  dJointTypePR
+};
+
+
+/* an alternative way of setting joint parameters, using joint parameter
+ * structures and member constants. we don't actually do this yet.
+ */
+
+/*
+typedef struct dLimot {
+  int mode;
+  dReal lostop, histop;
+  dReal vel, fmax;
+  dReal fudge_factor;
+  dReal bounce, soft;
+  dReal suspension_erp, suspension_cfm;
+} dLimot;
+
+enum {
+  dLimotLoStop          = 0x0001,
+  dLimotHiStop          = 0x0002,
+  dLimotVel             = 0x0004,
+  dLimotFMax            = 0x0008,
+  dLimotFudgeFactor     = 0x0010,
+  dLimotBounce          = 0x0020,
+  dLimotSoft            = 0x0040
+};
+*/
+
+
+/* standard joint parameter names. why are these here? - because we don't want
+ * to include all the joint function definitions in joint.cpp. hmmmm.
+ * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
+ * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
+ * paste between these two.
+ */
+
+#define D_ALL_PARAM_NAMES(start) \
+  /* parameters for limits and motors */ \
+  dParamLoStop = start, \
+  dParamHiStop, \
+  dParamVel, \
+  dParamFMax, \
+  dParamFudgeFactor, \
+  dParamBounce, \
+  dParamCFM, \
+  dParamStopERP, \
+  dParamStopCFM, \
+  /* parameters for suspension */ \
+  dParamSuspensionERP, \
+  dParamSuspensionCFM, \
+  dParamERP, \
+
+#define D_ALL_PARAM_NAMES_X(start,x) \
+  /* parameters for limits and motors */ \
+  dParamLoStop ## x = start, \
+  dParamHiStop ## x, \
+  dParamVel ## x, \
+  dParamFMax ## x, \
+  dParamFudgeFactor ## x, \
+  dParamBounce ## x, \
+  dParamCFM ## x, \
+  dParamStopERP ## x, \
+  dParamStopCFM ## x, \
+  /* parameters for suspension */ \
+  dParamSuspensionERP ## x, \
+  dParamSuspensionCFM ## x, \
+  dParamERP ## x,
+
+enum {
+  D_ALL_PARAM_NAMES(0)
+  D_ALL_PARAM_NAMES_X(0x100,2)
+  D_ALL_PARAM_NAMES_X(0x200,3)
+
+  /* add a multiple of this constant to the basic parameter numbers to get
+   * the parameters for the second, third etc axes.
+   */
+  dParamGroup=0x100
+};
+
+
+/* angular motor mode numbers */
+
+enum{
+  dAMotorUser = 0,
+  dAMotorEuler = 1
+};
+
+
+/* joint force feedback information */
+
+typedef struct dJointFeedback {
+  dVector3 f1;          /* force applied to body 1 */
+  dVector3 t1;          /* torque applied to body 1 */
+  dVector3 f2;          /* force applied to body 2 */
+  dVector3 t2;          /* torque applied to body 2 */
+} dJointFeedback;
+
+
+/* private functions that must be implemented by the collision library:
+ * (1) indicate that a geom has moved, (2) get the next geom in a body list.
+ * these functions are called whenever the position of geoms connected to a
+ * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
+ * when the ODE step function updates the body state.
+ */
+
+void dGeomMoved (dGeomID);
+dGeomID dGeomGetBodyNext (dGeomID);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/compatibility.h b/libraries/ode-0.9/include/ode/compatibility.h
new file mode 100644
index 0000000..b370986
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/compatibility.h
@@ -0,0 +1,40 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COMPATIBILITY_H_
+#define _ODE_COMPATIBILITY_H_
+
+/*
+ * ODE's backward compatibility system ensures that as ODE's API
+ * evolves, user code will not break.
+ */
+
+/*
+ * These new rotation function names are more consistent with the
+ * rest of the API.
+ */
+#define dQtoR(q,R) dRfromQ((R),(q))
+#define dRtoQ(R,q) dQfromR((q),(R))
+#define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q))
+
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/config.h b/libraries/ode-0.9/include/ode/config.h
new file mode 100644
index 0000000..7d64006
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/config.h
@@ -0,0 +1,176 @@
+/* This file was autogenerated by Premake */

+#ifndef _ODE_CONFIG_H_

+#define _ODE_CONFIG_H_

+

+

+/******************************************************************

+ * CONFIGURATON SETTINGS - you can change these, and then rebuild

+ *   ODE to modify the behavior of the library.

+ *

+ *   dSINGLE/dDOUBLE   - force ODE to use single-precision (float)

+ *                       or double-precision (double) for numbers.

+ *                       Only one should be defined.

+ *

+ *   dTRIMESH_ENABLED  - enable/disable trimesh support

+ *   dTRIMESH_OPCODE   - use the OPCODE trimesh engine

+ *   dTRIMESH_GIMPACT  - use the GIMPACT trimesh engine

+ *                       Only one trimesh engine should be enabled.

+ *

+ *   dUSE_MALLOC_FOR_ALLOCA (experimental)-

+ *                       Use malloc() instead of alloca(). Slower,

+ *                       but allows for larger systems and more

+ *                       graceful out-of-memory handling.

+ *

+ *   dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER (experimental)-

+ *                       Use an alternative trimesh-trimesh collider

+ *                       which should yield better results.

+ *

+ ******************************************************************/

+

+#define dSINGLE

+/* #define dDOUBLE */

+

+#define dTRIMESH_ENABLED 1

+#define dTRIMESH_OPCODE 1

+

+#define dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER 0

+

+/* #define dUSE_MALLOC_FOR_ALLOCA */

+

+

+/******************************************************************

+ * SYSTEM SETTINGS - you shouldn't need to change these. If you

+ *   run into an issue with these settings, please report it to

+ *   the ODE bug tracker at:

+ *      http://sf.net/tracker/?group_id=24884&atid=382799

+ ******************************************************************/

+

+/* Try to identify the platform */

+#if defined(_XENON)

+  #define ODE_PLATFORM_XBOX360

+#elif defined(SN_TARGET_PSP_HW)

+  #define ODE_PLATFORM_PSP

+#elif defined(SN_TARGET_PS3)

+  #define ODE_PLATFORM_PS3

+#elif defined(_MSC_VER) || defined(__CYGWIN32__) || defined(__MINGW32__)

+  #define ODE_PLATFORM_WINDOWS

+#elif defined(__linux__)

+  #define ODE_PLATFORM_LINUX

+#elif defined(__APPLE__) && defined(__MACH__)

+  #define ODE_PLATFORM_OSX

+#else

+  #error "Need some help identifying the platform!"

+#endif

+

+/* Additional platform defines used in the code */

+#if defined(ODE_PLATFORM_WINDOWS) && !defined(WIN32)

+  #define WIN32

+#endif

+

+#if defined(__CYGWIN32__) || defined(__MINGW32__)

+  #define CYGWIN

+#endif

+

+#if defined(ODE_PLATFORM_OSX)

+  #define macintosh

+#endif

+

+

+/* Define a DLL export symbol for those platforms that need it */

+#if defined(ODE_PLATFORM_WINDOWS)

+  #if defined(ODE_DLL)

+    #define ODE_API __declspec(dllexport)

+  #elif !defined(ODE_LIB)

+    #define ODE_DLL_API __declspec(dllimport)

+  #endif

+#endif

+

+#if !defined(ODE_API)

+  #define ODE_API

+#endif

+

+

+/* Pull in the standard headers */

+#include <stdio.h>

+#include <stdlib.h>

+#include <stdarg.h>

+#include <math.h>

+#include <string.h>

+#include <float.h>

+

+#if !defined(ODE_PLATFORM_PS3)

+  #include <malloc.h>

+#endif

+

+#if !defined(ODE_PLATFORM_WINDOWS)

+  #include <alloca.h>

+#endif

+

+

+/* Visual C does not define these functions */

+#if defined(_MSC_VER)

+  #define copysignf _copysign

+  #define copysign _copysign

+#endif

+

+

+/* Define a value for infinity */

+#if defined(HUGE_VALF)

+        #define ODE_INFINITY4 HUGE_VALF

+        #define ODE_INFINITY8 HUGE_VAL

+#elif defined(FLT_MAX)

+        #define ODE_INFINITY4 FLT_MAX

+        #define ODE_INFINITY8 DBL_MAX

+#else

+        static union { unsigned char __c[4]; float  __f; }  __ode_huge_valf = {{0,0,0x80,0x7f}};

+        static union { unsigned char __c[8]; double __d; }  __ode_huge_val  = {{0,0,0,0,0,0,0xf0,0x7f}};

+        #define ODE_INFINITY4 (__ode_huge_valf.__f)

+        #define ODE_INFINITY8 (__ode_huge_val.__d)

+#endif

+

+#ifdef dSINGLE

+        #define dInfinity ODE_INFINITY4

+        #define dEpsilon  FLT_EPSILON

+#else

+        #define dInfinity ODE_INFINITY8

+        #define dEpsilon  DBL_EPSILON

+#endif

+

+

+/* Well-defined common data types...need to define for 64 bit systems */

+#if defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)

+  #define X86_64_SYSTEM   1

+  typedef int             int32;

+  typedef unsigned int    uint32;

+  typedef short           int16;

+  typedef unsigned short  uint16;

+  typedef char            int8;

+  typedef unsigned char   uint8;

+#else

+  typedef int             int32;

+  typedef unsigned int    uint32;

+  typedef short           int16;

+  typedef unsigned short  uint16;

+  typedef char            int8;

+  typedef unsigned char   uint8;

+#endif

+

+/* An integer type that can be safely cast to a pointer. This definition

+ * should be safe even on 64-bit systems */

+typedef size_t intP;

+

+

+/* The efficient alignment. most platforms align data structures to some

+ * number of bytes, but this is not always the most efficient alignment.

+ * for example, many x86 compilers align to 4 bytes, but on a pentium it is

+ * important to align doubles to 8 byte boundaries (for speed), and the 4

+ * floats in a SIMD register to 16 byte boundaries. many other platforms have

+ * similar behavior. setting a larger alignment can waste a (very) small

+ * amount of memory. NOTE: this number must be a power of two. */

+#define EFFICIENT_ALIGNMENT 16

+

+

+/* Define this if your system supports anonymous memory maps (linux does) */

+#define MMAP_ANONYMOUS

+

+#endif

diff --git a/libraries/ode-0.9/include/ode/config.h.in b/libraries/ode-0.9/include/ode/config.h.in
new file mode 100644
index 0000000..1b05c7d
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/config.h.in
@@ -0,0 +1,377 @@
+/* include/ode/config.h.in.  Generated from configure.in by autoheader.  */
+
+
+#ifndef ODE_CONFIG_H
+#define ODE_CONFIG_H
+
+
+/* Define to one of `_getb67', `GETB67', `getb67' for Cray-2 and Cray-YMP
+   systems. This function is required for `alloca.c' support on those systems.
+   */
+#undef CRAY_STACKSEG_END
+
+/* Define to 1 if using `alloca.c'. */
+#undef C_ALLOCA
+
+/* Define to 1 if you have `alloca', as a function or macro. */
+#undef HAVE_ALLOCA
+
+/* Define to 1 if you have <alloca.h> and it should be used (not on Ultrix).
+   */
+#undef HAVE_ALLOCA_H
+
+/* Use the Apple OpenGL framework. */
+#undef HAVE_APPLE_OPENGL_FRAMEWORK
+
+/* Define to 1 if you have the `atan2f' function. */
+#undef HAVE_ATAN2F
+
+/* Define to 1 if you have the `copysign' function. */
+#undef HAVE_COPYSIGN
+
+/* Define to 1 if you have the `copysignf' function. */
+#undef HAVE_COPYSIGNF
+
+/* Define to 1 if you have the `cosf' function. */
+#undef HAVE_COSF
+
+/* Define to 1 if you don't have `vprintf' but do have `_doprnt.' */
+#undef HAVE_DOPRNT
+
+/* Define to 1 if you have the `fabsf' function. */
+#undef HAVE_FABSF
+
+/* Define to 1 if you have the <float.h> header file. */
+#undef HAVE_FLOAT_H
+
+/* Define to 1 if you have the `floor' function. */
+#undef HAVE_FLOOR
+
+/* Define to 1 if you have the `fmodf' function. */
+#undef HAVE_FMODF
+
+/* Define to 1 if you have the `gettimeofday' function. */
+#undef HAVE_GETTIMEOFDAY
+
+/* Define to 1 if you have the <GL/glext.h> header file. */
+#undef HAVE_GL_GLEXT_H
+
+/* Define to 1 if you have the <GL/glu.h> header file. */
+#undef HAVE_GL_GLU_H
+
+/* Define to 1 if you have the <GL/gl.h> header file. */
+#undef HAVE_GL_GL_H
+
+/* Define to 1 if you have the <ieeefp.h> header file. */
+#undef HAVE_IEEEFP_H
+
+/* Define to 1 if you have the <inttypes.h> header file. */
+#undef HAVE_INTTYPES_H
+
+/* Define to 1 if you have the `isnan' function. */
+#undef HAVE_ISNAN
+
+/* Define to 1 if you have the `isnanf' function. */
+#undef HAVE_ISNANF
+
+/* Define to 1 if your system has a GNU libc compatible `malloc' function, and
+   to 0 otherwise. */
+#undef HAVE_MALLOC
+
+/* Define to 1 if you have the <malloc.h> header file. */
+#undef HAVE_MALLOC_H
+
+/* Define to 1 if you have the <math.h> header file. */
+#undef HAVE_MATH_H
+
+/* Define to 1 if you have the `memmove' function. */
+#undef HAVE_MEMMOVE
+
+/* Define to 1 if you have the <memory.h> header file. */
+#undef HAVE_MEMORY_H
+
+/* Define to 1 if you have the `memset' function. */
+#undef HAVE_MEMSET
+
+/* Define to 1 if libc includes obstacks. */
+#undef HAVE_OBSTACK
+
+/* Define to 1 if your system has a GNU libc compatible `realloc' function,
+   and to 0 otherwise. */
+#undef HAVE_REALLOC
+
+/* Define to 1 if you have the `select' function. */
+#undef HAVE_SELECT
+
+/* Define to 1 if you have the `sinf' function. */
+#undef HAVE_SINF
+
+/* Define to 1 if you have the `snprintf' function. */
+#undef HAVE_SNPRINTF
+
+/* Define to 1 if you have the `sqrt' function. */
+#undef HAVE_SQRT
+
+/* Define to 1 if you have the `sqrtf' function. */
+#undef HAVE_SQRTF
+
+/* Use SSE Optimizations */
+#undef HAVE_SSE
+
+/* Define to 1 if you have the <stdarg.h> header file. */
+#undef HAVE_STDARG_H
+
+/* Define to 1 if stdbool.h conforms to C99. */
+#undef HAVE_STDBOOL_H
+
+/* Define to 1 if you have the <stdint.h> header file. */
+#undef HAVE_STDINT_H
+
+/* Define to 1 if you have the <stdio.h> header file. */
+#undef HAVE_STDIO_H
+
+/* Define to 1 if you have the <stdlib.h> header file. */
+#undef HAVE_STDLIB_H
+
+/* Define to 1 if you have the <strings.h> header file. */
+#undef HAVE_STRINGS_H
+
+/* Define to 1 if you have the <string.h> header file. */
+#undef HAVE_STRING_H
+
+/* Define to 1 if you have the <sys/select.h> header file. */
+#undef HAVE_SYS_SELECT_H
+
+/* Define to 1 if you have the <sys/socket.h> header file. */
+#undef HAVE_SYS_SOCKET_H
+
+/* Define to 1 if you have the <sys/stat.h> header file. */
+#undef HAVE_SYS_STAT_H
+
+/* Define to 1 if you have the <sys/time.h> header file. */
+#undef HAVE_SYS_TIME_H
+
+/* Define to 1 if you have the <sys/types.h> header file. */
+#undef HAVE_SYS_TYPES_H
+
+/* Define to 1 if you have the <time.h> header file. */
+#undef HAVE_TIME_H
+
+/* Define to 1 if you have the <unistd.h> header file. */
+#undef HAVE_UNISTD_H
+
+/* Define to 1 if you have the <values.h> header file. */
+#undef HAVE_VALUES_H
+
+/* Define to 1 if you have the `vprintf' function. */
+#undef HAVE_VPRINTF
+
+/* Define to 1 if you have the `vsnprintf' function. */
+#undef HAVE_VSNPRINTF
+
+/* Define to 1 if the system has the type `_Bool'. */
+#undef HAVE__BOOL
+
+/* Define to 1 if you have the `_isnan' function. */
+#undef HAVE__ISNAN
+
+/* Define to 1 if you have the `_isnanf' function. */
+#undef HAVE__ISNANF
+
+/* Define to 1 if you have the `__isnan' function. */
+#undef HAVE___ISNAN
+
+/* Define to 1 if you have the `__isnanf' function. */
+#undef HAVE___ISNANF
+
+/* Name of package */
+#undef PACKAGE
+
+/* Define to the address where bug reports for this package should be sent. */
+#undef PACKAGE_BUGREPORT
+
+/* Define to the full name of this package. */
+#undef PACKAGE_NAME
+
+/* Define to the full name and version of this package. */
+#undef PACKAGE_STRING
+
+/* Define to the one symbol short name of this package. */
+#undef PACKAGE_TARNAME
+
+/* Define to the version of this package. */
+#undef PACKAGE_VERSION
+
+/* is this a pentium on a gcc-based platform? */
+#undef PENTIUM
+
+/* Define to the type of arg 1 for `select'. */
+#undef SELECT_TYPE_ARG1
+
+/* Define to the type of args 2, 3 and 4 for `select'. */
+#undef SELECT_TYPE_ARG234
+
+/* Define to the type of arg 5 for `select'. */
+#undef SELECT_TYPE_ARG5
+
+/* The size of `char', as computed by sizeof. */
+#undef SIZEOF_CHAR
+
+/* The size of `int', as computed by sizeof. */
+#undef SIZEOF_INT
+
+/* The size of `long int', as computed by sizeof. */
+#undef SIZEOF_LONG_INT
+
+/* The size of `short', as computed by sizeof. */
+#undef SIZEOF_SHORT
+
+/* The size of `void*', as computed by sizeof. */
+#undef SIZEOF_VOIDP
+
+/* The extension for shared libraries. */
+#undef SO_EXT
+
+/* If using the C implementation of alloca, define if you know the
+   direction of stack growth for your system; otherwise it will be
+   automatically deduced at runtime.
+        STACK_DIRECTION > 0 => grows toward higher addresses
+        STACK_DIRECTION < 0 => grows toward lower addresses
+        STACK_DIRECTION = 0 => direction of growth unknown */
+#undef STACK_DIRECTION
+
+/* Define to 1 if you have the ANSI C header files. */
+#undef STDC_HEADERS
+
+/* Version number of package */
+#undef VERSION
+
+/* Define to 1 if your processor stores words with the most significant byte
+   first (like Motorola and SPARC, unlike Intel and VAX). */
+#undef WORDS_BIGENDIAN
+
+/* is this a X86_64 system on a gcc-based platform? */
+#undef X86_64_SYSTEM
+
+/* Define to 1 if the X Window System is missing or not being used. */
+#undef X_DISPLAY_MISSING
+
+/* Define to empty if `const' does not conform to ANSI C. */
+#undef const
+
+/* Use double precision */
+#undef dDOUBLE
+
+/* dEpsilon Constant */
+#undef dEpsilon
+
+/* Use gyroscopic terms */
+#undef dGYROSCOPIC
+
+/* dInfinity Constant */
+#undef dInfinity
+
+/* Disable debug output */
+#undef dNODEBUG
+
+/* Use single precision */
+#undef dSINGLE
+
+/* Define to `__inline__' or `__inline' if that's what the C compiler
+   calls it, or to nothing if 'inline' is not supported under any name.  */
+#ifndef __cplusplus
+#undef inline
+#endif
+
+/* Define to rpl_malloc if the replacement function should be used. */
+#undef malloc
+
+/* Define to rpl_realloc if the replacement function should be used. */
+#undef realloc
+
+/* Define to `unsigned int' if <sys/types.h> does not define. */
+#undef size_t
+
+/* Define to empty if the keyword `volatile' does not work. Warning: valid
+   code using `volatile' can become incorrect without. Disable with care. */
+#undef volatile
+
+
+
+#ifdef HAVE_ALLOCA_H
+#include <alloca.h>
+#endif
+#if defined(HAVE_IEEEFP_H) && !defined(__CYGWIN__)
+// This header creates conflicts with math.h in Cygwin.
+#include <ieeefp.h>
+#endif
+#ifdef HAVE_STDIO_H
+#include <stdio.h>
+#endif
+#ifdef HAVE_STDLIB_H
+#include <stdlib.h>
+#endif
+#ifdef HAVE_MATH_H
+#include <math.h>
+#endif
+#ifdef HAVE_STRING_H
+#include <string.h>
+#endif
+#ifdef HAVE_STDARG_H
+#include <stdarg.h>
+#endif
+#ifdef HAVE_MALLOC_H
+#include <malloc.h>
+#endif
+#ifdef HAVE_VALUES_H
+#include <values.h>
+#endif
+#ifdef HAVE_FLOAT_H
+#include <float.h>
+#endif
+#if SIZEOF_CHAR == 1
+typedef char int8;
+typedef unsigned char uint8;
+#else
+#error "expecting sizeof(char) == 1"
+#endif
+#if SIZEOF_SHORT == 2
+typedef short int16;
+typedef unsigned short uint16;
+#else
+#error "can not find 2 byte integer type"
+#endif
+/* integer types (we assume int >= 32 bits) */
+#if SIZEOF_INT == 4
+typedef short int32;
+typedef unsigned short uint32;
+#else
+#error "can not find 4 byte integer type"
+#endif
+/* an integer type that we can safely cast a pointer to and
+ * from without loss of bits.
+ */
+#if SIZEOF_SHORT == SIZEOF_VOIDP
+typedef unsigned short intP;
+#elif SIZEOF_INT == SIZEOF_VOIDP
+typedef unsigned int intP;
+#elif SIZEOF_LONG_INT == SIZEOF_VOIDP
+typedef unsigned long int intP;
+#endif
+
+/* 
+Handle Windows DLL odities
+Its easier to export all symbols using the -shared flag
+for MinGW than differentiating with declspec,
+so only do it for MSVC
+*/
+#if defined(ODE_DLL) && defined(WIN32) && defined(_MSC_VER)
+#define ODE_API __declspec( dllexport )
+#elif !defined(ODE_DLL) && defined(WIN32) && defined(MSC_VER)
+#define ODE_API __declspec( dllimport )
+#else
+#define ODE_API
+#endif
+
+#endif /* #define ODE_CONFIG_H */
+
diff --git a/libraries/ode-0.9/include/ode/contact.h b/libraries/ode-0.9/include/ode/contact.h
new file mode 100644
index 0000000..fc634e7
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/contact.h
@@ -0,0 +1,103 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_CONTACT_H_
+#define _ODE_CONTACT_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+enum {
+  dContactMu2           = 0x001,
+  dContactFDir1         = 0x002,
+  dContactBounce        = 0x004,
+  dContactSoftERP       = 0x008,
+  dContactSoftCFM       = 0x010,
+  dContactMotion1       = 0x020,
+  dContactMotion2       = 0x040,
+  dContactSlip1         = 0x080,
+  dContactSlip2         = 0x100,
+
+  dContactApprox0       = 0x0000,
+  dContactApprox1_1     = 0x1000,
+  dContactApprox1_2     = 0x2000,
+  dContactApprox1       = 0x3000
+};
+
+
+typedef struct dSurfaceParameters {
+  /* must always be defined */
+  int mode;
+  dReal mu;
+
+  /* only defined if the corresponding flag is set in mode */
+  dReal mu2;
+  dReal bounce;
+  dReal bounce_vel;
+  dReal soft_erp;
+  dReal soft_cfm;
+  dReal motion1,motion2;
+  dReal slip1,slip2;
+} dSurfaceParameters;
+
+
+/**
+ * @brief Describe the contact point between two geoms.
+ *
+ * If two bodies touch, or if a body touches a static feature in its 
+ * environment, the contact is represented by one or more "contact 
+ * points", described by dContactGeom.
+ *
+ * The convention is that if body 1 is moved along the normal vector by 
+ * a distance depth (or equivalently if body 2 is moved the same distance 
+ * in the opposite direction) then the contact depth will be reduced to 
+ * zero. This means that the normal vector points "in" to body 1.
+ *
+ * @ingroup collide
+ */
+typedef struct dContactGeom {
+  dVector3 pos;          ///< contact position
+  dVector3 normal;       ///< normal vector
+  dReal depth;           ///< penetration depth
+  dGeomID g1,g2;         ///< the colliding geoms
+  int side1,side2;       ///< (to be documented)
+} dContactGeom;
+
+
+/* contact info used by contact joint */
+
+typedef struct dContact {
+  dSurfaceParameters surface;
+  dContactGeom geom;
+  dVector3 fdir1;
+} dContact;
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/error.h b/libraries/ode-0.9/include/ode/error.h
new file mode 100644
index 0000000..bdeec37
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/error.h
@@ -0,0 +1,63 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* this comes from the `reuse' library. copy any changes back to the source */
+
+#ifndef _ODE_ERROR_H_
+#define _ODE_ERROR_H_
+
+#include <ode/config.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* all user defined error functions have this type. error and debug functions
+ * should not return.
+ */
+typedef void dMessageFunction (int errnum, const char *msg, va_list ap);
+
+/* set a new error, debug or warning handler. if fn is 0, the default handlers
+ * are used.
+ */
+ODE_API void dSetErrorHandler (dMessageFunction *fn);
+ODE_API void dSetDebugHandler (dMessageFunction *fn);
+ODE_API void dSetMessageHandler (dMessageFunction *fn);
+
+/* return the current error, debug or warning handler. if the return value is
+ * 0, the default handlers are in place.
+ */
+ODE_API dMessageFunction *dGetErrorHandler(void);
+ODE_API dMessageFunction *dGetDebugHandler(void);
+ODE_API dMessageFunction *dGetMessageHandler(void);
+
+/* generate a fatal error, debug trap or a message. */
+ODE_API void dError (int num, const char *msg, ...);
+ODE_API void dDebug (int num, const char *msg, ...);
+ODE_API void dMessage (int num, const char *msg, ...);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/export-dif.h b/libraries/ode-0.9/include/ode/export-dif.h
new file mode 100644
index 0000000..ca479ad
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/export-dif.h
@@ -0,0 +1,32 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_EXPORT_DIF_
+#define _ODE_EXPORT_DIF_
+
+#include <ode/common.h>
+
+
+ODE_API void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name);
+
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/mass.h b/libraries/ode-0.9/include/ode/mass.h
new file mode 100644
index 0000000..19740fc
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/mass.h
@@ -0,0 +1,125 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_MASS_H_
+#define _ODE_MASS_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct dMass;
+typedef struct dMass dMass;
+
+/**
+ * Check if a mass structure has valid value.
+ * The function check if the mass and innertia matrix are positive definits
+ *
+ * @param m A mass structure to check
+ *
+ * @return 1 if both codition are met
+ */
+ODE_API int dMassCheck(const dMass *m);
+
+ODE_API void dMassSetZero (dMass *);
+
+ODE_API void dMassSetParameters (dMass *, dReal themass,
+                         dReal cgx, dReal cgy, dReal cgz,
+                         dReal I11, dReal I22, dReal I33,
+                         dReal I12, dReal I13, dReal I23);
+
+ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius);
+ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
+
+ODE_API void dMassSetCapsule (dMass *, dReal density, int direction,
+                        dReal radius, dReal length);
+ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction,
+                        dReal radius, dReal length);
+
+ODE_API void dMassSetCylinder (dMass *, dReal density, int direction,
+                       dReal radius, dReal length);
+ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
+                            dReal radius, dReal length);
+
+ODE_API void dMassSetBox (dMass *, dReal density,
+                  dReal lx, dReal ly, dReal lz);
+ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass,
+                       dReal lx, dReal ly, dReal lz);
+
+ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g);
+
+ODE_API void dMassSetTrimeshTotal (dMass *m, dReal total_mass, dGeomID g);
+
+ODE_API void dMassAdjust (dMass *, dReal newmass);
+
+ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
+
+ODE_API void dMassRotate (dMass *, const dMatrix3 R);
+
+ODE_API void dMassAdd (dMass *a, const dMass *b);
+
+// Backwards compatible API
+#define dMassSetCappedCylinder dMassSetCapsule
+#define dMassSetCappedCylinderTotal dMassSetCapsuleTotal
+
+
+struct dMass {
+  dReal mass;
+  dVector4 c;
+  dMatrix3 I;
+
+#ifdef __cplusplus
+  dMass()
+    { dMassSetZero (this); }
+  void setZero()
+    { dMassSetZero (this); }
+  void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
+                      dReal I11, dReal I22, dReal I33,
+                      dReal I12, dReal I13, dReal I23)
+    { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
+  void setSphere (dReal density, dReal radius)
+    { dMassSetSphere (this,density,radius); }
+  void setCapsule (dReal density, int direction, dReal a, dReal b)
+    { dMassSetCappedCylinder (this,density,direction,a,b); }
+  void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
+    { setCapsule(density, direction, a, b); }
+  void setBox (dReal density, dReal lx, dReal ly, dReal lz)
+    { dMassSetBox (this,density,lx,ly,lz); }
+  void adjust (dReal newmass)
+    { dMassAdjust (this,newmass); }
+  void translate (dReal x, dReal y, dReal z)
+    { dMassTranslate (this,x,y,z); }
+  void rotate (const dMatrix3 R)
+    { dMassRotate (this,R); }
+  void add (const dMass *b)
+    { dMassAdd (this,b); }
+#endif
+};
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/matrix.h b/libraries/ode-0.9/include/ode/matrix.h
new file mode 100644
index 0000000..eeb004d
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/matrix.h
@@ -0,0 +1,194 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* optimized and unoptimized vector and matrix functions */
+
+#ifndef _ODE_MATRIX_H_
+#define _ODE_MATRIX_H_
+
+#include <ode/common.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* set a vector/matrix of size n to all zeros, or to a specific value. */
+
+ODE_API void dSetZero (dReal *a, int n);
+ODE_API void dSetValue (dReal *a, int n, dReal value);
+
+
+/* get the dot product of two n*1 vectors. if n <= 0 then
+ * zero will be returned (in which case a and b need not be valid).
+ */
+
+ODE_API dReal dDot (const dReal *a, const dReal *b, int n);
+
+
+/* get the dot products of (a0,b), (a1,b), etc and return them in outsum.
+ * all vectors are n*1. if n <= 0 then zeroes will be returned (in which case
+ * the input vectors need not be valid). this function is somewhat faster
+ * than calling dDot() for all of the combinations separately.
+ */
+
+/* NOT INCLUDED in the library for now.
+void dMultidot2 (const dReal *a0, const dReal *a1,
+                 const dReal *b, dReal *outsum, int n);
+*/
+
+
+/* matrix multiplication. all matrices are stored in standard row format.
+ * the digit refers to the argument that is transposed:
+ *   0:   A = B  * C   (sizes: A:p*r B:p*q C:q*r)
+ *   1:   A = B' * C   (sizes: A:p*r B:q*p C:q*r)
+ *   2:   A = B  * C'  (sizes: A:p*r B:p*q C:r*q)
+ * case 1,2 are equivalent to saying that the operation is A=B*C but
+ * B or C are stored in standard column format.
+ */
+
+ODE_API void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+ODE_API void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+ODE_API void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+
+
+/* do an in-place cholesky decomposition on the lower triangle of the n*n
+ * symmetric matrix A (which is stored by rows). the resulting lower triangle
+ * will be such that L*L'=A. return 1 on success and 0 on failure (on failure
+ * the matrix is not positive definite).
+ */
+
+ODE_API int dFactorCholesky (dReal *A, int n);
+
+
+/* solve for x: L*L'*x = b, and put the result back into x.
+ * L is size n*n, b is size n*1. only the lower triangle of L is considered.
+ */
+
+ODE_API void dSolveCholesky (const dReal *L, dReal *b, int n);
+
+
+/* compute the inverse of the n*n positive definite matrix A and put it in
+ * Ainv. this is not especially fast. this returns 1 on success (A was
+ * positive definite) or 0 on failure (not PD).
+ */
+
+ODE_API int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n);
+
+
+/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no).
+ * positive definite means that x'*A*x > 0 for any x. this performs a
+ * cholesky decomposition of A. if the decomposition fails then the matrix
+ * is not positive definite. A is stored by rows. A is not altered.
+ */
+
+ODE_API int dIsPositiveDefinite (const dReal *A, int n);
+
+
+/* factorize a matrix A into L*D*L', where L is lower triangular with ones on
+ * the diagonal, and D is diagonal.
+ * A is an n*n matrix stored by rows, with a leading dimension of n rounded
+ * up to 4. L is written into the strict lower triangle of A (the ones are not
+ * written) and the reciprocal of the diagonal elements of D are written into
+ * d.
+ */
+ODE_API void dFactorLDLT (dReal *A, dReal *d, int n, int nskip);
+
+
+/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal,
+ * and x,b are n*1. b is overwritten with x.
+ * the leading dimension of L is `nskip'.
+ */
+ODE_API void dSolveL1 (const dReal *L, dReal *b, int n, int nskip);
+
+
+/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal,
+ * and x,b are n*1. b is overwritten with x.
+ * the leading dimension of L is `nskip'.
+ */
+ODE_API void dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
+
+
+/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */
+
+ODE_API void dVectorScale (dReal *a, const dReal *d, int n);
+
+
+/* given `L', a n*n lower triangular matrix with ones on the diagonal,
+ * and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix
+ * D, solve L*D*L'*x=b where x,b are n*1. x overwrites b.
+ * the leading dimension of L is `nskip'.
+ */
+
+ODE_API void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip);
+
+
+/* given an L*D*L' factorization of an n*n matrix A, return the updated
+ * factorization L2*D2*L2' of A plus the following "top left" matrix:
+ *
+ *    [ b a' ]     <-- b is a[0]
+ *    [ a 0  ]     <-- a is a[1..n-1]
+ *
+ *   - L has size n*n, its leading dimension is nskip. L is lower triangular
+ *     with ones on the diagonal. only the lower triangle of L is referenced.
+ *   - d has size n. d contains the reciprocal diagonal elements of D.
+ *   - a has size n.
+ * the result is written into L, except that the left column of L and d[0]
+ * are not actually modified. see ldltaddTL.m for further comments. 
+ */
+ODE_API void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip);
+
+
+/* given an L*D*L' factorization of a permuted matrix A, produce a new
+ * factorization for row and column `r' removed.
+ *   - A has size n1*n1, its leading dimension in nskip. A is symmetric and
+ *     positive definite. only the lower triangle of A is referenced.
+ *     A itself may actually be an array of row pointers.
+ *   - L has size n2*n2, its leading dimension in nskip. L is lower triangular
+ *     with ones on the diagonal. only the lower triangle of L is referenced.
+ *   - d has size n2. d contains the reciprocal diagonal elements of D.
+ *   - p is a permutation vector. it contains n2 indexes into A. each index
+ *     must be in the range 0..n1-1.
+ *   - r is the row/column of L to remove.
+ * the new L will be written within the old L, i.e. will have the same leading
+ * dimension. the last row and column of L, and the last element of d, are
+ * undefined on exit.
+ *
+ * a fast O(n^2) algorithm is used. see ldltremove.m for further comments.
+ */
+ODE_API void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
+                  int n1, int n2, int r, int nskip);
+
+
+/* given an n*n matrix A (with leading dimension nskip), remove the r'th row
+ * and column by moving elements. the new matrix will have the same leading
+ * dimension. the last row and column of A are untouched on exit.
+ */
+ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/memory.h b/libraries/ode-0.9/include/ode/memory.h
new file mode 100644
index 0000000..c1af051
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/memory.h
@@ -0,0 +1,59 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* this comes from the `reuse' library. copy any changes back to the source */
+
+#ifndef _ODE_MEMORY_H_
+#define _ODE_MEMORY_H_
+
+#include "ode/config.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* function types to allocate and free memory */
+typedef void * dAllocFunction (size_t size);
+typedef void * dReallocFunction (void *ptr, size_t oldsize, size_t newsize);
+typedef void dFreeFunction (void *ptr, size_t size);
+
+/* set new memory management functions. if fn is 0, the default handlers are
+ * used. */
+ODE_API void dSetAllocHandler (dAllocFunction *fn);
+ODE_API void dSetReallocHandler (dReallocFunction *fn);
+ODE_API void dSetFreeHandler (dFreeFunction *fn);
+
+/* get current memory management functions */
+ODE_API dAllocFunction *dGetAllocHandler (void);
+ODE_API dReallocFunction *dGetReallocHandler (void);
+ODE_API dFreeFunction *dGetFreeHandler (void);
+
+/* allocate and free memory. */
+ODE_API void * dAlloc (size_t size);
+ODE_API void * dRealloc (void *ptr, size_t oldsize, size_t newsize);
+ODE_API void dFree (void *ptr, size_t size);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/misc.h b/libraries/ode-0.9/include/ode/misc.h
new file mode 100644
index 0000000..0c55fc5
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/misc.h
@@ -0,0 +1,85 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* miscellaneous math functions. these are mostly useful for testing */
+
+#ifndef _ODE_MISC_H_
+#define _ODE_MISC_H_
+
+#include <ode/common.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* return 1 if the random number generator is working. */
+ODE_API int dTestRand(void);
+
+/* return next 32 bit random number. this uses a not-very-random linear
+ * congruential method.
+ */
+ODE_API unsigned long dRand(void);
+
+/* get and set the current random number seed. */
+ODE_API unsigned long  dRandGetSeed(void);
+ODE_API void dRandSetSeed (unsigned long s);
+
+/* return a random integer between 0..n-1. the distribution will get worse
+ * as n approaches 2^32.
+ */
+ODE_API int dRandInt (int n);
+
+/* return a random real number between 0..1 */
+ODE_API dReal dRandReal(void);
+
+/* print out a matrix */
+#ifdef __cplusplus
+ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ",
+                   FILE *f=stdout);
+#else
+ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f);
+#endif
+
+/* make a random vector with entries between +/- range. A has n elements. */
+ODE_API void dMakeRandomVector (dReal *A, int n, dReal range);
+
+/* make a random matrix with entries between +/- range. A has size n*m. */
+ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
+
+/* clear the upper triangle of a square matrix */
+ODE_API void dClearUpperTriangle (dReal *A, int n);
+
+/* return the maximum element difference between the two n*m matrices */
+ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m);
+
+/* return the maximum element difference between the lower triangle of two
+ * n*n matrices */
+ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/objects.h b/libraries/ode-0.9/include/ode/objects.h
new file mode 100644
index 0000000..3e24036
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/objects.h
@@ -0,0 +1,1966 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_OBJECTS_H_
+#define _ODE_OBJECTS_H_
+
+#include <ode/common.h>
+#include <ode/mass.h>
+#include <ode/contact.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @defgroup world World
+ *
+ * The world object is a container for rigid bodies and joints. Objects in
+ * different worlds can not interact, for example rigid bodies from two
+ * different worlds can not collide.
+ *
+ * All the objects in a world exist at the same point in time, thus one
+ * reason to use separate worlds is to simulate systems at different rates.
+ * Most applications will only need one world.
+ */
+
+
+/**
+ * @brief Create a new, empty world and return its ID number.
+ * @return an identifier
+ * @ingroup world
+ */
+ODE_API dWorldID dWorldCreate(void);
+
+
+/**
+ * @brief Destroy a world and everything in it.
+ *
+ * This includes all bodies, and all joints that are not part of a joint
+ * group. Joints that are part of a joint group will be deactivated, and
+ * can be destroyed by calling, for example, dJointGroupEmpty().
+ * @ingroup world
+ * @param world the identifier for the world the be destroyed.
+ */
+ODE_API void dWorldDestroy (dWorldID world);
+
+
+/**
+ * @brief Set the world's global gravity vector.
+ *
+ * The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81),
+ * assuming that +z is up. The default is no gravity, i.e. (0,0,0).
+ *
+ * @ingroup world
+ */
+ODE_API void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
+
+
+/**
+ * @brief Get the gravity vector for a given world.
+ * @ingroup world
+ */
+ODE_API void dWorldGetGravity (dWorldID, dVector3 gravity);
+
+
+/**
+ * @brief Set the global ERP value, that controls how much error
+ * correction is performed in each time step.
+ * @ingroup world
+ * @param dWorldID the identifier of the world.
+ * @param erp Typical values are in the range 0.1--0.8. The default is 0.2.
+ */
+ODE_API void dWorldSetERP (dWorldID, dReal erp);
+
+/**
+ * @brief Get the error reduction parameter.
+ * @ingroup world
+ * @return ERP value
+ */
+ODE_API dReal dWorldGetERP (dWorldID);
+
+
+/**
+ * @brief Set the global CFM (constraint force mixing) value.
+ * @ingroup world
+ * @param cfm Typical values are in the range @m{10^{-9}} -- 1.
+ * The default is 10^-5 if single precision is being used, or 10^-10
+ * if double precision is being used.
+ */
+ODE_API void dWorldSetCFM (dWorldID, dReal cfm);
+
+/**
+ * @brief Get the constraint force mixing value.
+ * @ingroup world
+ * @return CFM value
+ */
+ODE_API dReal dWorldGetCFM (dWorldID);
+
+
+/**
+ * @brief Step the world.
+ *
+ * This uses a "big matrix" method that takes time on the order of m^3
+ * and memory on the order of m^2, where m is the total number of constraint
+ * rows. For large systems this will use a lot of memory and can be very slow,
+ * but this is currently the most accurate method.
+ * @ingroup world
+ * @param stepsize The number of seconds that the simulation has to advance.
+ */
+ODE_API void dWorldStep (dWorldID, dReal stepsize);
+
+
+/**
+ * @brief Converts an impulse to a force.
+ * @ingroup world
+ * @remarks
+ * If you want to apply a linear or angular impulse to a rigid body,
+ * instead of a force or a torque, then you can use this function to convert
+ * the desired impulse into a force/torque vector before calling the
+ * BodyAdd... function.
+ * The current algorithm simply scales the impulse by 1/stepsize,
+ * where stepsize is the step size for the next step that will be taken.
+ * This function is given a dWorldID because, in the future, the force
+ * computation may depend on integrator parameters that are set as
+ * properties of the world.
+ */
+ODE_API void dWorldImpulseToForce
+(
+  dWorldID, dReal stepsize,
+  dReal ix, dReal iy, dReal iz, dVector3 force
+);
+
+
+/**
+ * @brief Step the world.
+ * @ingroup world
+ * @remarks
+ * This uses an iterative method that takes time on the order of m*N
+ * and memory on the order of m, where m is the total number of constraint
+ * rows N is the number of iterations.
+ * For large systems this is a lot faster than dWorldStep(),
+ * but it is less accurate.
+ * @remarks
+ * QuickStep is great for stacks of objects especially when the
+ * auto-disable feature is used as well.
+ * However, it has poor accuracy for near-singular systems.
+ * Near-singular systems can occur when using high-friction contacts, motors,
+ * or certain articulated structures. For example, a robot with multiple legs
+ * sitting on the ground may be near-singular.
+ * @remarks
+ * There are ways to help overcome QuickStep's inaccuracy problems:
+ * \li Increase CFM.
+ * \li Reduce the number of contacts in your system (e.g. use the minimum
+ *     number of contacts for the feet of a robot or creature).
+ * \li Don't use excessive friction in the contacts.
+ * \li Use contact slip if appropriate
+ * \li Avoid kinematic loops (however, kinematic loops are inevitable in
+ *     legged creatures).
+ * \li Don't use excessive motor strength.
+ * \liUse force-based motors instead of velocity-based motors.
+ *
+ * Increasing the number of QuickStep iterations may help a little bit, but
+ * it is not going to help much if your system is really near singular.
+ */
+ODE_API void dWorldQuickStep (dWorldID w, dReal stepsize);
+
+
+/**
+ * @brief Set the number of iterations that the QuickStep method performs per
+ *        step.
+ * @ingroup world
+ * @remarks
+ * More iterations will give a more accurate solution, but will take
+ * longer to compute.
+ * @param num The default is 20 iterations.
+ */
+ODE_API void dWorldSetQuickStepNumIterations (dWorldID, int num);
+
+
+/**
+ * @brief Get the number of iterations that the QuickStep method performs per
+ *        step.
+ * @ingroup world
+ * @return nr of iterations
+ */
+ODE_API int dWorldGetQuickStepNumIterations (dWorldID);
+
+/**
+ * @brief Set the SOR over-relaxation parameter
+ * @ingroup world
+ * @param over_relaxation value to use by SOR
+ */
+ODE_API void dWorldSetQuickStepW (dWorldID, dReal over_relaxation);
+
+/**
+ * @brief Get the SOR over-relaxation parameter
+ * @ingroup world
+ * @returns the over-relaxation setting
+ */
+ODE_API dReal dWorldGetQuickStepW (dWorldID);
+
+/* World contact parameter functions */
+
+/**
+ * @brief Set the maximum correcting velocity that contacts are allowed
+ * to generate.
+ * @ingroup world
+ * @param vel The default value is infinity (i.e. no limit).
+ * @remarks
+ * Reducing this value can help prevent "popping" of deeply embedded objects.
+ */
+ODE_API void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel);
+
+/**
+ * @brief Get the maximum correcting velocity that contacts are allowed
+ * to generated.
+ * @ingroup world
+ */
+ODE_API dReal dWorldGetContactMaxCorrectingVel (dWorldID);
+
+/**
+ * @brief Set the depth of the surface layer around all geometry objects.
+ * @ingroup world
+ * @remarks
+ * Contacts are allowed to sink into the surface layer up to the given
+ * depth before coming to rest.
+ * @param depth The default value is zero.
+ * @remarks
+ * Increasing this to some small value (e.g. 0.001) can help prevent
+ * jittering problems due to contacts being repeatedly made and broken.
+ */
+ODE_API void dWorldSetContactSurfaceLayer (dWorldID, dReal depth);
+
+/**
+ * @brief Get the depth of the surface layer around all geometry objects.
+ * @ingroup world
+ * @returns the depth
+ */
+ODE_API dReal dWorldGetContactSurfaceLayer (dWorldID);
+
+/* StepFast1 functions */
+
+/**
+ * @brief Step the world using the StepFast1 algorithm.
+ * @param stepsize the nr of seconds to advance the simulation.
+ * @param maxiterations The number of iterations to perform.
+ * @ingroup world
+ */
+ODE_API void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations);
+
+
+/**
+ * @defgroup disable Automatic Enabling and Disabling
+ *
+ * Every body can be enabled or disabled. Enabled bodies participate in the
+ * simulation, while disabled bodies are turned off and do not get updated
+ * during a simulation step. New bodies are always created in the enabled state.
+ *
+ * A disabled body that is connected through a joint to an enabled body will be
+ * automatically re-enabled at the next simulation step.
+ *
+ * Disabled bodies do not consume CPU time, therefore to speed up the simulation
+ * bodies should be disabled when they come to rest. This can be done automatically
+ * with the auto-disable feature.
+ *
+ * If a body has its auto-disable flag turned on, it will automatically disable
+ * itself when
+ *   @li It has been idle for a given number of simulation steps.
+ *   @li It has also been idle for a given amount of simulation time.
+ *
+ * A body is considered to be idle when the magnitudes of both its
+ * linear average velocity and angular average velocity are below given thresholds.
+ * The sample size for the average defaults to one and can be disabled by setting
+ * to zero with 
+ *
+ * Thus, every body has six auto-disable parameters: an enabled flag, a idle step
+ * count, an idle time, linear/angular average velocity thresholds, and the
+ * average samples count.
+ *
+ * Newly created bodies get these parameters from world.
+ */
+
+/**
+ * @brief Set the AutoEnableDepth parameter used by the StepFast1 algorithm.
+ * @ingroup disable
+ */
+ODE_API void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth);
+
+/**
+ * @brief Get the AutoEnableDepth parameter used by the StepFast1 algorithm.
+ * @ingroup disable
+ */
+ODE_API int dWorldGetAutoEnableDepthSF1(dWorldID);
+
+/**
+ * @brief Get auto disable linear threshold for newly created bodies.
+ * @ingroup disable
+ * @return the threshold
+ */
+ODE_API dReal dWorldGetAutoDisableLinearThreshold (dWorldID);
+
+/**
+ * @brief Set auto disable linear threshold for newly created bodies.
+ * @param linear_threshold default is 0.01
+ * @ingroup disable
+ */
+ODE_API void  dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold);
+
+/**
+ * @brief Get auto disable angular threshold for newly created bodies.
+ * @ingroup disable
+ * @return the threshold
+ */
+ODE_API dReal dWorldGetAutoDisableAngularThreshold (dWorldID);
+
+/**
+ * @brief Set auto disable angular threshold for newly created bodies.
+ * @param linear_threshold default is 0.01
+ * @ingroup disable
+ */
+ODE_API void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold);
+
+/**
+ * @brief Get auto disable linear average threshold for newly created bodies.
+ * @ingroup disable
+ * @return the threshold
+ */
+ODE_API dReal dWorldGetAutoDisableLinearAverageThreshold (dWorldID);
+
+/**
+ * @brief Set auto disable linear average threshold for newly created bodies.
+ * @param linear_average_threshold default is 0.01
+ * @ingroup disable
+ */
+ODE_API void  dWorldSetAutoDisableLinearAverageThreshold (dWorldID, dReal linear_average_threshold);
+
+/**
+ * @brief Get auto disable angular average threshold for newly created bodies.
+ * @ingroup disable
+ * @return the threshold
+ */
+ODE_API dReal dWorldGetAutoDisableAngularAverageThreshold (dWorldID);
+
+/**
+ * @brief Set auto disable angular average threshold for newly created bodies.
+ * @param linear_average_threshold default is 0.01
+ * @ingroup disable
+ */
+ODE_API void dWorldSetAutoDisableAngularAverageThreshold (dWorldID, dReal angular_average_threshold);
+
+/**
+ * @brief Get auto disable sample count for newly created bodies.
+ * @ingroup disable
+ * @return number of samples used
+ */
+ODE_API int dWorldGetAutoDisableAverageSamplesCount (dWorldID);
+
+/**
+ * @brief Set auto disable average sample count for newly created bodies.
+ * @ingroup disable
+ * @param average_samples_count Default is 1, meaning only instantaneous velocity is used.
+ * Set to zero to disable sampling and thus prevent any body from auto-disabling.
+ */
+ODE_API void dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count );
+
+/**
+ * @brief Get auto disable steps for newly created bodies.
+ * @ingroup disable
+ * @return nr of steps
+ */
+ODE_API int dWorldGetAutoDisableSteps (dWorldID);
+
+/**
+ * @brief Set auto disable steps for newly created bodies.
+ * @ingroup disable
+ * @param steps default is 10
+ */
+ODE_API void dWorldSetAutoDisableSteps (dWorldID, int steps);
+
+/**
+ * @brief Get auto disable time for newly created bodies.
+ * @ingroup disable
+ * @return nr of seconds
+ */
+ODE_API dReal dWorldGetAutoDisableTime (dWorldID);
+
+/**
+ * @brief Set auto disable time for newly created bodies.
+ * @ingroup disable
+ * @param time default is 0 seconds
+ */
+ODE_API void dWorldSetAutoDisableTime (dWorldID, dReal time);
+
+/**
+ * @brief Get auto disable flag for newly created bodies.
+ * @ingroup disable
+ * @return 0 or 1
+ */
+ODE_API int dWorldGetAutoDisableFlag (dWorldID);
+
+/**
+ * @brief Set auto disable flag for newly created bodies.
+ * @ingroup disable
+ * @param do_auto_disable default is false.
+ */
+ODE_API void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable);
+
+
+
+/**
+ * @defgroup bodies Rigid Bodies
+ *
+ * A rigid body has various properties from the point of view of the
+ * simulation. Some properties change over time:
+ *
+ *  @li Position vector (x,y,z) of the body's point of reference.
+ *      Currently the point of reference must correspond to the body's center of mass.
+ *  @li Linear velocity of the point of reference, a vector (vx,vy,vz).
+ *  @li Orientation of a body, represented by a quaternion (qs,qx,qy,qz) or
+ *      a 3x3 rotation matrix.
+ *  @li Angular velocity vector (wx,wy,wz) which describes how the orientation
+ *      changes over time.
+ *
+ * Other body properties are usually constant over time:
+ *
+ *  @li Mass of the body.
+ *  @li Position of the center of mass with respect to the point of reference.
+ *      In the current implementation the center of mass and the point of
+ *      reference must coincide.
+ *  @li Inertia matrix. This is a 3x3 matrix that describes how the body's mass
+ *      is distributed around the center of mass. Conceptually each body has an
+ *      x-y-z coordinate frame embedded in it that moves and rotates with the body.
+ *
+ * The origin of this coordinate frame is the body's point of reference. Some values
+ * in ODE (vectors, matrices etc) are relative to the body coordinate frame, and others
+ * are relative to the global coordinate frame.
+ *
+ * Note that the shape of a rigid body is not a dynamical property (except insofar as
+ * it influences the various mass properties). It is only collision detection that cares
+ * about the detailed shape of the body.
+ */
+
+
+/**
+ * @brief Get auto disable linear average threshold.
+ * @ingroup bodies
+ * @return the threshold
+ */
+ODE_API dReal dBodyGetAutoDisableLinearThreshold (dBodyID);
+
+/**
+ * @brief Set auto disable linear average threshold.
+ * @ingroup bodies
+ * @return the threshold
+ */
+ODE_API void  dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold);
+
+/**
+ * @brief Get auto disable angular average threshold.
+ * @ingroup bodies
+ * @return the threshold
+ */
+ODE_API dReal dBodyGetAutoDisableAngularThreshold (dBodyID);
+
+/**
+ * @brief Set auto disable angular average threshold.
+ * @ingroup bodies
+ * @return the threshold
+ */
+ODE_API void  dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold);
+
+/**
+ * @brief Get auto disable average size (samples count).
+ * @ingroup bodies
+ * @return the nr of steps/size.
+ */
+ODE_API int dBodyGetAutoDisableAverageSamplesCount (dBodyID);
+
+/**
+ * @brief Set auto disable average buffer size (average steps).
+ * @ingroup bodies
+ * @param average_samples_count the nr of samples to review.
+ */
+ODE_API void dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count);
+
+
+/**
+ * @brief Get auto steps a body must be thought of as idle to disable
+ * @ingroup bodies
+ * @return the nr of steps
+ */
+ODE_API int dBodyGetAutoDisableSteps (dBodyID);
+
+/**
+ * @brief Set auto disable steps.
+ * @ingroup bodies
+ * @param steps the nr of steps.
+ */
+ODE_API void dBodySetAutoDisableSteps (dBodyID, int steps);
+
+/**
+ * @brief Get auto disable time.
+ * @ingroup bodies
+ * @return nr of seconds
+ */
+ODE_API dReal dBodyGetAutoDisableTime (dBodyID);
+
+/**
+ * @brief Set auto disable time.
+ * @ingroup bodies
+ * @param time nr of seconds.
+ */
+ODE_API void  dBodySetAutoDisableTime (dBodyID, dReal time);
+
+/**
+ * @brief Get auto disable flag.
+ * @ingroup bodies
+ * @return 0 or 1
+ */
+ODE_API int dBodyGetAutoDisableFlag (dBodyID);
+
+/**
+ * @brief Set auto disable flag.
+ * @ingroup bodies
+ * @param do_auto_disable 0 or 1
+ */
+ODE_API void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable);
+
+/**
+ * @brief Set auto disable defaults.
+ * @remarks
+ * Set the values for the body to those set as default for the world.
+ * @ingroup bodies
+ */
+ODE_API void  dBodySetAutoDisableDefaults (dBodyID);
+
+
+/**
+ * @brief Retrives the world attached to te given body.
+ * @remarks
+ * 
+ * @ingroup bodies
+ */
+ODE_API dWorldID dBodyGetWorld (dBodyID);
+
+/**
+ * @brief Create a body in given world.
+ * @remarks
+ * Default mass parameters are at position (0,0,0).
+ * @ingroup bodies
+ */
+ODE_API dBodyID dBodyCreate (dWorldID);
+
+/**
+ * @brief Destroy a body.
+ * @remarks
+ * All joints that are attached to this body will be put into limbo:
+ * i.e. unattached and not affecting the simulation, but they will NOT be
+ * deleted.
+ * @ingroup bodies
+ */
+ODE_API void dBodyDestroy (dBodyID);
+
+/**
+ * @brief Set the body's user-data pointer.
+ * @ingroup bodies
+ * @param data arbitraty pointer
+ */
+ODE_API void  dBodySetData (dBodyID, void *data);
+
+/**
+ * @brief Get the body's user-data pointer.
+ * @ingroup bodies
+ * @return a pointer to the user's data.
+ */
+ODE_API void *dBodyGetData (dBodyID);
+
+/**
+ * @brief Set position of a body.
+ * @remarks
+ * After setting, the outcome of the simulation is undefined
+ * if the new configuration is inconsistent with the joints/constraints
+ * that are present.
+ * @ingroup bodies
+ */
+ODE_API void dBodySetPosition   (dBodyID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief Set the orientation of a body.
+ * @ingroup bodies
+ * @remarks
+ * After setting, the outcome of the simulation is undefined
+ * if the new configuration is inconsistent with the joints/constraints
+ * that are present.
+ */
+ODE_API void dBodySetRotation   (dBodyID, const dMatrix3 R);
+
+/**
+ * @brief Set the orientation of a body.
+ * @ingroup bodies
+ * @remarks
+ * After setting, the outcome of the simulation is undefined
+ * if the new configuration is inconsistent with the joints/constraints
+ * that are present.
+ */
+ODE_API void dBodySetQuaternion (dBodyID, const dQuaternion q);
+
+/**
+ * @brief Set the linear velocity of a body.
+ * @ingroup bodies
+ */
+ODE_API void dBodySetLinearVel  (dBodyID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief Set the angular velocity of a body.
+ * @ingroup bodies
+ */
+ODE_API void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief Get the position of a body.
+ * @ingroup bodies
+ * @remarks
+ * When getting, the returned values are pointers to internal data structures,
+ * so the vectors are valid until any changes are made to the rigid body
+ * system structure.
+ * @sa dBodyCopyPosition
+ */
+ODE_API const dReal * dBodyGetPosition   (dBodyID);
+
+
+/**
+ * @brief Copy the position of a body into a vector.
+ * @ingroup bodies
+ * @param body  the body to query
+ * @param pos   a copy of the body position
+ * @sa dBodyGetPosition
+ */
+ODE_API void dBodyCopyPosition (dBodyID body, dVector3 pos);
+
+
+/**
+ * @brief Get the rotation of a body.
+ * @ingroup bodies
+ * @return pointer to a 4x3 rotation matrix.
+ */
+ODE_API const dReal * dBodyGetRotation   (dBodyID);
+
+
+/**
+ * @brief Copy the rotation of a body.
+ * @ingroup bodies
+ * @param body   the body to query
+ * @param R      a copy of the rotation matrix
+ * @sa dBodyGetRotation
+ */
+ODE_API void dBodyCopyRotation (dBodyID, dMatrix3 R);
+
+
+/**
+ * @brief Get the rotation of a body.
+ * @ingroup bodies
+ * @return pointer to 4 scalars that represent the quaternion.
+ */
+ODE_API const dReal * dBodyGetQuaternion (dBodyID);
+
+
+/**
+ * @brief Copy the orientation of a body into a quaternion.
+ * @ingroup bodies
+ * @param body  the body to query
+ * @param quat  a copy of the orientation quaternion
+ * @sa dBodyGetQuaternion
+ */
+ODE_API void dBodyCopyQuaternion(dBodyID body, dQuaternion quat);
+
+
+/**
+ * @brief Get the linear velocity of a body.
+ * @ingroup bodies
+ */
+ODE_API const dReal * dBodyGetLinearVel  (dBodyID);
+
+/**
+ * @brief Get the angular velocity of a body.
+ * @ingroup bodies
+ */
+ODE_API const dReal * dBodyGetAngularVel (dBodyID);
+
+/**
+ * @brief Set the mass of a body.
+ * @ingroup bodies
+ */
+ODE_API void dBodySetMass (dBodyID, const dMass *mass);
+
+/**
+ * @brief Get the mass of a body.
+ * @ingroup bodies
+ */
+ODE_API void dBodyGetMass (dBodyID, dMass *mass);
+
+/**
+ * @brief Add force at centre of mass of body in absolute coordinates.
+ * @ingroup bodies
+ */
+ODE_API void dBodyAddForce            (dBodyID, dReal fx, dReal fy, dReal fz);
+
+/**
+ * @brief Add torque at centre of mass of body in absolute coordinates.
+ * @ingroup bodies
+ */
+ODE_API void dBodyAddTorque           (dBodyID, dReal fx, dReal fy, dReal fz);
+
+/**
+ * @brief Add force at centre of mass of body in coordinates relative to body.
+ * @ingroup bodies
+ */
+ODE_API void dBodyAddRelForce         (dBodyID, dReal fx, dReal fy, dReal fz);
+
+/**
+ * @brief Add torque at centre of mass of body in coordinates relative to body.
+ * @ingroup bodies
+ */
+ODE_API void dBodyAddRelTorque        (dBodyID, dReal fx, dReal fy, dReal fz);
+
+/**
+ * @brief Add force at specified point in body in global coordinates.
+ * @ingroup bodies
+ */
+ODE_API void dBodyAddForceAtPos       (dBodyID, dReal fx, dReal fy, dReal fz,
+                                        dReal px, dReal py, dReal pz);
+/**
+ * @brief Add force at specified point in body in local coordinates.
+ * @ingroup bodies
+ */
+ODE_API void dBodyAddForceAtRelPos    (dBodyID, dReal fx, dReal fy, dReal fz,
+                                        dReal px, dReal py, dReal pz);
+/**
+ * @brief Add force at specified point in body in global coordinates.
+ * @ingroup bodies
+ */
+ODE_API void dBodyAddRelForceAtPos    (dBodyID, dReal fx, dReal fy, dReal fz,
+                                        dReal px, dReal py, dReal pz);
+/**
+ * @brief Add force at specified point in body in local coordinates.
+ * @ingroup bodies
+ */
+ODE_API void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
+                                        dReal px, dReal py, dReal pz);
+
+/**
+ * @brief Return the current accumulated force vector.
+ * @return points to an array of 3 reals.
+ * @remarks
+ * The returned values are pointers to internal data structures, so
+ * the vectors are only valid until any changes are made to the rigid
+ * body system.
+ * @ingroup bodies
+ */
+ODE_API const dReal * dBodyGetForce   (dBodyID);
+
+/**
+ * @brief Return the current accumulated torque vector.
+ * @return points to an array of 3 reals.
+ * @remarks
+ * The returned values are pointers to internal data structures, so
+ * the vectors are only valid until any changes are made to the rigid
+ * body system.
+ * @ingroup bodies
+ */
+ODE_API const dReal * dBodyGetTorque  (dBodyID);
+
+/**
+ * @brief Set the body force accumulation vector.
+ * @remarks
+ * This is mostly useful to zero the force and torque for deactivated bodies
+ * before they are reactivated, in the case where the force-adding functions
+ * were called on them while they were deactivated.
+ * @ingroup bodies
+ */
+ODE_API void dBodySetForce  (dBodyID b, dReal x, dReal y, dReal z);
+
+/**
+ * @brief Set the body torque accumulation vector.
+ * @remarks
+ * This is mostly useful to zero the force and torque for deactivated bodies
+ * before they are reactivated, in the case where the force-adding functions
+ * were called on them while they were deactivated.
+ * @ingroup bodies
+ */
+ODE_API void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
+
+/**
+ * @brief Get world position of a relative point on body.
+ * @ingroup bodies
+ * @param result will contain the result.
+ */
+ODE_API void dBodyGetRelPointPos
+(
+  dBodyID, dReal px, dReal py, dReal pz,
+  dVector3 result
+);
+
+/**
+ * @brief Get velocity vector in global coords of a relative point on body.
+ * @ingroup bodies
+ * @param result will contain the result.
+ */
+ODE_API void dBodyGetRelPointVel
+(
+  dBodyID, dReal px, dReal py, dReal pz,
+  dVector3 result
+);
+
+/**
+ * @brief Get velocity vector in global coords of a globally
+ * specified point on a body.
+ * @ingroup bodies
+ * @param result will contain the result.
+ */
+ODE_API void dBodyGetPointVel
+(
+  dBodyID, dReal px, dReal py, dReal pz,
+  dVector3 result
+);
+
+/**
+ * @brief takes a point in global coordinates and returns
+ * the point's position in body-relative coordinates.
+ * @remarks
+ * This is the inverse of dBodyGetRelPointPos()
+ * @ingroup bodies
+ * @param result will contain the result.
+ */
+ODE_API void dBodyGetPosRelPoint
+(
+  dBodyID, dReal px, dReal py, dReal pz,
+  dVector3 result
+);
+
+/**
+ * @brief Convert from local to world coordinates.
+ * @ingroup bodies
+ * @param result will contain the result.
+ */
+ODE_API void dBodyVectorToWorld
+(
+  dBodyID, dReal px, dReal py, dReal pz,
+  dVector3 result
+);
+
+/**
+ * @brief Convert from world to local coordinates.
+ * @ingroup bodies
+ * @param result will contain the result.
+ */
+ODE_API void dBodyVectorFromWorld
+(
+  dBodyID, dReal px, dReal py, dReal pz,
+  dVector3 result
+);
+
+/**
+ * @brief controls the way a body's orientation is updated at each timestep.
+ * @ingroup bodies
+ * @param mode can be 0 or 1:
+ * \li 0: An ``infinitesimal'' orientation update is used.
+ * This is fast to compute, but it can occasionally cause inaccuracies
+ * for bodies that are rotating at high speed, especially when those
+ * bodies are joined to other bodies.
+ * This is the default for every new body that is created.
+ * \li 1: A ``finite'' orientation update is used.
+ * This is more costly to compute, but will be more accurate for high
+ * speed rotations.
+ * @remarks
+ * Note however that high speed rotations can result in many types of
+ * error in a simulation, and the finite mode will only fix one of those
+ * sources of error.
+ */
+ODE_API void dBodySetFiniteRotationMode (dBodyID, int mode);
+
+/**
+ * @brief sets the finite rotation axis for a body.
+ * @ingroup bodies
+ * @remarks
+ * This is axis only has meaning when the finite rotation mode is set
+ * If this axis is zero (0,0,0), full finite rotations are performed on
+ * the body.
+ * If this axis is nonzero, the body is rotated by performing a partial finite
+ * rotation along the axis direction followed by an infinitesimal rotation
+ * along an orthogonal direction.
+ * @remarks
+ * This can be useful to alleviate certain sources of error caused by quickly
+ * spinning bodies. For example, if a car wheel is rotating at high speed
+ * you can call this function with the wheel's hinge axis as the argument to
+ * try and improve its behavior.
+ */
+ODE_API void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief Get the way a body's orientation is updated each timestep.
+ * @ingroup bodies
+ * @return the mode 0 (infitesimal) or 1 (finite).
+ */
+ODE_API int dBodyGetFiniteRotationMode (dBodyID);
+
+/**
+ * @brief Get the finite rotation axis.
+ * @param result will contain the axis.
+ * @ingroup bodies
+ */
+ODE_API void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
+
+/**
+ * @brief Get the number of joints that are attached to this body.
+ * @ingroup bodies
+ * @return nr of joints
+ */
+ODE_API int dBodyGetNumJoints (dBodyID b);
+
+/**
+ * @brief Return a joint attached to this body, given by index.
+ * @ingroup bodies
+ * @param index valid range is  0 to n-1 where n is the value returned by
+ * dBodyGetNumJoints().
+ */
+ODE_API dJointID dBodyGetJoint (dBodyID, int index);
+
+/**
+ * @brief Manually enable a body.
+ * @param dBodyID identification of body.
+ * @ingroup bodies
+ */
+ODE_API void dBodyEnable (dBodyID);
+
+/**
+ * @brief Manually disable a body.
+ * @ingroup bodies
+ * @remarks
+ * A disabled body that is connected through a joint to an enabled body will
+ * be automatically re-enabled at the next simulation step.
+ */
+ODE_API void dBodyDisable (dBodyID);
+
+/**
+ * @brief Check wether a body is enabled.
+ * @ingroup bodies
+ * @return 1 if a body is currently enabled or 0 if it is disabled.
+ */
+ODE_API int dBodyIsEnabled (dBodyID);
+
+/**
+ * @brief Set whether the body is influenced by the world's gravity or not.
+ * @ingroup bodies
+ * @param mode when nonzero gravity affects this body.
+ * @remarks
+ * Newly created bodies are always influenced by the world's gravity.
+ */
+ODE_API void dBodySetGravityMode (dBodyID b, int mode);
+
+/**
+ * @brief Get whether the body is influenced by the world's gravity or not.
+ * @ingroup bodies
+ * @return nonzero means gravity affects this body.
+ */
+ODE_API int dBodyGetGravityMode (dBodyID b);
+
+
+
+/**
+ * @defgroup joints Joints
+ *
+ * In real life a joint is something like a hinge, that is used to connect two
+ * objects.
+ * In ODE a joint is very similar: It is a relationship that is enforced between
+ * two bodies so that they can only have certain positions and orientations
+ * relative to each other.
+ * This relationship is called a constraint -- the words joint and
+ * constraint are often used interchangeably.
+ *
+ * A joint has a set of parameters that can be set. These include:
+ *
+ *
+ * \li  dParamLoStop Low stop angle or position. Setting this to
+ *      -dInfinity (the default value) turns off the low stop.
+ *      For rotational joints, this stop must be greater than -pi to be
+ *      effective.
+ * \li  dParamHiStop High stop angle or position. Setting this to
+ *      dInfinity (the default value) turns off the high stop.
+ *      For rotational joints, this stop must be less than pi to be
+ *      effective.
+ *      If the high stop is less than the low stop then both stops will
+ *      be ineffective.
+ * \li  dParamVel Desired motor velocity (this will be an angular or
+ *      linear velocity).
+ * \li  dParamFMax The maximum force or torque that the motor will use to
+ *      achieve the desired velocity.
+ *      This must always be greater than or equal to zero.
+ *      Setting this to zero (the default value) turns off the motor.
+ * \li  dParamFudgeFactor The current joint stop/motor implementation has
+ *      a small problem:
+ *      when the joint is at one stop and the motor is set to move it away
+ *      from the stop, too much force may be applied for one time step,
+ *      causing a ``jumping'' motion.
+ *      This fudge factor is used to scale this excess force.
+ *      It should have a value between zero and one (the default value).
+ *      If the jumping motion is too visible in a joint, the value can be
+ *      reduced.
+ *      Making this value too small can prevent the motor from being able to
+ *      move the joint away from a stop.
+ * \li  dParamBounce The bouncyness of the stops.
+ *      This is a restitution parameter in the range 0..1.
+ *      0 means the stops are not bouncy at all, 1 means maximum bouncyness.
+ * \li  dParamCFM The constraint force mixing (CFM) value used when not
+ *      at a stop.
+ * \li  dParamStopERP The error reduction parameter (ERP) used by the
+ *      stops.
+ * \li  dParamStopCFM The constraint force mixing (CFM) value used by the
+ *      stops. Together with the ERP value this can be used to get spongy or
+ *      soft stops.
+ *      Note that this is intended for unpowered joints, it does not really
+ *      work as expected when a powered joint reaches its limit.
+ * \li  dParamSuspensionERP Suspension error reduction parameter (ERP).
+ *      Currently this is only implemented on the hinge-2 joint.
+ * \li  dParamSuspensionCFM Suspension constraint force mixing (CFM) value.
+ *      Currently this is only implemented on the hinge-2 joint.
+ *
+ * If a particular parameter is not implemented by a given joint, setting it
+ * will have no effect.
+ * These parameter names can be optionally followed by a digit (2 or 3)
+ * to indicate the second or third set of parameters, e.g. for the second axis
+ * in a hinge-2 joint, or the third axis in an AMotor joint.
+ */
+
+
+/**
+ * @brief Create a new joint of the ball type.
+ * @ingroup joints
+ * @remarks
+ * The joint is initially in "limbo" (i.e. it has no effect on the simulation)
+ * because it does not connect to any bodies.
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreateBall (dWorldID, dJointGroupID);
+
+/**
+ * @brief Create a new joint of the hinge type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreateHinge (dWorldID, dJointGroupID);
+
+/**
+ * @brief Create a new joint of the slider type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreateSlider (dWorldID, dJointGroupID);
+
+/**
+ * @brief Create a new joint of the contact type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
+
+/**
+ * @brief Create a new joint of the hinge2 type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
+
+/**
+ * @brief Create a new joint of the universal type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
+
+/**
+ * @brief Create a new joint of the PR (Prismatic and Rotoide) type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreatePR (dWorldID, dJointGroupID);
+
+/**
+ * @brief Create a new joint of the fixed type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreateFixed (dWorldID, dJointGroupID);
+
+ODE_API dJointID dJointCreateNull (dWorldID, dJointGroupID);
+
+/**
+ * @brief Create a new joint of the A-motor type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
+
+/**
+ * @brief Create a new joint of the L-motor type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreateLMotor (dWorldID, dJointGroupID);
+
+/**
+ * @brief Create a new joint of the plane-2d type.
+ * @ingroup joints
+ * @param dJointGroupID set to 0 to allocate the joint normally.
+ * If it is nonzero the joint is allocated in the given joint group.
+ */
+ODE_API dJointID dJointCreatePlane2D (dWorldID, dJointGroupID);
+
+/**
+ * @brief Destroy a joint.
+ * @ingroup joints
+ *
+ * disconnects it from its attached bodies and removing it from the world.
+ * However, if the joint is a member of a group then this function has no
+ * effect - to destroy that joint the group must be emptied or destroyed.
+ */
+ODE_API void dJointDestroy (dJointID);
+
+
+/**
+ * @brief Create a joint group
+ * @ingroup joints
+ * @param max_size deprecated. Set to 0.
+ */
+ODE_API dJointGroupID dJointGroupCreate (int max_size);
+
+/**
+ * @brief Destroy a joint group.
+ * @ingroup joints
+ *
+ * All joints in the joint group will be destroyed.
+ */
+ODE_API void dJointGroupDestroy (dJointGroupID);
+
+/**
+ * @brief Empty a joint group.
+ * @ingroup joints
+ *
+ * All joints in the joint group will be destroyed,
+ * but the joint group itself will not be destroyed.
+ */
+ODE_API void dJointGroupEmpty (dJointGroupID);
+
+/**
+ * @brief Attach the joint to some new bodies.
+ * @ingroup joints
+ *
+ * If the joint is already attached, it will be detached from the old bodies
+ * first.
+ * To attach this joint to only one body, set body1 or body2 to zero - a zero
+ * body refers to the static environment.
+ * Setting both bodies to zero puts the joint into "limbo", i.e. it will
+ * have no effect on the simulation.
+ * @remarks
+ * Some joints, like hinge-2 need to be attached to two bodies to work.
+ */
+ODE_API void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
+
+/**
+ * @brief Set the user-data pointer
+ * @ingroup joints
+ */
+ODE_API void dJointSetData (dJointID, void *data);
+
+/**
+ * @brief Get the user-data pointer
+ * @ingroup joints
+ */
+ODE_API void *dJointGetData (dJointID);
+
+/**
+ * @brief Get the type of the joint
+ * @ingroup joints
+ * @return the type, being one of these:
+ * \li JointTypeBall
+ * \li JointTypeHinge
+ * \li JointTypeSlider
+ * \li JointTypeContact
+ * \li JointTypeUniversal
+ * \li JointTypeHinge2
+ * \li JointTypeFixed
+ * \li JointTypeAMotor
+ * \li JointTypeLMotor
+ */
+ODE_API int dJointGetType (dJointID);
+
+/**
+ * @brief Return the bodies that this joint connects.
+ * @ingroup joints
+ * @param index return the first (0) or second (1) body.
+ * @remarks
+ * If one of these returned body IDs is zero, the joint connects the other body
+ * to the static environment.
+ * If both body IDs are zero, the joint is in ``limbo'' and has no effect on
+ * the simulation.
+ */
+ODE_API dBodyID dJointGetBody (dJointID, int index);
+
+/**
+ * @brief Sets the datastructure that is to receive the feedback.
+ *
+ * The feedback can be used by the user, so that it is known how
+ * much force an individual joint exerts.
+ * @ingroup joints
+ */
+ODE_API void dJointSetFeedback (dJointID, dJointFeedback *);
+
+/**
+ * @brief Gets the datastructure that is to receive the feedback.
+ * @ingroup joints
+ */
+ODE_API dJointFeedback *dJointGetFeedback (dJointID);
+
+/**
+ * @brief Set the joint anchor point.
+ * @ingroup joints
+ *
+ * The joint will try to keep this point on each body
+ * together. The input is specified in world coordinates.
+ */
+ODE_API void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief Set the joint anchor point.
+ * @ingroup joints
+ */
+ODE_API void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief Param setting for Ball joints
+ * @ingroup joints
+ */
+ODE_API void dJointSetBallParam (dJointID, int parameter, dReal value);
+
+/**
+ * @brief Set hinge anchor parameter.
+ * @ingroup joints
+ */
+ODE_API void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
+
+ODE_API void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+
+/**
+ * @brief Set hinge axis.
+ * @ingroup joints
+ */
+ODE_API void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set joint parameter
+ * @ingroup joints
+ */
+ODE_API void dJointSetHingeParam (dJointID, int parameter, dReal value);
+
+/**
+ * @brief Applies the torque about the hinge axis.
+ *
+ * That is, it applies a torque with specified magnitude in the direction
+ * of the hinge axis, to body 1, and with the same magnitude but in opposite
+ * direction to body 2. This function is just a wrapper for dBodyAddTorque()}
+ * @ingroup joints
+ */
+ODE_API void dJointAddHingeTorque(dJointID joint, dReal torque);
+
+/**
+ * @brief set the joint axis
+ * @ingroup joints
+ */
+ODE_API void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @ingroup joints
+ */
+ODE_API void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+
+/**
+ * @brief set joint parameter
+ * @ingroup joints
+ */
+ODE_API void dJointSetSliderParam (dJointID, int parameter, dReal value);
+
+/**
+ * @brief Applies the given force in the slider's direction.
+ *
+ * That is, it applies a force with specified magnitude, in the direction of
+ * slider's axis, to body1, and with the same magnitude but opposite
+ * direction to body2.  This function is just a wrapper for dBodyAddForce().
+ * @ingroup joints
+ */
+ODE_API void dJointAddSliderForce(dJointID joint, dReal force);
+
+/**
+ * @brief set anchor
+ * @ingroup joints
+ */
+ODE_API void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set axis
+ * @ingroup joints
+ */
+ODE_API void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set axis
+ * @ingroup joints
+ */
+ODE_API void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set joint parameter
+ * @ingroup joints
+ */
+ODE_API void dJointSetHinge2Param (dJointID, int parameter, dReal value);
+
+/**
+ * @brief Applies torque1 about the hinge2's axis 1, torque2 about the
+ * hinge2's axis 2.
+ * @remarks  This function is just a wrapper for dBodyAddTorque().
+ * @ingroup joints
+ */
+ODE_API void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
+
+/**
+ * @brief set anchor
+ * @ingroup joints
+ */
+ODE_API void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set axis
+ * @ingroup joints
+ */
+ODE_API void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set axis
+ * @ingroup joints
+ */
+ODE_API void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set joint parameter
+ * @ingroup joints
+ */
+ODE_API void dJointSetUniversalParam (dJointID, int parameter, dReal value);
+
+/**
+ * @brief Applies torque1 about the universal's axis 1, torque2 about the
+ * universal's axis 2.
+ * @remarks This function is just a wrapper for dBodyAddTorque().
+ * @ingroup joints
+ */
+ODE_API void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
+
+
+/**
+ * @brief set anchor
+ * @ingroup joints
+ */
+ODE_API void dJointSetPRAnchor (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set the axis for the prismatic articulation
+ * @ingroup joints
+ */
+ODE_API void dJointSetPRAxis1 (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set the axis for the rotoide articulation
+ * @ingroup joints
+ */
+ODE_API void dJointSetPRAxis2 (dJointID, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set joint parameter
+ * @ingroup joints
+ *
+ * @note parameterX where X equal 2 refer to parameter for the rotoide articulation
+ */
+ODE_API void dJointSetPRParam (dJointID, int parameter, dReal value);
+
+/**
+ * @brief Applies the torque about the rotoide axis of the PR joint
+ *
+ * That is, it applies a torque with specified magnitude in the direction 
+ * of the rotoide axis, to body 1, and with the same magnitude but in opposite
+ * direction to body 2. This function is just a wrapper for dBodyAddTorque()}
+ * @ingroup joints
+ */
+ODE_API void dJointAddPRTorque (dJointID j, dReal torque);
+
+
+/**
+ * @brief Call this on the fixed joint after it has been attached to
+ * remember the current desired relative offset and desired relative
+ * rotation between the bodies.
+ * @ingroup joints
+ */
+ODE_API void dJointSetFixed (dJointID);
+
+/*
+ * @brief Sets joint parameter
+ *
+ * @ingroup joints
+ */
+ODE_API void dJointSetFixedParam (dJointID, int parameter, dReal value);
+
+/**
+ * @brief set the nr of axes
+ * @param num 0..3
+ * @ingroup joints
+ */
+ODE_API void dJointSetAMotorNumAxes (dJointID, int num);
+
+/**
+ * @brief set axis
+ * @ingroup joints
+ */
+ODE_API void dJointSetAMotorAxis (dJointID, int anum, int rel,
+                          dReal x, dReal y, dReal z);
+
+/**
+ * @brief Tell the AMotor what the current angle is along axis anum.
+ *
+ * This function should only be called in dAMotorUser mode, because in this
+ * mode the AMotor has no other way of knowing the joint angles.
+ * The angle information is needed if stops have been set along the axis,
+ * but it is not needed for axis motors.
+ * @ingroup joints
+ */
+ODE_API void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
+
+/**
+ * @brief set joint parameter
+ * @ingroup joints
+ */
+ODE_API void dJointSetAMotorParam (dJointID, int parameter, dReal value);
+
+/**
+ * @brief set mode
+ * @ingroup joints
+ */
+ODE_API void dJointSetAMotorMode (dJointID, int mode);
+
+/**
+ * @brief Applies torque0 about the AMotor's axis 0, torque1 about the
+ * AMotor's axis 1, and torque2 about the AMotor's axis 2.
+ * @remarks
+ * If the motor has fewer than three axes, the higher torques are ignored.
+ * This function is just a wrapper for dBodyAddTorque().
+ * @ingroup joints
+ */
+ODE_API void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
+
+/**
+ * @brief Set the number of axes that will be controlled by the LMotor.
+ * @param num can range from 0 (which effectively deactivates the joint) to 3.
+ * @ingroup joints
+ */
+ODE_API void dJointSetLMotorNumAxes (dJointID, int num);
+
+/**
+ * @brief Set the AMotor axes.
+ * @param anum selects the axis to change (0,1 or 2).
+ * @param rel Each axis can have one of three ``relative orientation'' modes
+ * \li 0: The axis is anchored to the global frame.
+ * \li 1: The axis is anchored to the first body.
+ * \li 2: The axis is anchored to the second body.
+ * @remarks The axis vector is always specified in global coordinates
+ * regardless of the setting of rel.
+ * @ingroup joints
+ */
+ODE_API void dJointSetLMotorAxis (dJointID, int anum, int rel, dReal x, dReal y, dReal z);
+
+/**
+ * @brief set joint parameter
+ * @ingroup joints
+ */
+ODE_API void dJointSetLMotorParam (dJointID, int parameter, dReal value);
+
+/**
+ * @ingroup joints
+ */
+ODE_API void dJointSetPlane2DXParam (dJointID, int parameter, dReal value);
+
+/**
+ * @ingroup joints
+ */
+
+ODE_API void dJointSetPlane2DYParam (dJointID, int parameter, dReal value);
+
+/**
+ * @ingroup joints
+ */
+ODE_API void dJointSetPlane2DAngleParam (dJointID, int parameter, dReal value);
+
+/**
+ * @brief Get the joint anchor point, in world coordinates.
+ *
+ * This returns the point on body 1. If the joint is perfectly satisfied,
+ * this will be the same as the point on body 2.
+ */
+ODE_API void dJointGetBallAnchor (dJointID, dVector3 result);
+
+/**
+ * @brief Get the joint anchor point, in world coordinates.
+ *
+ * This returns the point on body 2. You can think of a ball and socket
+ * joint as trying to keep the result of dJointGetBallAnchor() and
+ * dJointGetBallAnchor2() the same.  If the joint is perfectly satisfied,
+ * this function will return the same value as dJointGetBallAnchor() to
+ * within roundoff errors. dJointGetBallAnchor2() can be used, along with
+ * dJointGetBallAnchor(), to see how far the joint has come apart.
+ */
+ODE_API void dJointGetBallAnchor2 (dJointID, dVector3 result);
+
+/**
+ * @brief get joint parameter
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetBallParam (dJointID, int parameter);
+
+/**
+ * @brief Get the hinge anchor point, in world coordinates.
+ *
+ * This returns the point on body 1. If the joint is perfectly satisfied,
+ * this will be the same as the point on body 2.
+ * @ingroup joints
+ */
+ODE_API void dJointGetHingeAnchor (dJointID, dVector3 result);
+
+/**
+ * @brief Get the joint anchor point, in world coordinates.
+ * @return The point on body 2. If the joint is perfectly satisfied,
+ * this will return the same value as dJointGetHingeAnchor().
+ * If not, this value will be slightly different.
+ * This can be used, for example, to see how far the joint has come apart.
+ * @ingroup joints
+ */
+ODE_API void dJointGetHingeAnchor2 (dJointID, dVector3 result);
+
+/**
+ * @brief get axis
+ * @ingroup joints
+ */
+ODE_API void dJointGetHingeAxis (dJointID, dVector3 result);
+
+/**
+ * @brief get joint parameter
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetHingeParam (dJointID, int parameter);
+
+/**
+ * @brief Get the hinge angle.
+ *
+ * The angle is measured between the two bodies, or between the body and
+ * the static environment.
+ * The angle will be between -pi..pi.
+ * When the hinge anchor or axis is set, the current position of the attached
+ * bodies is examined and that position will be the zero angle.
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetHingeAngle (dJointID);
+
+/**
+ * @brief Get the hinge angle time derivative.
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetHingeAngleRate (dJointID);
+
+/**
+ * @brief Get the slider linear position (i.e. the slider's extension)
+ *
+ * When the axis is set, the current position of the attached bodies is
+ * examined and that position will be the zero position.
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetSliderPosition (dJointID);
+
+/**
+ * @brief Get the slider linear position's time derivative.
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetSliderPositionRate (dJointID);
+
+/**
+ * @brief Get the slider axis
+ * @ingroup joints
+ */
+ODE_API void dJointGetSliderAxis (dJointID, dVector3 result);
+
+/**
+ * @brief get joint parameter
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetSliderParam (dJointID, int parameter);
+
+/**
+ * @brief Get the joint anchor point, in world coordinates.
+ * @return the point on body 1.  If the joint is perfectly satisfied,
+ * this will be the same as the point on body 2.
+ * @ingroup joints
+ */
+ODE_API void dJointGetHinge2Anchor (dJointID, dVector3 result);
+
+/**
+ * @brief Get the joint anchor point, in world coordinates.
+ * This returns the point on body 2. If the joint is perfectly satisfied,
+ * this will return the same value as dJointGetHinge2Anchor.
+ * If not, this value will be slightly different.
+ * This can be used, for example, to see how far the joint has come apart.
+ * @ingroup joints
+ */
+ODE_API void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
+
+/**
+ * @brief Get joint axis
+ * @ingroup joints
+ */
+ODE_API void dJointGetHinge2Axis1 (dJointID, dVector3 result);
+
+/**
+ * @brief Get joint axis
+ * @ingroup joints
+ */
+ODE_API void dJointGetHinge2Axis2 (dJointID, dVector3 result);
+
+/**
+ * @brief get joint parameter
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetHinge2Param (dJointID, int parameter);
+
+/**
+ * @brief Get angle
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetHinge2Angle1 (dJointID);
+
+/**
+ * @brief Get time derivative of angle
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetHinge2Angle1Rate (dJointID);
+
+/**
+ * @brief Get time derivative of angle
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetHinge2Angle2Rate (dJointID);
+
+/**
+ * @brief Get the joint anchor point, in world coordinates.
+ * @return the point on body 1. If the joint is perfectly satisfied,
+ * this will be the same as the point on body 2.
+ * @ingroup joints
+ */
+ODE_API void dJointGetUniversalAnchor (dJointID, dVector3 result);
+
+/**
+ * @brief Get the joint anchor point, in world coordinates.
+ * @return This returns the point on body 2.
+ * @remarks
+ * You can think of the ball and socket part of a universal joint as
+ * trying to keep the result of dJointGetBallAnchor() and
+ * dJointGetBallAnchor2() the same. If the joint is
+ * perfectly satisfied, this function will return the same value
+ * as dJointGetUniversalAnchor() to within roundoff errors.
+ * dJointGetUniversalAnchor2() can be used, along with
+ * dJointGetUniversalAnchor(), to see how far the joint has come apart.
+ * @ingroup joints
+ */
+ODE_API void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
+
+/**
+ * @brief Get axis
+ * @ingroup joints
+ */
+ODE_API void dJointGetUniversalAxis1 (dJointID, dVector3 result);
+
+/**
+ * @brief Get axis
+ * @ingroup joints
+ */
+ODE_API void dJointGetUniversalAxis2 (dJointID, dVector3 result);
+
+
+/**
+ * @brief get joint parameter
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetUniversalParam (dJointID, int parameter);
+
+/**
+ * @brief Get both angles at the same time.
+ * @ingroup joints
+ *
+ * @param joint   The universal joint for which we want to calculate the angles
+ * @param angle1  The angle between the body1 and the axis 1
+ * @param angle2  The angle between the body2 and the axis 2
+ *
+ * @note This function combine getUniversalAngle1 and getUniversalAngle2 together
+ *       and try to avoid redundant calculation
+ */
+ODE_API void dJointGetUniversalAngles (dJointID, dReal *angle1, dReal *angle2);
+
+/**
+ * @brief Get angle
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetUniversalAngle1 (dJointID);
+
+/**
+ * @brief Get angle
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetUniversalAngle2 (dJointID);
+
+/**
+ * @brief Get time derivative of angle
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetUniversalAngle1Rate (dJointID);
+
+/**
+ * @brief Get time derivative of angle
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetUniversalAngle2Rate (dJointID);
+
+
+
+/**
+ * @brief Get the joint anchor point, in world coordinates.
+ * @return the point on body 1. If the joint is perfectly satisfied, 
+ * this will be the same as the point on body 2.
+ * @ingroup joints
+ */
+ODE_API void dJointGetPRAnchor (dJointID, dVector3 result);
+
+/**
+ * @brief Get the PR linear position (i.e. the prismatic's extension)
+ *
+ * When the axis is set, the current position of the attached bodies is
+ * examined and that position will be the zero position.
+ *
+ * The position is the "oriented" length between the
+ * position = (Prismatic axis) dot_product [(body1 + offset) - (body2 + anchor2)]
+ *
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetPRPosition (dJointID);
+
+/**
+ * @brief Get the PR linear position's time derivative
+ *
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetPRPositionRate (dJointID);
+
+
+/**
+ * @brief Get the prismatic axis
+ * @ingroup joints
+ */
+ODE_API void dJointGetPRAxis1 (dJointID, dVector3 result);
+
+/**
+ * @brief Get the Rotoide axis
+ * @ingroup joints
+ */
+ODE_API void dJointGetPRAxis2 (dJointID, dVector3 result);
+
+/**
+ * @brief get joint parameter
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetPRParam (dJointID, int parameter);
+
+
+
+/**
+ * @brief Get the number of angular axes that will be controlled by the
+ * AMotor.
+ * @param num can range from 0 (which effectively deactivates the
+ * joint) to 3.
+ * This is automatically set to 3 in dAMotorEuler mode.
+ * @ingroup joints
+ */
+ODE_API int dJointGetAMotorNumAxes (dJointID);
+
+/**
+ * @brief Get the AMotor axes.
+ * @param anum selects the axis to change (0,1 or 2).
+ * @param rel Each axis can have one of three ``relative orientation'' modes.
+ * \li 0: The axis is anchored to the global frame.
+ * \li 1: The axis is anchored to the first body.
+ * \li 2: The axis is anchored to the second body.
+ * @ingroup joints
+ */
+ODE_API void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
+
+/**
+ * @brief Get axis
+ * @remarks
+ * The axis vector is always specified in global coordinates regardless
+ * of the setting of rel.
+ * There are two GetAMotorAxis functions, one to return the axis and one to
+ * return the relative mode.
+ *
+ * For dAMotorEuler mode:
+ * \li  Only axes 0 and 2 need to be set. Axis 1 will be determined
+        automatically at each time step.
+ * \li  Axes 0 and 2 must be perpendicular to each other.
+ * \li  Axis 0 must be anchored to the first body, axis 2 must be anchored
+        to the second body.
+ * @ingroup joints
+ */
+ODE_API int dJointGetAMotorAxisRel (dJointID, int anum);
+
+/**
+ * @brief Get the current angle for axis.
+ * @remarks
+ * In dAMotorUser mode this is simply the value that was set with
+ * dJointSetAMotorAngle().
+ * In dAMotorEuler mode this is the corresponding euler angle.
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetAMotorAngle (dJointID, int anum);
+
+/**
+ * @brief Get the current angle rate for axis anum.
+ * @remarks
+ * In dAMotorUser mode this is always zero, as not enough information is
+ * available.
+ * In dAMotorEuler mode this is the corresponding euler angle rate.
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetAMotorAngleRate (dJointID, int anum);
+
+/**
+ * @brief get joint parameter
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetAMotorParam (dJointID, int parameter);
+
+/**
+ * @brief Get the angular motor mode.
+ * @param mode must be one of the following constants:
+ * \li dAMotorUser The AMotor axes and joint angle settings are entirely
+ * controlled by the user.  This is the default mode.
+ * \li dAMotorEuler Euler angles are automatically computed.
+ * The axis a1 is also automatically computed.
+ * The AMotor axes must be set correctly when in this mode,
+ * as described below.
+ * When this mode is initially set the current relative orientations
+ * of the bodies will correspond to all euler angles at zero.
+ * @ingroup joints
+ */
+ODE_API int dJointGetAMotorMode (dJointID);
+
+/**
+ * @brief Get nr of axes.
+ * @ingroup joints
+ */
+ODE_API int dJointGetLMotorNumAxes (dJointID);
+
+/**
+ * @brief Get axis.
+ * @ingroup joints
+ */
+ODE_API void dJointGetLMotorAxis (dJointID, int anum, dVector3 result);
+
+/**
+ * @brief get joint parameter
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetLMotorParam (dJointID, int parameter);
+
+/**
+ * @brief get joint parameter
+ * @ingroup joints
+ */
+ODE_API dReal dJointGetFixedParam (dJointID, int parameter);
+
+
+/**
+ * @ingroup joints
+ */
+ODE_API dJointID dConnectingJoint (dBodyID, dBodyID);
+
+/**
+ * @ingroup joints
+ */
+ODE_API int dConnectingJointList (dBodyID, dBodyID, dJointID*);
+
+/**
+ * @brief Utility function
+ * @return 1 if the two bodies are connected together by
+ * a joint, otherwise return 0.
+ * @ingroup joints
+ */
+ODE_API int dAreConnected (dBodyID, dBodyID);
+
+/**
+ * @brief Utility function
+ * @return 1 if the two bodies are connected together by
+ * a joint that does not have type @arg{joint_type}, otherwise return 0.
+ * @param body1 A body to check.
+ * @param body2 A body to check.
+ * @param joint_type is a dJointTypeXXX constant.
+ * This is useful for deciding whether to add contact joints between two bodies:
+ * if they are already connected by non-contact joints then it may not be
+ * appropriate to add contacts, however it is okay to add more contact between-
+ * bodies that already have contacts.
+ * @ingroup joints
+ */
+ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/ode.h b/libraries/ode-0.9/include/ode/ode.h
new file mode 100644
index 0000000..00cd500
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/ode.h
@@ -0,0 +1,47 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_ODE_H_
+#define _ODE_ODE_H_
+
+/* include *everything* here */
+
+#include <ode/config.h>
+#include <ode/compatibility.h>
+#include <ode/common.h>
+#include <ode/contact.h>
+#include <ode/error.h>
+#include <ode/memory.h>
+#include <ode/odemath.h>
+#include <ode/matrix.h>
+#include <ode/timer.h>
+#include <ode/rotation.h>
+#include <ode/mass.h>
+#include <ode/misc.h>
+#include <ode/objects.h>
+#include <ode/odecpp.h>
+#include <ode/collision_space.h>
+#include <ode/collision.h>
+#include <ode/odecpp_collision.h>
+#include <ode/export-dif.h>
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/odecpp.h b/libraries/ode-0.9/include/ode/odecpp.h
new file mode 100644
index 0000000..62161fd
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/odecpp.h
@@ -0,0 +1,712 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* C++ interface for non-collision stuff */
+
+
+#ifndef _ODE_ODECPP_H_
+#define _ODE_ODECPP_H_
+#ifdef __cplusplus
+
+#include <ode/error.h>
+
+
+class dWorld {
+  dWorldID _id;
+
+  // intentionally undefined, don't use these
+  dWorld (const dWorld &);
+  void operator= (const dWorld &);
+
+public:
+  dWorld()
+    { _id = dWorldCreate(); }
+  ~dWorld()
+    { dWorldDestroy (_id); }
+
+  dWorldID id() const
+    { return _id; }
+  operator dWorldID() const
+    { return _id; }
+
+  void setGravity (dReal x, dReal y, dReal z)
+    { dWorldSetGravity (_id,x,y,z); }
+  void getGravity (dVector3 g) const
+    { dWorldGetGravity (_id,g); }
+
+  void setERP (dReal erp)
+    { dWorldSetERP(_id, erp); }
+  dReal getERP() const
+    { return dWorldGetERP(_id); }
+
+  void setCFM (dReal cfm)
+    { dWorldSetCFM(_id, cfm); }
+  dReal getCFM() const
+    { return dWorldGetCFM(_id); }
+
+  void step (dReal stepsize)
+    { dWorldStep (_id,stepsize); }
+
+  void stepFast1 (dReal stepsize, int maxiterations)
+    { dWorldStepFast1 (_id,stepsize,maxiterations); }
+  void setAutoEnableDepthSF1(dWorldID, int depth)
+    { dWorldSetAutoEnableDepthSF1 (_id, depth); }
+  int getAutoEnableDepthSF1(dWorldID)
+    { return dWorldGetAutoEnableDepthSF1 (_id); }
+
+  void  setAutoDisableLinearThreshold (dReal threshold) 
+    { dWorldSetAutoDisableLinearThreshold (_id,threshold); }
+  dReal getAutoDisableLinearThreshold()
+    { return dWorldGetAutoDisableLinearThreshold (_id); }
+  void setAutoDisableAngularThreshold (dReal threshold)
+    { dWorldSetAutoDisableAngularThreshold (_id,threshold); }
+  dReal getAutoDisableAngularThreshold()
+    { return dWorldGetAutoDisableAngularThreshold (_id); }
+  void setAutoDisableSteps (int steps)
+    { dWorldSetAutoDisableSteps (_id,steps); }
+  int getAutoDisableSteps()
+    { return dWorldGetAutoDisableSteps (_id); }
+  void setAutoDisableTime (dReal time)
+    { dWorldSetAutoDisableTime (_id,time); }
+  dReal getAutoDisableTime()
+    { return dWorldGetAutoDisableTime (_id); }
+  void setAutoDisableFlag (int do_auto_disable)
+    { dWorldSetAutoDisableFlag (_id,do_auto_disable); }
+  int getAutoDisableFlag()
+    { return dWorldGetAutoDisableFlag (_id); }
+
+  void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
+                       dVector3 force)
+    { dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); }
+};
+
+
+class dBody {
+  dBodyID _id;
+
+  // intentionally undefined, don't use these
+  dBody (const dBody &);
+  void operator= (const dBody &);
+
+public:
+  dBody()
+    { _id = 0; }
+  dBody (dWorldID world)
+    { _id = dBodyCreate (world); }
+  ~dBody()
+    { if (_id) dBodyDestroy (_id); }
+
+  void create (dWorldID world) {
+    if (_id) dBodyDestroy (_id);
+    _id = dBodyCreate (world);
+  }
+
+  dBodyID id() const
+    { return _id; }
+  operator dBodyID() const
+    { return _id; }
+
+  void setData (void *data)
+    { dBodySetData (_id,data); }
+  void *getData() const
+    { return dBodyGetData (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dBodySetPosition (_id,x,y,z); }
+  void setRotation (const dMatrix3 R)
+    { dBodySetRotation (_id,R); }
+  void setQuaternion (const dQuaternion q)
+    { dBodySetQuaternion (_id,q); }
+  void setLinearVel  (dReal x, dReal y, dReal z)
+    { dBodySetLinearVel (_id,x,y,z); }
+  void setAngularVel (dReal x, dReal y, dReal z)
+    { dBodySetAngularVel (_id,x,y,z); }
+
+  const dReal * getPosition() const
+    { return dBodyGetPosition (_id); }
+  const dReal * getRotation() const
+    { return dBodyGetRotation (_id); }
+  const dReal * getQuaternion() const
+    { return dBodyGetQuaternion (_id); }
+  const dReal * getLinearVel() const
+    { return dBodyGetLinearVel (_id); }
+  const dReal * getAngularVel() const
+    { return dBodyGetAngularVel (_id); }
+
+  void setMass (const dMass *mass)
+    { dBodySetMass (_id,mass); }
+  void getMass (dMass *mass) const
+    { dBodyGetMass (_id,mass); }
+
+  void addForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddForce (_id, fx, fy, fz); }
+  void addTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddTorque (_id, fx, fy, fz); }
+  void addRelForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelForce (_id, fx, fy, fz); }
+  void addRelTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelTorque (_id, fx, fy, fz); }
+  void addForceAtPos (dReal fx, dReal fy, dReal fz,
+                      dReal px, dReal py, dReal pz)
+    { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
+                      dReal px, dReal py, dReal pz)
+    { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
+                         dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
+                            dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
+
+  const dReal * getForce() const
+    { return dBodyGetForce(_id); }
+  const dReal * getTorque() const
+    { return dBodyGetTorque(_id); }
+  void setForce (dReal x, dReal y, dReal z)
+    { dBodySetForce (_id,x,y,z); }
+  void setTorque (dReal x, dReal y, dReal z)
+    { dBodySetTorque (_id,x,y,z); }
+
+  void enable()
+    { dBodyEnable (_id); }
+  void disable()
+    { dBodyDisable (_id); }
+  int isEnabled() const
+    { return dBodyIsEnabled (_id); }
+
+  void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetRelPointPos (_id, px, py, pz, result); }
+  void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetRelPointVel (_id, px, py, pz, result); }
+  void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetPointVel (_id,px,py,pz,result); }
+  void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetPosRelPoint (_id,px,py,pz,result); }
+  void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyVectorToWorld (_id,px,py,pz,result); }
+  void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyVectorFromWorld (_id,px,py,pz,result); }
+
+  void setFiniteRotationMode (int mode)
+    { dBodySetFiniteRotationMode (_id, mode); }
+  void setFiniteRotationAxis (dReal x, dReal y, dReal z)
+    { dBodySetFiniteRotationAxis (_id, x, y, z); }
+
+  int getFiniteRotationMode() const
+    { return dBodyGetFiniteRotationMode (_id); }
+  void getFiniteRotationAxis (dVector3 result) const
+    { dBodyGetFiniteRotationAxis (_id, result); }
+
+  int getNumJoints() const
+    { return dBodyGetNumJoints (_id); }
+  dJointID getJoint (int index) const
+    { return dBodyGetJoint (_id, index); }
+
+  void setGravityMode (int mode)
+    { dBodySetGravityMode (_id,mode); }
+  int getGravityMode() const
+    { return dBodyGetGravityMode (_id); }
+
+  int isConnectedTo (dBodyID body) const
+    { return dAreConnected (_id, body); }
+
+  void  setAutoDisableLinearThreshold (dReal threshold) 
+    { dBodySetAutoDisableLinearThreshold (_id,threshold); }
+  dReal getAutoDisableLinearThreshold()
+    { return dBodyGetAutoDisableLinearThreshold (_id); }
+  void setAutoDisableAngularThreshold (dReal threshold)
+    { dBodySetAutoDisableAngularThreshold (_id,threshold); }
+  dReal getAutoDisableAngularThreshold()
+    { return dBodyGetAutoDisableAngularThreshold (_id); }
+  void setAutoDisableSteps (int steps)
+    { dBodySetAutoDisableSteps (_id,steps); }
+  int getAutoDisableSteps()
+    { return dBodyGetAutoDisableSteps (_id); }
+  void setAutoDisableTime (dReal time)
+    { dBodySetAutoDisableTime (_id,time); }
+  dReal getAutoDisableTime()
+    { return dBodyGetAutoDisableTime (_id); }
+  void setAutoDisableFlag (int do_auto_disable)
+    { dBodySetAutoDisableFlag (_id,do_auto_disable); }
+  int getAutoDisableFlag()
+    { return dBodyGetAutoDisableFlag (_id); }
+};
+
+
+class dJointGroup {
+  dJointGroupID _id;
+
+  // intentionally undefined, don't use these
+  dJointGroup (const dJointGroup &);
+  void operator= (const dJointGroup &);
+
+public:
+  dJointGroup (int dummy_arg=0)
+    { _id = dJointGroupCreate (0); }
+  ~dJointGroup()
+    { dJointGroupDestroy (_id); }
+  void create (int dummy_arg=0) {
+    if (_id) dJointGroupDestroy (_id);
+    _id = dJointGroupCreate (0);
+  }
+
+  dJointGroupID id() const
+    { return _id; }
+  operator dJointGroupID() const
+    { return _id; }
+
+  void empty()
+    { dJointGroupEmpty (_id); }
+};
+
+
+class dJoint {
+private:
+  // intentionally undefined, don't use these
+  dJoint (const dJoint &) ;
+  void operator= (const dJoint &);
+
+protected:
+  dJointID _id;
+
+public:
+  dJoint()
+    { _id = 0; }
+  ~dJoint()
+    { if (_id) dJointDestroy (_id); }
+
+  dJointID id() const
+    { return _id; }
+  operator dJointID() const
+    { return _id; }
+
+  void attach (dBodyID body1, dBodyID body2)
+    { dJointAttach (_id, body1, body2); }
+
+  void setData (void *data)
+    { dJointSetData (_id, data); }
+  void *getData() const
+    { return dJointGetData (_id); }
+
+  int getType() const
+    { return dJointGetType (_id); }
+
+  dBodyID getBody (int index) const
+    { return dJointGetBody (_id, index); }
+
+  void setFeedback(dJointFeedback *fb)
+    { dJointSetFeedback(_id, fb); }
+  dJointFeedback *getFeedback() const
+    { return dJointGetFeedback(_id); }
+};
+
+
+class dBallJoint : public dJoint {
+private:
+  // intentionally undefined, don't use these
+  dBallJoint (const dBallJoint &);
+  void operator= (const dBallJoint &);
+
+public:
+  dBallJoint() { }
+  dBallJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateBall (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateBall (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetBallAnchor (_id, x, y, z); }
+  void getAnchor (dVector3 result) const
+    { dJointGetBallAnchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetBallAnchor2 (_id, result); }
+  void setParam (int parameter, dReal value)
+    { dJointSetBallParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetBallParam (_id, parameter); }
+} ;
+
+
+class dHingeJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dHingeJoint (const dHingeJoint &);
+  void operator = (const dHingeJoint &);
+
+public:
+  dHingeJoint() { }
+  dHingeJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateHinge (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateHinge (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetHingeAnchor (_id, x, y, z); }
+  void getAnchor (dVector3 result) const
+    { dJointGetHingeAnchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetHingeAnchor2 (_id, result); }
+
+  void setAxis (dReal x, dReal y, dReal z)
+    { dJointSetHingeAxis (_id, x, y, z); }
+  void getAxis (dVector3 result) const
+    { dJointGetHingeAxis (_id, result); }
+
+  dReal getAngle() const
+    { return dJointGetHingeAngle (_id); }
+  dReal getAngleRate() const
+    { return dJointGetHingeAngleRate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetHingeParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetHingeParam (_id, parameter); }
+
+  void addTorque (dReal torque)
+        { dJointAddHingeTorque(_id, torque); }
+};
+
+
+class dSliderJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dSliderJoint (const dSliderJoint &);
+  void operator = (const dSliderJoint &);
+
+public:
+  dSliderJoint() { }
+  dSliderJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateSlider (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateSlider (world, group);
+  }
+
+  void setAxis (dReal x, dReal y, dReal z)
+    { dJointSetSliderAxis (_id, x, y, z); }
+  void getAxis (dVector3 result) const
+    { dJointGetSliderAxis (_id, result); }
+
+  dReal getPosition() const
+    { return dJointGetSliderPosition (_id); }
+  dReal getPositionRate() const
+    { return dJointGetSliderPositionRate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetSliderParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetSliderParam (_id, parameter); }
+
+  void addForce (dReal force)
+        { dJointAddSliderForce(_id, force); }
+};
+
+
+class dUniversalJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dUniversalJoint (const dUniversalJoint &);
+  void operator = (const dUniversalJoint &);
+
+public:
+  dUniversalJoint() { }
+  dUniversalJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateUniversal (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateUniversal (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetUniversalAnchor (_id, x, y, z); }
+  void setAxis1 (dReal x, dReal y, dReal z)
+    { dJointSetUniversalAxis1 (_id, x, y, z); }
+  void setAxis2 (dReal x, dReal y, dReal z)
+    { dJointSetUniversalAxis2 (_id, x, y, z); }
+  void setParam (int parameter, dReal value)
+    { dJointSetUniversalParam (_id, parameter, value); }
+
+  void getAnchor (dVector3 result) const
+    { dJointGetUniversalAnchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetUniversalAnchor2 (_id, result); }
+  void getAxis1 (dVector3 result) const
+    { dJointGetUniversalAxis1 (_id, result); }
+  void getAxis2 (dVector3 result) const
+    { dJointGetUniversalAxis2 (_id, result); }
+  dReal getParam (int parameter) const
+    { return dJointGetUniversalParam (_id, parameter); }
+ void getAngles(dReal *angle1, dReal *angle2) const
+    { dJointGetUniversalAngles (_id, angle1, angle2); }
+
+  dReal getAngle1() const
+    { return dJointGetUniversalAngle1 (_id); }
+  dReal getAngle1Rate() const
+    { return dJointGetUniversalAngle1Rate (_id); }
+  dReal getAngle2() const
+    { return dJointGetUniversalAngle2 (_id); }
+  dReal getAngle2Rate() const
+    { return dJointGetUniversalAngle2Rate (_id); }
+
+  void addTorques (dReal torque1, dReal torque2)
+        { dJointAddUniversalTorques(_id, torque1, torque2); }
+};
+
+
+class dHinge2Joint : public dJoint {
+  // intentionally undefined, don't use these
+  dHinge2Joint (const dHinge2Joint &);
+  void operator = (const dHinge2Joint &);
+
+public:
+  dHinge2Joint() { }
+  dHinge2Joint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateHinge2 (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateHinge2 (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetHinge2Anchor (_id, x, y, z); }
+  void setAxis1 (dReal x, dReal y, dReal z)
+    { dJointSetHinge2Axis1 (_id, x, y, z); }
+  void setAxis2 (dReal x, dReal y, dReal z)
+    { dJointSetHinge2Axis2 (_id, x, y, z); }
+
+  void getAnchor (dVector3 result) const
+    { dJointGetHinge2Anchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetHinge2Anchor2 (_id, result); }
+  void getAxis1 (dVector3 result) const
+    { dJointGetHinge2Axis1 (_id, result); }
+  void getAxis2 (dVector3 result) const
+    { dJointGetHinge2Axis2 (_id, result); }
+
+  dReal getAngle1() const
+    { return dJointGetHinge2Angle1 (_id); }
+  dReal getAngle1Rate() const
+    { return dJointGetHinge2Angle1Rate (_id); }
+  dReal getAngle2Rate() const
+    { return dJointGetHinge2Angle2Rate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetHinge2Param (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetHinge2Param (_id, parameter); }
+
+  void addTorques(dReal torque1, dReal torque2)
+        { dJointAddHinge2Torques(_id, torque1, torque2); }
+};
+
+
+class dPRJoint : public dJoint {
+  dPRJoint (const dPRJoint &);
+  void operator = (const dPRJoint &);
+
+public:
+  dPRJoint() { }
+  dPRJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreatePR (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreatePR (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetPRAnchor (_id, x, y, z); }
+  void setAxis1 (dReal x, dReal y, dReal z)
+    { dJointSetPRAxis1 (_id, x, y, z); }
+  void setAxis2 (dReal x, dReal y, dReal z)
+    { dJointSetPRAxis2 (_id, x, y, z); }
+
+  void getAnchor (dVector3 result) const
+    { dJointGetPRAnchor (_id, result); }
+  void getAxis1 (dVector3 result) const
+    { dJointGetPRAxis1 (_id, result); }
+  void getAxis2 (dVector3 result) const
+    { dJointGetPRAxis2 (_id, result); }
+
+  dReal getPosition() const
+    { return dJointGetPRPosition (_id); }
+  dReal getPositionRate() const
+    { return dJointGetPRPositionRate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetPRParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetPRParam (_id, parameter); }
+};
+
+
+class dFixedJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dFixedJoint (const dFixedJoint &);
+  void operator = (const dFixedJoint &);
+
+public:
+  dFixedJoint() { }
+  dFixedJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateFixed (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateFixed (world, group);
+  }
+
+  void set()
+    { dJointSetFixed (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetFixedParam (_id, parameter, value); }
+
+  dReal getParam (int parameter) const
+    { return dJointGetFixedParam (_id, parameter); }
+};
+
+
+class dContactJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dContactJoint (const dContactJoint &);
+  void operator = (const dContactJoint &);
+
+public:
+  dContactJoint() { }
+  dContactJoint (dWorldID world, dJointGroupID group, dContact *contact)
+    { _id = dJointCreateContact (world, group, contact); }
+
+  void create (dWorldID world, dJointGroupID group, dContact *contact) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateContact (world, group, contact);
+  }
+};
+
+
+class dNullJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dNullJoint (const dNullJoint &);
+  void operator = (const dNullJoint &);
+
+public:
+  dNullJoint() { }
+  dNullJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateNull (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateNull (world, group);
+  }
+};
+
+
+class dAMotorJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dAMotorJoint (const dAMotorJoint &);
+  void operator = (const dAMotorJoint &);
+
+public:
+  dAMotorJoint() { }
+  dAMotorJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateAMotor (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateAMotor (world, group);
+  }
+
+  void setMode (int mode)
+    { dJointSetAMotorMode (_id, mode); }
+  int getMode() const
+    { return dJointGetAMotorMode (_id); }
+
+  void setNumAxes (int num)
+    { dJointSetAMotorNumAxes (_id, num); }
+  int getNumAxes() const
+    { return dJointGetAMotorNumAxes (_id); }
+
+  void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
+    { dJointSetAMotorAxis (_id, anum, rel, x, y, z); }
+  void getAxis (int anum, dVector3 result) const
+    { dJointGetAMotorAxis (_id, anum, result); }
+  int getAxisRel (int anum) const
+    { return dJointGetAMotorAxisRel (_id, anum); }
+
+  void setAngle (int anum, dReal angle)
+    { dJointSetAMotorAngle (_id, anum, angle); }
+  dReal getAngle (int anum) const
+    { return dJointGetAMotorAngle (_id, anum); }
+  dReal getAngleRate (int anum)
+    { return dJointGetAMotorAngleRate (_id,anum); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetAMotorParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetAMotorParam (_id, parameter); }
+
+  void addTorques(dReal torque1, dReal torque2, dReal torque3)
+        { dJointAddAMotorTorques(_id, torque1, torque2, torque3); }
+};
+
+
+class dLMotorJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dLMotorJoint (const dLMotorJoint &);
+  void operator = (const dLMotorJoint &);
+
+public:
+  dLMotorJoint() { }
+  dLMotorJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateLMotor (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateLMotor (world, group);
+  }
+
+  void setNumAxes (int num)
+    { dJointSetLMotorNumAxes (_id, num); }
+  int getNumAxes() const
+    { return dJointGetLMotorNumAxes (_id); }
+
+  void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
+    { dJointSetLMotorAxis (_id, anum, rel, x, y, z); }
+  void getAxis (int anum, dVector3 result) const
+    { dJointGetLMotorAxis (_id, anum, result); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetLMotorParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetLMotorParam (_id, parameter); }
+};
+
+
+
+#endif
+#endif
diff --git a/libraries/ode-0.9/include/ode/odecpp_collision.h b/libraries/ode-0.9/include/ode/odecpp_collision.h
new file mode 100644
index 0000000..16ca78f
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/odecpp_collision.h
@@ -0,0 +1,346 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* C++ interface for new collision API */
+
+
+#ifndef _ODE_ODECPP_COLLISION_H_
+#define _ODE_ODECPP_COLLISION_H_
+#ifdef __cplusplus
+
+#include <ode/error.h>
+
+
+class dGeom {
+  // intentionally undefined, don't use these
+  dGeom (dGeom &);
+  void operator= (dGeom &);
+
+protected:
+  dGeomID _id;
+
+public:
+  dGeom()
+    { _id = 0; }
+  ~dGeom()
+    { if (_id) dGeomDestroy (_id); }
+
+  dGeomID id() const
+    { return _id; }
+  operator dGeomID() const
+    { return _id; }
+
+  void destroy() {
+    if (_id) dGeomDestroy (_id);
+    _id = 0;
+  }
+
+  int getClass() const
+    { return dGeomGetClass (_id); }
+
+  dSpaceID getSpace() const
+    { return dGeomGetSpace (_id); }
+
+  void setData (void *data)
+    { dGeomSetData (_id,data); }
+  void *getData() const
+    { return dGeomGetData (_id); }
+
+  void setBody (dBodyID b)
+    { dGeomSetBody (_id,b); }
+  dBodyID getBody() const
+    { return dGeomGetBody (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dGeomSetPosition (_id,x,y,z); }
+  const dReal * getPosition() const
+    { return dGeomGetPosition (_id); }
+
+  void setRotation (const dMatrix3 R)
+    { dGeomSetRotation (_id,R); }
+  const dReal * getRotation() const
+    { return dGeomGetRotation (_id); }
+    
+  void setQuaternion (const dQuaternion quat)
+    { dGeomSetQuaternion (_id,quat); }
+  void getQuaternion (dQuaternion quat) const
+    { dGeomGetQuaternion (_id,quat); }
+
+  void getAABB (dReal aabb[6]) const
+    { dGeomGetAABB (_id, aabb); }
+
+  int isSpace()
+    { return dGeomIsSpace (_id); }
+
+  void setCategoryBits (unsigned long bits)
+    { dGeomSetCategoryBits (_id, bits); }
+  void setCollideBits (unsigned long bits)
+    { dGeomSetCollideBits (_id, bits); }
+  unsigned long getCategoryBits()
+    { return dGeomGetCategoryBits (_id); }
+  unsigned long getCollideBits()
+    { return dGeomGetCollideBits (_id); }
+
+  void enable()
+    { dGeomEnable (_id); }
+  void disable()
+    { dGeomDisable (_id); }
+  int isEnabled()
+    { return dGeomIsEnabled (_id); }
+
+  void collide2 (dGeomID g, void *data, dNearCallback *callback)
+    { dSpaceCollide2 (_id,g,data,callback); }
+};
+
+
+class dSpace : public dGeom {
+  // intentionally undefined, don't use these
+  dSpace (dSpace &);
+  void operator= (dSpace &);
+
+protected:
+  // the default constructor is protected so that you
+  // can't instance this class. you must instance one
+  // of its subclasses instead.
+  dSpace () { _id = 0; }
+
+public:
+  dSpaceID id() const
+    { return (dSpaceID) _id; }
+  operator dSpaceID() const
+    { return (dSpaceID) _id; }
+
+  void setCleanup (int mode)
+    { dSpaceSetCleanup (id(), mode); }
+  int getCleanup()
+    { return dSpaceGetCleanup (id()); }
+
+  void add (dGeomID x)
+    { dSpaceAdd (id(), x); }
+  void remove (dGeomID x)
+    { dSpaceRemove (id(), x); }
+  int query (dGeomID x)
+    { return dSpaceQuery (id(),x); }
+
+  int getNumGeoms()
+    { return dSpaceGetNumGeoms (id()); }
+  dGeomID getGeom (int i)
+    { return dSpaceGetGeom (id(),i); }
+
+  void collide (void *data, dNearCallback *callback)
+    { dSpaceCollide (id(),data,callback); }
+};
+
+
+class dSimpleSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dSimpleSpace (dSimpleSpace &);
+  void operator= (dSimpleSpace &);
+
+public:
+  dSimpleSpace (dSpaceID space)
+    { _id = (dGeomID) dSimpleSpaceCreate (space); }
+};
+
+
+class dHashSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dHashSpace (dHashSpace &);
+  void operator= (dHashSpace &);
+
+public:
+  dHashSpace (dSpaceID space)
+    { _id = (dGeomID) dHashSpaceCreate (space); }
+  void setLevels (int minlevel, int maxlevel)
+    { dHashSpaceSetLevels (id(),minlevel,maxlevel); }
+};
+
+
+class dQuadTreeSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dQuadTreeSpace (dQuadTreeSpace &);
+  void operator= (dQuadTreeSpace &);
+
+public:
+  dQuadTreeSpace (dSpaceID space, dVector3 center, dVector3 extents, int depth)
+    { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); }
+};
+
+
+class dSphere : public dGeom {
+  // intentionally undefined, don't use these
+  dSphere (dSphere &);
+  void operator= (dSphere &);
+
+public:
+  dSphere () { }
+  dSphere (dSpaceID space, dReal radius)
+    { _id = dCreateSphere (space, radius); }
+
+  void create (dSpaceID space, dReal radius) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateSphere (space, radius);
+  }
+
+  void setRadius (dReal radius)
+    { dGeomSphereSetRadius (_id, radius); }
+  dReal getRadius() const
+    { return dGeomSphereGetRadius (_id); }
+};
+
+
+class dBox : public dGeom {
+  // intentionally undefined, don't use these
+  dBox (dBox &);
+  void operator= (dBox &);
+
+public:
+  dBox () { }
+  dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
+    { _id = dCreateBox (space,lx,ly,lz); }
+
+  void create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateBox (space,lx,ly,lz);
+  }
+
+  void setLengths (dReal lx, dReal ly, dReal lz)
+    { dGeomBoxSetLengths (_id, lx, ly, lz); }
+  void getLengths (dVector3 result) const
+    { dGeomBoxGetLengths (_id,result); }
+};
+
+
+class dPlane : public dGeom {
+  // intentionally undefined, don't use these
+  dPlane (dPlane &);
+  void operator= (dPlane &);
+
+public:
+  dPlane() { }
+  dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
+    { _id = dCreatePlane (space,a,b,c,d); }
+
+  void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreatePlane (space,a,b,c,d);
+  }
+
+  void setParams (dReal a, dReal b, dReal c, dReal d)
+    { dGeomPlaneSetParams (_id, a, b, c, d); }
+  void getParams (dVector4 result) const
+    { dGeomPlaneGetParams (_id,result); }
+};
+
+
+class dCapsule : public dGeom {
+  // intentionally undefined, don't use these
+  dCapsule (dCapsule &);
+  void operator= (dCapsule &);
+
+public:
+  dCapsule() { }
+  dCapsule (dSpaceID space, dReal radius, dReal length)
+    { _id = dCreateCapsule (space,radius,length); }
+
+  void create (dSpaceID space, dReal radius, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateCapsule (space,radius,length);
+  }
+
+  void setParams (dReal radius, dReal length)
+    { dGeomCapsuleSetParams (_id, radius, length); }
+  void getParams (dReal *radius, dReal *length) const
+    { dGeomCapsuleGetParams (_id,radius,length); }
+};
+
+
+class dRay : public dGeom {
+  // intentionally undefined, don't use these
+  dRay (dRay &);
+  void operator= (dRay &);
+
+public:
+  dRay() { }
+  dRay (dSpaceID space, dReal length)
+    { _id = dCreateRay (space,length); }
+
+  void create (dSpaceID space, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateRay (space,length);
+  }
+
+  void setLength (dReal length)
+    { dGeomRaySetLength (_id, length); }
+  dReal getLength()
+    { return dGeomRayGetLength (_id); }
+
+  void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz)
+    { dGeomRaySet (_id, px, py, pz, dx, dy, dz); }
+  void get (dVector3 start, dVector3 dir)
+    { dGeomRayGet (_id, start, dir); }
+
+  void setParams (int firstContact, int backfaceCull)
+    { dGeomRaySetParams (_id, firstContact, backfaceCull); }
+  void getParams (int *firstContact, int *backfaceCull)
+    { dGeomRayGetParams (_id, firstContact, backfaceCull); }
+  void setClosestHit (int closestHit)
+    { dGeomRaySetClosestHit (_id, closestHit); }
+  int getClosestHit()
+    { return dGeomRayGetClosestHit (_id); }
+};
+
+
+class dGeomTransform : public dGeom {
+  // intentionally undefined, don't use these
+  dGeomTransform (dGeomTransform &);
+  void operator= (dGeomTransform &);
+
+public:
+  dGeomTransform() { }
+  dGeomTransform (dSpaceID space)
+    { _id = dCreateGeomTransform (space); }
+
+  void create (dSpaceID space=0) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateGeomTransform (space);
+  }
+
+  void setGeom (dGeomID geom)
+    { dGeomTransformSetGeom (_id, geom); }
+  dGeomID getGeom() const
+    { return dGeomTransformGetGeom (_id); }
+
+  void setCleanup (int mode)
+    { dGeomTransformSetCleanup (_id,mode); }
+  int getCleanup ()
+    { return dGeomTransformGetCleanup (_id); }
+
+  void setInfo (int mode)
+    { dGeomTransformSetInfo (_id,mode); }
+  int getInfo()
+    { return dGeomTransformGetInfo (_id); }
+};
+
+
+#endif
+#endif
diff --git a/libraries/ode-0.9/include/ode/odemath.h b/libraries/ode-0.9/include/ode/odemath.h
new file mode 100644
index 0000000..f8fa3c7
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/odemath.h
@@ -0,0 +1,330 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_ODEMATH_H_
+#define _ODE_ODEMATH_H_
+
+#include <ode/common.h>
+
+#ifdef __GNUC__
+#define PURE_INLINE extern inline
+#else
+#define PURE_INLINE inline
+#endif
+
+/*
+ * macro to access elements i,j in an NxM matrix A, independent of the
+ * matrix storage convention.
+ */
+#define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
+
+/*
+ * Macro to test for valid floating point values
+ */
+#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2])))
+#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2]) || dIsNan(v[3])))
+#define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11])))
+#define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) ))
+
+
+
+/*
+ * General purpose vector operations with other vectors or constants.
+ */
+
+#define dOP(a,op,b,c) \
+    (a)[0] = ((b)[0]) op ((c)[0]); \
+    (a)[1] = ((b)[1]) op ((c)[1]); \
+    (a)[2] = ((b)[2]) op ((c)[2]);
+#define dOPC(a,op,b,c) \
+    (a)[0] = ((b)[0]) op (c); \
+    (a)[1] = ((b)[1]) op (c); \
+    (a)[2] = ((b)[2]) op (c);
+#define dOPE(a,op,b) \
+    (a)[0] op ((b)[0]); \
+    (a)[1] op ((b)[1]); \
+    (a)[2] op ((b)[2]);
+#define dOPEC(a,op,c) \
+    (a)[0] op (c); \
+    (a)[1] op (c); \
+    (a)[2] op (c);
+
+
+/*
+ * Length, and squared length helpers. dLENGTH returns the length of a dVector3.
+ * dLENGTHSQUARED return the squared length of a dVector3.
+ */
+
+#define dLENGTHSQUARED(a) (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]))
+
+#ifdef __cplusplus
+
+PURE_INLINE dReal dLENGTH (const dReal *a) { return dSqrt(dLENGTHSQUARED(a)); }
+
+#else
+
+#define dLENGTH(a) ( dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ) )
+
+#endif /* __cplusplus */
+
+
+
+
+
+/*
+ * 3-way dot product. dDOTpq means that elements of `a' and `b' are spaced
+ * p and q indexes apart respectively. dDOT() means dDOT11.
+ * in C++ we could use function templates to get all the versions of these
+ * functions - but on some compilers this will result in sub-optimal code.
+ */
+
+#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
+
+#ifdef __cplusplus
+
+PURE_INLINE dReal dDOT   (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,1); }
+PURE_INLINE dReal dDOT13 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,3); }
+PURE_INLINE dReal dDOT31 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,1); }
+PURE_INLINE dReal dDOT33 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,3); }
+PURE_INLINE dReal dDOT14 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,4); }
+PURE_INLINE dReal dDOT41 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,1); }
+PURE_INLINE dReal dDOT44 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,4); }
+
+#else
+
+#define dDOT(a,b)   dDOTpq(a,b,1,1)
+#define dDOT13(a,b) dDOTpq(a,b,1,3)
+#define dDOT31(a,b) dDOTpq(a,b,3,1)
+#define dDOT33(a,b) dDOTpq(a,b,3,3)
+#define dDOT14(a,b) dDOTpq(a,b,1,4)
+#define dDOT41(a,b) dDOTpq(a,b,4,1)
+#define dDOT44(a,b) dDOTpq(a,b,4,4)
+
+#endif /* __cplusplus */
+
+
+/*
+ * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
+ * and `c' are spaced p, q and r indexes apart respectively.
+ * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
+ * +=, -= etc to get other effects.
+ */
+
+#define dCROSS(a,op,b,c) \
+do { \
+  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
+  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
+  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
+} while(0)
+#define dCROSSpqr(a,op,b,c,p,q,r) \
+do { \
+  (a)[  0] op ((b)[  q]*(c)[2*r] - (b)[2*q]*(c)[  r]); \
+  (a)[  p] op ((b)[2*q]*(c)[  0] - (b)[  0]*(c)[2*r]); \
+  (a)[2*p] op ((b)[  0]*(c)[  r] - (b)[  q]*(c)[  0]); \
+} while(0)
+#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
+#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
+#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
+#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
+#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
+#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
+#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
+
+
+/*
+ * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
+ * A is stored by rows, and has `skip' elements per row. the matrix is
+ * assumed to be already zero, so this does not write zero elements!
+ * if (plus,minus) is (+,-) then a positive version will be written.
+ * if (plus,minus) is (-,+) then a negative version will be written.
+ */
+
+#define dCROSSMAT(A,a,skip,plus,minus) \
+do { \
+  (A)[1] = minus (a)[2]; \
+  (A)[2] = plus (a)[1]; \
+  (A)[(skip)+0] = plus (a)[2]; \
+  (A)[(skip)+2] = minus (a)[0]; \
+  (A)[2*(skip)+0] = minus (a)[1]; \
+  (A)[2*(skip)+1] = plus (a)[0]; \
+} while(0)
+
+
+/*
+ * compute the distance between two 3D-vectors
+ */
+
+#ifdef __cplusplus
+PURE_INLINE dReal dDISTANCE (const dVector3 a, const dVector3 b)
+        { return dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]) ); }
+#else
+#define dDISTANCE(a,b) \
+        (dSqrt( ((a)[0]-(b)[0])*((a)[0]-(b)[0]) + ((a)[1]-(b)[1])*((a)[1]-(b)[1]) + ((a)[2]-(b)[2])*((a)[2]-(b)[2]) ))
+#endif
+
+
+/*
+ * special case matrix multipication, with operator selection
+ */
+
+#define dMULTIPLYOP0_331(A,op,B,C) \
+do { \
+  (A)[0] op dDOT((B),(C)); \
+  (A)[1] op dDOT((B+4),(C)); \
+  (A)[2] op dDOT((B+8),(C)); \
+} while(0)
+#define dMULTIPLYOP1_331(A,op,B,C) \
+do { \
+  (A)[0] op dDOT41((B),(C)); \
+  (A)[1] op dDOT41((B+1),(C)); \
+  (A)[2] op dDOT41((B+2),(C)); \
+} while(0)
+#define dMULTIPLYOP0_133(A,op,B,C) \
+do { \
+  (A)[0] op dDOT14((B),(C)); \
+  (A)[1] op dDOT14((B),(C+1)); \
+  (A)[2] op dDOT14((B),(C+2)); \
+} while(0)
+#define dMULTIPLYOP0_333(A,op,B,C) \
+do { \
+  (A)[0] op dDOT14((B),(C)); \
+  (A)[1] op dDOT14((B),(C+1)); \
+  (A)[2] op dDOT14((B),(C+2)); \
+  (A)[4] op dDOT14((B+4),(C)); \
+  (A)[5] op dDOT14((B+4),(C+1)); \
+  (A)[6] op dDOT14((B+4),(C+2)); \
+  (A)[8] op dDOT14((B+8),(C)); \
+  (A)[9] op dDOT14((B+8),(C+1)); \
+  (A)[10] op dDOT14((B+8),(C+2)); \
+} while(0)
+#define dMULTIPLYOP1_333(A,op,B,C) \
+do { \
+  (A)[0] op dDOT44((B),(C)); \
+  (A)[1] op dDOT44((B),(C+1)); \
+  (A)[2] op dDOT44((B),(C+2)); \
+  (A)[4] op dDOT44((B+1),(C)); \
+  (A)[5] op dDOT44((B+1),(C+1)); \
+  (A)[6] op dDOT44((B+1),(C+2)); \
+  (A)[8] op dDOT44((B+2),(C)); \
+  (A)[9] op dDOT44((B+2),(C+1)); \
+  (A)[10] op dDOT44((B+2),(C+2)); \
+} while(0)
+#define dMULTIPLYOP2_333(A,op,B,C) \
+do { \
+  (A)[0] op dDOT((B),(C)); \
+  (A)[1] op dDOT((B),(C+4)); \
+  (A)[2] op dDOT((B),(C+8)); \
+  (A)[4] op dDOT((B+4),(C)); \
+  (A)[5] op dDOT((B+4),(C+4)); \
+  (A)[6] op dDOT((B+4),(C+8)); \
+  (A)[8] op dDOT((B+8),(C)); \
+  (A)[9] op dDOT((B+8),(C+4)); \
+  (A)[10] op dDOT((B+8),(C+8)); \
+} while(0)
+
+#ifdef __cplusplus
+
+#define DECL template <class TA, class TB, class TC> PURE_INLINE void
+
+DECL dMULTIPLY0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,=,B,C); }
+DECL dMULTIPLY1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,=,B,C); }
+DECL dMULTIPLY0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,=,B,C); }
+DECL dMULTIPLY0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,=,B,C); }
+DECL dMULTIPLY1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,=,B,C); }
+DECL dMULTIPLY2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,=,B,C); }
+
+DECL dMULTIPLYADD0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,+=,B,C); }
+DECL dMULTIPLYADD1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,+=,B,C); }
+DECL dMULTIPLYADD0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,+=,B,C); }
+DECL dMULTIPLYADD0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,+=,B,C); }
+DECL dMULTIPLYADD1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,+=,B,C); }
+DECL dMULTIPLYADD2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,+=,B,C); }
+
+#undef DECL
+
+#else
+
+#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
+#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
+#define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C)
+#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
+#define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C)
+#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
+
+#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
+#define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C)
+#define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C)
+#define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C)
+#define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C)
+#define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C)
+
+#endif
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length)
+ */
+ODE_API int  dSafeNormalize3 (dVector3 a);
+ODE_API int  dSafeNormalize4 (dVector4 a);
+
+// For some reason demo_chain1.c does not understand "inline" keyword.
+static __inline void _dNormalize3(dVector3 a)
+{
+        int bNormalizationResult = dSafeNormalize3(a);
+        dIASSERT(bNormalizationResult);
+        dVARIABLEUSED(bNormalizationResult);
+}
+
+static __inline void _dNormalize4(dVector4 a)
+{
+        int bNormalizationResult = dSafeNormalize4(a);
+        dIASSERT(bNormalizationResult);
+        dVARIABLEUSED(bNormalizationResult);
+}
+
+// For DLL export
+ODE_API void dNormalize3 (dVector3 a); // Potentially asserts on zero vec
+ODE_API void dNormalize4 (dVector4 a); // Potentially asserts on zero vec
+
+// For internal use
+#define dNormalize3(a) _dNormalize3(a)
+#define dNormalize4(a) _dNormalize4(a)
+
+/*
+ * given a unit length "normal" vector n, generate vectors p and q vectors
+ * that are an orthonormal basis for the plane space perpendicular to n.
+ * i.e. this makes p,q such that n,p,q are all perpendicular to each other.
+ * q will equal n x p. if n is not unit length then p will be unit length but
+ * q wont be.
+ */
+
+ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/rotation.h b/libraries/ode-0.9/include/ode/rotation.h
new file mode 100644
index 0000000..a72be27
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/rotation.h
@@ -0,0 +1,70 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_ROTATION_H_
+#define _ODE_ROTATION_H_
+
+#include <ode/common.h>
+#include <ode/compatibility.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+ODE_API void dRSetIdentity (dMatrix3 R);
+
+ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
+                         dReal angle);
+
+ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
+
+ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
+                  dReal bx, dReal by, dReal bz);
+
+ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
+
+ODE_API void dQSetIdentity (dQuaternion q);
+
+ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
+                         dReal angle);
+
+/* Quaternion multiplication, analogous to the matrix multiplication routines. */
+/* qa = rotate by qc, then qb */
+ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by qc, then by inverse of qb */
+ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by inverse of qc, then by qb */
+ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by inverse of qc, then by inverse of qb */
+ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+
+ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q);
+ODE_API void dQfromR (dQuaternion q, const dMatrix3 R);
+ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/libraries/ode-0.9/include/ode/timer.h b/libraries/ode-0.9/include/ode/timer.h
new file mode 100644
index 0000000..c3f42a7
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/timer.h
@@ -0,0 +1,76 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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 LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file 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    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_TIMER_H_
+#define _ODE_TIMER_H_
+
+#include <ode/config.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* stop watch objects */
+
+typedef struct dStopwatch {
+  double time;                  /* total clock count */
+  unsigned long cc[2];          /* clock count since last `start' */
+} dStopwatch;
+
+ODE_API void dStopwatchReset (dStopwatch *);
+ODE_API void dStopwatchStart (dStopwatch *);
+ODE_API void dStopwatchStop  (dStopwatch *);
+ODE_API double dStopwatchTime (dStopwatch *);   /* returns total time in secs */
+
+
+/* code timers */
+
+ODE_API void dTimerStart (const char *description);     /* pass a static string here */
+ODE_API void dTimerNow (const char *description);       /* pass a static string here */
+ODE_API void dTimerEnd(void);
+
+/* print out a timer report. if `average' is nonzero, print out the average
+ * time for each slot (this is only meaningful if the same start-now-end
+ * calls are being made repeatedly.
+ */
+ODE_API void dTimerReport (FILE *fout, int average);
+
+
+/* resolution */
+
+/* returns the timer ticks per second implied by the timing hardware or API.
+ * the actual timer resolution may not be this great.
+ */
+ODE_API double dTimerTicksPerSecond(void);
+
+/* returns an estimate of the actual timer resolution, in seconds. this may
+ * be greater than 1/ticks_per_second.
+ */
+ODE_API double dTimerResolution(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif