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-Dynamics Library.
-=================
-
-CONVENTIONS
------------
-
-matrix storage
---------------
-
-matrix operations like factorization are expensive, so we must store the data
-in a way that is most useful to the matrix code. we want the ability to update
-the dynamics library without recompiling applications, e.g. so users can take
-advantage of new floating point hardware. so we must settle on a single
-format. because of the prevalence of 4-way SIMD, the format is this: store
-the matrix by rows or columns, and each column is rounded up to a multiple of
-4 elements. the extra "padding" elements at the end of each row/column are set
-to 0. this is called the "standard format". to indicate if the data is stored
-by rows or columns, we will say "standard row format" or "standard column
-format". hopefully this decision will remain good in the future, as more and
-more processors have 4-way SIMD, and 3D graphics always needs fast 4x4
-matrices.
-
-exception: matrices that have only one column or row (vectors), are always
-stored as consecutive elements in standard row format, i.e. there is no
-interior padding, only padding at the end.
-
-thus: all 3x1 floating point vectors are stored as 4x1 vectors: (x,x,x,0).
-also: all 6x1 spatial velocities and accelerations are split into 3x1 position
-  and angular components, which are stored as contiguous 4x1 vectors.
-
-ALL matrices are stored by in standard row format.
-
-
-arguments
----------
-
-3x1 vector arguments to set() functions are supplied as x,y,z.
-3x1 vector result arguments to get() function are pointers to arrays.
-larger vectors are always supplied and returned as pointers.
-all coordinates are in the global frame except where otherwise specified.
-output-only arguments are usually supplied at the end.
-
-
-memory allocation
------------------
-
-with many C/C++ libraries memory allocation is a difficult problem to solve.
-who allocates the memory? who frees it? must objects go on the heap or can
-they go on the stack or in static storage? to provide the maximum flexibility,
-the dynamics and collision libraries do not do their own memory allocation.
-you must pass in pointers to externally allocated chunks of the right sizes.
-the body, joint and colllision object structures are all exported, so you
-can make instances of those structure and pass pointers to them.
-
-there are helper functions which allocate objects out of areans, in case you
-need loots of dynamic creation and deletion.
-
-BUT!!! this ties us down to the body/joint/collision representation.
-
-a better approach is to supply custom memory allocation functions
-(e.g. dlAlloc() etc).
-
-
-C versus C++ ... ?
-------------------
-
-everything should be C linkable, and there should be C header files for
-everything. but we want to develop in C++. so do this:
-  * all comments are "//". automatically convert to /**/ for distribution.
-  * structures derived from other structures --> automatically convert?
-
-
-WORLDS
-------
-
-might want better terminology here.
-
-the dynamics world (DWorld) is a list of systems. each system corresponds to
-one or more bodies, or perhaps some other kinds of physical object.
-each system corresponds to one or more objects in the collision world
-(there does not have to be a one-to-one correspondence between bodies and
-collision objects).
-
-systems are simulated separately, perhaps using completely different
-techniques. we must do something special when systems collide.
-systems collide when collision objects belonging to system A touch
-collision objects belonging to system B.
-
-for each collision point, the system must provide matrix equation data
-that is used to compute collision forces. once those forces are computed,
-the system must incorporate the forces into its timestep.
-PROBLEM: what if we intertwine the LCP problems of the two systems - then
-this simple approach wont work.
-
-the dynamics world contains two kinds of objects: bodies and joints.
-joints connect two bodies together.
-
-the world contains one of more partitions. each partition is a collection of
-bodies and joints such that each body is attached (through one or more joints)
-to every other body.
-
-Joints
-------
-
-a joint can be connected to one or two bodies.
-if the joint is only connected to one body, joint.node[1].body == 0.
-joint.node[0].body is always valid.
-
-
-Linkage
--------
-
-this library will always be statically linked with the app, for these reasons:
-  * collision space is selected at compile time, it adds data to the geom
-    objects.
-
-
-Optimization
-------------
-
-doubles must be aligned on 8 byte boundaries!
-
-
-MinGW on Windows issues
------------------------
-
-* the .rc file for drawstuff needs a different include, try winresrc.h.
-
-* it seems we can't have both main() and WinMain() without the entry point
-  defaulting to main() and having resource loading problems. this screws up
-  what i was trying to do in the drawstuff library. perhaps main2() ?
-
-* remember to compile resources to COFF format RES files.
-
-
-
-Collision
----------
-
-to plug in your own collision handling, replace (some of?) these functions
-with your own. collision should be a separate library that you can link in
-or not. your own library can call components in this collision library, e.g.
-if you want polymorphic spaces instead of a single statically called space.
-
-creating an object will automatically register the appropriate
-class (if necessary). how can we ensure that the minimum amount of code is
-linked in? e.g. only one space handler, and sphere-sphere and sphere-box and
-box-box collision code (if spheres and boxes instanced).
-
-the user creates a collision space, and for each dynamics object that is
-created a collision object is inserted into the space. the collision
-object's pos and R pointers are set to the corresponding dynamics
-variables.
-
-there should be utility functions which create the dynamics and collision
-objects at the same time, e.g. dMakeSphere().
-
-collision objects and dynamics objects keep pointers to each other.