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diff --git a/libraries/ode-0.9/ode/demo/demo_joints.cpp b/libraries/ode-0.9/ode/demo/demo_joints.cpp
deleted file mode 100644
index 2a83c2f..0000000
--- a/libraries/ode-0.9/ode/demo/demo_joints.cpp
+++ /dev/null
@@ -1,1092 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-perform tests on all the joint types.
-this should be done using the double precision version of the library.
-
-usage:
-  test_joints [-nXXX] [-g] [-i] [-e] [path_to_textures]
-
-if a test number is given then that specific test is performed, otherwise
-all the tests are performed. the tests are numbered `xxyy', where xx
-corresponds to the joint type and yy is the sub-test number. not every
-number maps to an actual test.
-
-flags:
-  i: the test is interactive.
-  g: turn off graphical display (can't use this with `i').
-  e: turn on occasional error perturbations
-  n: performe test XXX
-some tests compute and display error values. these values are scaled so
-<1 is good and >1 is bad. other tests just show graphical results which
-you must verify visually.
-
-*/
-
-#include <ctype.h>
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-// select correct drawing functions
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#endif
-
-
-// some constants
-#define NUM_JOINTS 10   // number of joints to test (the `xx' value)
-#define SIDE (0.5f)     // side length of a box - don't change this
-#define MASS (1.0)      // mass of a box
-#define STEPSIZE 0.05
-
-
-// dynamics objects
-static dWorldID world;
-static dBodyID body[2];
-static dJointID joint;
-
-
-// data from the command line arguments
-static int cmd_test_num = -1;
-static int cmd_interactive = 0;
-static int cmd_graphics = 1;
-static char *cmd_path_to_textures = NULL;
-static int cmd_occasional_error = 0;    // perturb occasionally
-
-
-// info about the current test
-struct TestInfo;
-static int test_num = 0;                // number of the current test
-static int iteration = 0;
-static int max_iterations = 0;
-static dReal max_error = 0;
-
-//****************************************************************************
-// utility stuff
-
-static char loCase (char a)
-{
-  if (a >= 'A' && a <= 'Z') return a + ('a'-'A');
-  else return a;
-}
-
-
-static dReal length (dVector3 a)
-{
-  return dSqrt (a[0]*a[0] + a[1]*a[1] + a[2]*a[2]);
-}
-
-
-// get the max difference between a 3x3 matrix and the identity
-
-dReal cmpIdentity (const dMatrix3 A)
-{
-  dMatrix3 I;
-  dSetZero (I,12);
-  I[0] = 1;
-  I[5] = 1;
-  I[10] = 1;
-  return dMaxDifference (A,I,3,3);
-}
-
-//****************************************************************************
-// test world construction and utilities
-
-void constructWorldForTest (dReal gravity, int bodycount,
- /* body 1 pos */           dReal pos1x, dReal pos1y, dReal pos1z,
- /* body 2 pos */           dReal pos2x, dReal pos2y, dReal pos2z,
- /* body 1 rotation axis */ dReal ax1x, dReal ax1y, dReal ax1z,
- /* body 1 rotation axis */ dReal ax2x, dReal ax2y, dReal ax2z,
- /* rotation angles */      dReal a1, dReal a2)
-{
-  // create world
-  world = dWorldCreate();
-  dWorldSetERP (world,0.2);
-  dWorldSetCFM (world,1e-6);
-  dWorldSetGravity (world,0,0,gravity);
-
-  dMass m;
-  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-  dMassAdjust (&m,MASS);
-
-  body[0] = dBodyCreate (world);
-  dBodySetMass (body[0],&m);
-  dBodySetPosition (body[0], pos1x, pos1y, pos1z);
-  dQuaternion q;
-  dQFromAxisAndAngle (q,ax1x,ax1y,ax1z,a1);
-  dBodySetQuaternion (body[0],q);
-
-  if (bodycount==2) {
-    body[1] = dBodyCreate (world);
-    dBodySetMass (body[1],&m);
-    dBodySetPosition (body[1], pos2x, pos2y, pos2z);
-    dQFromAxisAndAngle (q,ax2x,ax2y,ax2z,a2);
-    dBodySetQuaternion (body[1],q);
-  }
-  else body[1] = 0;
-}
-
-
-// add an oscillating torque to body 0
-
-void addOscillatingTorque (dReal tscale)
-{
-  static dReal a=0;
-  dBodyAddTorque (body[0],tscale*cos(2*a),tscale*cos(2.7183*a),
-                  tscale*cos(1.5708*a));
-  a += 0.01;
-}
-
-
-void addOscillatingTorqueAbout(dReal tscale, dReal x, dReal y, dReal z)
-{
-  static dReal a=0;
-  dBodyAddTorque (body[0], tscale*cos(a) * x, tscale*cos(a) * y,
-                  tscale * cos(a) * z);
-  a += 0.02;
-}
-
-
-// damp the rotational motion of body 0 a bit
-
-void dampRotationalMotion (dReal kd)
-{
-  const dReal *w = dBodyGetAngularVel (body[0]);
-  dBodyAddTorque (body[0],-kd*w[0],-kd*w[1],-kd*w[2]);
-}
-
-
-// add a spring force to keep the bodies together, otherwise they may fly
-// apart with some joints.
-
-void addSpringForce (dReal ks)
-{
-  const dReal *p1 = dBodyGetPosition (body[0]);
-  const dReal *p2 = dBodyGetPosition (body[1]);
-  dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),ks*(p2[2]-p1[2]));
-  dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),ks*(p1[2]-p2[2]));
-}
-
-
-// add an oscillating Force to body 0
-
-void addOscillatingForce (dReal fscale)
-{
-  static dReal a=0;
-  dBodyAddForce (body[0],fscale*cos(2*a),fscale*cos(2.7183*a),
-                  fscale*cos(1.5708*a));
-  a += 0.01;
-}
-
-//****************************************************************************
-// stuff specific to the tests
-//
-//   0xx : fixed
-//   1xx : ball and socket
-//   2xx : hinge
-//   3xx : slider
-//   4xx : hinge 2
-//   5xx : contact
-//   6xx : amotor
-//   7xx : universal joint
-//   8xx : PR joint (Prismatic and Rotoide)
-
-// setup for the given test. return 0 if there is no such test
-
-int setupTest (int n)
-{
-  switch (n) {
-
-  // ********** fixed joint
-
-  case 0: {                     // 2 body
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,1,0, 1,1,0,
-                           0.25*M_PI,0.25*M_PI);
-    joint = dJointCreateFixed (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetFixed (joint);
-    return 1;
-  }
-
-  case 1: {                     // 1 body to static env
-    constructWorldForTest (0,1,
-                           0.5*SIDE,0.5*SIDE,1, 0,0,0,
-                           1,0,0, 1,0,0,
-                           0,0);
-    joint = dJointCreateFixed (world,0);
-    dJointAttach (joint,body[0],0);
-    dJointSetFixed (joint);
-    return 1;
-  }
-
-  case 2: {                     // 2 body with relative rotation
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,1,0, 1,1,0,
-                           0.25*M_PI,-0.25*M_PI);
-    joint = dJointCreateFixed (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetFixed (joint);
-    return 1;
-  }
-
-  case 3: {                     // 1 body to static env with relative rotation
-    constructWorldForTest (0,1,
-                           0.5*SIDE,0.5*SIDE,1, 0,0,0,
-                           1,0,0, 1,0,0,
-                           0.25*M_PI,0);
-    joint = dJointCreateFixed (world,0);
-    dJointAttach (joint,body[0],0);
-    dJointSetFixed (joint);
-    return 1;
-  }
-
-  // ********** hinge joint
-
-  case 200:                     // 2 body
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI);
-    joint = dJointCreateHinge (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHingeAnchor (joint,0,0,1);
-    dJointSetHingeAxis (joint,1,-1,1.41421356);
-    return 1;
-
-  case 220:                     // hinge angle polarity test
-  case 221:                     // hinge angle rate test
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHingeAnchor (joint,0,0,1);
-    dJointSetHingeAxis (joint,0,0,1);
-    max_iterations = 50;
-    return 1;
-
-  case 230:                     // hinge motor rate (and polarity) test
-  case 231:                     // ...with stops
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHingeAnchor (joint,0,0,1);
-    dJointSetHingeAxis (joint,0,0,1);
-    dJointSetHingeParam (joint,dParamFMax,1);
-    if (n==231) {
-      dJointSetHingeParam (joint,dParamLoStop,-0.5);
-      dJointSetHingeParam (joint,dParamHiStop,0.5);
-    }
-    return 1;
-
-  case 250:                     // limit bounce test (gravity down)
-  case 251: {                   // ...gravity up
-    constructWorldForTest ((n==251) ? 0.1 : -0.1, 2,
-                           0.5*SIDE,0,1+0.5*SIDE, -0.5*SIDE,0,1-0.5*SIDE,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHingeAnchor (joint,0,0,1);
-    dJointSetHingeAxis (joint,0,1,0);
-    dJointSetHingeParam (joint,dParamLoStop,-0.9);
-    dJointSetHingeParam (joint,dParamHiStop,0.7854);
-    dJointSetHingeParam (joint,dParamBounce,0.5);
-    // anchor 2nd body with a fixed joint
-    dJointID j = dJointCreateFixed (world,0);
-    dJointAttach (j,body[1],0);
-    dJointSetFixed (j);
-    return 1;
-  }
-
-  // ********** slider
-
-  case 300:                     // 2 body
-    constructWorldForTest (0,2,
-                           0,0,1, 0.2,0.2,1.2,
-                           0,0,1, -1,1,0, 0,0.25*M_PI);
-    joint = dJointCreateSlider (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetSliderAxis (joint,1,1,1);
-    return 1;
-
-  case 320:                     // slider angle polarity test
-  case 321:                     // slider angle rate test
-    constructWorldForTest (0,2,
-                           0,0,1, 0,0,1.2,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateSlider (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetSliderAxis (joint,0,0,1);
-    max_iterations = 50;
-    return 1;
-
-  case 330:                     // slider motor rate (and polarity) test
-  case 331:                     // ...with stops
-    constructWorldForTest (0, 2,
-                           0,0,1, 0,0,1.2,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateSlider (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetSliderAxis (joint,0,0,1);
-    dJointSetSliderParam (joint,dParamFMax,100);
-    if (n==331) {
-      dJointSetSliderParam (joint,dParamLoStop,-0.4);
-      dJointSetSliderParam (joint,dParamHiStop,0.4);
-    }
-    return 1;
-
-  case 350:                     // limit bounce tests
-  case 351: {
-    constructWorldForTest ((n==351) ? 0.1 : -0.1, 2,
-                           0,0,1, 0,0,1.2,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateSlider (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetSliderAxis (joint,0,0,1);
-    dJointSetSliderParam (joint,dParamLoStop,-0.5);
-    dJointSetSliderParam (joint,dParamHiStop,0.5);
-    dJointSetSliderParam (joint,dParamBounce,0.5);
-    // anchor 2nd body with a fixed joint
-    dJointID j = dJointCreateFixed (world,0);
-    dJointAttach (j,body[1],0);
-    dJointSetFixed (j);
-    return 1;
-  }
-
-  // ********** hinge-2 joint
-
-  case 420:                     // hinge-2 steering angle polarity test
-  case 421:                     // hinge-2 steering angle rate test
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0,1, -0.5*SIDE,0,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge2 (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1);
-    dJointSetHinge2Axis1 (joint,0,0,1);
-    dJointSetHinge2Axis2 (joint,1,0,0);
-    max_iterations = 50;
-    return 1;
-
-  case 430:                     // hinge 2 steering motor rate (+polarity) test
-  case 431:                     // ...with stops
-  case 432:                     // hinge 2 wheel motor rate (+polarity) test
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0,1, -0.5*SIDE,0,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge2 (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1);
-    dJointSetHinge2Axis1 (joint,0,0,1);
-    dJointSetHinge2Axis2 (joint,1,0,0);
-    dJointSetHinge2Param (joint,dParamFMax,1);
-    dJointSetHinge2Param (joint,dParamFMax2,1);
-    if (n==431) {
-      dJointSetHinge2Param (joint,dParamLoStop,-0.5);
-      dJointSetHinge2Param (joint,dParamHiStop,0.5);
-    }
-    return 1;
-
-  // ********** angular motor joint
-
-  case 600:                     // test euler angle calculations
-    constructWorldForTest (0,2,
-                           -SIDE*0.5,0,1, SIDE*0.5,0,1,
-                           0,0,1, 0,0,1, 0,0);
-    joint = dJointCreateAMotor (world,0);
-    dJointAttach (joint,body[0],body[1]);
-
-    dJointSetAMotorNumAxes (joint,3);
-    dJointSetAMotorAxis (joint,0,1, 0,0,1);
-    dJointSetAMotorAxis (joint,2,2, 1,0,0);
-    dJointSetAMotorMode (joint,dAMotorEuler);
-    max_iterations = 200;
-    return 1;
-
-    // ********** universal joint
-
-  case 700:                     // 2 body
-  case 701:
-  case 702:
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI);
-    joint = dJointCreateUniversal (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetUniversalAnchor (joint,0,0,1);
-    dJointSetUniversalAxis1 (joint, 1, -1, 1.41421356);
-    dJointSetUniversalAxis2 (joint, 1, -1, -1.41421356);
-    return 1;
-
-  case 720:             // universal transmit torque test
-  case 721:
-  case 722:
-  case 730:             // universal torque about axis 1
-  case 731:
-  case 732:
-  case 740:             // universal torque about axis 2
-  case 741:
-  case 742:
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateUniversal (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetUniversalAnchor (joint,0,0,1);
-    dJointSetUniversalAxis1 (joint,0,0,1);
-    dJointSetUniversalAxis2 (joint, 1, -1,0);
-    max_iterations = 100;
-    return 1;
-
-  // Joint PR (Prismatic and Rotoide)
-  case 800:     // 2 body
-  case 801:     // 2 bodies with spring force and prismatic fixed
-  case 802:     // 2 bodies with torque on body1 and prismatic fixed
-    constructWorldForTest (0, 2,
-                           -1.0, 0.0, 1.0,
-                           1.0, 0.0, 1.0,
-                           1,0,0, 1,0,0,
-                           0, 0);
-    joint = dJointCreatePR (world, 0);
-    dJointAttach (joint, body[0], body[1]);
-    dJointSetPRAnchor (joint,-0.5, 0.0, 1.0);
-    dJointSetPRAxis1 (joint, 0, 1, 0);
-    dJointSetPRAxis2 (joint, 1, 0, 0);
-    dJointSetPRParam (joint,dParamLoStop,-0.5);
-    dJointSetPRParam (joint,dParamHiStop,0.5);
-    dJointSetPRParam (joint,dParamLoStop2,0);
-    dJointSetPRParam (joint,dParamHiStop2,0);
-    return 1;
-  case 803:   // 2 bodies with spring force and prismatic NOT fixed
-  case 804:   // 2 bodies with torque force and prismatic NOT fixed
-  case 805:   // 2 bodies with force only on first body
-    constructWorldForTest (0, 2,
-                           -1.0, 0.0, 1.0,
-                           1.0, 0.0, 1.0,
-                           1,0,0, 1,0,0,
-                           0, 0);
-    joint = dJointCreatePR (world, 0);
-    dJointAttach (joint, body[0], body[1]);
-    dJointSetPRAnchor (joint,-0.5, 0.0, 1.0);
-    dJointSetPRAxis1 (joint, 0, 1, 0);
-    dJointSetPRAxis2 (joint, 1, 0, 0);
-    dJointSetPRParam (joint,dParamLoStop,-0.5);
-    dJointSetPRParam (joint,dParamHiStop,0.5);
-    dJointSetPRParam (joint,dParamLoStop2,-0.5);
-    dJointSetPRParam (joint,dParamHiStop2,0.5);
-    return 1;
-  }
-  return 0;
-}
-
-
-// do stuff specific to this test each iteration. you can check some
-// invariants for the test -- the return value is some scaled error measurement
-// that must be less than 1.
-// return a dInfinity if error is not measured for this n.
-
-dReal doStuffAndGetError (int n)
-{
-  switch (n) {
-
-  // ********** fixed joint
-
-  case 0: {                     // 2 body
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    // check the orientations are the same
-    const dReal *R1 = dBodyGetRotation (body[0]);
-    const dReal *R2 = dBodyGetRotation (body[1]);
-    dReal err1 = dMaxDifference (R1,R2,3,3);
-    // check the body offset is correct
-    dVector3 p,pp;
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    const dReal *p2 = dBodyGetPosition (body[1]);
-    for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
-    dMULTIPLY1_331 (pp,R1,p);
-    pp[0] += 0.5;
-    pp[1] += 0.5;
-    return (err1 + length (pp)) * 300;
-  }
-
-  case 1: {                     // 1 body to static env
-    addOscillatingTorque (0.1);
-
-    // check the orientation is the identity
-    dReal err1 = cmpIdentity (dBodyGetRotation (body[0]));
-
-    // check the body offset is correct
-    dVector3 p;
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    for (int i=0; i<3; i++) p[i] = p1[i];
-    p[0] -= 0.25;
-    p[1] -= 0.25;
-    p[2] -= 1;
-    return (err1 + length (p)) * 1e6;
-  }
-
-  case 2: {                     // 2 body
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    // check the body offset is correct
-    // Should really check body rotation too.  Oh well.
-    const dReal *R1 = dBodyGetRotation (body[0]);
-    dVector3 p,pp;
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    const dReal *p2 = dBodyGetPosition (body[1]);
-    for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
-    dMULTIPLY1_331 (pp,R1,p);
-    pp[0] += 0.5;
-    pp[1] += 0.5;
-    return length(pp) * 300;
-  }
-
-  case 3: {                     // 1 body to static env with relative rotation
-    addOscillatingTorque (0.1);
-
-    // check the body offset is correct
-    dVector3 p;
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    for (int i=0; i<3; i++) p[i] = p1[i];
-    p[0] -= 0.25;
-    p[1] -= 0.25;
-    p[2] -= 1;
-    return  length (p) * 1e6;
-  }
-
-
-  // ********** hinge joint
-
-  case 200:                     // 2 body
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    return dInfinity;
-
-  case 220:                     // hinge angle polarity test
-    dBodyAddTorque (body[0],0,0,0.01);
-    dBodyAddTorque (body[1],0,0,-0.01);
-    if (iteration == 40) {
-      dReal a = dJointGetHingeAngle (joint);
-      if (a > 0.5 && a < 1) return 0; else return 10;
-    }
-    return 0;
-
-  case 221: {                   // hinge angle rate test
-    static dReal last_angle = 0;
-    dBodyAddTorque (body[0],0,0,0.01);
-    dBodyAddTorque (body[1],0,0,-0.01);
-    dReal a = dJointGetHingeAngle (joint);
-    dReal r = dJointGetHingeAngleRate (joint);
-    dReal er = (a-last_angle)/STEPSIZE;         // estimated rate
-    last_angle = a;
-    return fabs(r-er) * 4e4;
-  }
-
-  case 230:                     // hinge motor rate (and polarity) test
-  case 231: {                   // ...with stops
-    static dReal a = 0;
-    dReal r = dJointGetHingeAngleRate (joint);
-    dReal err = fabs (cos(a) - r);
-    if (a==0) err = 0;
-    a += 0.03;
-    dJointSetHingeParam (joint,dParamVel,cos(a));
-    if (n==231) return dInfinity;
-    return err * 1e6;
-  }
-
-  // ********** slider joint
-
-  case 300:                     // 2 body
-    addOscillatingTorque (0.05);
-    dampRotationalMotion (0.1);
-    addSpringForce (0.5);
-    return dInfinity;
-
-  case 320:                     // slider angle polarity test
-    dBodyAddForce (body[0],0,0,0.1);
-    dBodyAddForce (body[1],0,0,-0.1);
-    if (iteration == 40) {
-      dReal a = dJointGetSliderPosition (joint);
-      if (a > 0.2 && a < 0.5) return 0; else return 10;
-      return a;
-    }
-    return 0;
-
-  case 321: {                   // slider angle rate test
-    static dReal last_pos = 0;
-    dBodyAddForce (body[0],0,0,0.1);
-    dBodyAddForce (body[1],0,0,-0.1);
-    dReal p = dJointGetSliderPosition (joint);
-    dReal r = dJointGetSliderPositionRate (joint);
-    dReal er = (p-last_pos)/STEPSIZE;   // estimated rate (almost exact)
-    last_pos = p;
-    return fabs(r-er) * 1e9;
-  }
-
-  case 330:                     // slider motor rate (and polarity) test
-  case 331: {                   // ...with stops
-    static dReal a = 0;
-    dReal r = dJointGetSliderPositionRate (joint);
-    dReal err = fabs (0.7*cos(a) - r);
-    if (a < 0.04) err = 0;
-    a += 0.03;
-    dJointSetSliderParam (joint,dParamVel,0.7*cos(a));
-    if (n==331) return dInfinity;
-    return err * 1e6;
-  }
-
-  // ********** hinge-2 joint
-
-  case 420:                     // hinge-2 steering angle polarity test
-    dBodyAddTorque (body[0],0,0,0.01);
-    dBodyAddTorque (body[1],0,0,-0.01);
-    if (iteration == 40) {
-      dReal a = dJointGetHinge2Angle1 (joint);
-      if (a > 0.5 && a < 0.6) return 0; else return 10;
-    }
-    return 0;
-
-  case 421: {                   // hinge-2 steering angle rate test
-    static dReal last_angle = 0;
-    dBodyAddTorque (body[0],0,0,0.01);
-    dBodyAddTorque (body[1],0,0,-0.01);
-    dReal a = dJointGetHinge2Angle1 (joint);
-    dReal r = dJointGetHinge2Angle1Rate (joint);
-    dReal er = (a-last_angle)/STEPSIZE;         // estimated rate
-    last_angle = a;
-    return fabs(r-er)*2e4;
-  }
-
-  case 430:                     // hinge 2 steering motor rate (+polarity) test
-  case 431: {                   // ...with stops
-    static dReal a = 0;
-    dReal r = dJointGetHinge2Angle1Rate (joint);
-    dReal err = fabs (cos(a) - r);
-    if (a==0) err = 0;
-    a += 0.03;
-    dJointSetHinge2Param (joint,dParamVel,cos(a));
-    if (n==431) return dInfinity;
-    return err * 1e6;
-  }
-
-  case 432: {                   // hinge 2 wheel motor rate (+polarity) test
-    static dReal a = 0;
-    dReal r = dJointGetHinge2Angle2Rate (joint);
-    dReal err = fabs (cos(a) - r);
-    if (a==0) err = 0;
-    a += 0.03;
-    dJointSetHinge2Param (joint,dParamVel2,cos(a));
-    return err * 1e6;
-  }
-
-  // ********** angular motor joint
-
-  case 600: {                   // test euler angle calculations
-    // desired euler angles from last iteration
-    static dReal a1,a2,a3;
-
-    // find actual euler angles
-    dReal aa1 = dJointGetAMotorAngle (joint,0);
-    dReal aa2 = dJointGetAMotorAngle (joint,1);
-    dReal aa3 = dJointGetAMotorAngle (joint,2);
-    // printf ("actual  = %.4f %.4f %.4f\n\n",aa1,aa2,aa3);
-
-    dReal err = dInfinity;
-    if (iteration > 0) {
-      err = dFabs(aa1-a1) + dFabs(aa2-a2) + dFabs(aa3-a3);
-      err *= 1e10;
-    }
-
-    // get random base rotation for both bodies
-    dMatrix3 Rbase;
-    dRFromAxisAndAngle (Rbase, 3*(dRandReal()-0.5), 3*(dRandReal()-0.5),
-                        3*(dRandReal()-0.5), 3*(dRandReal()-0.5));
-    dBodySetRotation (body[0],Rbase);
-
-    // rotate body 2 by random euler angles w.r.t. body 1
-    a1 = 3.14 * 2 * (dRandReal()-0.5);
-    a2 = 1.57 * 2 * (dRandReal()-0.5);
-    a3 = 3.14 * 2 * (dRandReal()-0.5);
-    dMatrix3 R1,R2,R3,Rtmp1,Rtmp2;
-    dRFromAxisAndAngle (R1,0,0,1,-a1);
-    dRFromAxisAndAngle (R2,0,1,0,a2);
-    dRFromAxisAndAngle (R3,1,0,0,-a3);
-    dMultiply0 (Rtmp1,R2,R3,3,3,3);
-    dMultiply0 (Rtmp2,R1,Rtmp1,3,3,3);
-    dMultiply0 (Rtmp1,Rbase,Rtmp2,3,3,3);
-    dBodySetRotation (body[1],Rtmp1);
-    // printf ("desired = %.4f %.4f %.4f\n",a1,a2,a3);
-
-    return err;
-  }
-
-  // ********** universal joint
-
-  case 700: {           // 2 body: joint constraint
-    dVector3 ax1, ax2;
-
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    dJointGetUniversalAxis1(joint, ax1);
-    dJointGetUniversalAxis2(joint, ax2);
-    return fabs(10*dDOT(ax1, ax2));
-  }
-
-  case 701: {           // 2 body: angle 1 rate
-    static dReal last_angle = 0;
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle1(joint);
-    dReal r = dJointGetUniversalAngle1Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    // I'm not sure why the error is so large here.
-    return fabs(r - er) * 1e1;
-  }
-
-  case 702: {           // 2 body: angle 2 rate
-    static dReal last_angle = 0;
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle2(joint);
-    dReal r = dJointGetUniversalAngle2Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    // I'm not sure why the error is so large here.
-    return fabs(r - er) * 1e1;
-  }
-
-  case 720: {           // universal transmit torque test: constraint error
-    dVector3 ax1, ax2;
-    addOscillatingTorqueAbout (0.1, 1, 1, 0);
-    dampRotationalMotion (0.1);
-    dJointGetUniversalAxis1(joint, ax1);
-    dJointGetUniversalAxis2(joint, ax2);
-    return fabs(10*dDOT(ax1, ax2));
-  }
-
-  case 721: {           // universal transmit torque test: angle1 rate
-    static dReal last_angle = 0;
-    addOscillatingTorqueAbout (0.1, 1, 1, 0);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle1(joint);
-    dReal r = dJointGetUniversalAngle1Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e10;
-  }
-
-  case 722: {           // universal transmit torque test: angle2 rate
-    static dReal last_angle = 0;
-    addOscillatingTorqueAbout (0.1, 1, 1, 0);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle2(joint);
-    dReal r = dJointGetUniversalAngle2Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e10;
-  }
-
-  case 730:{
-    dVector3 ax1, ax2;
-    dJointGetUniversalAxis1(joint, ax1);
-    dJointGetUniversalAxis2(joint, ax2);
-    addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
-    dampRotationalMotion (0.1);
-    return fabs(10*dDOT(ax1, ax2));
-  }
-
-  case 731:{
-    dVector3 ax1;
-    static dReal last_angle = 0;
-    dJointGetUniversalAxis1(joint, ax1);
-    addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle1(joint);
-    dReal r = dJointGetUniversalAngle1Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 2e3;
-  }
-
-  case 732:{
-    dVector3 ax1;
-    static dReal last_angle = 0;
-    dJointGetUniversalAxis1(joint, ax1);
-    addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle2(joint);
-    dReal r = dJointGetUniversalAngle2Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e10;
-  }
-
-  case 740:{
-    dVector3 ax1, ax2;
-    dJointGetUniversalAxis1(joint, ax1);
-    dJointGetUniversalAxis2(joint, ax2);
-    addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
-    dampRotationalMotion (0.1);
-    return fabs(10*dDOT(ax1, ax2));
-  }
-
-  case 741:{
-    dVector3 ax2;
-    static dReal last_angle = 0;
-    dJointGetUniversalAxis2(joint, ax2);
-    addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle1(joint);
-    dReal r = dJointGetUniversalAngle1Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e10;
-  }
-
-  case 742:{
-    dVector3 ax2;
-    static dReal last_angle = 0;
-    dJointGetUniversalAxis2(joint, ax2);
-    addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle2(joint);
-    dReal r = dJointGetUniversalAngle2Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e4;
-  }
-
-  // ********** slider joint
-  case 801:
-  case 803:
-    addSpringForce (0.25);
-    return dInfinity;
-
-        case 802:
-        case 804: {
-    static dReal a = 0;
-    dBodyAddTorque (body[0], 0, 0.01*cos(1.5708*a), 0);
-    a += 0.01;
-    return dInfinity;
-        }
-
-  case 805:
-    addOscillatingForce (0.1);
-    return dInfinity;
-        }
-
-
-  return dInfinity;
-}
-
-//****************************************************************************
-// simulation stuff common to all the tests
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
-  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  // stop after a given number of iterations, as long as we are not in
-  // interactive mode
-  if (cmd_graphics && !cmd_interactive &&
-      (iteration >= max_iterations)) {
-    dsStop();
-    return;
-  }
-  iteration++;
-
-  if (!pause) {
-    // do stuff for this test and check to see if the joint is behaving well
-    dReal error = doStuffAndGetError (test_num);
-    if (error > max_error) max_error = error;
-    if (cmd_interactive && error < dInfinity) {
-      printf ("scaled error = %.4e\n",error);
-    }
-
-    // take a step
-    dWorldStep (world,STEPSIZE);
-
-    // occasionally re-orient the first body to create a deliberate error.
-    if (cmd_occasional_error) {
-      static int count = 0;
-      if ((count % 20)==0) {
-        // randomly adjust orientation of body[0]
-        const dReal *R1;
-        dMatrix3 R2,R3;
-        R1 = dBodyGetRotation (body[0]);
-        dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
-                            dRandReal()-0.5,dRandReal()-0.5);
-        dMultiply0 (R3,R1,R2,3,3,3);
-        dBodySetRotation (body[0],R3);
-
-        // randomly adjust position of body[0]
-        const dReal *pos = dBodyGetPosition (body[0]);
-        dBodySetPosition (body[0],
-                          pos[0]+0.2*(dRandReal()-0.5),
-                          pos[1]+0.2*(dRandReal()-0.5),
-                          pos[2]+0.2*(dRandReal()-0.5));
-      }
-      count++;
-    }
-  }
-
-  if (cmd_graphics) {
-    dReal sides1[3] = {SIDE,SIDE,SIDE};
-    dReal sides2[3] = {SIDE*0.99f,SIDE*0.99f,SIDE*0.99f};
-    dsSetTexture (DS_WOOD);
-    dsSetColor (1,1,0);
-    dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
-    if (body[1]) {
-      dsSetColor (0,1,1);
-      dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
-    }
-  }
-}
-
-//****************************************************************************
-// conduct a specific test, and report the results
-
-void doTest (int argc, char **argv, int n, int fatal_if_bad_n)
-{
-  test_num = n;
-  iteration = 0;
-  max_iterations = 300;
-  max_error = 0;
-
-  if (! setupTest (n)) {
-    if (fatal_if_bad_n) dError (0,"bad test number");
-    return;
-  }
-
-  // setup pointers to drawstuff callback functions
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = 0;
-  fn.stop = 0;
-  if (cmd_path_to_textures)
-    fn.path_to_textures = cmd_path_to_textures;
-  else
-  fn.path_to_textures = "../../drawstuff/textures";
-
-  // run simulation
-  if (cmd_graphics) {
-    dsSimulationLoop (argc,argv,352,288,&fn);
-  }
-  else {
-    for (int i=0; i < max_iterations; i++) simLoop (0);
-  }
-  dWorldDestroy (world);
-  body[0] = 0;
-  body[1] = 0;
-  joint = 0;
-
-  // print results
-  printf ("test %d: ",n);
-  if (max_error == dInfinity) printf ("error not computed\n");
-  else {
-    printf ("max scaled error = %.4e",max_error);
-    if (max_error < 1) printf (" - passed\n");
-    else printf (" - FAILED\n");
-  }
-}
-
-//****************************************************************************
-// main
-
-int main (int argc, char **argv)
-{
-  int i;
-  dInitODE();
-
-  // process the command line args. anything that starts with `-' is assumed
-  // to be a drawstuff argument.
-  for (i=1; i<argc; i++) {
-    if ( argv[i][0]=='-' && argv[i][1]=='i' && argv[i][2]==0) cmd_interactive = 1;
-    else if ( argv[i][0]=='-' && argv[i][1]=='g' && argv[i][2]==0) cmd_graphics = 0;
-    else if ( argv[i][0]=='-' && argv[i][1]=='e' && argv[i][2]==0) cmd_graphics = 0;
-    else if ( argv[i][0]=='-' && argv[i][1]=='n' && isdigit(argv[i][2]) ) {
-      char *endptr;
-      long int n = strtol (&(argv[i][2]),&endptr,10);
-                        if (*endptr == 0) cmd_test_num = n;
-                }
-    else
-      cmd_path_to_textures = argv[i];
-  }
-
-  // do the tests
-  if (cmd_test_num == -1) {
-    for (i=0; i<NUM_JOINTS*100; i++) doTest (argc,argv,i,0);
-  }
-  else {
-    doTest (argc,argv,cmd_test_num,1);
-  }
-
-  dCloseODE();
-  return 0;
-}