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diff --git a/libraries/ode-0.9/ode/src/joint.h b/libraries/ode-0.9/ode/src/joint.h
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-/*************************************************************************
- *                                                                       *
- * 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_JOINT_H_
-#define _ODE_JOINT_H_
-
-
-#include "objects.h"
-#include <ode/contact.h>
-#include "obstack.h"
-
-
-// joint flags
-enum {
-  // if this flag is set, the joint was allocated in a joint group
-  dJOINT_INGROUP = 1,
-
-  // if this flag is set, the joint was attached with arguments (0,body).
-  // our convention is to treat all attaches as (body,0), i.e. so node[0].body
-  // is always nonzero, so this flag records the fact that the arguments were
-  // swapped.
-  dJOINT_REVERSE = 2,
-
-  // if this flag is set, the joint can not have just one body attached to it,
-  // it must have either zero or two bodies attached.
-  dJOINT_TWOBODIES = 4
-};
-
-
-// there are two of these nodes in the joint, one for each connection to a
-// body. these are node of a linked list kept by each body of it's connecting
-// joints. but note that the body pointer in each node points to the body that
-// makes use of the *other* node, not this node. this trick makes it a bit
-// easier to traverse the body/joint graph.
-
-struct dxJointNode {
-  dxJoint *joint;               // pointer to enclosing dxJoint object
-  dxBody *body;                 // *other* body this joint is connected to
-  dxJointNode *next;            // next node in body's list of connected joints
-};
-
-
-struct dxJoint : public dObject {
-  // naming convention: the "first" body this is connected to is node[0].body,
-  // and the "second" body is node[1].body. if this joint is only connected
-  // to one body then the second body is 0.
-
-  // info returned by getInfo1 function. the constraint dimension is m (<=6).
-  // i.e. that is the total number of rows in the jacobian. `nub' is the
-  // number of unbounded variables (which have lo,hi = -/+ infinity).
-
-  struct Info1 {
-    int m,nub;
-  };
-
-  // info returned by getInfo2 function
-
-  struct Info2 {
-    // integrator parameters: frames per second (1/stepsize), default error
-    // reduction parameter (0..1).
-    dReal fps,erp;
-
-    // for the first and second body, pointers to two (linear and angular)
-    // n*3 jacobian sub matrices, stored by rows. these matrices will have
-    // been initialized to 0 on entry. if the second body is zero then the
-    // J2xx pointers may be 0.
-    dReal *J1l,*J1a,*J2l,*J2a;
-
-    // elements to jump from one row to the next in J's
-    int rowskip;
-
-    // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-    // "constraint force mixing" vector. c is set to zero on entry, cfm is
-    // set to a constant value (typically very small or zero) value on entry.
-    dReal *c,*cfm;
-
-    // lo and hi limits for variables (set to -/+ infinity on entry).
-    dReal *lo,*hi;
-
-    // findex vector for variables. see the LCP solver interface for a
-    // description of what this does. this is set to -1 on entry.
-    // note that the returned indexes are relative to the first index of
-    // the constraint.
-    int *findex;
-  };
-
-  // virtual function table: size of the joint structure, function pointers.
-  // we do it this way instead of using C++ virtual functions because
-  // sometimes we need to allocate joints ourself within a memory pool.
-
-  typedef void init_fn (dxJoint *joint);
-  typedef void getInfo1_fn (dxJoint *joint, Info1 *info);
-  typedef void getInfo2_fn (dxJoint *joint, Info2 *info);
-  struct Vtable {
-    int size;
-    init_fn *init;
-    getInfo1_fn *getInfo1;
-    getInfo2_fn *getInfo2;
-    int typenum;                // a dJointTypeXXX type number
-  };
-
-  Vtable *vtable;               // virtual function table
-  int flags;                    // dJOINT_xxx flags
-  dxJointNode node[2];          // connections to bodies. node[1].body can be 0
-  dJointFeedback *feedback;     // optional feedback structure
-  dReal lambda[6];              // lambda generated by last step
-};
-
-
-// joint group. NOTE: any joints in the group that have their world destroyed
-// will have their world pointer set to 0.
-
-struct dxJointGroup : public dBase {
-  int num;              // number of joints on the stack
-  dObStack stack;       // a stack of (possibly differently sized) dxJoint
-};                      // objects.
-
-
-// common limit and motor information for a single joint axis of movement
-struct dxJointLimitMotor {
-  dReal vel,fmax;               // powered joint: velocity, max force
-  dReal lostop,histop;          // joint limits, relative to initial position
-  dReal fudge_factor;           // when powering away from joint limits
-  dReal normal_cfm;             // cfm to use when not at a stop
-  dReal stop_erp,stop_cfm;      // erp and cfm for when at joint limit
-  dReal bounce;                 // restitution factor
-  // variables used between getInfo1() and getInfo2()
-  int limit;                    // 0=free, 1=at lo limit, 2=at hi limit
-  dReal limit_err;              // if at limit, amount over limit
-
-  void init (dxWorld *);
-  void set (int num, dReal value);
-  dReal get (int num);
-  int testRotationalLimit (dReal angle);
-  int addLimot (dxJoint *joint, dxJoint::Info2 *info, int row,
-                dVector3 ax1, int rotational);
-};
-
-
-// ball and socket
-
-struct dxJointBall : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dReal erp;                    // error reduction
-  dReal cfm;                    // constraint force mix in
-  void set (int num, dReal value);
-  dReal get (int num);
-};
-extern struct dxJoint::Vtable __dball_vtable;
-
-
-// hinge
-
-struct dxJointHinge : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dVector3 axis1;               // axis w.r.t first body
-  dVector3 axis2;               // axis w.r.t second body
-  dQuaternion qrel;             // initial relative rotation body1 -> body2
-  dxJointLimitMotor limot;      // limit and motor information
-};
-extern struct dxJoint::Vtable __dhinge_vtable;
-
-
-// universal
-
-struct dxJointUniversal : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dVector3 axis1;               // axis w.r.t first body
-  dVector3 axis2;               // axis w.r.t second body
-  dQuaternion qrel1;    // initial relative rotation body1 -> virtual cross piece
-  dQuaternion qrel2;    // initial relative rotation virtual cross piece -> body2
-  dxJointLimitMotor limot1;     // limit and motor information for axis1
-  dxJointLimitMotor limot2;     // limit and motor information for axis2
-};
-extern struct dxJoint::Vtable __duniversal_vtable;
-
-
-/**
- * The axisP must be perpendicular to axis2
- * <PRE>
- *                                        +-------------+
- *                                        |      x      |
- *                                        +------------\+
- * Prismatic articulation                   ..     ..
- *                       |                ..     ..
- *                      \/              ..      ..
- * +--------------+    --|        __..      ..  anchor2
- * |      x       | .....|.......(__)     ..
- * +--------------+    --|         ^     <
- *        |----------------------->|
- *            Offset               |--- Rotoide articulation
- * </PRE>
- */
-struct dxJointPR : public dxJoint {
-
-  dVector3 anchor2;         ///< @brief Position of the rotoide articulation
-                            ///<        w.r.t second body.
-                            ///< @note Position of body 2 in world frame +
-                            ///< anchor2 in world frame give the position
-                            ///< of the rotoide articulation
-  dVector3 axisR1;          ///< axis of the rotoide articulation w.r.t first body.
-                            ///< @note This is considered as axis1 from the parameter
-                            ///< view.
-  dVector3 axisR2;          ///< axis of the rotoide articulation w.r.t second body.
-                            ///< @note This is considered also as axis1 from the
-                            ///< parameter view
-  dVector3 axisP1;          ///< axis for the prismatic articulation w.r.t first body.
-                            ///< @note This is considered as axis2 in from the parameter
-                            ///< view
-  dQuaternion qrel;         ///< initial relative rotation body1 -> body2.
-  dVector3 offset;          ///< @brief vector between the body1 and the rotoide
-                            ///< articulation.
-                            ///<
-                            ///< Going from the first to the second in the frame
-                            ///<  of body1.
-                            ///< That should be aligned with body1 center along axisP
-                            ///< This is calculated whe the axis are set.
-  dxJointLimitMotor limotR; ///< limit and motor information for the rotoide articulation.
-  dxJointLimitMotor limotP; ///< limit and motor information for the prismatic articulation.
-};
-extern struct dxJoint::Vtable __dPR_vtable;
-
-
-
-// slider. if body2 is 0 then qrel is the absolute rotation of body1 and
-// offset is the position of body1 center along axis1.
-
-struct dxJointSlider : public dxJoint {
-  dVector3 axis1;               // axis w.r.t first body
-  dQuaternion qrel;             // initial relative rotation body1 -> body2
-  dVector3 offset;              // point relative to body2 that should be
-                                // aligned with body1 center along axis1
-  dxJointLimitMotor limot;      // limit and motor information
-};
-extern struct dxJoint::Vtable __dslider_vtable;
-
-
-// contact
-
-struct dxJointContact : public dxJoint {
-  int the_m;                    // number of rows computed by getInfo1
-  dContact contact;
-};
-extern struct dxJoint::Vtable __dcontact_vtable;
-
-
-// hinge 2
-
-struct dxJointHinge2 : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dVector3 axis1;               // axis 1 w.r.t first body
-  dVector3 axis2;               // axis 2 w.r.t second body
-  dReal c0,s0;                  // cos,sin of desired angle between axis 1,2
-  dVector3 v1,v2;               // angle ref vectors embedded in first body
-  dxJointLimitMotor limot1;     // limit+motor info for axis 1
-  dxJointLimitMotor limot2;     // limit+motor info for axis 2
-  dReal susp_erp,susp_cfm;      // suspension parameters (erp,cfm)
-};
-extern struct dxJoint::Vtable __dhinge2_vtable;
-
-
-// angular motor
-
-struct dxJointAMotor : public dxJoint {
-  int num;                      // number of axes (0..3)
-  int mode;                     // a dAMotorXXX constant
-  int rel[3];                   // what the axes are relative to (global,b1,b2)
-  dVector3 axis[3];             // three axes
-  dxJointLimitMotor limot[3];   // limit+motor info for axes
-  dReal angle[3];               // user-supplied angles for axes
-  // these vectors are used for calculating euler angles
-  dVector3 reference1;          // original axis[2], relative to body 1
-  dVector3 reference2;          // original axis[0], relative to body 2
-};
-extern struct dxJoint::Vtable __damotor_vtable;
-
-
-struct dxJointLMotor : public dxJoint {
-  int num;
-  int rel[3];
-  dVector3 axis[3];
-  dxJointLimitMotor limot[3];
-};
-
-extern struct dxJoint::Vtable __dlmotor_vtable;
-
-
-// 2d joint, constrains to z == 0
-
-struct dxJointPlane2D : public dxJoint
-{
-    int                 row_motor_x;
-    int                 row_motor_y;
-    int                 row_motor_angle;
-    dxJointLimitMotor   motor_x;
-    dxJointLimitMotor   motor_y;
-    dxJointLimitMotor   motor_angle;
-};
-
-extern struct dxJoint::Vtable __dplane2d_vtable;
-
-
-// fixed
-
-struct dxJointFixed : public dxJoint {
-  dQuaternion qrel;             // initial relative rotation body1 -> body2
-  dVector3 offset;              // relative offset between the bodies
-  dReal erp;                    // error reduction parameter
-  dReal cfm;                    // constraint force mix-in
-  void set (int num, dReal value);
-  dReal get (int num);
-};
-extern struct dxJoint::Vtable __dfixed_vtable;
-
-
-// null joint, for testing only
-
-struct dxJointNull : public dxJoint {
-};
-extern struct dxJoint::Vtable __dnull_vtable;
-
-
-#endif