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-ODE CHANGELOG
--------------
-
-the rules for this file:
-  * entries are sorted newest-first.
-  * summarize sets of changes - dont reproduce every CVS log comment here.
-  * don't ever delete anything.
-  * keep the format consistent (79 char width, M/D/Y date format).
-
-------------------------------------------------------------------------------
-
-11/03/06 david
-
-        * Integrated Christoph Beyer's average based sampling system for body
-          disabling.
-
-10/26/06 Francisco Leon
-
-        * Totally refactored trimesh collision system.
-          Using GIMPACT instead of OPCODE. Now works correctly, and faster.
-          Visit http://gimpact.sourceforge.net.
-          
-        * Finally, test_moving_trimesh.exe works nicely.   
-          
-        * Fixed autodisable system. Now is possible to set bigger sleeping 
-          threshold values and objects won't be sleeping on the air. They will
-          rest on the floor properly.
-                  
-        * dInitODE function added.
-        
-        * Is Obligatory to call dInitODE() at the beginning for initialize ODE,
-          and calling dCloseODE() when the program ends.
-
-09/20/06 bram
-
-        * Fixed two bugs in cyl/plane collision test.
-
-09/13/06 remi
-
-        * New Rotoide - Prismatic joint type
-        * dJointGetUniversalAngles for efficient angle retrieval.
-
-08/09/06 david
-
-        * Integrated plane2d joint type which constrains bodies to z == 0.
-
-07/06/06 david
-
-        * Added heightfield primitive collision code. Simple test available in
-          ode/test/test_heightfield
-
-04/03/06 rodrigo
-
-        * Added Convex primitive collision code,
-          currently only convex-sphere and convex-plane work
-
-04/01/06 bram
-
-        * Added program to test trimesh vs sphere: ode/test/test_basket
-
-03/20/06 jason379
-
-        * Added new autogenerated Visual Studio projects, with Premake scripts
-
-03/17/06 bram
-
-        * Added plane/cyl intersection test
-        * Renamed CCylinder to Capsule
-        
-02/04/06 gcarlton
-
-        * Added support for geom offsets.
-
-10/26/05 rodrigo
-
-        * Removed LIBTOOL from autotools since it was not really required.
-        * Added a target to build ODE as a shared library, this shared
-          library gets build alongside the static one, no flags required.
-
-10/24/05 tfautre
-
-        (Backported patches from STABLE branch, applied by Adam)
-        
-        * dRandInt changed for a non-double all-int version.
-        * mics minor fixes and improvements.
-
-04/05/05 tfautre
-
-        * Fixed segmentation fault with OPCODE on 64 bits systems.
-
-03/31/05 tfautre
-
-        * Fixed timer.cpp compiler error on x86-64 using GCC.
-
-03/29/05 colin
-
-        * Added trimesh preprocessing to mark unneeded edges and verts.  Also
-          added support for preprocessed info to the ccylinder-trimesh
-          collider.
-
-12/07/04 adam
-
-        * Important AMotors bugfix
-
-09/22/04 jeff
-
-        * Assorted small bugfixes and tweaks for
-          trimesh_{box,ccylinder,trimesh} collisions
-
-09/21/04 jeff
-
-        * added functions to joint.cpp to allow joint attachment to moving
-          geoms.
-
-        * added malloc-based memory allocation in step.cpp & lcp.cpp (turned
-          on with a #define switch in common.h)
-        
-05/29/04 russ
-
-        * added joint feedback to the QuickStep solver
-
-05/18/04 russ
-
-        * added warm starting to the QuickStep solver
-
-05/18/04 russ
-
-        * added the QuickStep solver
-        
-        * added contact parameter functions.
-
-05/05/04 adam
-
-        * use dRandInt instead of rand() in stepfast.
-
-04/21/04 russ
-
-        * added auto-disable support from Aras Pranckevicius (with
-          modifications by russ). this useful feature can speed up
-          simulation significantly in some cases.
-        
-        * various internal tidyups.
-
-04/20/04 russ
-
-        * changed the meaning of the 'index' argument to dJointGetBody():
-          it was the only remaining API function that does not respect
-          dJOINT_REVERSE (spotted by Matthew D. Hancher).
-        
-        * updated the C++ headers: fixed two minor bugs and added
-          support for dQuadTreeSpace, dRay, and the dGeom::getSpace() method
-          (from Matthew D. Hancher).
-
-04/18/04 russ
-
-        * changed the way that the dInfinity constant is implemented: now it
-          is #defined to be one of: FLT_MAX, DBL_MAX, HUGE_VAL, HUGE_VALF, or
-          a large numeric constant. previously it was a variable that was
-          exported from the library. this simplifies the configuration and
-          build process quite a bit, especially in the case of DLLs.
-        
-        * removed the old, deprecated collision system (geom.cpp,space.cpp,
-          geom.h,space.h,odecpp_old_collision.h). the ODE_OLD_COLLISION
-          configuration setting no longer has any meaning.
-        
-        * removed support for dGeomGroups, which have been deprecated for
-          a while and are equivalent to 'spaces' anyway.
-
-04/13/04 russ
-
-        * bug fix in dMassSetCappedCylinder(), from Matthew D. Hancher.
-
-04/08/04 russ
-
-        * added trimesh-CCylinder capability, from Vadim Macagon
-          <vadim_mcagon@hotmail.com>.
-
-04/04/04 adam
-
-        * yet another rewrite of triangle-box collision code, this
-        time based on code donated by Croteam, ported by asko@jetti.org
-        and tweaked by Erwin.
-
-04/04/04 adam
-
-        * merged trimesh-trimesh collision code by
-        Jeffrey Smith <jeffreys@Softimage.com>.
-
-        * changed it to not break the trimesh interface, fix
-        some GCC compilation problems, bring it up to date with
-        ODE changes from 2003-11-15 -> 2004-04-04.
-
-        * add ability to drop meshes on meshes in test_moving_trimesh,
-        not as good as it could be but it's illustrative.
-
-01/16/04 adam
-
-        * implement a bunch of ultra-simple TriMesh functions that were
-        in the headers but not in the code -- patch by
-        Vadim Macagon <vadim_mcagon@hotmail.com>
-
-        * disable temporal coherence on trimeshes by default, since
-        it has scaleability issues that don't make it a general clear win.
-
-12/01/03 adam
-
-        * implement dxHashSpace::collide2(), not particularly efficiently.
-
-11/14/03 adam
-
-        * applied several Trimesh fixes and improvements from
-        Aras Pranckevicius <nearaz@interamotion.com>
-
-10/22/03 adam
-
-        * apply Nguyen Binh's work for removing many dSetZero() calls
-        and some other extraneous initializations.
-
-07/29/03 martin
-
-        * added dJointAdd*Torque/Force().
-
-07/10/03 russ
-
-        * added the StepFast code, by David Whittaker.
-
-07/02/03 martin
-
-        * added dMassSet*Total().
-
-07/01/03 martin
-
-        * added joint limits and motors to universal joints.
-
-        * reversed the polarity of the dJOINT_REVERSE flag.
-
-06/30/03 russ
-
-        * added the TriMesh geom class and the quad tree space to the ODE
-          core. both of these were developed by Erwin de Vries. added OPCODE
-          to the ODE distribution, this is required by TriMesh.
-
-06/23/03 martin
-
-        * added dGeomSetQuaternion() and dGeomGetQuaternion()
-        
-        * added dJointGet*Anchor2()
-
-05/07/03 russ
-
-        * added dGeomGetSpace().
-
-02/05/03 russ
-
-        * added dMassSetCylinder().
-
-12/07/02 russ
-
-        * added dAreConnectedExcluding().
-
-11/30/02 russ
-
-        * added the ray geom class.
-
-        * added the dGeomXXXPointDepth() functions.
-
-        * added a collision test infrastructure, and some more tests.
-
-11/24/02 russ
-
-        * added support for multiple box-box contacts.
-
-11/10/02 russ
-
-        * added new collision system. select between the old/new system by
-          setting the ODE_OLD_COLLISION variable in config/user-settings.
-
-10/28/02 russ
-
-        * fixed two problems in the LCP code to improve the reliability of
-          the dContactApprox1 contact mode.
-
-        * added a FAQ question about rolling bodies getting stuck when they
-          hit multiple geoms.
-
-09/08/02 russ
-
-        * added dClosestLineSegmentPoints().
-        * implemented dCollideCB().
-
-08/28/02 russ
-
-        * added dJointSetFeedback() and dJointGetFeedback().
-
-08/05/02 russ
-
-        * added dGeomTransformSetInfo() and dGeomTransformGetInfo().
-
-07/13/02 russ
-
-        * added dBodySetForce(), dBodySetTorque(), dWorldImpulseToForce(),
-          dBodyGetPosRelPoint(), dBodyGetPosRelPoint(), dBodyVectorToWorld(),
-          dBodyVectorFromWorld().
-
-        * added dBodyGetPointVel() (thanks to Colin Reed).
-
-        * added a new C++ interface (from Martin C. Martin, with modifications
-          by russ). the old C++ interface is now in odecpp_old.h.
-
-06/25/02 russ
-
-        * added an additional BSD-style licensing option for ODE.
-
-06/23/02 russ
-
-        * added dCloseODE(), contributed by Nate Waddoups and David McClurg.
-
-05/16/02 russ
-
-        * added dSpaceQuery(), contributed by Nate Waddoups.
-
-04/07/02 russ
-
-        * added a section to the documentation for universal joints.
-          this includes a picture of the joint.
-
-04/05/02 russ
-
-        * added a universal joint class (generously contributed by
-          Martin C. Martin). it doesn't (yet) have a motor or joint limits,
-          but it does come with tests.
-
-03/11/02 russ
-
-        * makefile changes to accomodate OSs with command line length
-          limitations (thanks to Norman Lin).
-
-01/06/02 russ
-
-        * added the dBodySetGravityMode() and dBodyGetGravityMode()
-          functions, which change the dxBodyNoGravity body flag.
-
-        * added support for building a DLL with MSVC - there is now a
-          msvc-dll target. thanks to Norman Lin for doing this.
-
-12/28/01 russ
-
-        * added the dParamCFM joint parameter.
-
-12/24/01 russ
-
-        * reworked the build system to make it more cross-platform.
-          there is now a single top-level makefile and a configurator.c
-          program. see the INSTALL file for details.
-
-12/04/01 russ
-
-        * the "angular motor" joint has been completed, and a new section
-          has been added to the documentation.
-
-11/26/01 russ
-
-        * added a new joint type: "angular motor". using this joint is a good
-          way to get ball-joint motors and limits. this is work in progress -
-          it has not been fully implemented or tested yet.
-
-11/22/01 russ
-
-        * replaced the mmap()-based joint group stack (stack.cpp) with a
-          malloc()-based arena stack (obstack.cpp). this will be more
-          portable and should not impact performance.
-
-11/12/01 russ
-
-        * changed the meaning of the 'flags' parameter to dCollide() and
-          related functions: now the size of the contact buffer is kept in
-          the lower 16 bits. this change will be backward compatible.
-
-        * added dBodyGetFiniteRotationMode() and dBodyGetFiniteRotationAxis().
-
-        * added dBodyAddForceAtRelPos() function.
-
-11/11/01 russ
-
-        * added the ability to manually enable and disable bodies.
-          see dBodyEnable(), dBodyDisable(), dBodyIsEnabled().
-
-        * fixed a potential bug: when a world is destroyed that contains
-          joints in joint groups, those joints are marked as "deactivated" in
-          the joint group, so when the joint group is destroyed they can be
-          ignored.
-
-        * the test_boxstack demo has new options to enable and disable bodies.
-
-        * new configuration parameter in config.h: dEFFICIENT_SIZE.
-
-11/11/01 russ
-
-        * started the change log for ODE. changes older than today were added
-          to this file by inspecting the CVS logs.
-
-11/05/01 russ
-
-        * added REAL() constructions for floating point numbers, to prevent
-          many warnings when compiling under VC++.
-
-11/03/01 russ
-
-        * added geometry transform class, documented composite objects.
-
-        * added collision rule: no contacts if both geoms on the same body.
-          this is not the best rule, may have to remove this in the future.
-
-        * new dMassAdd() function.
-
-        * capped cylinder to capped cylinder collision function.
-
-10/31/01 russ
-
-        * increase CFM in some demos to make them more robust.
-
-10/29/01 russ
-
-        * added new accessor functions.
-
-10/19/01 russ
-
-        * added the dJOINT_TWOBODIES flag to the joint, that says it can not
-          be attached to just one body.
-
-10/12/01 russ
-
-        * fixed a collision bug in dCollide() that was causing memory
-          corruption when multiple contacts were being returned.
-
-10/11/01 russ
-
-        * joints can now return m=0 to be "inactive". added a "null" joint
-          to test this.
-
-10/09/01 russ
-
-        * in the LCP solver, try to fail gracefully when s <= 0.
-
-        * dAABBTestFn() API change.
-
-10/08/01 russ
-
-        * fixed a contact swapping bug in dCollide().
-
-10/07/01 russ
-
-        * added capped cylinder geometry object.
-
-09/30/01 russ
-
-        * the test_buggy demo now uses geometry groups.
-
-        * added a dAABBTestFn field in the geometry classes.
-
-09/29/01 russ
-
-        * added geometry groups.
-
-09/20/01 russ
-
-        * added finite rotation stuff.