from the start... checking in ode-0.9

32 files changed, 2798 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp b/libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp
new file mode 100644
index 0000000..e550a32
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp
@@ -0,0 +1,58 @@
+#include "stdafx.h"
+
+using namespace System::Reflection;
+using namespace System::Runtime::CompilerServices;
+
+//
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+//
+[assembly:AssemblyTitleAttribute("")];
+[assembly:AssemblyDescriptionAttribute("")];
+[assembly:AssemblyConfigurationAttribute("")];
+[assembly:AssemblyCompanyAttribute("")];
+[assembly:AssemblyProductAttribute("")];
+[assembly:AssemblyCopyrightAttribute("")];
+[assembly:AssemblyTrademarkAttribute("")];
+[assembly:AssemblyCultureAttribute("")];                
+
+//
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+// You can specify all the value or you can default the Revision and Build Numbers 
+// by using the '*' as shown below:
+
+[assembly:AssemblyVersionAttribute("1.0.*")];
+
+//
+// In order to sign your assembly you must specify a key to use. Refer to the 
+// Microsoft .NET Framework documentation for more information on assembly signing.
+//
+// Use the attributes below to control which key is used for signing. 
+//
+// Notes: 
+//   (*) If no key is specified, the assembly is not signed.
+//   (*) KeyName refers to a key that has been installed in the Crypto Service
+//       Provider (CSP) on your machine. KeyFile refers to a file which contains
+//       a key.
+//   (*) If the KeyFile and the KeyName values are both specified, the 
+//       following processing occurs:
+//       (1) If the KeyName can be found in the CSP, that key is used.
+//       (2) If the KeyName does not exist and the KeyFile does exist, the key 
+//           in the KeyFile is installed into the CSP and used.
+//   (*) In order to create a KeyFile, you can use the sn.exe (Strong Name) utility.
+//        When specifying the KeyFile, the location of the KeyFile should be
+//        relative to the project directory.
+//   (*) Delay Signing is an advanced option - see the Microsoft .NET Framework
+//       documentation for more information on this.
+//
+[assembly:AssemblyDelaySignAttribute(false)];
+[assembly:AssemblyKeyFileAttribute("")];
+[assembly:AssemblyKeyNameAttribute("")];
+
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Body.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Body.cpp
new file mode 100644
index 0000000..c95ae57
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Body.cpp
@@ -0,0 +1,322 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "Body.h"
+
+namespace ODEManaged
+{
+
+        //Constructors
+
+                Body::Body(void)
+                {
+                        _id = 0;
+                }
+
+                Body::Body(World &world)
+                {
+                        _id = dBodyCreate(world.Id());
+                }
+
+
+        //Destructor
+
+                Body::~Body(void)
+                {
+                        dBodyDestroy(this->_id);
+                }
+
+
+        //Methods
+
+                //Id
+                dBodyID Body::Id()
+                {
+                        return _id;
+                }
+
+
+                //SetData
+                void Body::SetData(void *data)
+                {
+                        dBodySetData(this->_id, data);
+                }
+
+                //GetData
+                void *Body::GetData(void)
+                {
+                        return dBodyGetData(this->_id);
+                }
+
+
+                //SetPosition
+                void Body::SetPosition (double x, double y, double z)
+                {
+                        dBodySetPosition(this->_id, x, y, z);
+                }
+
+
+        //Overloaded GetPosition
+                Vector3 Body::GetPosition(void)
+                {
+                        Vector3 retVal;
+                        const dReal *temp;
+                        temp = dBodyGetPosition(this->_id);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                };
+
+                void Body::GetPosition(double position __gc[])
+                {
+                        const dReal *temp;
+                        temp = dBodyGetPosition(this->_id);
+                        position[0] = temp[0];
+                        position[1] = temp[1];
+                        position[2] = temp[2];
+                }
+
+
+                //SetRotationIdentity
+                void Body::SetRotationIdentity(void)
+                {
+                        dMatrix3 temp;
+                        dRSetIdentity(temp);
+                        dBodySetRotation(this->_id, temp);      
+                }
+        
+
+                //SetRotation (left handed system=>transpose)
+                void Body::SetRotation(Matrix3 rotation)
+                {
+                        dMatrix3 temp;
+                        temp[0] = rotation.m11;  
+                        temp[4] = rotation.m12;  
+                        temp[8] = rotation.m13; 
+                        temp[1] = rotation.m21;
+                        temp[5] = rotation.m22; 
+                        temp[9] = rotation.m23; 
+                        temp[2] = rotation.m31; 
+                        temp[6] = rotation.m32; 
+                        temp[10] = rotation.m33; 
+                        dBodySetRotation(this->_id, temp);
+                }
+
+                //GetRotation (left handed system=>transpose)
+                Matrix3 Body::GetRotation(void)
+                {
+                        Matrix3 retVal;
+                        //const dMatrix3 *m;
+                        const dReal *temp;
+                        temp = dBodyGetRotation(this->_id);
+                        retVal.m11 = temp[0];
+                        retVal.m12 = temp[4];
+                        retVal.m13 = temp[8];
+                        retVal.m21 = temp[1];
+                        retVal.m22 = temp[5];
+                        retVal.m23 = temp[9];
+                        retVal.m31 = temp[2];
+                        retVal.m32 = temp[6];
+                        retVal.m33 = temp[10];
+                        return retVal;  
+                }
+
+
+                //Overloaded SetMass
+                void Body::SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia)
+                {
+                        dMass *temp = new dMass();
+                        dMassSetParameters(temp, mass, 
+                                                           centerOfGravity.x, 
+                                                           centerOfGravity.y, 
+                                                           centerOfGravity.z, 
+                                                           inertia.m11, inertia.m22, 
+                                                           inertia.m33, inertia.m12, 
+                                                           inertia.m13, inertia.m23);
+
+                        dBodySetMass(this->_id, temp);
+                }
+
+
+                //SetMassSphere
+                void Body::SetMassSphere(double density, double radius)
+                {
+                        dMass *temp = new dMass();
+                        dMassSetSphere(temp, density, radius);
+                        dBodySetMass(this->_id, temp);
+                }       
+
+
+                //SetMassBox
+                void Body::SetMassBox(double density, double sideX, double sideY, double sideZ)
+                {
+                        dMass *temp = new dMass();
+                        dMassSetBox(temp, density, sideX, sideY, sideZ);
+                        dBodySetMass(this->_id, temp);
+                }       
+
+
+                //SetMassCappedCylinder
+                void Body::SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength)
+                {
+                        dMass *temp = new dMass();
+                        dMassSetCappedCylinder(temp, density, axis,
+                                                                   cylinderRadius, 
+                                                                   cylinderLength);
+
+                        dBodySetMass(this->_id, temp);
+                }
+
+
+                //AddForce
+                void Body::AddForce(double fX, double fY, double fZ)
+                {
+                        dBodyAddForce(this->_id, fX, fY, fZ);
+                }
+
+
+                //AddRelForce
+                void Body::AddRelForce(double fX, double fY, double fZ)
+                {
+                        dBodyAddRelForce(this->_id, fX,fY,fZ);
+                }
+
+
+                //AddForceAtPos
+                void Body::AddForceAtPos(double fX, double fY, double fZ, double pX, double pY, double pZ)
+                {
+                        dBodyAddForceAtPos(this->_id, fX, fY, fZ, pX, pY, pZ);
+                }
+
+
+                //AddRelForceAtPos
+                void Body::AddRelForceAtPos(double fX, double fY, double fZ, double pX, double pY, double pZ)
+                {
+                        dBodyAddRelForceAtPos(this->_id, fX, fY, fZ, pX, pY, pZ);
+                }
+
+
+                //AddRelForceAtRelPos
+                void Body::AddRelForceAtRelPos(double fX, double fY, double fZ, double pX, double pY, double pZ)
+                {
+                        dBodyAddRelForceAtRelPos(this->_id, fX, fY, fZ, pX, pY, pZ);
+                }       
+
+
+                //ApplyLinearVelocityDrag
+                void Body::ApplyLinearVelocityDrag(double dragCoef)
+                {
+                        const dReal *temp;
+                        double fX;
+                        double fY;
+                        double fZ;              
+                        temp = dBodyGetLinearVel(this->_id);                    
+                        fX = temp[0]*dragCoef*-1;
+                        fY = temp[1]*dragCoef*-1;
+                        fZ = temp[2]*dragCoef*-1;
+                        dBodyAddForce(this->_id, fX, fY, fZ);
+                }
+
+
+                //ApplyAngularVelocityDrag
+                void Body::ApplyAngularVelocityDrag(double dragCoef)
+                {
+                        const dReal *temp;
+                        double fX;
+                        double fY;
+                        double fZ;
+                        temp = dBodyGetAngularVel(this->_id);
+                        fX = temp[0]*dragCoef*-1;
+                        fY = temp[1]*dragCoef*-1;
+                        fZ = temp[2]*dragCoef*-1;
+                        dBodyAddTorque(this->_id, fX, fY, fZ);
+                }
+
+
+                //AddTorque
+                void Body::AddTorque(double fX, double fY, double fZ)
+                {
+                        dBodyAddTorque(this->_id, fX, fY, fZ);
+                }
+
+
+                //AddRelTorque
+                void Body::AddRelTorque(double fX, double fY, double fZ)
+                {
+                        dBodyAddRelTorque(this->_id, fX,fY,fZ);
+                }
+
+
+                //SetLinearVelocity
+                void Body::SetLinearVelocity(double x, double y, double z)
+                {
+                        dBodySetLinearVel(this->_id, x, y, z);
+                }
+
+
+                //GetLinearVelocity
+                Vector3 Body::GetLinearVelocity(void)
+                {
+                        Vector3 retVal;
+                        const dReal *temp;
+                        temp = dBodyGetLinearVel(this->_id);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+                //SetAngularVelocity
+                void Body::SetAngularVelocity(double x, double y, double z)
+                {
+                        dBodySetAngularVel(this->_id, x, y, z);
+                }
+
+                //GetAngularVelocity
+                Vector3 Body::GetAngularVelocity(void)
+                {
+                        Vector3 retVal;
+                        const dReal *temp;
+                        temp = dBodyGetAngularVel(this->_id);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+                
+                //GetRelPointPos
+                Vector3 Body::GetRelPointPos(double pX, double pY, double pZ)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dBodyGetRelPointPos(this->_id, pX, pY, pZ, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+                //GetRelPointVel
+                Vector3 Body::GetRelPointVel(double pX, double pY, double pZ)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dBodyGetRelPointVel(this->_id, pX, pY, pZ, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+                //ConnectedTo
+                int Body::ConnectedTo(const Body &b)
+                { 
+                        return dAreConnected(this->_id, b._id);
+                }
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Body.h b/libraries/ode-0.9/contrib/DotNetManaged/Body.h
new file mode 100644
index 0000000..9347c17
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Body.h
@@ -0,0 +1,76 @@
+#pragma once
+
+#include "World.h"
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{       
+        __gc public class Body
+        {
+                public:
+
+                        //Constructors and Destructors
+                
+                        Body(void);
+                        Body(World &world);
+                
+                        ~Body(void);
+
+
+                        //Public Methods
+
+                        dBodyID Id();
+                        void    SetData                         (void *data);
+                        void    *GetData                        (void);
+
+                        //POSITION
+                        void SetPosition(double x, double y, double z);
+                        Vector3 GetPosition(void);
+                        void GetPosition(double  position __gc[]);
+                        
+                        //ROTATION
+                        void SetRotationIdentity(void);
+                        void SetRotation(Matrix3 rotation);
+                        Matrix3 GetRotation(void);
+
+                        //MASS
+                        void SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia);
+                        void SetMassSphere(double density, double radius);
+                        void SetMassBox(double density, double sideX, double sideY, double sideZ);
+                        void SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength);
+
+                        //FORCE AND TORQUE
+                        void AddForce(double fX, double fY, double fZ);
+                        void AddRelForce(double fX, double fY, double fZ);
+                        void AddForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
+                        void AddRelForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
+                        void AddRelForceAtRelPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
+                        void ApplyLinearVelocityDrag(double dragCoef);
+                        void ApplyAngularVelocityDrag(double dragCoef);
+
+                        
+                        void AddTorque(double fX, double fY, double fZ);
+                        void AddRelTorque(double fX, double fY, double fZ);
+
+                        //LINEAR VELOCITY
+                        void SetLinearVelocity (double x, double y, double z);
+                        Vector3 GetLinearVelocity(void);
+
+                        //ANGULAR VELOCITY
+                        void SetAngularVelocity (double x, double y, double z);
+                        Vector3 GetAngularVelocity(void);
+
+                        //POINT
+                        Vector3 GetRelPointPos(double pX, double pY, double pZ);
+                        Vector3 GetRelPointVel(double pX, double pY, double pZ);
+
+                        //CONNECTED TO
+                        int ConnectedTo (const Body &b);
+
+                private:
+                        
+                        dBodyID _id;
+
+        };
+}
+
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/CommonMgd.h b/libraries/ode-0.9/contrib/DotNetManaged/CommonMgd.h
new file mode 100644
index 0000000..143397d
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/CommonMgd.h
@@ -0,0 +1,43 @@
+#pragma once
+
+namespace ODEManaged
+{
+
+        __value public struct Vector3
+        {
+                double x;
+                double y;
+                double z;
+        };
+
+
+        __value public struct Vector4
+        {
+                double W;
+                double x;
+                double y;
+                double z;
+        };
+
+
+        __value public struct Matrix3
+        {
+                double m11;
+                double m12;
+                double m13;
+                double m21;
+                double m22;
+                double m23;
+                double m31;
+                double m32;
+                double m33;
+        };
+
+        //__value public struct NearCallback
+        //{
+        //      void *data;
+        //      dGeomID o1;
+        //      dGeomID o2;
+        //};
+
+}
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.sln b/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.sln
new file mode 100644
index 0000000..2694a26
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.sln
@@ -0,0 +1,21 @@
+Microsoft Visual Studio Solution File, Format Version 7.00
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DotNetManaged", "DotNetManaged.vcproj", "{4B75AC19-971A-4CC6-A4F5-0695C9F8562F}"
+EndProject
+Global
+        GlobalSection(SolutionConfiguration) = preSolution
+                ConfigName.0 = Debug
+                ConfigName.1 = Release
+        EndGlobalSection
+        GlobalSection(ProjectDependencies) = postSolution
+        EndGlobalSection
+        GlobalSection(ProjectConfiguration) = postSolution
+                {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Debug.ActiveCfg = Debug|Win32
+                {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Debug.Build.0 = Debug|Win32
+                {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Release.ActiveCfg = Release|Win32
+                {4B75AC19-971A-4CC6-A4F5-0695C9F8562F}.Release.Build.0 = Release|Win32
+        EndGlobalSection
+        GlobalSection(ExtensibilityGlobals) = postSolution
+        EndGlobalSection
+        GlobalSection(ExtensibilityAddIns) = postSolution
+        EndGlobalSection
+EndGlobal
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.vcproj b/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.vcproj
new file mode 100644
index 0000000..2f5bb6c
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.vcproj
@@ -0,0 +1,379 @@
+<?xml version="1.0" encoding = "Windows-1252"?>
+<VisualStudioProject
+        ProjectType="Visual C++"
+        Version="7.00"
+        Name="DotNetManaged"
+        ProjectGUID="{4B75AC19-971A-4CC6-A4F5-0695C9F8562F}"
+        Keyword="ManagedCProj">
+        <Platforms>
+                <Platform
+                        Name="Win32"/>
+        </Platforms>
+        <Configurations>
+                <Configuration
+                        Name="Debug|Win32"
+                        OutputDirectory="Debug"
+                        IntermediateDirectory="Debug"
+                        ConfigurationType="2"
+                        CharacterSet="2"
+                        ManagedExtensions="TRUE">
+                        <Tool
+                                Name="VCCLCompilerTool"
+                                Optimization="2"
+                                AdditionalIncludeDirectories="&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Contrib\tri-collider&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\ODE\Src&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\ODE&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Include&quot;"
+                                PreprocessorDefinitions="WIN32;_DEBUG"
+                                MinimalRebuild="FALSE"
+                                BasicRuntimeChecks="0"
+                                RuntimeLibrary="1"
+                                WarningLevel="3"
+                                DebugInformationFormat="3"/>
+                        <Tool
+                                Name="VCCustomBuildTool"/>
+                        <Tool
+                                Name="VCLinkerTool"
+                                OutputFile="$(OutDir)/DotNetManaged.exe"
+                                LinkIncremental="2"
+                                GenerateDebugInformation="TRUE"/>
+                        <Tool
+                                Name="VCMIDLTool"/>
+                        <Tool
+                                Name="VCPostBuildEventTool"/>
+                        <Tool
+                                Name="VCPreBuildEventTool"/>
+                        <Tool
+                                Name="VCPreLinkEventTool"/>
+                        <Tool
+                                Name="VCResourceCompilerTool"/>
+                        <Tool
+                                Name="VCWebServiceProxyGeneratorTool"/>
+                        <Tool
+                                Name="VCWebDeploymentTool"/>
+                </Configuration>
+                <Configuration
+                        Name="Release|Win32"
+                        OutputDirectory="Release"
+                        IntermediateDirectory="Release"
+                        ConfigurationType="2"
+                        CharacterSet="2"
+                        ManagedExtensions="TRUE"
+                        WholeProgramOptimization="FALSE">
+                        <Tool
+                                Name="VCCLCompilerTool"
+                                Optimization="2"
+                                InlineFunctionExpansion="0"
+                                OmitFramePointers="TRUE"
+                                AdditionalIncludeDirectories="&quot;F:\Documents and Settings\Visual Studio Projects\ODE&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Contrib\DotNetManaged\odeOLd&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Include&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Include\ODE&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\ODE\Src&quot;;&quot;F:\Documents and Settings\Visual Studio Projects\ODE\Contrib\tri-collider&quot;"
+                                PreprocessorDefinitions="WIN32;NDEBUG"
+                                MinimalRebuild="FALSE"
+                                WarningLevel="3"
+                                DebugInformationFormat="3"/>
+                        <Tool
+                                Name="VCCustomBuildTool"/>
+                        <Tool
+                                Name="VCLinkerTool"
+                                OutputFile="$(OutDir)/ode.dll"
+                                SuppressStartupBanner="TRUE"
+                                GenerateDebugInformation="FALSE"/>
+                        <Tool
+                                Name="VCMIDLTool"/>
+                        <Tool
+                                Name="VCPostBuildEventTool"/>
+                        <Tool
+                                Name="VCPreBuildEventTool"/>
+                        <Tool
+                                Name="VCPreLinkEventTool"/>
+                        <Tool
+                                Name="VCResourceCompilerTool"/>
+                        <Tool
+                                Name="VCWebServiceProxyGeneratorTool"/>
+                        <Tool
+                                Name="VCWebDeploymentTool"/>
+                </Configuration>
+        </Configurations>
+        <Files>
+                <Filter
+                        Name="Source Files"
+                        Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm">
+                        <File
+                                RelativePath="..\..\ODE\Src\array.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\error.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\fastdot.c">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\fastldlt.c">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\fastlsolve.c">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\fastltsolve.c">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\geom.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\joint.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\lcp.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\mass.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\mat.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\matrix.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\memory.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\misc.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\objects.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\obstack.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\ode.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\odemath.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\rotation.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\space.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\step.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\testing.cpp">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\timer.cpp">
+                        </File>
+                </Filter>
+                <Filter
+                        Name="Header Files"
+                        Filter="h;hpp;hxx;hm;inl;inc">
+                        <File
+                                RelativePath="..\..\ODE\Src\array.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\common.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\config.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\contact.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\error.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\geom.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\geom_internal.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\joint.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\lcp.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\mass.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\mat.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\matrix.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\memory.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\misc.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\objects.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\obstack.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\ode.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\odecpp.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\odemath.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\rotation.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\space.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\step.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\ODE\Src\testing.h">
+                        </File>
+                        <File
+                                RelativePath="..\..\Include\ODE\timer.h">
+                        </File>
+                </Filter>
+                <Filter
+                        Name="Resource Files"
+                        Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;r">
+                </Filter>
+                <Filter
+                        Name="Wrapper"
+                        Filter="">
+                        <Filter
+                                Name="Header Files"
+                                Filter="">
+                                <File
+                                        RelativePath="Body.h">
+                                </File>
+                                <File
+                                        RelativePath="CommonMgd.h">
+                                </File>
+                                <File
+                                        RelativePath="Geom.h">
+                                </File>
+                                <File
+                                        RelativePath="Joint.h">
+                                </File>
+                                <File
+                                        RelativePath="JointAMotor.h">
+                                </File>
+                                <File
+                                        RelativePath="JointBall.h">
+                                </File>
+                                <File
+                                        RelativePath="JointFixed.h">
+                                </File>
+                                <File
+                                        RelativePath="JointGroup.h">
+                                </File>
+                                <File
+                                        RelativePath="JointHinge.h">
+                                </File>
+                                <File
+                                        RelativePath="JointHinge2.h">
+                                </File>
+                                <File
+                                        RelativePath="JointSlider.h">
+                                </File>
+                                <File
+                                        RelativePath="Space.h">
+                                </File>
+                                <File
+                                        RelativePath="Stdafx.h">
+                                </File>
+                                <File
+                                        RelativePath="World.h">
+                                </File>
+                        </Filter>
+                        <Filter
+                                Name="Source Files"
+                                Filter="">
+                                <File
+                                        RelativePath="Body.cpp">
+                                </File>
+                                <File
+                                        RelativePath="Geom.cpp">
+                                        <FileConfiguration
+                                                Name="Debug|Win32">
+                                                <Tool
+                                                        Name="VCCLCompilerTool"
+                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
+                                        </FileConfiguration>
+                                        <FileConfiguration
+                                                Name="Release|Win32">
+                                                <Tool
+                                                        Name="VCCLCompilerTool"
+                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
+                                        </FileConfiguration>
+                                </File>
+                                <File
+                                        RelativePath="Joint.cpp">
+                                        <FileConfiguration
+                                                Name="Debug|Win32">
+                                                <Tool
+                                                        Name="VCCLCompilerTool"
+                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
+                                        </FileConfiguration>
+                                        <FileConfiguration
+                                                Name="Release|Win32">
+                                                <Tool
+                                                        Name="VCCLCompilerTool"
+                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
+                                        </FileConfiguration>
+                                </File>
+                                <File
+                                        RelativePath="JointAMotor.cpp">
+                                </File>
+                                <File
+                                        RelativePath="JointBall.cpp">
+                                </File>
+                                <File
+                                        RelativePath="JointFixed.cpp">
+                                </File>
+                                <File
+                                        RelativePath="JointGroup.cpp">
+                                </File>
+                                <File
+                                        RelativePath="JointHinge.cpp">
+                                </File>
+                                <File
+                                        RelativePath="JointHinge2.cpp">
+                                </File>
+                                <File
+                                        RelativePath="JointSlider.cpp">
+                                </File>
+                                <File
+                                        RelativePath="Space.cpp">
+                                        <FileConfiguration
+                                                Name="Debug|Win32">
+                                                <Tool
+                                                        Name="VCCLCompilerTool"
+                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
+                                        </FileConfiguration>
+                                        <FileConfiguration
+                                                Name="Release|Win32">
+                                                <Tool
+                                                        Name="VCCLCompilerTool"
+                                                        ObjectFile="$(IntDir)/$(InputName)1.obj"/>
+                                        </FileConfiguration>
+                                </File>
+                                <File
+                                        RelativePath="Stdafx.cpp">
+                                </File>
+                                <File
+                                        RelativePath="World.cpp">
+                                </File>
+                        </Filter>
+                </Filter>
+        </Files>
+        <Globals>
+        </Globals>
+</VisualStudioProject>
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp
new file mode 100644
index 0000000..3655466
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp
@@ -0,0 +1,219 @@
+
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "Geom.h"
+
+
+namespace ODEManaged
+{
+
+        //Constructors
+
+                Geom::Geom(void)
+                { 
+                        _id = 0;
+                }
+
+
+        //Destructor
+
+                Geom::~Geom(void)
+                {
+                        dGeomDestroy(this->_id);
+                }
+
+
+        //Methods
+                        
+                //Id
+                dGeomID Geom::Id(void)
+                {
+                        return _id;
+                }
+
+
+                //GetBody
+                dBodyID Geom::GetBody(void)
+                {
+                        return dGeomGetBody(this->_id);
+                }
+
+
+                //Overloaded SetBody
+                void Geom::SetBody(Body &body)
+                {
+                        dGeomSetBody(this->_id, body.Id());
+                }
+
+                //void Geom::SetBody(dBodyID b)
+                //{
+                //      dGeomSetBody(this->_id, b);
+                //}
+
+
+                //SetPosition
+                void Geom::SetPosition(double x, double y, double z)
+                {
+                        dGeomSetPosition(this->_id, x, y, z);
+                }
+
+
+                //SetRotation
+                void Geom::SetRotation(Matrix3 rotation)
+                {
+                        dMatrix3 temp;
+                        temp[0] = rotation.m11;  
+                        temp[4] = rotation.m12;  
+                        temp[8] = rotation.m13; 
+                        temp[1] = rotation.m21;
+                        temp[5] = rotation.m22; 
+                        temp[9] = rotation.m23; 
+                        temp[2] = rotation.m31; 
+                        temp[6] = rotation.m32; 
+                        temp[10] = rotation.m33;
+                        dGeomSetRotation(_id, temp);
+                }
+                
+                
+                //Destroy
+                void Geom::Destroy() 
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = 0;
+                }
+
+
+                //SetData
+                void Geom::SetData(void *data)
+                {
+                        dGeomSetData(this->_id, data);
+                }
+
+
+                //GetData
+                void *Geom::GetData(void)
+                {
+                        return dGeomGetData(this->_id);
+                }
+
+
+                //GetPosition
+                Vector3 Geom::GetPosition(void)
+                {
+                        Vector3 retVal;
+                        const dReal *temp;
+                        temp = dGeomGetPosition(this->_id);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+                //GetRotation (left handed system=>transpose)
+                Matrix3 Geom::GetRotation(void)
+                {
+                        Matrix3 retVal;
+                        const dReal *temp;
+                        temp = dGeomGetRotation(this->_id);
+                        retVal.m11 = temp[0];
+                        retVal.m12 = temp[4];
+                        retVal.m13 = temp[8];
+                        retVal.m21 = temp[1];
+                        retVal.m22 = temp[5];
+                        retVal.m23 = temp[9];
+                        retVal.m31 = temp[2];
+                        retVal.m32 = temp[6];
+                        retVal.m33 = temp[10];
+                        return retVal;  
+                }
+
+
+                //CreateSphere
+                void Geom::CreateSphere(Space &space, double radius)
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = dCreateSphere(space.Id(), radius);
+                }
+
+
+                //CreateBox
+                void Geom::CreateBox(Space &space, double lx, double ly, double lz)
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = dCreateBox(space.Id(), lx, ly, lz);
+                }
+
+                
+                //CreatePlane
+                void Geom::CreatePlane(Space &space, double a, double b, double c, double d) 
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = dCreatePlane(space.Id(), a, b, c, d);
+                }
+
+
+                //CreateCCylinder
+                void Geom::CreateCCylinder(Space &space, double radius, double length)
+                {
+                        if(this->_id) dGeomDestroy(this->_id);
+                        _id = dCreateCCylinder(space.Id(), radius, length);
+                }
+        
+
+                //SphereGetRadius
+                double Geom::SphereGetRadius(void)
+                {
+                        return dGeomSphereGetRadius(this->_id);
+                }
+                
+                
+                //BoxGetLengths
+                Vector3 Geom::BoxGetLengths(void)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dGeomBoxGetLengths(this->_id, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+                //PlaneGetParams
+                Vector4 Geom::PlaneGetParams(void)
+                {
+                        Vector4 retVal;
+                        dVector4 temp;
+                        dGeomPlaneGetParams(this->_id, temp);
+                        retVal.W = temp[0];
+                        retVal.x = temp[1];
+                        retVal.y = temp[2];
+                        retVal.z = temp[3];
+                        return retVal;
+                }
+                
+                
+                //CCylinderGetParams
+                void Geom::CCylinderGetParams(double *radius, double *length)
+                {
+                        dGeomCCylinderGetParams(this->_id, radius, length);
+                }
+                
+
+                //GetClass
+                int Geom::GetClass(void)
+                {
+                        return dGeomGetClass(this->_id);
+                }
+                
+}
+
+
+
+
+
+
+
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Geom.h b/libraries/ode-0.9/contrib/DotNetManaged/Geom.h
new file mode 100644
index 0000000..83a6faf
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Geom.h
@@ -0,0 +1,75 @@
+#pragma once
+
+#include "Body.h"
+#include "Space.h"
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{
+        __gc public class Geom
+        {
+        public:
+
+                
+                //Constructor
+                        
+                        Geom                                    (void);
+
+                        
+                //Destructor
+                        
+                        ~Geom                                   (void);
+
+
+                //Methods
+
+                        //Basic Stuff
+
+                                dGeomID Id                                      (void);
+                                dBodyID GetBody                         (void);
+                                
+                                //Overloaded SetBody
+                                void    SetBody                         (Body &body);
+                                /*void  SetBody                         (dBodyID b);*/
+                                
+                                Vector3 GetPosition                     (void);
+                                void    SetPosition                     (double x, double y, double z);
+                                
+                                Matrix3 GetRotation                     (void);
+                                void    SetRotation                     (Matrix3 rotation);
+                                
+                                void    SetData                         (void *data);
+                                void    *GetData                        (void);
+
+
+                        //Create Objects
+
+                                void    CreateSphere            (Space &space, double radius);
+                                void    CreateBox                       (Space &space, double lx, double ly, double lz);
+                                void    CreatePlane                     (Space &space, double a, double b, double c, double d);
+                                void    CreateCCylinder         (Space &space, double radius, double length);
+                                
+
+                        //Destroy Objects
+
+                                void    Destroy                         (void);
+
+
+                        //Get Object's Parameters
+
+                                double  SphereGetRadius         (void);
+                                Vector3 BoxGetLengths           (void);
+                                Vector4 PlaneGetParams          (void);
+                                void    CCylinderGetParams      (double *radius, double *length);
+                                int             GetClass                        (void);
+
+
+                //Properties
+                
+                        private:
+                        
+                                dGeomID _id;
+        
+        };
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Joint.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Joint.cpp
new file mode 100644
index 0000000..e2d8de6
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Joint.cpp
@@ -0,0 +1,35 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "joint.h"
+#include "CommonMgd.h"
+#include "world.h"
+
+namespace ODEManaged
+{
+        
+        //Constructor
+
+                Joint::Joint(void)
+                {
+                        _id=0;
+                }
+
+
+        //Destructor
+
+                Joint::~Joint(void)
+                {
+                        dJointDestroy(this->_id);
+                }
+
+
+        //Methods
+
+                //Id
+                dJointID Joint::Id(void)
+                {
+                        return _id;
+                }
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Joint.h b/libraries/ode-0.9/contrib/DotNetManaged/Joint.h
new file mode 100644
index 0000000..d9ab254
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Joint.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include "JointGroup.h"
+#include "World.h"
+#include "Body.h"
+
+namespace ODEManaged
+{       
+        __gc public class Joint
+        {
+        protected:
+                //Constructor and Destructor Defenition
+                Joint(void);
+                ~Joint(void);
+
+                //Public Methods
+                dJointID Id(void);
+
+                dJointID _id;   
+ };
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp
new file mode 100644
index 0000000..c5a4543
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp
@@ -0,0 +1,162 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "JointAMotor.h"
+
+namespace ODEManaged
+{
+
+        //Constructors
+
+                JointAMotor::JointAMotor(void) : Joint(){}
+
+
+                JointAMotor::JointAMotor(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateAMotor(world.Id(), 0);
+                }
+
+                
+                JointAMotor::JointAMotor(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateAMotor(world.Id(), jointGroup.Id());
+                }
+
+
+        //Destructor
+
+                JointAMotor::~JointAMotor(void){}
+
+
+        //Methods
+
+                //Overloaded Create 
+                        void JointAMotor::Create(World &world, JointGroup &jointGroup)
+                        {
+                                if(this->_id) dJointDestroy(this->_id);
+                                _id = dJointCreateAMotor(world.Id(), jointGroup.Id());
+                        }
+
+                        void JointAMotor::Create(World &world)
+                        {
+                                if(this->_id) dJointDestroy(this->_id);
+                                _id = dJointCreateAMotor(world.Id(), 0);
+                        }
+
+
+                //Overloaded Attach
+                        void JointAMotor::Attach(Body &body1, Body &body2)
+                        {
+                                dJointAttach(this->_id, body1.Id(), body2.Id());
+                        }
+
+                        void JointAMotor::Attach(Body &body1)
+                        {
+                                dJointAttach(this->_id, body1.Id(), 0);
+                        }
+
+
+                //SetNumAxes
+
+                        void JointAMotor::SetNumAxes(int num)
+                        {
+                                dJointSetAMotorNumAxes(this->_id, num);
+                        }
+
+
+                //GetNumAxes
+
+                        int JointAMotor::GetNumAxes(void)
+                        {
+                                return dJointGetAMotorNumAxes(this->_id);
+                        }
+
+
+                //SetAxis
+
+                        void JointAMotor::SetAxis(int anum, int rel, double x, double y ,double z)
+                        {
+                                dJointSetAMotorAxis(this->_id, anum, rel, x, y, z);
+                        }
+
+
+                //GetAxis
+
+                        Vector3 JointAMotor::GetAxis(int anum)
+                        {
+                                Vector3 retVal;
+                                dVector3 temp;
+                                dJointGetAMotorAxis(this->_id, anum, temp);
+                                retVal.x = temp[0];
+                                retVal.y = temp[1];
+                                retVal.z = temp[2];
+                                return retVal;
+                        }
+
+
+                //SetAngle
+
+                        void JointAMotor::SetAngle(int anum, double angle)
+                        {
+                                dJointSetAMotorAngle(this->_id, anum, angle);
+                        }
+
+
+                //GetAngle
+
+                        double JointAMotor::GetAngle(int anum)
+                        {
+                                return dJointGetAMotorAngle(this->_id, anum);
+                        }
+
+
+                //SetParam
+
+                        void JointAMotor::SetParam(int parameter, double value)
+                        {
+                                dJointSetAMotorParam(this->_id, parameter, value);
+                        }
+
+
+                //GetParam
+
+                        double JointAMotor::GetParam(int parameter)
+                        {
+                                return dJointGetAMotorParam(this->_id, parameter);
+                        }
+
+
+                //SetMode
+
+                        void JointAMotor::SetMode(int mode)
+                        {
+                                dJointSetAMotorMode(this->_id, mode);
+                        }
+
+
+                //GetMode
+
+                        int JointAMotor::GetMode(void)
+                        {
+                                return dJointGetAMotorMode(this->_id);
+                        }
+
+
+                //GetAxisRel
+
+                        int JointAMotor::GetAxisRel(int anum)
+                        {
+                                return dJointGetAMotorAxisRel(this->_id, anum);
+                        }
+
+
+                //GetAngleRate
+
+                        double JointAMotor::GetAngleRate(int anum)
+                        {
+                                return dJointGetAMotorAngleRate(this->_id, anum);
+                        }
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.h b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.h
new file mode 100644
index 0000000..aa3ca4b
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.h
@@ -0,0 +1,62 @@
+#pragma once
+
+#include "Joint.h"
+
+namespace ODEManaged
+{
+        __gc public class JointAMotor : public Joint
+        {
+        public:
+
+
+                //Constructors
+
+                        JointAMotor                             (void);
+                        JointAMotor                             (World &world);
+                        JointAMotor                             (World &world, JointGroup &jointGroup);
+                        
+
+                //Destructor
+                        
+                        virtual ~JointAMotor    (void);
+
+
+                //Methods       
+                
+                        //Basic Stuff
+                        
+                                //Overloaded Create
+                                void    Create                  (World &world, JointGroup &jointGroup);
+                                void    Create                  (World &world);
+
+                                void    SetNumAxes              (int num);
+                                int             GetNumAxes              (void);
+
+                                void    SetAxis                 (int anum, int rel, double x, double y, double z);
+                                Vector3 GetAxis                 (int anum);
+                                
+                                void    SetAngle                (int anum, double angle);
+                                double  GetAngle                (int anum);
+
+                                void    SetMode                 (int mode);
+                                int             GetMode                 (void);
+
+                                int             GetAxisRel              (int anum);
+                                double  GetAngleRate    (int anum);
+
+                                //Overloaded Attach
+                                void    Attach                  (Body &body1, Body &body2);     
+                                void    Attach                  (Body &body1);
+
+
+                        //Movement Parameters
+
+                        void    SetParam                (int parameter, double value);
+                        double  GetParam                (int parameter);
+                        
+
+                        
+
+
+        };
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp
new file mode 100644
index 0000000..d9336c9
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp
@@ -0,0 +1,79 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "jointball.h"
+
+namespace ODEManaged
+{
+        
+        //Constructors
+
+                JointBall::JointBall(void) : Joint(){}
+
+
+                JointBall::JointBall(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateBall(world.Id(), 0);
+                }
+
+                
+                JointBall::JointBall(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateBall(world.Id(), jointGroup.Id());
+                }
+
+
+        //Destructor
+
+                JointBall::~JointBall(void){}
+
+
+        //Methods
+
+                //Overloaded Create 
+                void JointBall::Create(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateBall(world.Id(), jointGroup.Id());
+                }
+
+                void JointBall::Create(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateBall(world.Id(), 0);
+                }
+
+
+                //Overloaded Attach
+                void JointBall::Attach(Body &body1, Body &body2)
+                {
+                        dJointAttach(this->_id, body1.Id(), body2.Id());
+                }
+
+                void JointBall::Attach(Body &body1)
+                {
+                        dJointAttach(this->_id, body1.Id(), 0);
+                }
+
+
+                //SetAnchor
+                void JointBall::SetAnchor(double x, double y ,double z)
+                {
+                        dJointSetBallAnchor(this->_id, x, y, z);
+                }
+
+                //GetAnchor
+                Vector3 JointBall::GetAnchor(void)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dJointGetBallAnchor(this->_id,temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointBall.h b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.h
new file mode 100644
index 0000000..2355bdd
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointBall.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include "Joint.h"
+
+namespace ODEManaged
+{
+        __gc public class JointBall : public Joint
+        {
+        public:
+
+                //Constructors
+
+                        JointBall(void);
+                        JointBall(World &world);
+                        JointBall(World &world, JointGroup &jointGroup);
+                
+
+                //Destructors
+
+                        virtual ~JointBall(void);
+
+
+                //Methods
+                
+                        //Overloaded Create
+                        void Create(World &world, JointGroup &jointGroup);
+                        void Create(World &world);
+                        
+                        //Overloaded Attach
+                        void Attach(Body &body1, Body &body2);  
+                        void Attach(Body &body1);
+
+                        void SetAnchor(double x, double y, double z);
+                        Vector3 GetAnchor(void);
+
+        };
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.cpp
new file mode 100644
index 0000000..afe9222
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.cpp
@@ -0,0 +1,67 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "jointfixed.h"
+
+namespace ODEManaged
+{
+
+        //Constructors
+
+                JointFixed::JointFixed(void) : Joint(){}
+
+
+                JointFixed::JointFixed(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateFixed(world.Id(),0);
+                }
+                
+
+                JointFixed::JointFixed(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateFixed(world.Id(), jointGroup.Id());
+                }
+
+
+        //Destructor
+
+                JointFixed::~JointFixed(void){}
+
+
+        //Methods
+
+                //Overloaded Create 
+                void JointFixed::Create(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateFixed(world.Id(), jointGroup.Id());
+                }
+
+                void JointFixed::Create(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateFixed(world.Id(), 0);
+                }
+
+
+                //Overloaded Attach
+                void JointFixed::Attach(Body &body1, Body &body2)
+                {
+                        dJointAttach(this->_id, body1.Id(), body2.Id());
+                }
+
+                void JointFixed::Attach(Body &body1)
+                {
+                        dJointAttach(this->_id, body1.Id(), 0);
+                }
+
+
+                //Fixed
+                void JointFixed::SetFixed(void)
+                {
+                        dJointSetFixed(this->_id);
+                }
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.h b/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.h
new file mode 100644
index 0000000..5ca50dc
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include "Joint.h"
+
+namespace ODEManaged
+{
+        __gc public class JointFixed : public Joint
+        {
+        public:
+
+                //Constructors
+
+                        JointFixed(void);
+                        JointFixed(World &world);
+                        JointFixed(World &world, JointGroup &jointGroup);
+                
+
+                //Destructor
+
+                        virtual ~JointFixed(void);
+
+
+                //Methods
+                
+                        //Overloaded Create
+                        void Create(World &world, JointGroup &jointGroup);
+                        void Create(World &world);
+
+                        //Overloaded Attach 
+                        void Attach(Body &body1, Body &body2);  
+                        void Attach(Body &body1);
+                
+                        void SetFixed(void);
+
+        };
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.cpp
new file mode 100644
index 0000000..925751f
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.cpp
@@ -0,0 +1,53 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "jointgroup.h"
+
+namespace ODEManaged
+{
+
+        //Constructors
+
+                JointGroup::JointGroup(void)
+                {       
+                        _id=0;
+                }
+
+                JointGroup::JointGroup (int maxSize)
+                {
+                        _id = dJointGroupCreate(maxSize);
+                }
+
+
+        //Destructor
+
+                JointGroup::~JointGroup(void)
+                {
+                        dJointGroupDestroy(this->_id);
+                }
+
+        
+        //Methods
+
+                //ID
+                dJointGroupID JointGroup::Id()
+                {
+                        return _id;
+                }
+
+
+                //Create
+                void JointGroup::Create (int maxSize)
+                {
+                        if(_id) dJointGroupDestroy(_id);
+                        _id = dJointGroupCreate(maxSize);
+                }
+
+
+                //Empty
+                void JointGroup::Empty (void)
+                {
+                        dJointGroupEmpty(this->_id);
+                }
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.h b/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.h
new file mode 100644
index 0000000..b62ced0
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.h
@@ -0,0 +1,33 @@
+#pragma once
+
+namespace ODEManaged
+{
+        __gc public class JointGroup
+        {
+        public:
+
+                //Constructors
+
+                        JointGroup(void);
+                        JointGroup(int maxSize);
+                
+
+                //Destructor
+
+                        ~JointGroup(void);
+
+
+                //Methods
+                
+                        dJointGroupID Id(void);
+                        void Create(int maxSize);
+                        void Empty(void);
+
+                
+                private:
+
+                        dJointGroupID _id;
+
+        };
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp
new file mode 100644
index 0000000..85d420b
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp
@@ -0,0 +1,121 @@
+#include "stdafx.h"
+
+#include <ode/ode.h>
+#include "jointhinge.h"
+
+namespace ODEManaged
+{
+
+        //Constructors
+
+                JointHinge::JointHinge(void) : Joint(){}
+
+
+                JointHinge::JointHinge(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateHinge(world.Id(), 0);
+                }
+
+                
+                JointHinge::JointHinge(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateHinge(world.Id(), jointGroup.Id());
+                }
+
+
+        //Destructor
+
+                JointHinge::~JointHinge(void){}
+
+
+        //Methods
+
+                //Overloaded Create 
+                void JointHinge::Create(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateHinge(world.Id(), jointGroup.Id());
+                }
+
+                void JointHinge::Create(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateHinge(world.Id(), 0);
+                }
+
+
+                //Overloaded Attach 
+                void JointHinge::Attach(Body &body1, Body &body2)
+                {
+                        dJointAttach(this->_id, body1.Id(), body2.Id());
+                }
+
+                void JointHinge::Attach(Body &body1)
+                {
+                        dJointAttach(this->_id, body1.Id(), 0);
+                }
+
+
+                //SetAxis
+                void JointHinge::SetAxis(double x, double y, double z)
+                {
+                        dJointSetHingeAxis(this->_id, x, y, z);
+                }
+
+                //GetAxis
+                Vector3 JointHinge::GetAxis(void)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dJointGetHingeAxis(this->_id, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+                //SetAnchor
+                void JointHinge::SetAnchor(double x, double y, double z)
+                {
+                        dJointSetHingeAnchor(this->_id, x, y, z);
+                }
+
+                //GetAnchor
+                Vector3 JointHinge::GetAnchor(void)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dJointGetHingeAnchor(this->_id, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+        //Movement Parameters
+
+                //SetAllMovParams
+                void JointHinge::SetAllMovParams(double LoStop, double HiStop,
+                                                                                 double Velocity, double MaxForce,
+                                                                                 double FudgeFactor, double Bounce,
+                                                                                 double StopERP, double StopCFM)
+                {
+                        if (LoStop > -3.141592653 && LoStop <= 0) 
+                                dJointSetHingeParam(this->_id, dParamLoStop, LoStop);
+
+                        if (HiStop < 3.141592653 && HiStop >= 0)
+                                dJointSetHingeParam(this->_id, dParamHiStop, HiStop);
+
+                        dJointSetHingeParam(this->_id, dParamVel, Velocity);
+                        dJointSetHingeParam(this->_id, dParamFMax, MaxForce);
+                        dJointSetHingeParam(this->_id, dParamFudgeFactor, FudgeFactor);
+                        dJointSetHingeParam(this->_id, dParamBounce, Bounce);
+                        dJointSetHingeParam(this->_id, dParamStopERP, StopERP);
+                        dJointSetHingeParam(this->_id, dParamStopCFM, StopCFM);
+                }
+                                
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h
new file mode 100644
index 0000000..3115845
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h
@@ -0,0 +1,195 @@
+#pragma once
+
+#include "Joint.h"
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{
+        __gc public class JointHinge : public Joint
+        {
+        public:
+
+                //Constructors
+
+                        JointHinge(void);
+                        JointHinge(World &world);
+                        JointHinge(World &world, JointGroup &jointGroup);
+                        
+
+                //Destructor
+
+                        virtual~JointHinge(void);
+
+                
+                //Methods       
+                        
+                        //Overloaded Create
+                        void Create(World &world, JointGroup &jointGroup);
+                        void Create(World &world);
+
+                        //Overloaded Attach
+                        void Attach(Body &body1, Body &body2);  
+                        void Attach(Body &body1);
+
+                        void SetAnchor(double x, double y, double z);
+                        Vector3 GetAnchor(void);
+
+                        void SetAxis(double x, double y, double z);
+                        Vector3 GetAxis(void);
+
+                        void SetAllMovParams(double LoStop, double HiStop,
+                                                                 double Velocity, double MaxForce,
+                                                                 double FudgeFactor, double Bounce,
+                                                                 double StopERP, double StopCFM);
+
+
+                //Properties
+
+                        //LoStop
+                        __property double get_LoStop(void)
+                                {
+                                        return dJointGetHingeParam(this->_id, dParamLoStop);
+                                }
+
+                        __property void set_LoStop(double value)
+                        {
+                                if (value > -3.141592653 && value <= 0)
+                                        dJointSetHingeParam(this->_id, dParamLoStop, value);
+                        }
+
+
+                        //HiStop
+                        __property double get_HiStop(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamHiStop);
+                        }
+
+                        __property void set_HiStop(double value)
+                        {
+                                if (value < 3.141592653 && value >= 0)
+                                        dJointSetHingeParam(this->_id, dParamHiStop, value);
+                        }
+                        
+
+                        //Velocity
+                        __property double get_Velocity(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamVel);
+                        }
+
+                        __property void set_Velocity(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamVel, value);
+                        }
+
+
+                        //MaxForce
+                        __property double get_MaxForce(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamFMax);
+                        }
+
+                        __property void set_MaxForce(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamFMax, value);
+                        }
+
+
+                        //FudgeFactor
+                        __property double get_FudgeFactor(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamFudgeFactor);
+                        }
+
+                        __property void set_FudgeFactor(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamFudgeFactor, value);
+                        }
+
+
+                        //Bounce
+                        __property double get_Bounce(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamBounce);
+                        }
+
+                        __property void set_Bounce(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamBounce, value);
+                        }
+
+
+                        //StopERP
+                        __property double get_StopERP(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamStopERP);
+                        }
+
+                        __property void set_StopERP(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamStopERP, value);
+                        }
+
+
+                        //StopCFM
+                        __property double get_StopCFM(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamStopCFM);
+                        }
+
+                        __property void set_StopCFM(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamStopCFM, value);
+                        }
+
+
+                        //GetAngle
+                        __property double get_Angle(void)
+                        {
+                                return dJointGetHingeAngle(this->_id);
+                        }
+
+
+                        //GetAngleRate
+                        __property double get_AngleRate(void)
+                        {
+                                return dJointGetHingeAngleRate(this->_id);
+                        }
+
+        };
+
+}
+
+//                              void    SetSuspensionERP(double value);
+//                              double  GetSuspensionERP(void);
+
+//                              void    SetSuspensionCFM(double value);
+//                              double  GetSuspensionCFM(void);
+
+/*                              
+                        //SetSuspensionERP
+                        void JointHinge::SetSuspensionERP(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamSuspensionERP, value);
+                        }
+
+                        //GetSuspensionERP
+                        double JointHinge::GetSuspensionERP(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamSuspensionERP);
+                        }
+                                                        
+                                
+                        //SetSuspensionCFM
+                        void JointHinge::SetSuspensionCFM(double value)
+                        {
+                                dJointSetHingeParam(this->_id, dParamSuspensionCFM, value);
+                        }
+
+                        //GetSuspensionCFM
+                        double JointHinge::GetSuspensionCFM(void)
+                        {
+                                return dJointGetHingeParam(this->_id, dParamSuspensionCFM);
+                        }
+
+*/
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp
new file mode 100644
index 0000000..94fd7a7
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp
@@ -0,0 +1,133 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "jointhinge2.h"
+
+namespace ODEManaged
+{
+        //Constructors
+        JointHinge2::JointHinge2(void) : Joint(){}
+
+        JointHinge2::JointHinge2(World &world)
+        {
+                if(this->_id) dJointDestroy(this->_id);
+                _id = dJointCreateHinge2(world.Id(),0);
+        }
+        
+        JointHinge2::JointHinge2(World &world, JointGroup &jointGroup)
+        {
+                if(this->_id) dJointDestroy(this->_id);
+                _id = dJointCreateHinge2(world.Id(), jointGroup.Id());
+        }
+
+        //Destructor
+        JointHinge2::~JointHinge2(void){}
+
+        //CreateHinge2 (overload 1)
+        void JointHinge2::Create(World &world, JointGroup &jointGroup)
+        {
+                if(this->_id) dJointDestroy(this->_id);
+                _id = dJointCreateHinge2(world.Id(), jointGroup.Id());
+        }
+
+        //CreateHinge2 (overload 2)
+        void JointHinge2::Create(World &world)
+        {
+                if(this->_id) dJointDestroy(this->_id);
+                _id = dJointCreateHinge2(world.Id(),0);
+        }
+
+        //SetAnchor1
+        void JointHinge2::SetAnchor (double x, double y ,double z)
+        {
+                dJointSetHinge2Anchor(_id, x,y,z);
+        }
+
+        //GetAnchor1
+        Vector3 JointHinge2::GetAnchor()
+        {
+                Vector3 retVal;
+                dVector3 temp;
+                dJointGetHinge2Anchor(_id,temp);
+                retVal.x = temp[0];
+                retVal.y = temp[1];
+                retVal.z = temp[2];
+                return retVal;
+        }
+
+        //SetAxis1
+        void JointHinge2::SetAxis1 (double x, double y ,double z)
+        {
+                dJointSetHinge2Axis1(_id, x,y,z);
+        }
+
+        //GetAxis1
+        Vector3 JointHinge2::GetAxis1()
+        {
+                Vector3 retVal;
+                dVector3 temp;
+                dJointGetHinge2Axis1(_id,temp);
+                retVal.x = temp[0];
+                retVal.y = temp[1];
+                retVal.z = temp[2];
+                return retVal;
+        }
+
+        //SetAxis2
+        void JointHinge2::SetAxis2 (double x, double y ,double z)
+        {
+                dJointSetHinge2Axis2(_id, x,y,z);
+        }
+
+        //GetAxis2
+        Vector3 JointHinge2::GetAxis2()
+        {
+                Vector3 retVal;
+                dVector3 temp;
+                dJointGetHinge2Axis2(_id,temp);
+                retVal.x = temp[0];
+                retVal.y = temp[1];
+                retVal.z = temp[2];
+                return retVal;
+        }
+
+        //GetAngle1
+        double JointHinge2::GetAngle1 ()
+        {
+                return dJointGetHinge2Angle1(this->_id);
+        }
+
+        //GetAngle1Rate
+        double JointHinge2::GetAngle1Rate ()
+        {
+                return dJointGetHinge2Angle1Rate(this->_id);
+        }
+
+        ////GetAngle hmm, this doesn't exist
+        //double JointHinge2::GetAngle2 ()
+        //{
+        //      return dJointGetHinge2Angle2(this->_id);
+        //}
+
+        //GetAngle2Rate
+        double JointHinge2::GetAngle2Rate ()
+        {
+                return dJointGetHinge2Angle2Rate(this->_id);
+        }
+
+
+        //Attach (overload 1)
+        void JointHinge2::Attach (Body &body1, Body &body2)
+        {
+                dJointAttach(_id, body1.Id(),body2.Id());
+        }
+
+        //Attach (overload 2) 
+        //TODO: possibly add an overload that takes anchor as a param also.
+        void JointHinge2::Attach (Body &body1)
+        {
+                dJointAttach(_id, body1.Id(),0);
+        }
+
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.h b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.h
new file mode 100644
index 0000000..e883ea8
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.h
@@ -0,0 +1,48 @@
+#pragma once
+
+#include "Joint.h"
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{
+        __gc public class JointHinge2 : public Joint
+        {
+                public:
+
+
+                //Constructors
+
+                        JointHinge2                             (void);
+                        JointHinge2                             (World &world);
+                        JointHinge2                             (World &world, JointGroup &jointGroup);
+                        
+                //Destructors
+
+                        virtual ~JointHinge2    (void);
+                        
+
+                //Methods
+
+                        //Overloaded Hinge.Create
+                        void    Create                  (World &world, JointGroup &jointGroup);
+                        void    Create                  (World &world);
+                        
+                        void    SetAnchor               (double x, double y, double z);
+                        Vector3 GetAnchor               (void);
+
+                        void    SetAxis1                (double x, double y, double z);
+                        Vector3 GetAxis1                (void);
+
+                        void    SetAxis2                (double x, double y, double z);
+                        Vector3 GetAxis2                (void);
+
+                        double  GetAngle1               (void);
+                        double  GetAngle1Rate   (void);
+
+                        //double GetAngle2 (void);
+                        double  GetAngle2Rate   (void);
+
+                        void    Attach                  (Body &body1, Body &body2);     
+                        void    Attach(                 Body &body1);
+        };
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp
new file mode 100644
index 0000000..ab7ebd6
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp
@@ -0,0 +1,102 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "jointslider.h"
+
+namespace ODEManaged
+{
+        
+        //Constructors
+        
+                JointSlider::JointSlider(void) : Joint(){}
+
+
+                JointSlider::JointSlider(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateSlider(world.Id(), 0);
+                }
+
+
+                JointSlider::JointSlider(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateSlider(world.Id(), jointGroup.Id());
+                }
+
+
+        //Destructor
+
+                JointSlider::~JointSlider(void){}
+
+
+        //Methods
+
+                //Overloaded Create
+                void JointSlider::Create(World &world, JointGroup &jointGroup)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateSlider(world.Id(), jointGroup.Id());
+                }
+
+                void JointSlider::Create(World &world)
+                {
+                        if(this->_id) dJointDestroy(this->_id);
+                        _id = dJointCreateSlider(world.Id(), 0);
+                }
+
+                
+                //Overloaded Attach 
+                void JointSlider::Attach(Body &body1, Body &body2)
+                {
+                        dJointAttach(this->_id, body1.Id(), body2.Id());
+                }
+
+                void JointSlider::Attach(Body &body1)
+                {
+                        dJointAttach(this->_id, body1.Id(), 0);
+                }
+
+
+                //SetAxis
+                void JointSlider::SetAxis(double x, double y, double z)
+                {
+                        dJointSetSliderAxis(this->_id, x, y, z);
+                }
+
+                //GetAxis
+                Vector3 JointSlider::GetAxis(void)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dJointGetSliderAxis(this->_id, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+
+        //Movement Parameters
+
+                //SetAllMovParams
+                void JointSlider::SetAllMovParams(double LoStop, double HiStop,
+                                                                                  double Velocity, double MaxForce,
+                                                                                  double FudgeFactor, double Bounce,
+                                                                                  double StopERP, double StopCFM)
+                {
+                        if (LoStop <= 0) 
+                                dJointSetHingeParam(this->_id, dParamLoStop, LoStop);
+
+                        if (HiStop >= 0)
+                                dJointSetHingeParam(this->_id, dParamHiStop, HiStop);
+
+                        dJointSetSliderParam(this->_id, dParamVel, Velocity);
+                        dJointSetSliderParam(this->_id, dParamFMax, MaxForce);
+                        dJointSetSliderParam(this->_id, dParamFudgeFactor, FudgeFactor);
+                        dJointSetSliderParam(this->_id, dParamBounce, Bounce);
+                        dJointSetSliderParam(this->_id, dParamStopERP, StopERP);
+                        dJointSetSliderParam(this->_id, dParamStopCFM, StopCFM);
+                }
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.h b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.h
new file mode 100644
index 0000000..7e96e59
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.h
@@ -0,0 +1,158 @@
+#pragma once
+
+#include "Joint.h"
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{
+        __gc public class JointSlider : public Joint
+        {
+        public:
+                        
+                
+                //Constructors
+
+                        JointSlider(void);
+                        JointSlider(World &world);
+                        JointSlider(World &world, JointGroup &jointGroup);
+                        
+
+                //Destructors
+
+                        virtual ~JointSlider(void);
+
+                        
+                //Methods       
+                        
+                        //Overloaded Create
+                        void Create(World &world, JointGroup &jointGroup);
+                        void Create(World &world);
+                        
+                        //Overloaded Attach
+                        void Attach(Body &body1, Body &body2);  
+                        void Attach(Body &body1);
+                        
+                        void SetAxis(double x, double y, double z);
+                        Vector3 GetAxis(void);
+
+                        void SetAllMovParams(double LoStop, double HiStop,
+                                                                 double Velocity, double MaxForce,
+                                                                 double FudgeFactor, double Bounce,
+                                                                 double StopERP, double StopCFM);
+
+
+                //Properties
+
+                        //LoStop
+                        __property double get_LoStop(void)
+                                {
+                                        return dJointGetSliderParam(this->_id, dParamLoStop);
+                                }
+
+                        __property void set_LoStop(double value)
+                        {
+                                if (value <=0)
+                                        dJointSetSliderParam(this->_id, dParamLoStop, value);
+                        }
+
+
+                        //HiStop
+                        __property double get_HiStop(void)
+                        {
+                                return dJointGetSliderParam(this->_id, dParamHiStop);
+                        }
+
+                        __property void set_HiStop(double value)
+                        {
+                                if (value >= 0)
+                                        dJointSetSliderParam(this->_id, dParamHiStop, value);
+                        }
+                        
+
+                        //Velocity
+                        __property double get_Velocity(void)
+                        {
+                                return dJointGetSliderParam(this->_id, dParamVel);
+                        }
+
+                        __property void set_Velocity(double value)
+                        {
+                                dJointSetSliderParam(this->_id, dParamVel, value);
+                        }
+
+
+                        //MaxForce
+                        __property double get_MaxForce(void)
+                        {
+                                return dJointGetSliderParam(this->_id, dParamFMax);
+                        }
+
+                        __property void set_MaxForce(double value)
+                        {
+                                dJointSetSliderParam(this->_id, dParamFMax, value);
+                        }
+
+
+                        //FudgeFactor
+                        __property double get_FudgeFactor(void)
+                        {
+                                return dJointGetSliderParam(this->_id, dParamFudgeFactor);
+                        }
+
+                        __property void set_FudgeFactor(double value)
+                        {
+                                dJointSetSliderParam(this->_id, dParamFudgeFactor, value);
+                        }
+
+
+                        //Bounce
+                        __property double get_Bounce(void)
+                        {
+                                return dJointGetSliderParam(this->_id, dParamBounce);
+                        }
+
+                        __property void set_Bounce(double value)
+                        {
+                                dJointSetSliderParam(this->_id, dParamBounce, value);
+                        }
+
+
+                        //StopERP
+                        __property double get_StopERP(void)
+                        {
+                                return dJointGetSliderParam(this->_id, dParamStopERP);
+                        }
+
+                        __property void set_StopERP(double value)
+                        {
+                                dJointSetSliderParam(this->_id, dParamStopERP, value);
+                        }
+
+
+                        //StopCFM
+                        __property double get_StopCFM(void)
+                        {
+                                return dJointGetSliderParam(this->_id, dParamStopCFM);
+                        }
+
+                        __property void set_StopCFM(double value)
+                        {
+                                dJointSetSliderParam(this->_id, dParamStopCFM, value);
+                        }
+
+
+                        //GetAngle
+                        __property double get_Position(void)
+                        {
+                                return dJointGetSliderPosition(this->_id);
+                        }
+
+
+                        //GetAngleRate
+                        __property double get_PositionRate(void)
+                        {
+                                return dJointGetSliderPositionRate(this->_id);
+                        }
+
+        };
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Release/ode.dll b/libraries/ode-0.9/contrib/DotNetManaged/Release/ode.dll
new file mode 100755
index 0000000..ccf2a41
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Release/ode.dll
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Space.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Space.cpp
new file mode 100644
index 0000000..c9a7e19
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Space.cpp
@@ -0,0 +1,53 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "Space.h"
+#include "TEST.h"
+
+namespace ODEManaged
+{
+
+        //Constructor
+
+                Space::Space(void)
+                { 
+                        _id = dSimpleSpaceCreate();
+                }
+
+                Space::Space(int minlevel, int maxlevel)
+                { 
+                        _id = dHashSpaceCreate();
+                        dHashSpaceSetLevels(this->_id, minlevel, maxlevel);
+                }
+
+        
+        //Destructor
+
+                Space::~Space(void)
+                {
+                        dSpaceDestroy(this->_id);
+                }
+
+
+        //Methods
+
+                //Id
+                dSpaceID Space::Id()
+                {
+                        return _id;
+                }
+
+
+                //Collide
+                void Space::Collide(void *data, dNearCallback *callback)
+                {               
+                        dSpaceCollide(this->_id, data, callback);
+                }
+
+
+
+
+
+
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Space.h b/libraries/ode-0.9/contrib/DotNetManaged/Space.h
new file mode 100644
index 0000000..78e81ad
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Space.h
@@ -0,0 +1,33 @@
+#pragma once
+
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{
+        __gc public class Space
+        {
+        public:
+
+                //Constructor
+                        
+                        Space(void);
+                        Space(int minlevel, int maxlevel);
+                        
+                //Destructor
+                        
+                        ~Space(void);
+
+
+                //Methods
+
+                        dSpaceID Id(void);
+                        void Collide(void *data, dNearCallback *callback);
+
+
+                private:
+                        
+                        dSpaceID _id;
+
+        };
+
+}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.cpp
new file mode 100644
index 0000000..b6c9d98
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.cpp
@@ -0,0 +1,5 @@
+// stdafx.cpp : source file that includes just the standard includes
+// ODEManaged.pch will be the pre-compiled header
+// stdafx.obj will contain the pre-compiled type information
+
+#include "stdafx.h"
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.h b/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.h
new file mode 100644
index 0000000..2222759
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.h
@@ -0,0 +1,12 @@
+// stdafx.h : include file for standard system include files,
+// or project specific include files that are used frequently,
+// but are changed infrequently
+
+#pragma once
+
+#using <mscorlib.dll>
+
+
+
+
+
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/TEST.h b/libraries/ode-0.9/contrib/DotNetManaged/TEST.h
new file mode 100644
index 0000000..e2cdbc3
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/TEST.h
@@ -0,0 +1,17 @@
+                
+#pragma once
+
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{       
+                
+void RnearCallback(void *data, dGeomID o1, dGeomID o2)
+                {
+                }
+
+}
+
+
+
+
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/World.cpp b/libraries/ode-0.9/contrib/DotNetManaged/World.cpp
new file mode 100644
index 0000000..beab21a
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/World.cpp
@@ -0,0 +1,74 @@
+#include "StdAfx.h"
+
+#include <ode/ode.h>
+#include "World.h"
+
+namespace ODEManaged
+{
+        
+        //Constructor
+        
+                World::World(void)
+                {
+                        /*dWorldID _temp = dWorldCreate();
+                        _id = _temp;*/ 
+                        _id = dWorldCreate();
+                }
+
+
+        //Destructor
+
+                World::~World(void)
+                {
+                        dWorldDestroy(this->_id);
+                }
+
+
+        //Methods
+
+                //Id
+                dWorldID World::Id()
+                {
+                        return _id;
+                }
+
+
+                //SetGravity
+                void World::SetGravity(double x, double y, double z)
+                { 
+                        dWorldSetGravity(this->_id, x, y, z); 
+                }
+
+
+                //Overloaded GetGravity
+                Vector3 World::GetGravity(void)
+                {
+                        Vector3 retVal;
+                        dVector3 temp;
+                        dWorldGetGravity(this->_id, temp);
+                        retVal.x = temp[0];
+                        retVal.y = temp[1];
+                        retVal.z = temp[2];
+                        return retVal;
+                }
+
+                void World::GetGravity(double gravity __gc[])
+                {
+                        dVector3 temp;
+                        dWorldGetGravity(this->_id, temp);
+                        gravity[0] = temp[0];
+                        gravity[1] = temp[1];
+                        gravity[2] = temp[2];
+                }
+
+
+                //Step
+                void World::Step(double stepSize)
+                {
+                        dWorldStep(this->_id, stepSize);
+                }
+
+}
+
+
+
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/World.h b/libraries/ode-0.9/contrib/DotNetManaged/World.h
new file mode 100644
index 0000000..c4c60e5
--- /dev/null
+++ b/libraries/ode-0.9/contrib/DotNetManaged/World.h
@@ -0,0 +1,67 @@
+#pragma once
+
+#include "CommonMgd.h"
+
+namespace ODEManaged
+{       
+        __gc public class World
+        {       
+        public:
+
+                //Constructor
+                
+                        World(void);
+
+
+                //Destructor
+                        
+                        ~World(void);
+
+                        
+                // Methods
+
+                        dWorldID Id(void);
+                        
+                        void SetGravity(double x, double y, double z);
+
+                        //Overloaded GetGravity
+                        Vector3 GetGravity(void);               
+                        void GetGravity(double gravity __gc[]);
+
+                        void Step(double stepSize);
+
+
+                //Properties
+
+                        //Constraint Force Mixing
+                        __property void set_CFM(double cfm)
+                        {
+                                dWorldSetCFM(this->_id,cfm);
+                        }
+
+                        __property double get_CFM(void)
+                        {
+                                return dWorldGetCFM(this->_id); 
+                        }
+
+
+                        //Error Reduction Parameter
+                        __property void set_ERP(double erp)
+                        {
+                                dWorldSetERP(this->_id,erp);
+                        }
+
+                        __property double get_ERP(void)
+                        {
+                                return dWorldGetERP(this->_id); 
+                        }
+
+
+                private:
+
+                        dWorldID _id;
+
+        };
+
+}
+