libraries moved to opensim-libs, a new repository

106 files changed, 0 insertions, 23587 deletions

diff --git a/libraries/ode-0.9/contrib/BreakableJoints/README.txt b/libraries/ode-0.9/contrib/BreakableJoints/README.txt
deleted file mode 100644
index e996816..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/README.txt
+++ /dev/null
@@ -1,110 +0,0 @@
-Breakable Joints
-
-================================================================================
-
-Description:
-This is a small addition to ODE that makes joints breakable. Breakable means
-that if a force on a joint is to high it wil break. I have included a modified
-version of test_buggy.cpp (test_breakable.cpp) so you can see it for your self.
-Just drive your buggy into an obstacle and enjoy!
-
-================================================================================
-
-Installation instructions:
-- copy joint.h, joint.cpp, ode.cpp and step.cpp to the ode/src/ directory
-- copy common.h and object.h to the include/ directory
-- copy test_breakable.cpp to the ode/test/ directory
-- add test_breakable.cpp to the ODE_TEST_SRC_CPP object in the makefile.
-- make ode-lib
-- make ode-test
-You can also use the diffs. The above files will quickly go out of sync with the
-rest of ODE but the diffs wil remain valid longer.
-
-================================================================================
-
-Functions:
-dJointSetBreakable (dJointID joint, int b)
-        If b is 1 the joint is made breakable. If b is 0 the joint is made
-        unbreakable.
-
-void dJointSetBreakCallback (dJointID joint, dJointBreakCallback *callbackFunc)
-        Sets the callback function for this joint. If a funtion is set it will be
-        called if the joint is broken but before it is actually detached or deleted.
-
-void dJointSetBreakMode (dJointID joint, int mode)
-        Use this functions to set some flags. These flags can be ORred ( | )
-        together; ie. dJointSetBreakMode (someJoint,
-dJOINT_BREAK_AT_B1_FORCE|dJOINT_DELETE_ON_BREAK)
-        dJOINT_DELETE_ON_BREAK    - If the joint breaks it wil be deleted.
-        dJOINT_BREAK_AT_B1_FORCE  - If the force on body 1 is to high the joint will
-                                                                break
-        dJOINT_BREAK_AT_B1_TORQUE - If the torque on body 1 is to high the joint will
-                                                                break
-        dJOINT_BREAK_AT_B2_FORCE  - If the force on body 2 is to high the joint will
-                                                                break
-        dJOINT_BREAK_AT_B2_TORQUE - If the torque on body 2 is to high the joint will
-                                                                break
-
-void dJointSetBreakForce (dJointID joint, int body, dReal x, dReal y, dReal z)
-        With this function you can set the maximum force for a body connected to this
-        joint. A value of 0 for body means body 1, 1 means body 2. The force is 
-        relative to the bodies rotation.
-
-void dJointSetBreakTorque (dJointID joint, int body, dReal x, dReal y, dReal z)
-        With this function you can set the maximum torque for a body connected to this
-        joint. A value of 0 for body means body 1, 1 means body 2. The torque is 
-        relative to the bodies rotation.
-
-int dJointIsBreakable (dJointID joint)
-        Returns 1 if this joint is breakable, 0 otherwise.
-        
-int dJointGetBreakMode (dJointID joint)
-        Returns the breakmode flag.
-
-void dJointGetBreakForce (dJointID joint, int body, dReal *force)
-        Returns the force at what this joint will break. A value of 0 for body means
-        body 1, 1 means body 2. force must have enough space for 3 dReal values.
-
-void dJointGetBreakTorque (dJointID joint, int body, dReal *torque)
-        Returns the torque at what this joint will break. A value of 0 for body 
-        means body 1, 1 means body 2. force must have enough space for 3 dReal 
-        values.
-
-================================================================================
-
-The callback function is defined like this (in common.h):
-void dJointBreakCallback (dJointID);
-
-================================================================================
-
-Problems, known bugs & other issues:
-- If the timestep is very small then joints get a lot weaker. They can even fall
-  apart!
-- I have tested all this with the latest checkout from CVS (at the time of 
-  writing ofcourse). I haven't tested it with earlier versions of ODE.
-- I have modified the code that fills the jointfeedback struct. I haven't tested
-  if it still works.
-- I'm not sure if the forces are really relative to the connected bodies.
-- There are some memory leaks in the test_breakable.cpp example.
-
-================================================================================
-
-Bugfixes and changes:
-09/08/2003
-- I fixed a bug when there where 0 joints in the simulation
-
-06/12/2003
-- dJointGetBreakMode() added, by vadim_mcagon@hotmail.com
-
-11/03/2004
-- Updated files to work with latest CVS checkout. 
-- Added support for dWorldStepFast1()
-- Added separate test_breakable.cpp example.
-- Updated the code that breaks and destroys a joint.
-
-================================================================================
-
-Send me an e-mail if you have any suggestions, ideas, bugs, bug-fixes, anything!
-e-mail: roelvandijk@home.nl
-
-Roel van Dijk - 11/03/2004
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/common.h b/libraries/ode-0.9/contrib/BreakableJoints/common.h
deleted file mode 100644
index bc4272d..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/common.h
+++ /dev/null
@@ -1,337 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_COMMON_H_
-#define _ODE_COMMON_H_
-
-#include <ode/config.h>
-#include <ode/error.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* configuration stuff */
-
-/* the efficient alignment. most platforms align data structures to some
- * number of bytes, but this is not always the most efficient alignment.
- * for example, many x86 compilers align to 4 bytes, but on a pentium it
- * is important to align doubles to 8 byte boundaries (for speed), and
- * the 4 floats in a SIMD register to 16 byte boundaries. many other
- * platforms have similar behavior. setting a larger alignment can waste
- * a (very) small amount of memory. NOTE: this number must be a power of
- * two. this is set to 16 by default.
- */
-#define EFFICIENT_ALIGNMENT 16
-
-
-/* constants */
-
-/* pi and 1/sqrt(2) are defined here if necessary because they don't get
- * defined in <math.h> on some platforms (like MS-Windows)
- */
-
-#ifndef M_PI
-#define M_PI REAL(3.1415926535897932384626433832795029)
-#endif
-#ifndef M_SQRT1_2
-#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
-#endif
-
-
-/* debugging:
- *   IASSERT  is an internal assertion, i.e. a consistency check. if it fails
- *            we want to know where.
- *   UASSERT  is a user assertion, i.e. if it fails a nice error message
- *            should be printed for the user.
- *   AASSERT  is an arguments assertion, i.e. if it fails "bad argument(s)"
- *            is printed.
- *   DEBUGMSG just prints out a message
- */
-
-#ifndef dNODEBUG
-#ifdef __GNUC__
-#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
-  "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
-#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
-  msg " in %s()", __FUNCTION__);
-#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
-  msg " in %s()", __FUNCTION__);
-#else
-#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
-  "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
-#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
-  msg " (%s:%d)", __FILE__,__LINE__);
-#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
-  msg " (%s:%d)", __FILE__,__LINE__);
-#endif
-#else
-#define dIASSERT(a) ;
-#define dUASSERT(a,msg) ;
-#define dDEBUGMSG(msg) ;
-#endif
-#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
-
-/* floating point data type, vector, matrix and quaternion types */
-
-#if defined(dSINGLE)
-typedef float dReal;
-#elif defined(dDOUBLE)
-typedef double dReal;
-#else
-#error You must #define dSINGLE or dDOUBLE
-#endif
-
-
-/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
- * (used to compute matrix leading dimensions)
- */
-#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
-
-/* these types are mainly just used in headers */
-typedef dReal dVector3[4];
-typedef dReal dVector4[4];
-typedef dReal dMatrix3[4*3];
-typedef dReal dMatrix4[4*4];
-typedef dReal dMatrix6[8*6];
-typedef dReal dQuaternion[4];
-
-
-/* precision dependent scalar math functions */
-
-#if defined(dSINGLE)
-
-#define REAL(x) (x ## f)                        /* form a constant */
-#define dRecip(x) ((float)(1.0f/(x)))           /* reciprocal */
-#define dSqrt(x) ((float)sqrt(x))               /* square root */
-#define dRecipSqrt(x) ((float)(1.0f/sqrt(x)))   /* reciprocal square root */
-#define dSin(x) ((float)sin(x))                 /* sine */
-#define dCos(x) ((float)cos(x))                 /* cosine */
-#define dFabs(x) ((float)fabs(x))               /* absolute value */
-#define dAtan2(y,x) ((float)atan2((y),(x)))     /* arc tangent with 2 args */
-
-#elif defined(dDOUBLE)
-
-#define REAL(x) (x)
-#define dRecip(x) (1.0/(x))
-#define dSqrt(x) sqrt(x)
-#define dRecipSqrt(x) (1.0/sqrt(x))
-#define dSin(x) sin(x)
-#define dCos(x) cos(x)
-#define dFabs(x) fabs(x)
-#define dAtan2(y,x) atan2((y),(x))
-
-#else
-#error You must #define dSINGLE or dDOUBLE
-#endif
-
-
-/* utility */
-
-
-/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
-
-#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
-
-
-/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
- * up to 15 bytes per allocation, depending on what alloca() returns.
- */
-
-#define dALLOCA16(n) \
-  ((char*)dEFFICIENT_SIZE(((int)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
-
-
-/* internal object types (all prefixed with `dx') */
-
-struct dxWorld;         /* dynamics world */
-struct dxSpace;         /* collision space */
-struct dxBody;          /* rigid body (dynamics object) */
-struct dxGeom;          /* geometry (collision object) */
-struct dxJoint;
-struct dxJointNode;
-struct dxJointGroup;
-
-typedef struct dxWorld *dWorldID;
-typedef struct dxSpace *dSpaceID;
-typedef struct dxBody *dBodyID;
-typedef struct dxGeom *dGeomID;
-typedef struct dxJoint *dJointID;
-typedef struct dxJointGroup *dJointGroupID;
-
-
-/* error numbers */
-
-enum {
-  d_ERR_UNKNOWN = 0,            /* unknown error */
-  d_ERR_IASSERT,                /* internal assertion failed */
-  d_ERR_UASSERT,                /* user assertion failed */
-  d_ERR_LCP                     /* user assertion failed */
-};
-
-
-/* joint type numbers */
-
-enum {
-  dJointTypeNone = 0,           /* or "unknown" */
-  dJointTypeBall,
-  dJointTypeHinge,
-  dJointTypeSlider,
-  dJointTypeContact,
-  dJointTypeUniversal,
-  dJointTypeHinge2,
-  dJointTypeFixed,
-  dJointTypeNull,
-  dJointTypeAMotor
-};
-
-/******************** breakable joint contribution ***********************/
-/* joint break callback function */
-typedef void dJointBreakCallback (dJointID joint);
-
-/* joint break modes */
-enum {
-  // if this flag is set, the joint wil break
-  dJOINT_BROKEN =             0x0001,
-  // if this flag is set, the joint wil be deleted when it breaks
-  dJOINT_DELETE_ON_BREAK =    0x0002,
-  // if this flag is set, the joint can break at a certain force on body 1
-  dJOINT_BREAK_AT_B1_FORCE =  0x0004,
-  // if this flag is set, the joint can break at a certain torque on body 1
-  dJOINT_BREAK_AT_B1_TORQUE = 0x0008,
-  // if this flag is set, the joint can break at a certain force on body 2
-  dJOINT_BREAK_AT_B2_FORCE =  0x0010,
-  // if this flag is set, the joint can break at a certain torque on body 2
-  dJOINT_BREAK_AT_B2_TORQUE = 0x0020
-};
-/*************************************************************************/
-
-/* an alternative way of setting joint parameters, using joint parameter
- * structures and member constants. we don't actually do this yet.
- */
-
-/*
-typedef struct dLimot {
-  int mode;
-  dReal lostop, histop;
-  dReal vel, fmax;
-  dReal fudge_factor;
-  dReal bounce, soft;
-  dReal suspension_erp, suspension_cfm;
-} dLimot;
-
-enum {
-  dLimotLoStop          = 0x0001,
-  dLimotHiStop          = 0x0002,
-  dLimotVel             = 0x0004,
-  dLimotFMax            = 0x0008,
-  dLimotFudgeFactor     = 0x0010,
-  dLimotBounce          = 0x0020,
-  dLimotSoft            = 0x0040
-};
-*/
-
-
-/* standard joint parameter names. why are these here? - because we don't want
- * to include all the joint function definitions in joint.cpp. hmmmm.
- * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
- * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
- * paste between these two.
- */
-
-#define D_ALL_PARAM_NAMES(start) \
-  /* parameters for limits and motors */ \
-  dParamLoStop = start, \
-  dParamHiStop, \
-  dParamVel, \
-  dParamFMax, \
-  dParamFudgeFactor, \
-  dParamBounce, \
-  dParamCFM, \
-  dParamStopERP, \
-  dParamStopCFM, \
-  /* parameters for suspension */ \
-  dParamSuspensionERP, \
-  dParamSuspensionCFM,
-
-#define D_ALL_PARAM_NAMES_X(start,x) \
-  /* parameters for limits and motors */ \
-  dParamLoStop ## x = start, \
-  dParamHiStop ## x, \
-  dParamVel ## x, \
-  dParamFMax ## x, \
-  dParamFudgeFactor ## x, \
-  dParamBounce ## x, \
-  dParamCFM ## x, \
-  dParamStopERP ## x, \
-  dParamStopCFM ## x, \
-  /* parameters for suspension */ \
-  dParamSuspensionERP ## x, \
-  dParamSuspensionCFM ## x,
-
-enum {
-  D_ALL_PARAM_NAMES(0)
-  D_ALL_PARAM_NAMES_X(0x100,2)
-  D_ALL_PARAM_NAMES_X(0x200,3)
-
-  /* add a multiple of this constant to the basic parameter numbers to get
-   * the parameters for the second, third etc axes.
-   */
-  dParamGroup=0x100
-};
-
-
-/* angular motor mode numbers */
-
-enum{
-  dAMotorUser = 0,
-  dAMotorEuler = 1
-};
-
-
-/* joint force feedback information */
-
-typedef struct dJointFeedback {
-  dVector3 f1;          /* force applied to body 1 */
-  dVector3 t1;          /* torque applied to body 1 */
-  dVector3 f2;          /* force applied to body 2 */
-  dVector3 t2;          /* torque applied to body 2 */
-} dJointFeedback;
-
-
-/* private functions that must be implemented by the collision library:
- * (1) indicate that a geom has moved, (2) get the next geom in a body list.
- * these functions are called whenever the position of geoms connected to a
- * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
- * when the ODE step function updates the body state.
- */
-
-void dGeomMoved (dGeomID);
-dGeomID dGeomGetBodyNext (dGeomID);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/common.h.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/common.h.diff
deleted file mode 100644
index 24415a1..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/common.h.diff
+++ /dev/null
@@ -1,21 +0,0 @@
-208,227d207
-< /******************** breakable joint contribution ***********************/
-< /* joint break callback function */
-< typedef void dJointBreakCallback (dJointID joint);
-< 
-< /* joint break modes */
-< enum {
-<   // if this flag is set, the joint wil break
-<   dJOINT_BROKEN =             0x0001,
-<   // if this flag is set, the joint wil be deleted when it breaks
-<   dJOINT_DELETE_ON_BREAK =    0x0002,
-<   // if this flag is set, the joint can break at a certain force on body 1
-<   dJOINT_BREAK_AT_B1_FORCE =  0x0004,
-<   // if this flag is set, the joint can break at a certain torque on body 1
-<   dJOINT_BREAK_AT_B1_TORQUE = 0x0008,
-<   // if this flag is set, the joint can break at a certain force on body 2
-<   dJOINT_BREAK_AT_B2_FORCE =  0x0010,
-<   // if this flag is set, the joint can break at a certain torque on body 2
-<   dJOINT_BREAK_AT_B2_TORQUE = 0x0020
-< };
-< /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff
deleted file mode 100644
index 80397f0..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.cpp.diff
+++ /dev/null
@@ -1,148 +0,0 @@
-2659,2804d2658
-< 
-< /******************** breakable joint contribution ***********************/
-< extern "C" void dJointSetBreakable (dxJoint *joint, int b) {
-<   dAASSERT(joint);
-<   if (b) {
-<     // we want this joint to be breakable but we must first check if it
-<     // was already breakable
-<     if (!joint->breakInfo) {
-<       // allocate a dxJointBreakInfo struct
-<       joint->breakInfo = new dxJointBreakInfo;
-<       joint->breakInfo->flags = 0;
-<       for (int i = 0; i < 3; i++) {
-<         joint->breakInfo->b1MaxF[0] = 0;
-<         joint->breakInfo->b1MaxT[0] = 0;
-<         joint->breakInfo->b2MaxF[0] = 0;
-<         joint->breakInfo->b2MaxT[0] = 0;
-<       }
-<         joint->breakInfo->callback = 0;
-<     }
-<     else {
-<       // the joint was already breakable
-<       return;
-<     }
-<   }
-<   else {
-<     // we want this joint to be unbreakable mut we must first check if
-<     // it is alreay unbreakable
-<     if (joint->breakInfo) {
-<       // deallocate the dxJointBreakInfo struct
-<       delete joint->breakInfo;
-<       joint->breakInfo = 0;
-<     }
-<     else {
-<       // the joint was already unbreakable
-<       return;
-<     }
-<   }
-< }
-< 
-< extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) {
-<   dAASSERT(joint);
-< # ifndef dNODEBUG
-<   // only works for a breakable joint
-<   if (!joint->breakInfo) {
-<     dDebug (0, "dJointSetBreakCallback called on unbreakable joint");
-<   }
-< # endif
-<   joint->breakInfo->callback = callbackFunc;
-< }
-< 
-< extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) {
-<   dAASSERT(joint);
-< # ifndef dNODEBUG
-<   // only works for a breakable joint
-<   if (!joint->breakInfo) {
-<     dDebug (0, "dJointSetBreakMode called on unbreakable joint");
-<   }
-< # endif
-<   joint->breakInfo->flags = mode;
-< }
-< 
-< extern "C" int dJointGetBreakMode (dxJoint *joint) {
-<   dAASSERT(joint);
-< # ifndef dNODEBUG
-<   // only works for a breakable joint
-<   if (!joint->breakInfo) {
-<     dDebug (0, "dJointGetBreakMode called on unbreakable joint");
-<   }
-< # endif
-<   return joint->breakInfo->flags;
-< }
-< 
-< extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
-<   dAASSERT(joint);
-< # ifndef dNODEBUG
-<   // only works for a breakable joint
-<   if (!joint->breakInfo) {
-<   dDebug (0, "dJointSetBreakForce called on unbreakable joint");
-<   }
-< # endif
-<   if (body) {
-<       joint->breakInfo->b2MaxF[0] = x;
-<       joint->breakInfo->b2MaxF[1] = y;
-<       joint->breakInfo->b2MaxF[2] = z;
-<   }
-<   else {
-<       joint->breakInfo->b1MaxF[0] = x;
-<       joint->breakInfo->b1MaxF[1] = y;
-<       joint->breakInfo->b1MaxF[2] = z;
-<   }
-< }
-< 
-< extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
-<   dAASSERT(joint);
-< # ifndef dNODEBUG
-<   // only works for a breakable joint
-<   if (!joint->breakInfo) {
-<   dDebug (0, "dJointSetBreakTorque called on unbreakable joint");
-<   }
-< # endif
-<   if (body) {
-<       joint->breakInfo->b2MaxT[0] = x;
-<       joint->breakInfo->b2MaxT[1] = y;
-<       joint->breakInfo->b2MaxT[2] = z;
-<   }
-<   else {
-<       joint->breakInfo->b1MaxT[0] = x;
-<       joint->breakInfo->b1MaxT[1] = y;
-<       joint->breakInfo->b1MaxT[2] = z;
-<   }
-< }
-< 
-< extern "C" int dJointIsBreakable (dxJoint *joint) {
-<   dAASSERT(joint);
-<   return joint->breakInfo != 0;
-< }
-< 
-< extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) {
-<   dAASSERT(joint);
-< # ifndef dNODEBUG
-<   // only works for a breakable joint
-<   if (!joint->breakInfo) {
-<     dDebug (0, "dJointGetBreakForce called on unbreakable joint");
-<   }
-< # endif
-<   if (body)
-<     for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i];
-<   else
-<     for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i];
-< }
-< 
-< extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) {
-<   dAASSERT(joint);
-< # ifndef dNODEBUG
-<   // only works for a breakable joint
-<   if (!joint->breakInfo) {
-<     dDebug (0, "dJointGetBreakTorque called on unbreakable joint");
-<   }
-< # endif
-<   if (body)
-<     for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i];
-<   else
-<     for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i];
-< }
-< /*************************************************************************/
-<   
-\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.h.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.h.diff
deleted file mode 100644
index eed3c24..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/joint.h.diff
+++ /dev/null
@@ -1,18 +0,0 @@
-61,70d60
-< /******************** breakable joint contribution ***********************/
-< struct dxJointBreakInfo : public dBase {
-<       int flags;
-<       dReal b1MaxF[3]; // maximum force on body 1
-<       dReal b1MaxT[3]; // maximum torque on body 1
-<       dReal b2MaxF[3]; // maximum force on body 2
-<       dReal b2MaxT[3]; // maximum torque on body 2
-<       dJointBreakCallback *callback; // function that is called when this joint breaks
-< };
-< /*************************************************************************/
-135,140d124
-<   
-<   /******************** breakable joint contribution ***********************/
-<   // optional break info structure. if this is not NULL the the joint is
-<   // breakable.
-<   dxJointBreakInfo *breakInfo;
-<   /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/objects.h.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/objects.h.diff
deleted file mode 100644
index fd2129e..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/objects.h.diff
+++ /dev/null
@@ -1,13 +0,0 @@
-168,179d167
-< /******************** breakable joint contribution ***********************/
-< void dJointSetBreakable (dJointID, int b);
-< void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc);
-< void dJointSetBreakMode (dJointID, int mode);
-< int dJointGetBreakMode (dJointID);
-< void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z);
-< void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z);
-< int dJointIsBreakable (dJointID);
-< void dJointGetBreakForce (dJointID, int body, dReal *force);
-< void dJointGetBreakTorque (dJointID, int body, dReal *torque);
-< /*************************************************************************/
-< 
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/ode.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/ode.cpp.diff
deleted file mode 100644
index 761b7be..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/ode.cpp.diff
+++ /dev/null
@@ -1,28 +0,0 @@
-212,230d211
-<   /******************** breakable joint contribution ***********************/
-<   dxJoint* nextJ;
-<   if (!world->firstjoint)
-<     nextJ = 0;
-<   else
-<     nextJ = (dxJoint*)world->firstjoint->next;
-<   for (j=world->firstjoint; j; j=nextJ) {
-<       nextJ = (dxJoint*)j->next;
-<       // check if joint is breakable and broken
-<     if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) {
-<               // detach (break) the joint
-<         dJointAttach (j, 0, 0);
-<               // call the callback function if it is set
-<               if (j->breakInfo->callback) j->breakInfo->callback (j);
-<               // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set
-<               if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j);
-<       }
-<   }
-<   /*************************************************************************/
-931,933d911
-<   /******************** breakable joint contribution ***********************/
-<   j->breakInfo = 0;
-<   /*************************************************************************/
-1011,1013d988
-<   /******************** breakable joint contribution ***********************/
-<   if (j->breakInfo) delete j->breakInfo;
-<   /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/step.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/step.cpp.diff
deleted file mode 100644
index dfc8c2f..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/step.cpp.diff
+++ /dev/null
@@ -1,130 +0,0 @@
-966,1066c966,989
-< /******************** breakable joint contribution ***********************/
-<     // this saves us a few dereferences
-<     dxJointBreakInfo *jBI = joint[i]->breakInfo;
-<     // we need joint feedback if the joint is breakable or if the user
-<     // requested feedback.
-<       if (jBI||fb) {
-<       // we need feedback on the amount of force that this joint is
-<       // applying to the bodies. we use a slightly slower computation
-<       // that splits out the force components and puts them in the
-<       // feedback structure.
-<       dJointFeedback temp_fb; // temporary storage for joint feedback
-<         dReal data1[8],data2[8];
-<         Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
-<         dReal *cf1 = cforce + 8*b1->tag;
-<         cf1[0] += (temp_fb.f1[0] = data1[0]);
-<         cf1[1] += (temp_fb.f1[1] = data1[1]);
-<         cf1[2] += (temp_fb.f1[2] = data1[2]);
-<         cf1[4] += (temp_fb.t1[0] = data1[4]);
-<         cf1[5] += (temp_fb.t1[1] = data1[5]);
-<         cf1[6] += (temp_fb.t1[2] = data1[6]);
-<         if (b2) {
-<           Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
-<           dReal *cf2 = cforce + 8*b2->tag;
-<           cf2[0] += (temp_fb.f2[0] = data2[0]);
-<           cf2[1] += (temp_fb.f2[1] = data2[1]);
-<           cf2[2] += (temp_fb.f2[2] = data2[2]);
-<           cf2[4] += (temp_fb.t2[0] = data2[4]);
-<           cf2[5] += (temp_fb.t2[1] = data2[5]);
-<           cf2[6] += (temp_fb.t2[2] = data2[6]);
-<         }
-<         // if the user requested so we must copy the feedback information to
-<         // the feedback struct that the user suplied.
-<         if (fb) {
-<           // copy temp_fb to fb
-<           fb->f1[0] = temp_fb.f1[0];
-<           fb->f1[1] = temp_fb.f1[1];
-<           fb->f1[2] = temp_fb.f1[2];
-<           fb->t1[0] = temp_fb.t1[0];
-<           fb->t1[1] = temp_fb.t1[1];
-<           fb->t1[2] = temp_fb.t1[2];
-<           if (b2) {
-<             fb->f2[0] = temp_fb.f2[0];
-<             fb->f2[1] = temp_fb.f2[1];
-<             fb->f2[2] = temp_fb.f2[2];
-<             fb->t2[0] = temp_fb.t2[0];
-<             fb->t2[1] = temp_fb.t2[1];
-<             fb->t2[2] = temp_fb.t2[2];
-<           }
-<         }
-<         // if the joint is breakable we need to check the breaking conditions
-<       if (jBI) {
-<         dReal relCF1[3];
-<               dReal relCT1[3];
-<               // multiply the force and torque vectors by the rotation matrix of body 1
-<               dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]);
-<               dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]);
-<               if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) {
-<                 // check if the force is to high
-<           for (int i = 0; i < 3; i++) {
-<             if (relCF1[i] > jBI->b1MaxF[i]) {
-<                     jBI->flags |= dJOINT_BROKEN;
-<                     goto doneCheckingBreaks;
-<                   }
-<           }
-<               }
-<               if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) {
-<                 // check if the torque is to high
-<           for (int i = 0; i < 3; i++) {
-<             if (relCT1[i] > jBI->b1MaxT[i]) {
-<                     jBI->flags |= dJOINT_BROKEN;
-<                     goto doneCheckingBreaks;
-<             }
-<           }
-<               }
-<         if (b2) {
-<           dReal relCF2[3];
-<           dReal relCT2[3];
-<           // multiply the force and torque vectors by the rotation matrix of body 2
-<           dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]);
-<           dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]);
-<                 if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) {
-<             // check if the force is to high
-<             for (int i = 0; i < 3; i++) {
-<               if (relCF2[i] > jBI->b2MaxF[i]) {
-<                 jBI->flags |= dJOINT_BROKEN;
-<                 goto doneCheckingBreaks;
-<               }
-<             }
-<                 }
-<                 if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) {
-<                 // check if the torque is to high
-<             for (int i = 0; i < 3; i++) {
-<               if (relCT2[i] > jBI->b2MaxT[i]) {
-<                 jBI->flags |= dJOINT_BROKEN;
-<                 goto doneCheckingBreaks;
-<               }
-<             }
-<                 }
-<         }
-<               doneCheckingBreaks:
-<               ;
----
->       if (fb) {
->       // the user has requested feedback on the amount of force that this
->       // joint is applying to the bodies. we use a slightly slower
->       // computation that splits out the force components and puts them
->       // in the feedback structure.
->       dReal data1[8],data2[8];
->       Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
->       dReal *cf1 = cforce + 8*b1->tag;
->       cf1[0] += (fb->f1[0] = data1[0]);
->       cf1[1] += (fb->f1[1] = data1[1]);
->       cf1[2] += (fb->f1[2] = data1[2]);
->       cf1[4] += (fb->t1[0] = data1[4]);
->       cf1[5] += (fb->t1[1] = data1[5]);
->       cf1[6] += (fb->t1[2] = data1[6]);
->       if (b2){
->         Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
->         dReal *cf2 = cforce + 8*b2->tag;
->         cf2[0] += (fb->f2[0] = data2[0]);
->         cf2[1] += (fb->f2[1] = data2[1]);
->         cf2[2] += (fb->f2[2] = data2[2]);
->         cf2[4] += (fb->t2[0] = data2[4]);
->         cf2[5] += (fb->t2[1] = data2[5]);
->         cf2[6] += (fb->t2[2] = data2[6]);
->       }
-1068,1069d990
-<     }
-< /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff
deleted file mode 100644
index ed64cba..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/stepfast.cpp.diff
+++ /dev/null
@@ -1,143 +0,0 @@
-587,598c587,593
-< /******************** breakable joint contribution ***********************/
-<       // this saves us a few dereferences
-<     dxJointBreakInfo *jBI = joint->breakInfo;
-<     // we need joint feedback if the joint is breakable or if the user
-<     // requested feedback.
-<       if (jBI||fb) {
-<               // we need feedback on the amount of force that this joint is
-<               // applying to the bodies. we use a slightly slower computation
-<               // that splits out the force components and puts them in the
-<               // feedback structure.
-<               dJointFeedback temp_fb; // temporary storage for joint feedback
-<               dReal data1[8],data2[8];
----
->       if (fb)
->       {
->               // the user has requested feedback on the amount of force that this
->               // joint is applying to the bodies. we use a slightly slower
->               // computation that splits out the force components and puts them
->               // in the feedback structure.
->               dReal data1[8], data2[8];
-603,608c598,603
-<                       cf1[0] = (temp_fb.f1[0] = data1[0]);
-<                       cf1[1] = (temp_fb.f1[1] = data1[1]);
-<                       cf1[2] = (temp_fb.f1[2] = data1[2]);
-<                       cf1[4] = (temp_fb.t1[0] = data1[4]);
-<                       cf1[5] = (temp_fb.t1[1] = data1[5]);
-<                       cf1[6] = (temp_fb.t1[2] = data1[6]);
----
->                       cf1[0] = (fb->f1[0] = data1[0]);
->                       cf1[1] = (fb->f1[1] = data1[1]);
->                       cf1[2] = (fb->f1[2] = data1[2]);
->                       cf1[4] = (fb->t1[0] = data1[4]);
->                       cf1[5] = (fb->t1[1] = data1[5]);
->                       cf1[6] = (fb->t1[2] = data1[6]);
-614,691c609,614
-<                       cf2[0] = (temp_fb.f2[0] = data2[0]);
-<                       cf2[1] = (temp_fb.f2[1] = data2[1]);
-<                       cf2[2] = (temp_fb.f2[2] = data2[2]);
-<                       cf2[4] = (temp_fb.t2[0] = data2[4]);
-<                       cf2[5] = (temp_fb.t2[1] = data2[5]);
-<                       cf2[6] = (temp_fb.t2[2] = data2[6]);
-<               }
-<               // if the user requested so we must copy the feedback information to
-<               // the feedback struct that the user suplied.
-<               if (fb) {
-<                       // copy temp_fb to fb
-<                       fb->f1[0] = temp_fb.f1[0];
-<                       fb->f1[1] = temp_fb.f1[1];
-<                       fb->f1[2] = temp_fb.f1[2];
-<                       fb->t1[0] = temp_fb.t1[0];
-<                       fb->t1[1] = temp_fb.t1[1];
-<                       fb->t1[2] = temp_fb.t1[2];
-<                       if (body[1]) {
-<                               fb->f2[0] = temp_fb.f2[0];
-<                               fb->f2[1] = temp_fb.f2[1];
-<                               fb->f2[2] = temp_fb.f2[2];
-<                               fb->t2[0] = temp_fb.t2[0];
-<                               fb->t2[1] = temp_fb.t2[1];
-<                               fb->t2[2] = temp_fb.t2[2];
-<                       }
-<               }
-<               // if the joint is breakable we need to check the breaking conditions
-<               if (jBI) {
-<                       dReal relCF1[3];
-<                       dReal relCT1[3];
-<                       // multiply the force and torque vectors by the rotation matrix of body 1
-<                       dMULTIPLY1_331 (&relCF1[0],body[0]->R,&temp_fb.f1[0]);
-<                       dMULTIPLY1_331 (&relCT1[0],body[0]->R,&temp_fb.t1[0]);
-<                       if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) {
-<                               // check if the force is to high
-<                               for (int i = 0; i < 3; i++) {
-<                                       if (relCF1[i] > jBI->b1MaxF[i]) {
-<                                               jBI->flags |= dJOINT_BROKEN;
-<                                               goto doneCheckingBreaks;
-<                                       }
-<                               }
-<                       }
-<                       if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) {
-<                               // check if the torque is to high
-<                               for (int i = 0; i < 3; i++) {
-<                                       if (relCT1[i] > jBI->b1MaxT[i]) {
-<                                               jBI->flags |= dJOINT_BROKEN;
-<                                               goto doneCheckingBreaks;
-<                                       }
-<                               }
-<                       }
-<                       if (body[1]) {
-<                               dReal relCF2[3];
-<                               dReal relCT2[3];
-<                               // multiply the force and torque vectors by the rotation matrix of body 2
-<                               dMULTIPLY1_331 (&relCF2[0],body[1]->R,&temp_fb.f2[0]);
-<                               dMULTIPLY1_331 (&relCT2[0],body[1]->R,&temp_fb.t2[0]);
-<                               if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) {
-<                                       // check if the force is to high
-<                                       for (int i = 0; i < 3; i++) {
-<                                               if (relCF2[i] > jBI->b2MaxF[i]) {
-<                                                       jBI->flags |= dJOINT_BROKEN;
-<                                                       goto doneCheckingBreaks;
-<                                               }
-<                                       }
-<                               }
-<                               if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) {
-<                                       // check if the torque is to high
-<                                       for (int i = 0; i < 3; i++) {
-<                                               if (relCT2[i] > jBI->b2MaxT[i]) {
-<                                                       jBI->flags |= dJOINT_BROKEN;
-<                                                       goto doneCheckingBreaks;
-<                                               }
-<                                       }
-<                               }
-<                       }
-<                       doneCheckingBreaks:
-<                       ;
----
->                       cf2[0] = (fb->f2[0] = data2[0]);
->                       cf2[1] = (fb->f2[1] = data2[1]);
->                       cf2[2] = (fb->f2[2] = data2[2]);
->                       cf2[4] = (fb->t2[0] = data2[4]);
->                       cf2[5] = (fb->t2[1] = data2[5]);
->                       cf2[6] = (fb->t2[2] = data2[6]);
-694d616
-< /*************************************************************************/
-1178,1196d1099
-<   /******************** breakable joint contribution ***********************/
-<   dxJoint* nextJ;
-<   if (!world->firstjoint)
-<     nextJ = 0;
-<   else
-<     nextJ = (dxJoint*)world->firstjoint->next;
-<   for (j=world->firstjoint; j; j=nextJ) {
-<       nextJ = (dxJoint*)j->next;
-<       // check if joint is breakable and broken
-<     if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) {
-<               // detach (break) the joint
-<         dJointAttach (j, 0, 0);
-<               // call the callback function if it is set
-<               if (j->breakInfo->callback) j->breakInfo->callback (j);
-<               // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set
-<               if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j);
-<       }
-<   }
-<   /*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/diff/test_buggy.cpp.diff b/libraries/ode-0.9/contrib/BreakableJoints/diff/test_buggy.cpp.diff
deleted file mode 100644
index 65770da..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/diff/test_buggy.cpp.diff
+++ /dev/null
@@ -1,16 +0,0 @@
-266,270d265
-< 
-<     // breakable joints contribution
-<               dJointSetBreakable (joint[i], 1);
-<               dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_FORCE);
-<               dJointSetBreakForce (joint[i], 0.5);
-298c293
-<   ground_box = dCreateBox (space,2,1.5,5);
----
->   ground_box = dCreateBox (space,2,1.5,1);
-300,301c295,296
-<   dRFromAxisAndAngle (R,0,1,0,-0.85);
-<   dGeomSetPosition (ground_box,5,0,-1);
----
->   dRFromAxisAndAngle (R,0,1,0,-0.15);
->   dGeomSetPosition (ground_box,2,0,-0.34);
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/joint.cpp b/libraries/ode-0.9/contrib/BreakableJoints/joint.cpp
deleted file mode 100644
index 2c724f8..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/joint.cpp
+++ /dev/null
@@ -1,2803 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-design note: the general principle for giving a joint the option of connecting
-to the static environment (i.e. the absolute frame) is to check the second
-body (joint->node[1].body), and if it is zero then behave as if its body
-transform is the identity.
-
-*/
-
-#include <ode/odemath.h>
-#include <ode/rotation.h>
-#include <ode/matrix.h>
-#include "joint.h"
-
-//****************************************************************************
-// externs
-
-extern "C" void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz);
-extern "C" void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz);
-
-//****************************************************************************
-// utility
-
-// set three "ball-and-socket" rows in the constraint equation, and the
-// corresponding right hand side.
-
-static inline void setBall (dxJoint *joint, dxJoint::Info2 *info,
-                            dVector3 anchor1, dVector3 anchor2)
-{
-  // anchor points in global coordinates with respect to body PORs.
-  dVector3 a1,a2;
-
-  int s = info->rowskip;
-
-  // set jacobian
-  info->J1l[0] = 1;
-  info->J1l[s+1] = 1;
-  info->J1l[2*s+2] = 1;
-  dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1);
-  dCROSSMAT (info->J1a,a1,s,-,+);
-  if (joint->node[1].body) {
-    info->J2l[0] = -1;
-    info->J2l[s+1] = -1;
-    info->J2l[2*s+2] = -1;
-    dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2);
-    dCROSSMAT (info->J2a,a2,s,+,-);
-  }
-
-  // set right hand side
-  dReal k = info->fps * info->erp;
-  if (joint->node[1].body) {
-    for (int j=0; j<3; j++) {
-      info->c[j] = k * (a2[j] + joint->node[1].body->pos[j] -
-                        a1[j] - joint->node[0].body->pos[j]);
-    }
-  }
-  else {
-    for (int j=0; j<3; j++) {
-      info->c[j] = k * (anchor2[j] - a1[j] -
-                        joint->node[0].body->pos[j]);
-    }
-  }
-}
-
-
-// this is like setBall(), except that `axis' is a unit length vector
-// (in global coordinates) that should be used for the first jacobian
-// position row (the other two row vectors will be derived from this).
-// `erp1' is the erp value to use along the axis.
-
-static inline void setBall2 (dxJoint *joint, dxJoint::Info2 *info,
-                            dVector3 anchor1, dVector3 anchor2,
-                            dVector3 axis, dReal erp1)
-{
-  // anchor points in global coordinates with respect to body PORs.
-  dVector3 a1,a2;
-
-  int i,s = info->rowskip;
-
-  // get vectors normal to the axis. in setBall() axis,q1,q2 is [1 0 0],
-  // [0 1 0] and [0 0 1], which makes everything much easier.
-  dVector3 q1,q2;
-  dPlaneSpace (axis,q1,q2);
-
-  // set jacobian
-  for (i=0; i<3; i++) info->J1l[i] = axis[i];
-  for (i=0; i<3; i++) info->J1l[s+i] = q1[i];
-  for (i=0; i<3; i++) info->J1l[2*s+i] = q2[i];
-  dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1);
-  dCROSS (info->J1a,=,a1,axis);
-  dCROSS (info->J1a+s,=,a1,q1);
-  dCROSS (info->J1a+2*s,=,a1,q2);
-  if (joint->node[1].body) {
-    for (i=0; i<3; i++) info->J2l[i] = -axis[i];
-    for (i=0; i<3; i++) info->J2l[s+i] = -q1[i];
-    for (i=0; i<3; i++) info->J2l[2*s+i] = -q2[i];
-    dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2);
-    dCROSS (info->J2a,= -,a2,axis);
-    dCROSS (info->J2a+s,= -,a2,q1);
-    dCROSS (info->J2a+2*s,= -,a2,q2);
-  }
-
-  // set right hand side - measure error along (axis,q1,q2)
-  dReal k1 = info->fps * erp1;
-  dReal k = info->fps * info->erp;
-
-  for (i=0; i<3; i++) a1[i] += joint->node[0].body->pos[i];
-  if (joint->node[1].body) {
-    for (i=0; i<3; i++) a2[i] += joint->node[1].body->pos[i];
-    info->c[0] = k1 * (dDOT(axis,a2) - dDOT(axis,a1));
-    info->c[1] = k * (dDOT(q1,a2) - dDOT(q1,a1));
-    info->c[2] = k * (dDOT(q2,a2) - dDOT(q2,a1));
-  }
-  else {
-    info->c[0] = k1 * (dDOT(axis,anchor2) - dDOT(axis,a1));
-    info->c[1] = k * (dDOT(q1,anchor2) - dDOT(q1,a1));
-    info->c[2] = k * (dDOT(q2,anchor2) - dDOT(q2,a1));
-  }
-}
-
-
-// set three orientation rows in the constraint equation, and the
-// corresponding right hand side.
-
-static void setFixedOrientation(dxJoint *joint, dxJoint::Info2 *info, dQuaternion qrel, int start_row)
-{
-  int s = info->rowskip;
-  int start_index = start_row * s;
-
-  // 3 rows to make body rotations equal
-  info->J1a[start_index] = 1;
-  info->J1a[start_index + s + 1] = 1;
-  info->J1a[start_index + s*2+2] = 1;
-  if (joint->node[1].body) {
-    info->J2a[start_index] = -1;
-    info->J2a[start_index + s+1] = -1;
-    info->J2a[start_index + s*2+2] = -1;
-  }
-
-  // compute the right hand side. the first three elements will result in
-  // relative angular velocity of the two bodies - this is set to bring them
-  // back into alignment. the correcting angular velocity is
-  //   |angular_velocity| = angle/time = erp*theta / stepsize
-  //                      = (erp*fps) * theta
-  //    angular_velocity  = |angular_velocity| * u
-  //                      = (erp*fps) * theta * u
-  // where rotation along unit length axis u by theta brings body 2's frame
-  // to qrel with respect to body 1's frame. using a small angle approximation
-  // for sin(), this gives
-  //    angular_velocity  = (erp*fps) * 2 * v
-  // where the quaternion of the relative rotation between the two bodies is
-  //    q = [cos(theta/2) sin(theta/2)*u] = [s v]
-
-  // get qerr = relative rotation (rotation error) between two bodies
-  dQuaternion qerr,e;
-  if (joint->node[1].body) {
-    dQuaternion qq;
-    dQMultiply1 (qq,joint->node[0].body->q,joint->node[1].body->q);
-    dQMultiply2 (qerr,qq,qrel);
-  }
-  else {
-    dQMultiply3 (qerr,joint->node[0].body->q,qrel);
-  }
-  if (qerr[0] < 0) {
-    qerr[1] = -qerr[1];         // adjust sign of qerr to make theta small
-    qerr[2] = -qerr[2];
-    qerr[3] = -qerr[3];
-  }
-  dMULTIPLY0_331 (e,joint->node[0].body->R,qerr+1); // @@@ bad SIMD padding!
-  dReal k = info->fps * info->erp;
-  info->c[start_row] = 2*k * e[0];
-  info->c[start_row+1] = 2*k * e[1];
-  info->c[start_row+2] = 2*k * e[2];
-}
-
-
-// compute anchor points relative to bodies
-
-static void setAnchors (dxJoint *j, dReal x, dReal y, dReal z,
-                        dVector3 anchor1, dVector3 anchor2)
-{
-  if (j->node[0].body) {
-    dReal q[4];
-    q[0] = x - j->node[0].body->pos[0];
-    q[1] = y - j->node[0].body->pos[1];
-    q[2] = z - j->node[0].body->pos[2];
-    q[3] = 0;
-    dMULTIPLY1_331 (anchor1,j->node[0].body->R,q);
-    if (j->node[1].body) {
-      q[0] = x - j->node[1].body->pos[0];
-      q[1] = y - j->node[1].body->pos[1];
-      q[2] = z - j->node[1].body->pos[2];
-      q[3] = 0;
-      dMULTIPLY1_331 (anchor2,j->node[1].body->R,q);
-    }
-    else {
-      anchor2[0] = x;
-      anchor2[1] = y;
-      anchor2[2] = z;
-    }
-  }
-  anchor1[3] = 0;
-  anchor2[3] = 0;
-}
-
-
-// compute axes relative to bodies. either axis1 or axis2 can be 0.
-
-static void setAxes (dxJoint *j, dReal x, dReal y, dReal z,
-                     dVector3 axis1, dVector3 axis2)
-{
-  if (j->node[0].body) {
-    dReal q[4];
-    q[0] = x;
-    q[1] = y;
-    q[2] = z;
-    q[3] = 0;
-    dNormalize3 (q);
-    if (axis1) {
-      dMULTIPLY1_331 (axis1,j->node[0].body->R,q);
-      axis1[3] = 0;
-    }
-    if (axis2) {
-      if (j->node[1].body) {
-        dMULTIPLY1_331 (axis2,j->node[1].body->R,q);
-      }
-      else {
-        axis2[0] = x;
-        axis2[1] = y;
-        axis2[2] = z;
-      }
-      axis2[3] = 0;
-    }
-  }
-}
-
-
-static void getAnchor (dxJoint *j, dVector3 result, dVector3 anchor1)
-{
-  if (j->node[0].body) {
-    dMULTIPLY0_331 (result,j->node[0].body->R,anchor1);
-    result[0] += j->node[0].body->pos[0];
-    result[1] += j->node[0].body->pos[1];
-    result[2] += j->node[0].body->pos[2];
-  }
-}
-
-
-static void getAnchor2 (dxJoint *j, dVector3 result, dVector3 anchor2)
-{
-  if (j->node[1].body) {
-    dMULTIPLY0_331 (result,j->node[1].body->R,anchor2);
-    result[0] += j->node[1].body->pos[0];
-    result[1] += j->node[1].body->pos[1];
-    result[2] += j->node[1].body->pos[2];
-  }
-  else {
-    result[0] = anchor2[0];
-    result[1] = anchor2[1];
-    result[2] = anchor2[2];
-  }
-}
-
-
-static void getAxis (dxJoint *j, dVector3 result, dVector3 axis1)
-{
-  if (j->node[0].body) {
-    dMULTIPLY0_331 (result,j->node[0].body->R,axis1);
-  }
-}
-
-
-static void getAxis2 (dxJoint *j, dVector3 result, dVector3 axis2)
-{
-  if (j->node[1].body) {
-    dMULTIPLY0_331 (result,j->node[1].body->R,axis2);
-  }
-  else {
-    result[0] = axis2[0];
-    result[1] = axis2[1];
-    result[2] = axis2[2];
-  }
-}
-
-
-static dReal getHingeAngleFromRelativeQuat (dQuaternion qrel, dVector3 axis)
-{
-  // the angle between the two bodies is extracted from the quaternion that
-  // represents the relative rotation between them. recall that a quaternion
-  // q is:
-  //    [s,v] = [ cos(theta/2) , sin(theta/2) * u ]
-  // where s is a scalar and v is a 3-vector. u is a unit length axis and
-  // theta is a rotation along that axis. we can get theta/2 by:
-  //    theta/2 = atan2 ( sin(theta/2) , cos(theta/2) )
-  // but we can't get sin(theta/2) directly, only its absolute value, i.e.:
-  //    |v| = |sin(theta/2)| * |u|
-  //        = |sin(theta/2)|
-  // using this value will have a strange effect. recall that there are two
-  // quaternion representations of a given rotation, q and -q. typically as
-  // a body rotates along the axis it will go through a complete cycle using
-  // one representation and then the next cycle will use the other
-  // representation. this corresponds to u pointing in the direction of the
-  // hinge axis and then in the opposite direction. the result is that theta
-  // will appear to go "backwards" every other cycle. here is a fix: if u
-  // points "away" from the direction of the hinge (motor) axis (i.e. more
-  // than 90 degrees) then use -q instead of q. this represents the same
-  // rotation, but results in the cos(theta/2) value being sign inverted.
-
-  // extract the angle from the quaternion. cost2 = cos(theta/2),
-  // sint2 = |sin(theta/2)|
-  dReal cost2 = qrel[0];
-  dReal sint2 = dSqrt (qrel[1]*qrel[1]+qrel[2]*qrel[2]+qrel[3]*qrel[3]);
-  dReal theta = (dDOT(qrel+1,axis) >= 0) ?      // @@@ padding assumptions
-    (2 * dAtan2(sint2,cost2)) :         // if u points in direction of axis
-    (2 * dAtan2(sint2,-cost2));         // if u points in opposite direction
-
-  // the angle we get will be between 0..2*pi, but we want to return angles
-  // between -pi..pi
-  if (theta > M_PI) theta -= 2*M_PI;
-
-  // the angle we've just extracted has the wrong sign
-  theta = -theta;
-
-  return theta;
-}
-
-
-// given two bodies (body1,body2), the hinge axis that they are connected by
-// w.r.t. body1 (axis), and the initial relative orientation between them
-// (q_initial), return the relative rotation angle. the initial relative
-// orientation corresponds to an angle of zero. if body2 is 0 then measure the
-// angle between body1 and the static frame.
-//
-// this will not return the correct angle if the bodies rotate along any axis
-// other than the given hinge axis.
-
-static dReal getHingeAngle (dxBody *body1, dxBody *body2, dVector3 axis,
-                            dQuaternion q_initial)
-{
-  // get qrel = relative rotation between the two bodies
-  dQuaternion qrel;
-  if (body2) {
-    dQuaternion qq;
-    dQMultiply1 (qq,body1->q,body2->q);
-    dQMultiply2 (qrel,qq,q_initial);
-  }
-  else {
-    // pretend body2->q is the identity
-    dQMultiply3 (qrel,body1->q,q_initial);
-  }
-
-  return getHingeAngleFromRelativeQuat (qrel,axis);
-}
-
-//****************************************************************************
-// dxJointLimitMotor
-
-void dxJointLimitMotor::init (dxWorld *world)
-{
-  vel = 0;
-  fmax = 0;
-  lostop = -dInfinity;
-  histop = dInfinity;
-  fudge_factor = 1;
-  normal_cfm = world->global_cfm;
-  stop_erp = world->global_erp;
-  stop_cfm = world->global_cfm;
-  bounce = 0;
-  limit = 0;
-  limit_err = 0;
-}
-
-
-void dxJointLimitMotor::set (int num, dReal value)
-{
-  switch (num) {
-  case dParamLoStop:
-    if (value <= histop) lostop = value;
-    break;
-  case dParamHiStop:
-    if (value >= lostop) histop = value;
-    break;
-  case dParamVel:
-    vel = value;
-    break;
-  case dParamFMax:
-    if (value >= 0) fmax = value;
-    break;
-  case dParamFudgeFactor:
-    if (value >= 0 && value <= 1) fudge_factor = value;
-    break;
-  case dParamBounce:
-    bounce = value;
-    break;
-  case dParamCFM:
-    normal_cfm = value;
-    break;
-  case dParamStopERP:
-    stop_erp = value;
-    break;
-  case dParamStopCFM:
-    stop_cfm = value;
-    break;
-  }
-}
-
-
-dReal dxJointLimitMotor::get (int num)
-{
-  switch (num) {
-  case dParamLoStop: return lostop;
-  case dParamHiStop: return histop;
-  case dParamVel: return vel;
-  case dParamFMax: return fmax;
-  case dParamFudgeFactor: return fudge_factor;
-  case dParamBounce: return bounce;
-  case dParamCFM: return normal_cfm;
-  case dParamStopERP: return stop_erp;
-  case dParamStopCFM: return stop_cfm;
-  default: return 0;
-  }
-}
-
-
-int dxJointLimitMotor::testRotationalLimit (dReal angle)
-{
-  if (angle <= lostop) {
-    limit = 1;
-    limit_err = angle - lostop;
-    return 1;
-  }
-  else if (angle >= histop) {
-    limit = 2;
-    limit_err = angle - histop;
-    return 1;
-  }
-  else {
-    limit = 0;
-    return 0;
-  }
-}
-
-
-int dxJointLimitMotor::addLimot (dxJoint *joint,
-                                 dxJoint::Info2 *info, int row,
-                                 dVector3 ax1, int rotational)
-{
-  int srow = row * info->rowskip;
-
-  // if the joint is powered, or has joint limits, add in the extra row
-  int powered = fmax > 0;
-  if (powered || limit) {
-    dReal *J1 = rotational ? info->J1a : info->J1l;
-    dReal *J2 = rotational ? info->J2a : info->J2l;
-
-    J1[srow+0] = ax1[0];
-    J1[srow+1] = ax1[1];
-    J1[srow+2] = ax1[2];
-    if (joint->node[1].body) {
-      J2[srow+0] = -ax1[0];
-      J2[srow+1] = -ax1[1];
-      J2[srow+2] = -ax1[2];
-    }
-
-    // linear limot torque decoupling step:
-    //
-    // if this is a linear limot (e.g. from a slider), we have to be careful
-    // that the linear constraint forces (+/- ax1) applied to the two bodies
-    // do not create a torque couple. in other words, the points that the
-    // constraint force is applied at must lie along the same ax1 axis.
-    // a torque couple will result in powered or limited slider-jointed free
-    // bodies from gaining angular momentum.
-    // the solution used here is to apply the constraint forces at the point
-    // halfway between the body centers. there is no penalty (other than an
-    // extra tiny bit of computation) in doing this adjustment. note that we
-    // only need to do this if the constraint connects two bodies.
-
-    dVector3 ltd;       // Linear Torque Decoupling vector (a torque)
-    if (!rotational && joint->node[1].body) {
-      dVector3 c;
-      c[0]=REAL(0.5)*(joint->node[1].body->pos[0]-joint->node[0].body->pos[0]);
-      c[1]=REAL(0.5)*(joint->node[1].body->pos[1]-joint->node[0].body->pos[1]);
-      c[2]=REAL(0.5)*(joint->node[1].body->pos[2]-joint->node[0].body->pos[2]);
-      dCROSS (ltd,=,c,ax1);
-      info->J1a[srow+0] = ltd[0];
-      info->J1a[srow+1] = ltd[1];
-      info->J1a[srow+2] = ltd[2];
-      info->J2a[srow+0] = ltd[0];
-      info->J2a[srow+1] = ltd[1];
-      info->J2a[srow+2] = ltd[2];
-    }
-
-    // if we're limited low and high simultaneously, the joint motor is
-    // ineffective
-    if (limit && (lostop == histop)) powered = 0;
-
-    if (powered) {
-      info->cfm[row] = normal_cfm;
-      if (! limit) {
-        info->c[row] = vel;
-        info->lo[row] = -fmax;
-        info->hi[row] = fmax;
-      }
-      else {
-        // the joint is at a limit, AND is being powered. if the joint is
-        // being powered into the limit then we apply the maximum motor force
-        // in that direction, because the motor is working against the
-        // immovable limit. if the joint is being powered away from the limit
-        // then we have problems because actually we need *two* lcp
-        // constraints to handle this case. so we fake it and apply some
-        // fraction of the maximum force. the fraction to use can be set as
-        // a fudge factor.
-
-        dReal fm = fmax;
-        if (vel > 0) fm = -fm;
-
-        // if we're powering away from the limit, apply the fudge factor
-        if ((limit==1 && vel > 0) || (limit==2 && vel < 0)) fm *= fudge_factor;
-
-        if (rotational) {
-          dBodyAddTorque (joint->node[0].body,-fm*ax1[0],-fm*ax1[1],
-                          -fm*ax1[2]);
-          if (joint->node[1].body)
-            dBodyAddTorque (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]);
-        }
-        else {
-          dBodyAddForce (joint->node[0].body,-fm*ax1[0],-fm*ax1[1],-fm*ax1[2]);
-          if (joint->node[1].body) {
-            dBodyAddForce (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]);
-
-            // linear limot torque decoupling step: refer to above discussion
-            dBodyAddTorque (joint->node[0].body,-fm*ltd[0],-fm*ltd[1],
-                            -fm*ltd[2]);
-            dBodyAddTorque (joint->node[1].body,-fm*ltd[0],-fm*ltd[1],
-                            -fm*ltd[2]);
-          }
-        }
-      }
-    }
-
-    if (limit) {
-      dReal k = info->fps * stop_erp;
-      info->c[row] = -k * limit_err;
-      info->cfm[row] = stop_cfm;
-
-      if (lostop == histop) {
-        // limited low and high simultaneously
-        info->lo[row] = -dInfinity;
-        info->hi[row] = dInfinity;
-      }
-      else {
-        if (limit == 1) {
-          // low limit
-          info->lo[row] = 0;
-          info->hi[row] = dInfinity;
-        }
-        else {
-          // high limit
-          info->lo[row] = -dInfinity;
-          info->hi[row] = 0;
-        }
-
-        // deal with bounce
-        if (bounce > 0) {
-          // calculate joint velocity
-          dReal vel;
-          if (rotational) {
-            vel = dDOT(joint->node[0].body->avel,ax1);
-            if (joint->node[1].body)
-              vel -= dDOT(joint->node[1].body->avel,ax1);
-          }
-          else {
-            vel = dDOT(joint->node[0].body->lvel,ax1);
-            if (joint->node[1].body)
-              vel -= dDOT(joint->node[1].body->lvel,ax1);
-          }
-
-          // only apply bounce if the velocity is incoming, and if the
-          // resulting c[] exceeds what we already have.
-          if (limit == 1) {
-            // low limit
-            if (vel < 0) {
-              dReal newc = -bounce * vel;
-              if (newc > info->c[row]) info->c[row] = newc;
-            }
-          }
-          else {
-            // high limit - all those computations are reversed
-            if (vel > 0) {
-              dReal newc = -bounce * vel;
-              if (newc < info->c[row]) info->c[row] = newc;
-            }
-          }
-        }
-      }
-    }
-    return 1;
-  }
-  else return 0;
-}
-
-//****************************************************************************
-// ball and socket
-
-static void ballInit (dxJointBall *j)
-{
-  dSetZero (j->anchor1,4);
-  dSetZero (j->anchor2,4);
-}
-
-
-static void ballGetInfo1 (dxJointBall *j, dxJoint::Info1 *info)
-{
-  info->m = 3;
-  info->nub = 3;
-}
-
-
-static void ballGetInfo2 (dxJointBall *joint, dxJoint::Info2 *info)
-{
-  setBall (joint,info,joint->anchor1,joint->anchor2);
-}
-
-
-extern "C" void dJointSetBallAnchor (dxJointBall *joint,
-                                     dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
-  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
-}
-
-
-extern "C" void dJointGetBallAnchor (dxJointBall *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
-  if (joint->flags & dJOINT_REVERSE)
-    getAnchor2 (joint,result,joint->anchor2);
-  else
-    getAnchor (joint,result,joint->anchor1);
-}
-
-
-extern "C" void dJointGetBallAnchor2 (dxJointBall *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
-  if (joint->flags & dJOINT_REVERSE)
-    getAnchor (joint,result,joint->anchor1);
-  else
-    getAnchor2 (joint,result,joint->anchor2);
-}
-
-
-dxJoint::Vtable __dball_vtable = {
-  sizeof(dxJointBall),
-  (dxJoint::init_fn*) ballInit,
-  (dxJoint::getInfo1_fn*) ballGetInfo1,
-  (dxJoint::getInfo2_fn*) ballGetInfo2,
-  dJointTypeBall};
-
-//****************************************************************************
-// hinge
-
-static void hingeInit (dxJointHinge *j)
-{
-  dSetZero (j->anchor1,4);
-  dSetZero (j->anchor2,4);
-  dSetZero (j->axis1,4);
-  j->axis1[0] = 1;
-  dSetZero (j->axis2,4);
-  j->axis2[0] = 1;
-  dSetZero (j->qrel,4);
-  j->limot.init (j->world);
-}
-
-
-static void hingeGetInfo1 (dxJointHinge *j, dxJoint::Info1 *info)
-{
-  info->nub = 5;
-
-  // see if joint is powered
-  if (j->limot.fmax > 0)
-    info->m = 6;        // powered hinge needs an extra constraint row
-  else info->m = 5;
-
-  // see if we're at a joint limit.
-  if ((j->limot.lostop >= -M_PI || j->limot.histop <= M_PI) &&
-       j->limot.lostop <= j->limot.histop) {
-    dReal angle = getHingeAngle (j->node[0].body,j->node[1].body,j->axis1,
-                                 j->qrel);
-    if (j->limot.testRotationalLimit (angle)) info->m = 6;
-  }
-}
-
-
-static void hingeGetInfo2 (dxJointHinge *joint, dxJoint::Info2 *info)
-{
-  // set the three ball-and-socket rows
-  setBall (joint,info,joint->anchor1,joint->anchor2);
-
-  // set the two hinge rows. the hinge axis should be the only unconstrained
-  // rotational axis, the angular velocity of the two bodies perpendicular to
-  // the hinge axis should be equal. thus the constraint equations are
-  //    p*w1 - p*w2 = 0
-  //    q*w1 - q*w2 = 0
-  // where p and q are unit vectors normal to the hinge axis, and w1 and w2
-  // are the angular velocity vectors of the two bodies.
-
-  dVector3 ax1;  // length 1 joint axis in global coordinates, from 1st body
-  dVector3 p,q;  // plane space vectors for ax1
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-  dPlaneSpace (ax1,p,q);
-
-  int s3=3*info->rowskip;
-  int s4=4*info->rowskip;
-
-  info->J1a[s3+0] = p[0];
-  info->J1a[s3+1] = p[1];
-  info->J1a[s3+2] = p[2];
-  info->J1a[s4+0] = q[0];
-  info->J1a[s4+1] = q[1];
-  info->J1a[s4+2] = q[2];
-
-  if (joint->node[1].body) {
-    info->J2a[s3+0] = -p[0];
-    info->J2a[s3+1] = -p[1];
-    info->J2a[s3+2] = -p[2];
-    info->J2a[s4+0] = -q[0];
-    info->J2a[s4+1] = -q[1];
-    info->J2a[s4+2] = -q[2];
-  }
-
-  // compute the right hand side of the constraint equation. set relative
-  // body velocities along p and q to bring the hinge back into alignment.
-  // if ax1,ax2 are the unit length hinge axes as computed from body1 and
-  // body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
-  // if `theta' is the angle between ax1 and ax2, we need an angular velocity
-  // along u to cover angle erp*theta in one step :
-  //   |angular_velocity| = angle/time = erp*theta / stepsize
-  //                      = (erp*fps) * theta
-  //    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
-  //                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
-  // ...as ax1 and ax2 are unit length. if theta is smallish,
-  // theta ~= sin(theta), so
-  //    angular_velocity  = (erp*fps) * (ax1 x ax2)
-  // ax1 x ax2 is in the plane space of ax1, so we project the angular
-  // velocity to p and q to find the right hand side.
-
-  dVector3 ax2,b;
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
-  }
-  else {
-    ax2[0] = joint->axis2[0];
-    ax2[1] = joint->axis2[1];
-    ax2[2] = joint->axis2[2];
-  }
-  dCROSS (b,=,ax1,ax2);
-  dReal k = info->fps * info->erp;
-  info->c[3] = k * dDOT(b,p);
-  info->c[4] = k * dDOT(b,q);
-
-  // if the hinge is powered, or has joint limits, add in the stuff
-  joint->limot.addLimot (joint,info,5,ax1,1);
-}
-
-
-// compute initial relative rotation body1 -> body2, or env -> body1
-
-static void hingeComputeInitialRelativeRotation (dxJointHinge *joint)
-{
-  if (joint->node[0].body) {
-    if (joint->node[1].body) {
-      dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
-    }
-    else {
-      // set joint->qrel to the transpose of the first body q
-      joint->qrel[0] = joint->node[0].body->q[0];
-      for (int i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
-    }
-  }
-}
-
-
-extern "C" void dJointSetHingeAnchor (dxJointHinge *joint,
-                                      dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
-  hingeComputeInitialRelativeRotation (joint);
-}
-
-
-extern "C" void dJointSetHingeAxis (dxJointHinge *joint,
-                                    dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  setAxes (joint,x,y,z,joint->axis1,joint->axis2);
-  hingeComputeInitialRelativeRotation (joint);
-}
-
-
-extern "C" void dJointGetHingeAnchor (dxJointHinge *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  if (joint->flags & dJOINT_REVERSE)
-    getAnchor2 (joint,result,joint->anchor2);
-  else
-    getAnchor (joint,result,joint->anchor1);
-}
-
-
-extern "C" void dJointGetHingeAnchor2 (dxJointHinge *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  if (joint->flags & dJOINT_REVERSE)
-    getAnchor (joint,result,joint->anchor1);
-  else
-    getAnchor2 (joint,result,joint->anchor2);
-}
-
-
-extern "C" void dJointGetHingeAxis (dxJointHinge *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  getAxis (joint,result,joint->axis1);
-}
-
-
-extern "C" void dJointSetHingeParam (dxJointHinge *joint,
-                                     int parameter, dReal value)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  joint->limot.set (parameter,value);
-}
-
-
-extern "C" dReal dJointGetHingeParam (dxJointHinge *joint, int parameter)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  return joint->limot.get (parameter);
-}
-
-
-extern "C" dReal dJointGetHingeAngle (dxJointHinge *joint)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  if (joint->node[0].body) {
-    dReal ang = getHingeAngle (joint->node[0].body,joint->node[1].body,joint->axis1,
-                          joint->qrel);
-        if (joint->flags & dJOINT_REVERSE)
-           return -ang;
-        else
-           return ang;
-  }
-  else return 0;
-}
-
-
-extern "C" dReal dJointGetHingeAngleRate (dxJointHinge *joint)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge");
-  if (joint->node[0].body) {
-    dVector3 axis;
-    dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1);
-    dReal rate = dDOT(axis,joint->node[0].body->avel);
-    if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
-    if (joint->flags & dJOINT_REVERSE) rate = - rate;
-    return rate;
-  }
-  else return 0;
-}
-
-
-extern "C" void dJointAddHingeTorque (dxJointHinge *joint, dReal torque)
-{
-  dVector3 axis;
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge");
-
-  if (joint->flags & dJOINT_REVERSE)
-    torque = -torque;
-
-  getAxis (joint,axis,joint->axis1);
-  axis[0] *= torque;
-  axis[1] *= torque;
-  axis[2] *= torque;
-
-  if (joint->node[0].body != 0)
-    dBodyAddTorque (joint->node[0].body, axis[0], axis[1], axis[2]);
-  if (joint->node[1].body != 0)
-    dBodyAddTorque(joint->node[1].body, -axis[0], -axis[1], -axis[2]);
-}
-
-
-dxJoint::Vtable __dhinge_vtable = {
-  sizeof(dxJointHinge),
-  (dxJoint::init_fn*) hingeInit,
-  (dxJoint::getInfo1_fn*) hingeGetInfo1,
-  (dxJoint::getInfo2_fn*) hingeGetInfo2,
-  dJointTypeHinge};
-
-//****************************************************************************
-// slider
-
-static void sliderInit (dxJointSlider *j)
-{
-  dSetZero (j->axis1,4);
-  j->axis1[0] = 1;
-  dSetZero (j->qrel,4);
-  dSetZero (j->offset,4);
-  j->limot.init (j->world);
-}
-
-
-extern "C" dReal dJointGetSliderPosition (dxJointSlider *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-
-  // get axis1 in global coordinates
-  dVector3 ax1,q;
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-
-  if (joint->node[1].body) {
-    // get body2 + offset point in global coordinates
-    dMULTIPLY0_331 (q,joint->node[1].body->R,joint->offset);
-    for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] - q[i] -
-                              joint->node[1].body->pos[i];
-  }
-  else {
-    for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] -
-                              joint->offset[i];
-
-  }
-  return dDOT(ax1,q);
-}
-
-
-extern "C" dReal dJointGetSliderPositionRate (dxJointSlider *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-
-  // get axis1 in global coordinates
-  dVector3 ax1;
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-
-  if (joint->node[1].body) {
-    return dDOT(ax1,joint->node[0].body->lvel) -
-      dDOT(ax1,joint->node[1].body->lvel);
-  }
-  else {
-    return dDOT(ax1,joint->node[0].body->lvel);
-  }
-}
-
-
-static void sliderGetInfo1 (dxJointSlider *j, dxJoint::Info1 *info)
-{
-  info->nub = 5;
-
-  // see if joint is powered
-  if (j->limot.fmax > 0)
-    info->m = 6;        // powered slider needs an extra constraint row
-  else info->m = 5;
-
-  // see if we're at a joint limit.
-  j->limot.limit = 0;
-  if ((j->limot.lostop > -dInfinity || j->limot.histop < dInfinity) &&
-      j->limot.lostop <= j->limot.histop) {
-    // measure joint position
-    dReal pos = dJointGetSliderPosition (j);
-    if (pos <= j->limot.lostop) {
-      j->limot.limit = 1;
-      j->limot.limit_err = pos - j->limot.lostop;
-      info->m = 6;
-    }
-    else if (pos >= j->limot.histop) {
-      j->limot.limit = 2;
-      j->limot.limit_err = pos - j->limot.histop;
-      info->m = 6;
-    }
-  }
-}
-
-
-static void sliderGetInfo2 (dxJointSlider *joint, dxJoint::Info2 *info)
-{
-  int i,s = info->rowskip;
-  int s2=2*s,s3=3*s,s4=4*s;
-
-  // pull out pos and R for both bodies. also get the `connection'
-  // vector pos2-pos1.
-
-  dReal *pos1,*pos2,*R1,*R2;
-  dVector3 c;
-  pos1 = joint->node[0].body->pos;
-  R1 = joint->node[0].body->R;
-  if (joint->node[1].body) {
-    pos2 = joint->node[1].body->pos;
-    R2 = joint->node[1].body->R;
-    for (i=0; i<3; i++) c[i] = pos2[i] - pos1[i];
-  }
-  else {
-    pos2 = 0;
-    R2 = 0;
-  }
-
-  // 3 rows to make body rotations equal
-  setFixedOrientation(joint, info, joint->qrel, 0);
-
-  // remaining two rows. we want: vel2 = vel1 + w1 x c ... but this would
-  // result in three equations, so we project along the planespace vectors
-  // so that sliding along the slider axis is disregarded. for symmetry we
-  // also substitute (w1+w2)/2 for w1, as w1 is supposed to equal w2.
-
-  dVector3 ax1; // joint axis in global coordinates (unit length)
-  dVector3 p,q; // plane space of ax1
-  dMULTIPLY0_331 (ax1,R1,joint->axis1);
-  dPlaneSpace (ax1,p,q);
-  if (joint->node[1].body) {
-    dVector3 tmp;
-    dCROSS (tmp, = REAL(0.5) * ,c,p);
-    for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i];
-    for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i];
-    dCROSS (tmp, = REAL(0.5) * ,c,q);
-    for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i];
-    for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i];
-    for (i=0; i<3; i++) info->J2l[s3+i] = -p[i];
-    for (i=0; i<3; i++) info->J2l[s4+i] = -q[i];
-  }
-  for (i=0; i<3; i++) info->J1l[s3+i] = p[i];
-  for (i=0; i<3; i++) info->J1l[s4+i] = q[i];
-
-  // compute last two elements of right hand side. we want to align the offset
-  // point (in body 2's frame) with the center of body 1.
-  dReal k = info->fps * info->erp;
-  if (joint->node[1].body) {
-    dVector3 ofs;               // offset point in global coordinates
-    dMULTIPLY0_331 (ofs,R2,joint->offset);
-    for (i=0; i<3; i++) c[i] += ofs[i];
-    info->c[3] = k * dDOT(p,c);
-    info->c[4] = k * dDOT(q,c);
-  }
-  else {
-    dVector3 ofs;               // offset point in global coordinates
-    for (i=0; i<3; i++) ofs[i] = joint->offset[i] - pos1[i];
-    info->c[3] = k * dDOT(p,ofs);
-    info->c[4] = k * dDOT(q,ofs);
-  }
-
-  // if the slider is powered, or has joint limits, add in the extra row
-  joint->limot.addLimot (joint,info,5,ax1,0);
-}
-
-
-extern "C" void dJointSetSliderAxis (dxJointSlider *joint,
-                                     dReal x, dReal y, dReal z)
-{
-  int i;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  setAxes (joint,x,y,z,joint->axis1,0);
-
-  // compute initial relative rotation body1 -> body2, or env -> body1
-  // also compute center of body1 w.r.t body 2
-  if (joint->node[1].body) {
-    dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
-    dVector3 c;
-    for (i=0; i<3; i++)
-      c[i] = joint->node[0].body->pos[i] - joint->node[1].body->pos[i];
-    dMULTIPLY1_331 (joint->offset,joint->node[1].body->R,c);
-  }
-  else {
-    // set joint->qrel to the transpose of the first body's q
-    joint->qrel[0] = joint->node[0].body->q[0];
-    for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
-    for (i=0; i<3; i++) joint->offset[i] = joint->node[0].body->pos[i];
-  }
-}
-
-
-extern "C" void dJointGetSliderAxis (dxJointSlider *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  getAxis (joint,result,joint->axis1);
-}
-
-
-extern "C" void dJointSetSliderParam (dxJointSlider *joint,
-                                      int parameter, dReal value)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  joint->limot.set (parameter,value);
-}
-
-
-extern "C" dReal dJointGetSliderParam (dxJointSlider *joint, int parameter)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  return joint->limot.get (parameter);
-}
-
-
-extern "C" void dJointAddSliderForce (dxJointSlider *joint, dReal force)
-{
-  dVector3 axis;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-
-  if (joint->flags & dJOINT_REVERSE)
-    force -= force;
-
-  getAxis (joint,axis,joint->axis1);
-  axis[0] *= force;
-  axis[1] *= force;
-  axis[2] *= force;
-
-  if (joint->node[0].body != 0)
-    dBodyAddForce (joint->node[0].body,axis[0],axis[1],axis[2]);
-  if (joint->node[1].body != 0)
-    dBodyAddForce(joint->node[1].body, -axis[0], -axis[1], -axis[2]);
-}
-
-
-dxJoint::Vtable __dslider_vtable = {
-  sizeof(dxJointSlider),
-  (dxJoint::init_fn*) sliderInit,
-  (dxJoint::getInfo1_fn*) sliderGetInfo1,
-  (dxJoint::getInfo2_fn*) sliderGetInfo2,
-  dJointTypeSlider};
-
-//****************************************************************************
-// contact
-
-static void contactInit (dxJointContact *j)
-{
-  // default frictionless contact. hmmm, this info gets overwritten straight
-  // away anyway, so why bother?
-#if 0 /* so don't bother ;) */
-  j->contact.surface.mode = 0;
-  j->contact.surface.mu = 0;
-  dSetZero (j->contact.geom.pos,4);
-  dSetZero (j->contact.geom.normal,4);
-  j->contact.geom.depth = 0;
-#endif
-}
-
-
-static void contactGetInfo1 (dxJointContact *j, dxJoint::Info1 *info)
-{
-  // make sure mu's >= 0, then calculate number of constraint rows and number
-  // of unbounded rows.
-  int m = 1, nub=0;
-  if (j->contact.surface.mu < 0) j->contact.surface.mu = 0;
-  if (j->contact.surface.mode & dContactMu2) {
-    if (j->contact.surface.mu > 0) m++;
-    if (j->contact.surface.mu2 < 0) j->contact.surface.mu2 = 0;
-    if (j->contact.surface.mu2 > 0) m++;
-    if (j->contact.surface.mu  == dInfinity) nub ++;
-    if (j->contact.surface.mu2 == dInfinity) nub ++;
-  }
-  else {
-    if (j->contact.surface.mu > 0) m += 2;
-    if (j->contact.surface.mu == dInfinity) nub += 2;
-  }
-
-  j->the_m = m;
-  info->m = m;
-  info->nub = nub;
-}
-
-
-static void contactGetInfo2 (dxJointContact *j, dxJoint::Info2 *info)
-{
-  int i,s = info->rowskip;
-  int s2 = 2*s;
-
-  // get normal, with sign adjusted for body1/body2 polarity
-  dVector3 normal;
-  if (j->flags & dJOINT_REVERSE) {
-    normal[0] = - j->contact.geom.normal[0];
-    normal[1] = - j->contact.geom.normal[1];
-    normal[2] = - j->contact.geom.normal[2];
-  }
-  else {
-    normal[0] = j->contact.geom.normal[0];
-    normal[1] = j->contact.geom.normal[1];
-    normal[2] = j->contact.geom.normal[2];
-  }
-  normal[3] = 0;        // @@@ hmmm
-
-  // c1,c2 = contact points with respect to body PORs
-  dVector3 c1,c2;
-  for (i=0; i<3; i++) c1[i] = j->contact.geom.pos[i] - j->node[0].body->pos[i];
-
-  // set jacobian for normal
-  info->J1l[0] = normal[0];
-  info->J1l[1] = normal[1];
-  info->J1l[2] = normal[2];
-  dCROSS (info->J1a,=,c1,normal);
-  if (j->node[1].body) {
-    for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] -
-                          j->node[1].body->pos[i];
-    info->J2l[0] = -normal[0];
-    info->J2l[1] = -normal[1];
-    info->J2l[2] = -normal[2];
-    dCROSS (info->J2a,= -,c2,normal);
-  }
-
-  // set right hand side and cfm value for normal
-  dReal erp = info->erp;
-  if (j->contact.surface.mode & dContactSoftERP)
-    erp = j->contact.surface.soft_erp;
-  dReal k = info->fps * erp;
-  info->c[0] = k*j->contact.geom.depth;
-  if (j->contact.surface.mode & dContactSoftCFM)
-    info->cfm[0] = j->contact.surface.soft_cfm;
-
-  // deal with bounce
-  if (j->contact.surface.mode & dContactBounce) {
-    // calculate outgoing velocity (-ve for incoming contact)
-    dReal outgoing = dDOT(info->J1l,j->node[0].body->lvel) +
-      dDOT(info->J1a,j->node[0].body->avel);
-    if (j->node[1].body) {
-      outgoing += dDOT(info->J2l,j->node[1].body->lvel) +
-        dDOT(info->J2a,j->node[1].body->avel);
-    }
-    // only apply bounce if the outgoing velocity is greater than the
-    // threshold, and if the resulting c[0] exceeds what we already have.
-    if (j->contact.surface.bounce_vel >= 0 &&
-        (-outgoing) > j->contact.surface.bounce_vel) {
-      dReal newc = - j->contact.surface.bounce * outgoing;
-      if (newc > info->c[0]) info->c[0] = newc;
-    }
-  }
-
-  // set LCP limits for normal
-  info->lo[0] = 0;
-  info->hi[0] = dInfinity;
-
-  // now do jacobian for tangential forces
-  dVector3 t1,t2;       // two vectors tangential to normal
-
-  // first friction direction
-  if (j->the_m >= 2) {
-    if (j->contact.surface.mode & dContactFDir1) {      // use fdir1 ?
-      t1[0] = j->contact.fdir1[0];
-      t1[1] = j->contact.fdir1[1];
-      t1[2] = j->contact.fdir1[2];
-      dCROSS (t2,=,normal,t1);
-    }
-    else {
-      dPlaneSpace (normal,t1,t2);
-    }
-    info->J1l[s+0] = t1[0];
-    info->J1l[s+1] = t1[1];
-    info->J1l[s+2] = t1[2];
-    dCROSS (info->J1a+s,=,c1,t1);
-    if (j->node[1].body) {
-      info->J2l[s+0] = -t1[0];
-      info->J2l[s+1] = -t1[1];
-      info->J2l[s+2] = -t1[2];
-      dCROSS (info->J2a+s,= -,c2,t1);
-    }
-    // set right hand side
-    if (j->contact.surface.mode & dContactMotion1) {
-      info->c[1] = j->contact.surface.motion1;
-    }
-    // set LCP bounds and friction index. this depends on the approximation
-    // mode
-    info->lo[1] = -j->contact.surface.mu;
-    info->hi[1] = j->contact.surface.mu;
-    if (j->contact.surface.mode & dContactApprox1_1) info->findex[1] = 0;
-
-    // set slip (constraint force mixing)
-    if (j->contact.surface.mode & dContactSlip1)
-      info->cfm[1] = j->contact.surface.slip1;
-  }
-
-  // second friction direction
-  if (j->the_m >= 3) {
-    info->J1l[s2+0] = t2[0];
-    info->J1l[s2+1] = t2[1];
-    info->J1l[s2+2] = t2[2];
-    dCROSS (info->J1a+s2,=,c1,t2);
-    if (j->node[1].body) {
-      info->J2l[s2+0] = -t2[0];
-      info->J2l[s2+1] = -t2[1];
-      info->J2l[s2+2] = -t2[2];
-      dCROSS (info->J2a+s2,= -,c2,t2);
-    }
-    // set right hand side
-    if (j->contact.surface.mode & dContactMotion2) {
-      info->c[2] = j->contact.surface.motion2;
-    }
-    // set LCP bounds and friction index. this depends on the approximation
-    // mode
-    if (j->contact.surface.mode & dContactMu2) {
-      info->lo[2] = -j->contact.surface.mu2;
-      info->hi[2] = j->contact.surface.mu2;
-    }
-    else {
-      info->lo[2] = -j->contact.surface.mu;
-      info->hi[2] = j->contact.surface.mu;
-    }
-    if (j->contact.surface.mode & dContactApprox1_2) info->findex[2] = 0;
-
-    // set slip (constraint force mixing)
-    if (j->contact.surface.mode & dContactSlip2)
-      info->cfm[2] = j->contact.surface.slip2;
-  }
-}
-
-
-dxJoint::Vtable __dcontact_vtable = {
-  sizeof(dxJointContact),
-  (dxJoint::init_fn*) contactInit,
-  (dxJoint::getInfo1_fn*) contactGetInfo1,
-  (dxJoint::getInfo2_fn*) contactGetInfo2,
-  dJointTypeContact};
-
-//****************************************************************************
-// hinge 2. note that this joint must be attached to two bodies for it to work
-
-static dReal measureHinge2Angle (dxJointHinge2 *joint)
-{
-  dVector3 a1,a2;
-  dMULTIPLY0_331 (a1,joint->node[1].body->R,joint->axis2);
-  dMULTIPLY1_331 (a2,joint->node[0].body->R,a1);
-  dReal x = dDOT(joint->v1,a2);
-  dReal y = dDOT(joint->v2,a2);
-  return -dAtan2 (y,x);
-}
-
-
-static void hinge2Init (dxJointHinge2 *j)
-{
-  dSetZero (j->anchor1,4);
-  dSetZero (j->anchor2,4);
-  dSetZero (j->axis1,4);
-  j->axis1[0] = 1;
-  dSetZero (j->axis2,4);
-  j->axis2[1] = 1;
-  j->c0 = 0;
-  j->s0 = 0;
-
-  dSetZero (j->v1,4);
-  j->v1[0] = 1;
-  dSetZero (j->v2,4);
-  j->v2[1] = 1;
-
-  j->limot1.init (j->world);
-  j->limot2.init (j->world);
-
-  j->susp_erp = j->world->global_erp;
-  j->susp_cfm = j->world->global_cfm;
-
-  j->flags |= dJOINT_TWOBODIES;
-}
-
-
-static void hinge2GetInfo1 (dxJointHinge2 *j, dxJoint::Info1 *info)
-{
-  info->m = 4;
-  info->nub = 4;
-
-  // see if we're powered or at a joint limit for axis 1
-  int atlimit=0;
-  if ((j->limot1.lostop >= -M_PI || j->limot1.histop <= M_PI) &&
-      j->limot1.lostop <= j->limot1.histop) {
-    dReal angle = measureHinge2Angle (j);
-    if (j->limot1.testRotationalLimit (angle)) atlimit = 1;
-  }
-  if (atlimit || j->limot1.fmax > 0) info->m++;
-
-  // see if we're powering axis 2 (we currently never limit this axis)
-  j->limot2.limit = 0;
-  if (j->limot2.fmax > 0) info->m++;
-}
-
-
-// macro that computes ax1,ax2 = axis 1 and 2 in global coordinates (they are
-// relative to body 1 and 2 initially) and then computes the constrained
-// rotational axis as the cross product of ax1 and ax2.
-// the sin and cos of the angle between axis 1 and 2 is computed, this comes
-// from dot and cross product rules.
-
-#define HINGE2_GET_AXIS_INFO(axis,sin_angle,cos_angle) \
-  dVector3 ax1,ax2; \
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); \
-  dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); \
-  dCROSS (axis,=,ax1,ax2); \
-  sin_angle = dSqrt (axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2]); \
-  cos_angle = dDOT (ax1,ax2);
-
-
-static void hinge2GetInfo2 (dxJointHinge2 *joint, dxJoint::Info2 *info)
-{
-  // get information we need to set the hinge row
-  dReal s,c;
-  dVector3 q;
-  HINGE2_GET_AXIS_INFO (q,s,c);
-  dNormalize3 (q);              // @@@ quicker: divide q by s ?
-
-  // set the three ball-and-socket rows (aligned to the suspension axis ax1)
-  setBall2 (joint,info,joint->anchor1,joint->anchor2,ax1,joint->susp_erp);
-
-  // set the hinge row
-  int s3=3*info->rowskip;
-  info->J1a[s3+0] = q[0];
-  info->J1a[s3+1] = q[1];
-  info->J1a[s3+2] = q[2];
-  if (joint->node[1].body) {
-    info->J2a[s3+0] = -q[0];
-    info->J2a[s3+1] = -q[1];
-    info->J2a[s3+2] = -q[2];
-  }
-
-  // compute the right hand side for the constrained rotational DOF.
-  // axis 1 and axis 2 are separated by an angle `theta'. the desired
-  // separation angle is theta0. sin(theta0) and cos(theta0) are recorded
-  // in the joint structure. the correcting angular velocity is:
-  //   |angular_velocity| = angle/time = erp*(theta0-theta) / stepsize
-  //                      = (erp*fps) * (theta0-theta)
-  // (theta0-theta) can be computed using the following small-angle-difference
-  // approximation:
-  //   theta0-theta ~= tan(theta0-theta)
-  //                 = sin(theta0-theta)/cos(theta0-theta)
-  //                 = (c*s0 - s*c0) / (c*c0 + s*s0)
-  //                 = c*s0 - s*c0         assuming c*c0 + s*s0 ~= 1
-  // where c = cos(theta), s = sin(theta)
-  //       c0 = cos(theta0), s0 = sin(theta0)
-
-  dReal k = info->fps * info->erp;
-  info->c[3] = k * (joint->c0 * s - joint->s0 * c);
-
-  // if the axis1 hinge is powered, or has joint limits, add in more stuff
-  int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1);
-
-  // if the axis2 hinge is powered, add in more stuff
-  joint->limot2.addLimot (joint,info,row,ax2,1);
-
-  // set parameter for the suspension
-  info->cfm[0] = joint->susp_cfm;
-}
-
-
-// compute vectors v1 and v2 (embedded in body1), used to measure angle
-// between body 1 and body 2
-
-static void makeHinge2V1andV2 (dxJointHinge2 *joint)
-{
-  if (joint->node[0].body) {
-    // get axis 1 and 2 in global coords
-    dVector3 ax1,ax2,v;
-    dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
-
-    // don't do anything if the axis1 or axis2 vectors are zero or the same
-    if ((ax1[0]==0 && ax1[1]==0 && ax1[2]==0) ||
-        (ax2[0]==0 && ax2[1]==0 && ax2[2]==0) ||
-        (ax1[0]==ax2[0] && ax1[1]==ax2[1] && ax1[2]==ax2[2])) return;
-
-    // modify axis 2 so it's perpendicular to axis 1
-    dReal k = dDOT(ax1,ax2);
-    for (int i=0; i<3; i++) ax2[i] -= k*ax1[i];
-    dNormalize3 (ax2);
-
-    // make v1 = modified axis2, v2 = axis1 x (modified axis2)
-    dCROSS (v,=,ax1,ax2);
-    dMULTIPLY1_331 (joint->v1,joint->node[0].body->R,ax2);
-    dMULTIPLY1_331 (joint->v2,joint->node[0].body->R,v);
-  }
-}
-
-
-extern "C" void dJointSetHinge2Anchor (dxJointHinge2 *joint,
-                                       dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
-  makeHinge2V1andV2 (joint);
-}
-
-
-extern "C" void dJointSetHinge2Axis1 (dxJointHinge2 *joint,
-                                      dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body) {
-    dReal q[4];
-    q[0] = x;
-    q[1] = y;
-    q[2] = z;
-    q[3] = 0;
-    dNormalize3 (q);
-    dMULTIPLY1_331 (joint->axis1,joint->node[0].body->R,q);
-    joint->axis1[3] = 0;
-
-    // compute the sin and cos of the angle between axis 1 and axis 2
-    dVector3 ax;
-    HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0);
-  }
-  makeHinge2V1andV2 (joint);
-}
-
-
-extern "C" void dJointSetHinge2Axis2 (dxJointHinge2 *joint,
-                                      dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[1].body) {
-    dReal q[4];
-    q[0] = x;
-    q[1] = y;
-    q[2] = z;
-    q[3] = 0;
-    dNormalize3 (q);
-    dMULTIPLY1_331 (joint->axis2,joint->node[1].body->R,q);
-    joint->axis1[3] = 0;
-
-    // compute the sin and cos of the angle between axis 1 and axis 2
-    dVector3 ax;
-    HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0);
-  }
-  makeHinge2V1andV2 (joint);
-}
-
-
-extern "C" void dJointSetHinge2Param (dxJointHinge2 *joint,
-                                      int parameter, dReal value)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if ((parameter & 0xff00) == 0x100) {
-    joint->limot2.set (parameter & 0xff,value);
-  }
-  else {
-    if (parameter == dParamSuspensionERP) joint->susp_erp = value;
-    else if (parameter == dParamSuspensionCFM) joint->susp_cfm = value;
-    else joint->limot1.set (parameter,value);
-  }
-}
-
-
-extern "C" void dJointGetHinge2Anchor (dxJointHinge2 *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->flags & dJOINT_REVERSE)
-    getAnchor2 (joint,result,joint->anchor2);
-  else
-    getAnchor (joint,result,joint->anchor1);
-}
-
-
-extern "C" void dJointGetHinge2Anchor2 (dxJointHinge2 *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->flags & dJOINT_REVERSE)
-    getAnchor (joint,result,joint->anchor1);
-  else
-    getAnchor2 (joint,result,joint->anchor2);
-}
-
-
-extern "C" void dJointGetHinge2Axis1 (dxJointHinge2 *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body) {
-    dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis1);
-  }
-}
-
-
-extern "C" void dJointGetHinge2Axis2 (dxJointHinge2 *joint, dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis2);
-  }
-}
-
-
-extern "C" dReal dJointGetHinge2Param (dxJointHinge2 *joint, int parameter)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if ((parameter & 0xff00) == 0x100) {
-    return joint->limot2.get (parameter & 0xff);
-  }
-  else {
-    if (parameter == dParamSuspensionERP) return joint->susp_erp;
-    else if (parameter == dParamSuspensionCFM) return joint->susp_cfm;
-    else return joint->limot1.get (parameter);
-  }
-}
-
-
-extern "C" dReal dJointGetHinge2Angle1 (dxJointHinge2 *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body) return measureHinge2Angle (joint);
-  else return 0;
-}
-
-
-extern "C" dReal dJointGetHinge2Angle1Rate (dxJointHinge2 *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body) {
-    dVector3 axis;
-    dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1);
-    dReal rate = dDOT(axis,joint->node[0].body->avel);
-    if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
-    return rate;
-  }
-  else return 0;
-}
-
-
-extern "C" dReal dJointGetHinge2Angle2Rate (dxJointHinge2 *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-  if (joint->node[0].body && joint->node[1].body) {
-    dVector3 axis;
-    dMULTIPLY0_331 (axis,joint->node[1].body->R,joint->axis2);
-    dReal rate = dDOT(axis,joint->node[0].body->avel);
-    if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
-    return rate;
-  }
-  else return 0;
-}
-
-
-extern "C" void dJointAddHinge2Torques (dxJointHinge2 *joint, dReal torque1, dReal torque2)
-{
-  dVector3 axis1, axis2;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
-
-  if (joint->node[0].body && joint->node[1].body) {
-    dMULTIPLY0_331 (axis1,joint->node[0].body->R,joint->axis1);
-    dMULTIPLY0_331 (axis2,joint->node[1].body->R,joint->axis2);
-    axis1[0] = axis1[0] * torque1 + axis2[0] * torque2;
-    axis1[1] = axis1[1] * torque1 + axis2[1] * torque2;
-    axis1[2] = axis1[2] * torque1 + axis2[2] * torque2;
-    dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]);
-    dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]);
-  }
-}
-
-
-dxJoint::Vtable __dhinge2_vtable = {
-  sizeof(dxJointHinge2),
-  (dxJoint::init_fn*) hinge2Init,
-  (dxJoint::getInfo1_fn*) hinge2GetInfo1,
-  (dxJoint::getInfo2_fn*) hinge2GetInfo2,
-  dJointTypeHinge2};
-
-//****************************************************************************
-// universal
-
-// I just realized that the universal joint is equivalent to a hinge 2 joint with
-// perfectly stiff suspension.  By comparing the hinge 2 implementation to
-// the universal implementation, you may be able to improve this
-// implementation (or, less likely, the hinge2 implementation).
-
-static void universalInit (dxJointUniversal *j)
-{
-  dSetZero (j->anchor1,4);
-  dSetZero (j->anchor2,4);
-  dSetZero (j->axis1,4);
-  j->axis1[0] = 1;
-  dSetZero (j->axis2,4);
-  j->axis2[1] = 1;
-  dSetZero(j->qrel1,4);
-  dSetZero(j->qrel2,4);
-  j->limot1.init (j->world);
-  j->limot2.init (j->world);
-}
-
-
-static void getUniversalAxes(dxJointUniversal *joint, dVector3 ax1, dVector3 ax2)
-{
-  // This says "ax1 = joint->node[0].body->R * joint->axis1"
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
-  }
-  else {
-    ax2[0] = joint->axis2[0];
-    ax2[1] = joint->axis2[1];
-    ax2[2] = joint->axis2[2];
-  }
-}
-
-
-static dReal getUniversalAngle1(dxJointUniversal *joint)
-{
-  if (joint->node[0].body) {
-    // length 1 joint axis in global coordinates, from each body
-    dVector3 ax1, ax2;
-    dMatrix3 R;
-    dQuaternion qcross, qq, qrel;
-
-    getUniversalAxes (joint,ax1,ax2);
-
-    // It should be possible to get both angles without explicitly
-    // constructing the rotation matrix of the cross.  Basically,
-    // orientation of the cross about axis1 comes from body 2,
-    // about axis 2 comes from body 1, and the perpendicular
-    // axis can come from the two bodies somehow.  (We don't really
-    // want to assume it's 90 degrees, because in general the
-    // constraints won't be perfectly satisfied, or even very well
-    // satisfied.)
-    //
-    // However, we'd need a version of getHingeAngleFromRElativeQuat()
-    // that CAN handle when its relative quat is rotated along a direction
-    // other than the given axis.  What I have here works,
-    // although it's probably much slower than need be.
-
-    dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]);
-    dRtoQ (R,qcross);
-
-    // This code is essential the same as getHingeAngle(), see the comments
-    // there for details.
-
-    // get qrel = relative rotation between node[0] and the cross
-    dQMultiply1 (qq,joint->node[0].body->q,qcross);
-    dQMultiply2 (qrel,qq,joint->qrel1);
-
-    return getHingeAngleFromRelativeQuat(qrel, joint->axis1);
-  }
-  return 0;
-}
-
-
-static dReal getUniversalAngle2(dxJointUniversal *joint)
-{
-  if (joint->node[0].body) {
-    // length 1 joint axis in global coordinates, from each body
-    dVector3 ax1, ax2;
-    dMatrix3 R;
-    dQuaternion qcross, qq, qrel;
-
-    getUniversalAxes (joint,ax1,ax2);
-
-    // It should be possible to get both angles without explicitly
-    // constructing the rotation matrix of the cross.  Basically,
-    // orientation of the cross about axis1 comes from body 2,
-    // about axis 2 comes from body 1, and the perpendicular
-    // axis can come from the two bodies somehow.  (We don't really
-    // want to assume it's 90 degrees, because in general the
-    // constraints won't be perfectly satisfied, or even very well
-    // satisfied.)
-    //
-    // However, we'd need a version of getHingeAngleFromRElativeQuat()
-    // that CAN handle when its relative quat is rotated along a direction
-    // other than the given axis.  What I have here works,
-    // although it's probably much slower than need be.
-
-    dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]);
-    dRtoQ(R, qcross);
-
-    if (joint->node[1].body) {
-      dQMultiply1 (qq, joint->node[1].body->q, qcross);
-      dQMultiply2 (qrel,qq,joint->qrel2);
-    }
-    else {
-      // pretend joint->node[1].body->q is the identity
-      dQMultiply2 (qrel,qcross, joint->qrel2);
-    }
-
-    return - getHingeAngleFromRelativeQuat(qrel, joint->axis2);
-  }
-  return 0;
-}
-
-
-static void universalGetInfo1 (dxJointUniversal *j, dxJoint::Info1 *info)
-{
-  info->nub = 4;
-  info->m = 4;
-
-  // see if we're powered or at a joint limit.
-  bool constraint1 = j->limot1.fmax > 0;
-  bool constraint2 = j->limot2.fmax > 0;
-
-  bool limiting1 = (j->limot1.lostop >= -M_PI || j->limot1.histop <= M_PI) &&
-       j->limot1.lostop <= j->limot1.histop;
-  bool limiting2 = (j->limot2.lostop >= -M_PI || j->limot2.histop <= M_PI) &&
-       j->limot2.lostop <= j->limot2.histop;
-
-  // We need to call testRotationLimit() even if we're motored, since it
-  // records the result.
-  if (limiting1 || limiting2) {
-    dReal angle1, angle2;
-    angle1 = getUniversalAngle1(j);
-    angle2 = getUniversalAngle2(j);
-    if (limiting1 && j->limot1.testRotationalLimit (angle1)) constraint1 = true;
-    if (limiting2 && j->limot2.testRotationalLimit (angle2)) constraint2 = true;
-  }
-  if (constraint1)
-    info->m++;
-  if (constraint2)
-    info->m++;
-}
-
-
-static void universalGetInfo2 (dxJointUniversal *joint, dxJoint::Info2 *info)
-{
-  // set the three ball-and-socket rows
-  setBall (joint,info,joint->anchor1,joint->anchor2);
-
-  // set the universal joint row. the angular velocity about an axis
-  // perpendicular to both joint axes should be equal. thus the constraint
-  // equation is
-  //    p*w1 - p*w2 = 0
-  // where p is a vector normal to both joint axes, and w1 and w2
-  // are the angular velocity vectors of the two bodies.
-
-  // length 1 joint axis in global coordinates, from each body
-  dVector3 ax1, ax2;
-  dVector3 ax2_temp;
-  // length 1 vector perpendicular to ax1 and ax2. Neither body can rotate
-  // about this.
-  dVector3 p;
-  dReal k;
-
-  getUniversalAxes(joint, ax1, ax2);
-  k = dDOT(ax1, ax2);
-  ax2_temp[0] = ax2[0] - k*ax1[0];
-  ax2_temp[1] = ax2[1] - k*ax1[1];
-  ax2_temp[2] = ax2[2] - k*ax1[2];
-  dCROSS(p, =, ax1, ax2_temp);
-  dNormalize3(p);
-
-  int s3=3*info->rowskip;
-
-  info->J1a[s3+0] = p[0];
-  info->J1a[s3+1] = p[1];
-  info->J1a[s3+2] = p[2];
-
-  if (joint->node[1].body) {
-    info->J2a[s3+0] = -p[0];
-    info->J2a[s3+1] = -p[1];
-    info->J2a[s3+2] = -p[2];
-  }
-
-  // compute the right hand side of the constraint equation. set relative
-  // body velocities along p to bring the axes back to perpendicular.
-  // If ax1, ax2 are unit length joint axes as computed from body1 and
-  // body2, we need to rotate both bodies along the axis p.  If theta
-  // is the angle between ax1 and ax2, we need an angular velocity
-  // along p to cover the angle erp * (theta - Pi/2) in one step:
-  //
-  //   |angular_velocity| = angle/time = erp*(theta - Pi/2) / stepsize
-  //                      = (erp*fps) * (theta - Pi/2)
-  //
-  // if theta is close to Pi/2,
-  // theta - Pi/2 ~= cos(theta), so
-  //    |angular_velocity|  ~= (erp*fps) * (ax1 dot ax2)
-
-  info->c[3] = info->fps * info->erp * - dDOT(ax1, ax2);
-
-  // if the first angle is powered, or has joint limits, add in the stuff
-  int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1);
-
-  // if the second angle is powered, or has joint limits, add in more stuff
-  joint->limot2.addLimot (joint,info,row,ax2,1);
-}
-
-
-static void universalComputeInitialRelativeRotations (dxJointUniversal *joint)
-{
-  if (joint->node[0].body) {
-    dVector3 ax1, ax2;
-    dMatrix3 R;
-    dQuaternion qcross;
-
-    getUniversalAxes(joint, ax1, ax2);
-
-    // Axis 1.
-    dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]);
-    dRtoQ(R, qcross);
-    dQMultiply1 (joint->qrel1, joint->node[0].body->q, qcross);
-
-    // Axis 2.
-    dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]);
-    dRtoQ(R, qcross);
-    if (joint->node[1].body) {
-      dQMultiply1 (joint->qrel2, joint->node[1].body->q, qcross);
-    }
-    else {
-      // set joint->qrel to qcross
-      for (int i=0; i<4; i++) joint->qrel2[i] = qcross[i];
-    }
-  }
-}
-
-
-extern "C" void dJointSetUniversalAnchor (dxJointUniversal *joint,
-                                          dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
-  universalComputeInitialRelativeRotations(joint);
-}
-
-
-extern "C" void dJointSetUniversalAxis1 (dxJointUniversal *joint,
-                                         dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->flags & dJOINT_REVERSE)
-    setAxes (joint,x,y,z,NULL,joint->axis2);
-  else
-    setAxes (joint,x,y,z,joint->axis1,NULL);
-  universalComputeInitialRelativeRotations(joint);
-}
-
-
-extern "C" void dJointSetUniversalAxis2 (dxJointUniversal *joint,
-                                         dReal x, dReal y, dReal z)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->flags & dJOINT_REVERSE)
-    setAxes (joint,x,y,z,joint->axis1,NULL);
-  else
-    setAxes (joint,x,y,z,NULL,joint->axis2);
-  universalComputeInitialRelativeRotations(joint);
-}
-
-
-extern "C" void dJointGetUniversalAnchor (dxJointUniversal *joint,
-                                          dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->flags & dJOINT_REVERSE)
-    getAnchor2 (joint,result,joint->anchor2);
-  else
-    getAnchor (joint,result,joint->anchor1);
-}
-
-
-extern "C" void dJointGetUniversalAnchor2 (dxJointUniversal *joint,
-                                          dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->flags & dJOINT_REVERSE)
-    getAnchor (joint,result,joint->anchor1);
-  else
-    getAnchor2 (joint,result,joint->anchor2);
-}
-
-
-extern "C" void dJointGetUniversalAxis1 (dxJointUniversal *joint,
-                                         dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->flags & dJOINT_REVERSE)
-    getAxis2 (joint,result,joint->axis2);
-  else
-    getAxis (joint,result,joint->axis1);
-}
-
-
-extern "C" void dJointGetUniversalAxis2 (dxJointUniversal *joint,
-                                         dVector3 result)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->flags & dJOINT_REVERSE)
-    getAxis (joint,result,joint->axis1);
-  else
-    getAxis2 (joint,result,joint->axis2);
-}
-
-
-extern "C" void dJointSetUniversalParam (dxJointUniversal *joint,
-                                     int parameter, dReal value)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if ((parameter & 0xff00) == 0x100) {
-    joint->limot2.set (parameter & 0xff,value);
-  }
-  else {
-    joint->limot1.set (parameter,value);
-  }
-}
-
-
-extern "C" dReal dJointGetUniversalParam (dxJointUniversal *joint, int parameter)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if ((parameter & 0xff00) == 0x100) {
-    return joint->limot2.get (parameter & 0xff);
-  }
-  else {
-    return joint->limot1.get (parameter);
-  }
-}
-
-
-extern "C" dReal dJointGetUniversalAngle1 (dxJointUniversal *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->flags & dJOINT_REVERSE)
-    return getUniversalAngle2 (joint);
-  else
-    return getUniversalAngle1 (joint);
-}
-
-
-extern "C" dReal dJointGetUniversalAngle2 (dxJointUniversal *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->flags & dJOINT_REVERSE)
-    return getUniversalAngle1 (joint);
-  else
-    return getUniversalAngle2 (joint);
-}
-
-
-extern "C" dReal dJointGetUniversalAngle1Rate (dxJointUniversal *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-
-  if (joint->node[0].body) {
-    dVector3 axis;
-
-    if (joint->flags & dJOINT_REVERSE)
-      getAxis2 (joint,axis,joint->axis2);
-    else
-      getAxis (joint,axis,joint->axis1);
-
-    dReal rate = dDOT(axis, joint->node[0].body->avel);
-    if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel);
-    return rate;
-  }
-  return 0;
-}
-
-
-extern "C" dReal dJointGetUniversalAngle2Rate (dxJointUniversal *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-
-  if (joint->node[0].body) {
-    dVector3 axis;
-
-    if (joint->flags & dJOINT_REVERSE)
-      getAxis (joint,axis,joint->axis1);
-    else
-      getAxis2 (joint,axis,joint->axis2);
-
-    dReal rate = dDOT(axis, joint->node[0].body->avel);
-    if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel);
-    return rate;
-  }
-  return 0;
-}
-
-
-extern "C" void dJointAddUniversalTorques (dxJointUniversal *joint, dReal torque1, dReal torque2)
-{
-  dVector3 axis1, axis2;
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-
-  if (joint->flags & dJOINT_REVERSE) {
-    dReal temp = torque1;
-    torque1 = - torque2;
-    torque2 = - temp;
-  }
-
-  getAxis (joint,axis1,joint->axis1);
-  getAxis2 (joint,axis2,joint->axis2);
-  axis1[0] = axis1[0] * torque1 + axis2[0] * torque2;
-  axis1[1] = axis1[1] * torque1 + axis2[1] * torque2;
-  axis1[2] = axis1[2] * torque1 + axis2[2] * torque2;
-
-  if (joint->node[0].body != 0)
-    dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]);
-  if (joint->node[1].body != 0)
-    dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]);
-}
-
-
-
-
-
-dxJoint::Vtable __duniversal_vtable = {
-  sizeof(dxJointUniversal),
-  (dxJoint::init_fn*) universalInit,
-  (dxJoint::getInfo1_fn*) universalGetInfo1,
-  (dxJoint::getInfo2_fn*) universalGetInfo2,
-  dJointTypeUniversal};
-
-//****************************************************************************
-// angular motor
-
-static void amotorInit (dxJointAMotor *j)
-{
-  int i;
-  j->num = 0;
-  j->mode = dAMotorUser;
-  for (i=0; i<3; i++) {
-    j->rel[i] = 0;
-    dSetZero (j->axis[i],4);
-    j->limot[i].init (j->world);
-    j->angle[i] = 0;
-  }
-  dSetZero (j->reference1,4);
-  dSetZero (j->reference2,4);
-
-  j->flags |= dJOINT_TWOBODIES;
-}
-
-
-// compute the 3 axes in global coordinates
-
-static void amotorComputeGlobalAxes (dxJointAMotor *joint, dVector3 ax[3])
-{
-  if (joint->mode == dAMotorEuler) {
-    // special handling for euler mode
-    dMULTIPLY0_331 (ax[0],joint->node[0].body->R,joint->axis[0]);
-    dMULTIPLY0_331 (ax[2],joint->node[1].body->R,joint->axis[2]);
-    dCROSS (ax[1],=,ax[2],ax[0]);
-    dNormalize3 (ax[1]);
-  }
-  else {
-    for (int i=0; i < joint->num; i++) {
-      if (joint->rel[i] == 1) {
-        // relative to b1
-        dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]);
-      }
-      if (joint->rel[i] == 2) {
-        // relative to b2
-        dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]);
-      }
-      else {
-        // global - just copy it
-        ax[i][0] = joint->axis[i][0];
-        ax[i][1] = joint->axis[i][1];
-        ax[i][2] = joint->axis[i][2];
-      }
-    }
-  }
-}
-
-
-static void amotorComputeEulerAngles (dxJointAMotor *joint, dVector3 ax[3])
-{
-  // assumptions:
-  //   global axes already calculated --> ax
-  //   axis[0] is relative to body 1 --> global ax[0]
-  //   axis[2] is relative to body 2 --> global ax[2]
-  //   ax[1] = ax[2] x ax[0]
-  //   original ax[0] and ax[2] are perpendicular
-  //   reference1 is perpendicular to ax[0] (in body 1 frame)
-  //   reference2 is perpendicular to ax[2] (in body 2 frame)
-  //   all ax[] and reference vectors are unit length
-
-  // calculate references in global frame
-  dVector3 ref1,ref2;
-  dMULTIPLY0_331 (ref1,joint->node[0].body->R,joint->reference1);
-  dMULTIPLY0_331 (ref2,joint->node[1].body->R,joint->reference2);
-
-  // get q perpendicular to both ax[0] and ref1, get first euler angle
-  dVector3 q;
-  dCROSS (q,=,ax[0],ref1);
-  joint->angle[0] = -dAtan2 (dDOT(ax[2],q),dDOT(ax[2],ref1));
-
-  // get q perpendicular to both ax[0] and ax[1], get second euler angle
-  dCROSS (q,=,ax[0],ax[1]);
-  joint->angle[1] = -dAtan2 (dDOT(ax[2],ax[0]),dDOT(ax[2],q));
-
-  // get q perpendicular to both ax[1] and ax[2], get third euler angle
-  dCROSS (q,=,ax[1],ax[2]);
-  joint->angle[2] = -dAtan2 (dDOT(ref2,ax[1]), dDOT(ref2,q));
-}
-
-
-// set the reference vectors as follows:
-//   * reference1 = current axis[2] relative to body 1
-//   * reference2 = current axis[0] relative to body 2
-// this assumes that:
-//    * axis[0] is relative to body 1
-//    * axis[2] is relative to body 2
-
-static void amotorSetEulerReferenceVectors (dxJointAMotor *j)
-{
-  if (j->node[0].body && j->node[1].body) {
-    dVector3 r;         // axis[2] and axis[0] in global coordinates
-    dMULTIPLY0_331 (r,j->node[1].body->R,j->axis[2]);
-    dMULTIPLY1_331 (j->reference1,j->node[0].body->R,r);
-    dMULTIPLY0_331 (r,j->node[0].body->R,j->axis[0]);
-    dMULTIPLY1_331 (j->reference2,j->node[1].body->R,r);
-  }
-}
-
-
-static void amotorGetInfo1 (dxJointAMotor *j, dxJoint::Info1 *info)
-{
-  info->m = 0;
-  info->nub = 0;
-
-  // compute the axes and angles, if in euler mode
-  if (j->mode == dAMotorEuler) {
-    dVector3 ax[3];
-    amotorComputeGlobalAxes (j,ax);
-    amotorComputeEulerAngles (j,ax);
-  }
-
-  // see if we're powered or at a joint limit for each axis
-  for (int i=0; i < j->num; i++) {
-    if (j->limot[i].testRotationalLimit (j->angle[i]) ||
-        j->limot[i].fmax > 0) {
-      info->m++;
-    }
-  }
-}
-
-
-static void amotorGetInfo2 (dxJointAMotor *joint, dxJoint::Info2 *info)
-{
-  int i;
-
-  // compute the axes (if not global)
-  dVector3 ax[3];
-  amotorComputeGlobalAxes (joint,ax);
-
-  // in euler angle mode we do not actually constrain the angular velocity
-  // along the axes axis[0] and axis[2] (although we do use axis[1]) :
-  //
-  //    to get                  constrain w2-w1 along           ...not
-  //    ------                  ---------------------           ------
-  //    d(angle[0])/dt = 0      ax[1] x ax[2]                   ax[0]
-  //    d(angle[1])/dt = 0      ax[1]
-  //    d(angle[2])/dt = 0      ax[0] x ax[1]                   ax[2]
-  //
-  // constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
-  // to prove the result for angle[0], write the expression for angle[0] from
-  // GetInfo1 then take the derivative. to prove this for angle[2] it is
-  // easier to take the euler rate expression for d(angle[2])/dt with respect
-  // to the components of w and set that to 0.
-
-  dVector3 *axptr[3];
-  axptr[0] = &ax[0];
-  axptr[1] = &ax[1];
-  axptr[2] = &ax[2];
-
-  dVector3 ax0_cross_ax1;
-  dVector3 ax1_cross_ax2;
-  if (joint->mode == dAMotorEuler) {
-    dCROSS (ax0_cross_ax1,=,ax[0],ax[1]);
-    axptr[2] = &ax0_cross_ax1;
-    dCROSS (ax1_cross_ax2,=,ax[1],ax[2]);
-    axptr[0] = &ax1_cross_ax2;
-  }
-
-  int row=0;
-  for (i=0; i < joint->num; i++) {
-    row += joint->limot[i].addLimot (joint,info,row,*(axptr[i]),1);
-  }
-}
-
-
-extern "C" void dJointSetAMotorNumAxes (dxJointAMotor *joint, int num)
-{
-  dAASSERT(joint && num >= 0 && num <= 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (joint->mode == dAMotorEuler) {
-    joint->num = 3;
-  }
-  else {
-    if (num < 0) num = 0;
-    if (num > 3) num = 3;
-    joint->num = num;
-  }
-}
-
-
-extern "C" void dJointSetAMotorAxis (dxJointAMotor *joint, int anum, int rel,
-                                     dReal x, dReal y, dReal z)
-{
-  dAASSERT(joint && anum >= 0 && anum <= 2 && rel >= 0 && rel <= 2);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  joint->rel[anum] = rel;
-
-  // x,y,z is always in global coordinates regardless of rel, so we may have
-  // to convert it to be relative to a body
-  dVector3 r;
-  r[0] = x;
-  r[1] = y;
-  r[2] = z;
-  r[3] = 0;
-  if (rel > 0) {
-    if (rel==1) {
-      dMULTIPLY1_331 (joint->axis[anum],joint->node[0].body->R,r);
-    }
-    else {
-      dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->R,r);
-    }
-  }
-  else {
-    joint->axis[anum][0] = r[0];
-    joint->axis[anum][1] = r[1];
-    joint->axis[anum][2] = r[2];
-  }
-  dNormalize3 (joint->axis[anum]);
-  if (joint->mode == dAMotorEuler) amotorSetEulerReferenceVectors (joint);
-}
-
-
-extern "C" void dJointSetAMotorAngle (dxJointAMotor *joint, int anum,
-                                      dReal angle)
-{
-  dAASSERT(joint && anum >= 0 && anum < 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (joint->mode == dAMotorUser) {
-    if (anum < 0) anum = 0;
-    if (anum > 3) anum = 3;
-    joint->angle[anum] = angle;
-  }
-}
-
-
-extern "C" void dJointSetAMotorParam (dxJointAMotor *joint, int parameter,
-                                      dReal value)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  int anum = parameter >> 8;
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  parameter &= 0xff;
-  joint->limot[anum].set (parameter, value);
-}
-
-
-extern "C" void dJointSetAMotorMode (dxJointAMotor *joint, int mode)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  joint->mode = mode;
-  if (joint->mode == dAMotorEuler) {
-    joint->num = 3;
-    amotorSetEulerReferenceVectors (joint);
-  }
-}
-
-
-extern "C" int dJointGetAMotorNumAxes (dxJointAMotor *joint)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  return joint->num;
-}
-
-
-extern "C" void dJointGetAMotorAxis (dxJointAMotor *joint, int anum,
-                                     dVector3 result)
-{
-  dAASSERT(joint && anum >= 0 && anum < 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  if (joint->rel[anum] > 0) {
-    if (joint->rel[anum]==1) {
-      dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis[anum]);
-    }
-    else {
-      dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis[anum]);
-    }
-  }
-  else {
-    result[0] = joint->axis[anum][0];
-    result[1] = joint->axis[anum][1];
-    result[2] = joint->axis[anum][2];
-  }
-}
-
-
-extern "C" int dJointGetAMotorAxisRel (dxJointAMotor *joint, int anum)
-{
-  dAASSERT(joint && anum >= 0 && anum < 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  return joint->rel[anum];
-}
-
-
-extern "C" dReal dJointGetAMotorAngle (dxJointAMotor *joint, int anum)
-{
-  dAASSERT(joint && anum >= 0 && anum < 3);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  if (anum < 0) anum = 0;
-  if (anum > 3) anum = 3;
-  return joint->angle[anum];
-}
-
-
-extern "C" dReal dJointGetAMotorAngleRate (dxJointAMotor *joint, int anum)
-{
-  // @@@
-  dDebug (0,"not yet implemented");
-  return 0;
-}
-
-
-extern "C" dReal dJointGetAMotorParam (dxJointAMotor *joint, int parameter)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  int anum = parameter >> 8;
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  parameter &= 0xff;
-  return joint->limot[anum].get (parameter);
-}
-
-
-extern "C" int dJointGetAMotorMode (dxJointAMotor *joint)
-{
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  return joint->mode;
-}
-
-
-extern "C" void dJointAddAMotorTorques (dxJointAMotor *joint, dReal torque1, dReal torque2, dReal torque3)
-{
-  dVector3 axes[3];
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-
-  if (joint->num == 0)
-    return;
-  dUASSERT((joint->flags & dJOINT_REVERSE) == 0, "dJointAddAMotorTorques not yet implemented for reverse AMotor joints");
-
-  amotorComputeGlobalAxes (joint,axes);
-  axes[0][0] *= torque1;
-  axes[0][1] *= torque1;
-  axes[0][2] *= torque1;
-  if (joint->num >= 2) {
-    axes[0][0] += axes[1][0] * torque2;
-    axes[0][1] += axes[1][0] * torque2;
-    axes[0][2] += axes[1][0] * torque2;
-    if (joint->num >= 3) {
-      axes[0][0] += axes[2][0] * torque3;
-      axes[0][1] += axes[2][0] * torque3;
-      axes[0][2] += axes[2][0] * torque3;
-    }
-  }
-
-  if (joint->node[0].body != 0)
-    dBodyAddTorque (joint->node[0].body,axes[0][0],axes[0][1],axes[0][2]);
-  if (joint->node[1].body != 0)
-    dBodyAddTorque(joint->node[1].body, -axes[0][0], -axes[0][1], -axes[0][2]);
-}
-
-
-dxJoint::Vtable __damotor_vtable = {
-  sizeof(dxJointAMotor),
-  (dxJoint::init_fn*) amotorInit,
-  (dxJoint::getInfo1_fn*) amotorGetInfo1,
-  (dxJoint::getInfo2_fn*) amotorGetInfo2,
-  dJointTypeAMotor};
-
-//****************************************************************************
-// fixed joint
-
-static void fixedInit (dxJointFixed *j)
-{
-  dSetZero (j->offset,4);
-  dSetZero (j->qrel,4);
-}
-
-
-static void fixedGetInfo1 (dxJointFixed *j, dxJoint::Info1 *info)
-{
-  info->m = 6;
-  info->nub = 6;
-}
-
-
-static void fixedGetInfo2 (dxJointFixed *joint, dxJoint::Info2 *info)
-{
-  int s = info->rowskip;
-
-  // Three rows for orientation
-  setFixedOrientation(joint, info, joint->qrel, 3);
-
-  // Three rows for position.
-  // set jacobian
-  info->J1l[0] = 1;
-  info->J1l[s+1] = 1;
-  info->J1l[2*s+2] = 1;
-
-  dVector3 ofs;
-  dMULTIPLY0_331 (ofs,joint->node[0].body->R,joint->offset);
-  if (joint->node[1].body) {
-    dCROSSMAT (info->J1a,ofs,s,+,-);
-    info->J2l[0] = -1;
-    info->J2l[s+1] = -1;
-    info->J2l[2*s+2] = -1;
-  }
-
-  // set right hand side for the first three rows (linear)
-  dReal k = info->fps * info->erp;
-  if (joint->node[1].body) {
-    for (int j=0; j<3; j++)
-      info->c[j] = k * (joint->node[1].body->pos[j] -
-                        joint->node[0].body->pos[j] + ofs[j]);
-  }
-  else {
-    for (int j=0; j<3; j++)
-      info->c[j] = k * (joint->offset[j] - joint->node[0].body->pos[j]);
-  }
-}
-
-
-extern "C" void dJointSetFixed (dxJointFixed *joint)
-{
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dfixed_vtable,"joint is not fixed");
-  int i;
-
-  // This code is taken from sJointSetSliderAxis(), we should really put the
-  // common code in its own function.
-  // compute the offset between the bodies
-  if (joint->node[0].body) {
-    if (joint->node[1].body) {
-      dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
-      dReal ofs[4];
-      for (i=0; i<4; i++) ofs[i] = joint->node[0].body->pos[i];
-      for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->pos[i];
-      dMULTIPLY1_331 (joint->offset,joint->node[0].body->R,ofs);
-    }
-    else {
-      // set joint->qrel to the transpose of the first body's q
-      joint->qrel[0] = joint->node[0].body->q[0];
-      for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
-      for (i=0; i<4; i++) joint->offset[i] = joint->node[0].body->pos[i];
-    }
-  }
-}
-
-
-dxJoint::Vtable __dfixed_vtable = {
-  sizeof(dxJointFixed),
-  (dxJoint::init_fn*) fixedInit,
-  (dxJoint::getInfo1_fn*) fixedGetInfo1,
-  (dxJoint::getInfo2_fn*) fixedGetInfo2,
-  dJointTypeFixed};
-
-//****************************************************************************
-// null joint
-
-static void nullGetInfo1 (dxJointNull *j, dxJoint::Info1 *info)
-{
-  info->m = 0;
-  info->nub = 0;
-}
-
-
-static void nullGetInfo2 (dxJointNull *joint, dxJoint::Info2 *info)
-{
-  dDebug (0,"this should never get called");
-}
-
-
-dxJoint::Vtable __dnull_vtable = {
-  sizeof(dxJointNull),
-  (dxJoint::init_fn*) 0,
-  (dxJoint::getInfo1_fn*) nullGetInfo1,
-  (dxJoint::getInfo2_fn*) nullGetInfo2,
-  dJointTypeNull};
-
-/******************** breakable joint contribution ***********************/
-extern "C" void dJointSetBreakable (dxJoint *joint, int b) {
-  dAASSERT(joint);
-  if (b) {
-    // we want this joint to be breakable but we must first check if it
-    // was already breakable
-    if (!joint->breakInfo) {
-      // allocate a dxJointBreakInfo struct
-      joint->breakInfo = new dxJointBreakInfo;
-      joint->breakInfo->flags = 0;
-      for (int i = 0; i < 3; i++) {
-        joint->breakInfo->b1MaxF[0] = 0;
-        joint->breakInfo->b1MaxT[0] = 0;
-        joint->breakInfo->b2MaxF[0] = 0;
-        joint->breakInfo->b2MaxT[0] = 0;
-      }
-          joint->breakInfo->callback = 0;
-    }
-    else {
-      // the joint was already breakable
-      return;
-    }
-  }
-  else {
-    // we want this joint to be unbreakable mut we must first check if
-    // it is alreay unbreakable
-    if (joint->breakInfo) {
-      // deallocate the dxJointBreakInfo struct
-      delete joint->breakInfo;
-      joint->breakInfo = 0;
-    }
-    else {
-      // the joint was already unbreakable
-      return;
-    }
-  }
-}
-
-extern "C" void dJointSetBreakCallback (dxJoint *joint, dJointBreakCallback *callbackFunc) {
-  dAASSERT(joint);
-# ifndef dNODEBUG
-  // only works for a breakable joint
-  if (!joint->breakInfo) {
-    dDebug (0, "dJointSetBreakCallback called on unbreakable joint");
-  }
-# endif
-  joint->breakInfo->callback = callbackFunc;
-}
-
-extern "C" void dJointSetBreakMode (dxJoint *joint, int mode) {
-  dAASSERT(joint);
-# ifndef dNODEBUG
-  // only works for a breakable joint
-  if (!joint->breakInfo) {
-    dDebug (0, "dJointSetBreakMode called on unbreakable joint");
-  }
-# endif
-  joint->breakInfo->flags = mode;
-}
-
-extern "C" int dJointGetBreakMode (dxJoint *joint) {
-  dAASSERT(joint);
-# ifndef dNODEBUG
-  // only works for a breakable joint
-  if (!joint->breakInfo) {
-    dDebug (0, "dJointGetBreakMode called on unbreakable joint");
-  }
-# endif
-  return joint->breakInfo->flags;
-}
-
-extern "C" void dJointSetBreakForce (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
-  dAASSERT(joint);
-# ifndef dNODEBUG
-  // only works for a breakable joint
-  if (!joint->breakInfo) {
-  dDebug (0, "dJointSetBreakForce called on unbreakable joint");
-  }
-# endif
-  if (body) {
-        joint->breakInfo->b2MaxF[0] = x;
-        joint->breakInfo->b2MaxF[1] = y;
-        joint->breakInfo->b2MaxF[2] = z;
-  }
-  else {
-        joint->breakInfo->b1MaxF[0] = x;
-        joint->breakInfo->b1MaxF[1] = y;
-        joint->breakInfo->b1MaxF[2] = z;
-  }
-}
-
-extern "C" void dJointSetBreakTorque (dxJoint *joint, int body, dReal x, dReal y, dReal z) {
-  dAASSERT(joint);
-# ifndef dNODEBUG
-  // only works for a breakable joint
-  if (!joint->breakInfo) {
-  dDebug (0, "dJointSetBreakTorque called on unbreakable joint");
-  }
-# endif
-  if (body) {
-        joint->breakInfo->b2MaxT[0] = x;
-        joint->breakInfo->b2MaxT[1] = y;
-        joint->breakInfo->b2MaxT[2] = z;
-  }
-  else {
-        joint->breakInfo->b1MaxT[0] = x;
-        joint->breakInfo->b1MaxT[1] = y;
-        joint->breakInfo->b1MaxT[2] = z;
-  }
-}
-
-extern "C" int dJointIsBreakable (dxJoint *joint) {
-  dAASSERT(joint);
-  return joint->breakInfo != 0;
-}
-
-extern "C" void dJointGetBreakForce (dxJoint *joint, int body, dReal *force) {
-  dAASSERT(joint);
-# ifndef dNODEBUG
-  // only works for a breakable joint
-  if (!joint->breakInfo) {
-    dDebug (0, "dJointGetBreakForce called on unbreakable joint");
-  }
-# endif
-  if (body)
-    for (int i=0; i<3; i++) force[i]=joint->breakInfo->b2MaxF[i];
-  else
-    for (int i=0; i<3; i++) force[i]=joint->breakInfo->b1MaxF[i];
-}
-
-extern "C" void dJointGetBreakTorque (dxJoint *joint, int body, dReal *torque) {
-  dAASSERT(joint);
-# ifndef dNODEBUG
-  // only works for a breakable joint
-  if (!joint->breakInfo) {
-    dDebug (0, "dJointGetBreakTorque called on unbreakable joint");
-  }
-# endif
-  if (body)
-    for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b2MaxT[i];
-  else
-    for (int i=0; i<3; i++) torque[i]=joint->breakInfo->b1MaxT[i];
-}
-/*************************************************************************/
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/joint.h b/libraries/ode-0.9/contrib/BreakableJoints/joint.h
deleted file mode 100644
index 0573119..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/joint.h
+++ /dev/null
@@ -1,282 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_JOINT_H_
-#define _ODE_JOINT_H_
-
-
-#include "objects.h"
-#include <ode/contact.h>
-#include "obstack.h"
-
-
-// joint flags
-enum {
-  // if this flag is set, the joint was allocated in a joint group
-  dJOINT_INGROUP = 1,
-
-  // if this flag is set, the joint was attached with arguments (0,body).
-  // our convention is to treat all attaches as (body,0), i.e. so node[0].body
-  // is always nonzero, so this flag records the fact that the arguments were
-  // swapped.
-  dJOINT_REVERSE = 2,
-
-  // if this flag is set, the joint can not have just one body attached to it,
-  // it must have either zero or two bodies attached.
-  dJOINT_TWOBODIES = 4
-};
-
-
-// there are two of these nodes in the joint, one for each connection to a
-// body. these are node of a linked list kept by each body of it's connecting
-// joints. but note that the body pointer in each node points to the body that
-// makes use of the *other* node, not this node. this trick makes it a bit
-// easier to traverse the body/joint graph.
-
-struct dxJointNode {
-  dxJoint *joint;               // pointer to enclosing dxJoint object
-  dxBody *body;                 // *other* body this joint is connected to
-  dxJointNode *next;            // next node in body's list of connected joints
-};
-
-/******************** breakable joint contribution ***********************/
-struct dxJointBreakInfo : public dBase {
-        int flags;
-        dReal b1MaxF[3]; // maximum force on body 1
-        dReal b1MaxT[3]; // maximum torque on body 1
-        dReal b2MaxF[3]; // maximum force on body 2
-        dReal b2MaxT[3]; // maximum torque on body 2
-        dJointBreakCallback *callback; // function that is called when this joint breaks
-};
-/*************************************************************************/
-
-struct dxJoint : public dObject {
-  // naming convention: the "first" body this is connected to is node[0].body,
-  // and the "second" body is node[1].body. if this joint is only connected
-  // to one body then the second body is 0.
-
-  // info returned by getInfo1 function. the constraint dimension is m (<=6).
-  // i.e. that is the total number of rows in the jacobian. `nub' is the
-  // number of unbounded variables (which have lo,hi = -/+ infinity).
-
-  struct Info1 {
-    int m,nub;
-  };
-
-  // info returned by getInfo2 function
-
-  struct Info2 {
-    // integrator parameters: frames per second (1/stepsize), default error
-    // reduction parameter (0..1).
-    dReal fps,erp;
-
-    // for the first and second body, pointers to two (linear and angular)
-    // n*3 jacobian sub matrices, stored by rows. these matrices will have
-    // been initialized to 0 on entry. if the second body is zero then the
-    // J2xx pointers may be 0.
-    dReal *J1l,*J1a,*J2l,*J2a;
-
-    // elements to jump from one row to the next in J's
-    int rowskip;
-
-    // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-    // "constraint force mixing" vector. c is set to zero on entry, cfm is
-    // set to a constant value (typically very small or zero) value on entry.
-    dReal *c,*cfm;
-
-    // lo and hi limits for variables (set to -/+ infinity on entry).
-    dReal *lo,*hi;
-
-    // findex vector for variables. see the LCP solver interface for a
-    // description of what this does. this is set to -1 on entry.
-    // note that the returned indexes are relative to the first index of
-    // the constraint.
-    int *findex;
-  };
-
-  // virtual function table: size of the joint structure, function pointers.
-  // we do it this way instead of using C++ virtual functions because
-  // sometimes we need to allocate joints ourself within a memory pool.
-
-  typedef void init_fn (dxJoint *joint);
-  typedef void getInfo1_fn (dxJoint *joint, Info1 *info);
-  typedef void getInfo2_fn (dxJoint *joint, Info2 *info);
-  struct Vtable {
-    int size;
-    init_fn *init;
-    getInfo1_fn *getInfo1;
-    getInfo2_fn *getInfo2;
-    int typenum;                // a dJointTypeXXX type number
-  };
-
-  Vtable *vtable;               // virtual function table
-  int flags;                    // dJOINT_xxx flags
-  dxJointNode node[2];          // connections to bodies. node[1].body can be 0
-  dJointFeedback *feedback;     // optional feedback structure
-  
-  /******************** breakable joint contribution ***********************/
-  // optional break info structure. if this is not NULL the the joint is
-  // breakable.
-  dxJointBreakInfo *breakInfo;
-  /*************************************************************************/
-};
-
-
-// joint group. NOTE: any joints in the group that have their world destroyed
-// will have their world pointer set to 0.
-
-struct dxJointGroup : public dBase {
-  int num;              // number of joints on the stack
-  dObStack stack;       // a stack of (possibly differently sized) dxJoint
-};                      // objects.
-
-
-// common limit and motor information for a single joint axis of movement
-struct dxJointLimitMotor {
-  dReal vel,fmax;               // powered joint: velocity, max force
-  dReal lostop,histop;          // joint limits, relative to initial position
-  dReal fudge_factor;           // when powering away from joint limits
-  dReal normal_cfm;             // cfm to use when not at a stop
-  dReal stop_erp,stop_cfm;      // erp and cfm for when at joint limit
-  dReal bounce;                 // restitution factor
-  // variables used between getInfo1() and getInfo2()
-  int limit;                    // 0=free, 1=at lo limit, 2=at hi limit
-  dReal limit_err;              // if at limit, amount over limit
-
-  void init (dxWorld *);
-  void set (int num, dReal value);
-  dReal get (int num);
-  int testRotationalLimit (dReal angle);
-  int addLimot (dxJoint *joint, dxJoint::Info2 *info, int row,
-                dVector3 ax1, int rotational);
-};
-
-
-// ball and socket
-
-struct dxJointBall : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-};
-extern struct dxJoint::Vtable __dball_vtable;
-
-
-// hinge
-
-struct dxJointHinge : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dVector3 axis1;               // axis w.r.t first body
-  dVector3 axis2;               // axis w.r.t second body
-  dQuaternion qrel;             // initial relative rotation body1 -> body2
-  dxJointLimitMotor limot;      // limit and motor information
-};
-extern struct dxJoint::Vtable __dhinge_vtable;
-
-
-// universal
-
-struct dxJointUniversal : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dVector3 axis1;               // axis w.r.t first body
-  dVector3 axis2;               // axis w.r.t second body
-  dQuaternion qrel1;    // initial relative rotation body1 -> virtual cross piece
-  dQuaternion qrel2;    // initial relative rotation virtual cross piece -> body2
-  dxJointLimitMotor limot1;     // limit and motor information for axis1
-  dxJointLimitMotor limot2;     // limit and motor information for axis2
-};
-extern struct dxJoint::Vtable __duniversal_vtable;
-
-
-// slider. if body2 is 0 then qrel is the absolute rotation of body1 and
-// offset is the position of body1 center along axis1.
-
-struct dxJointSlider : public dxJoint {
-  dVector3 axis1;               // axis w.r.t first body
-  dQuaternion qrel;             // initial relative rotation body1 -> body2
-  dVector3 offset;              // point relative to body2 that should be
-                                // aligned with body1 center along axis1
-  dxJointLimitMotor limot;      // limit and motor information
-};
-extern struct dxJoint::Vtable __dslider_vtable;
-
-
-// contact
-
-struct dxJointContact : public dxJoint {
-  int the_m;                    // number of rows computed by getInfo1
-  dContact contact;
-};
-extern struct dxJoint::Vtable __dcontact_vtable;
-
-
-// hinge 2
-
-struct dxJointHinge2 : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dVector3 axis1;               // axis 1 w.r.t first body
-  dVector3 axis2;               // axis 2 w.r.t second body
-  dReal c0,s0;                  // cos,sin of desired angle between axis 1,2
-  dVector3 v1,v2;               // angle ref vectors embedded in first body
-  dxJointLimitMotor limot1;     // limit+motor info for axis 1
-  dxJointLimitMotor limot2;     // limit+motor info for axis 2
-  dReal susp_erp,susp_cfm;      // suspension parameters (erp,cfm)
-};
-extern struct dxJoint::Vtable __dhinge2_vtable;
-
-
-// angular motor
-
-struct dxJointAMotor : public dxJoint {
-  int num;                      // number of axes (0..3)
-  int mode;                     // a dAMotorXXX constant
-  int rel[3];                   // what the axes are relative to (global,b1,b2)
-  dVector3 axis[3];             // three axes
-  dxJointLimitMotor limot[3];   // limit+motor info for axes
-  dReal angle[3];               // user-supplied angles for axes
-  // these vectors are used for calculating euler angles
-  dVector3 reference1;          // original axis[2], relative to body 1
-  dVector3 reference2;          // original axis[0], relative to body 2
-};
-extern struct dxJoint::Vtable __damotor_vtable;
-
-
-// fixed
-
-struct dxJointFixed : public dxJoint {
-  dQuaternion qrel;             // initial relative rotation body1 -> body2
-  dVector3 offset;              // relative offset between the bodies
-};
-extern struct dxJoint::Vtable __dfixed_vtable;
-
-
-// null joint, for testing only
-
-struct dxJointNull : public dxJoint {
-};
-extern struct dxJoint::Vtable __dnull_vtable;
-
-
-
-#endif
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/objects.h b/libraries/ode-0.9/contrib/BreakableJoints/objects.h
deleted file mode 100644
index de08391..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/objects.h
+++ /dev/null
@@ -1,252 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifndef _ODE_OBJECTS_H_
-#define _ODE_OBJECTS_H_
-
-#include <ode/common.h>
-#include <ode/mass.h>
-#include <ode/contact.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* world */
-
-dWorldID dWorldCreate();
-void dWorldDestroy (dWorldID);
-
-void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
-void dWorldGetGravity (dWorldID, dVector3 gravity);
-void dWorldSetERP (dWorldID, dReal erp);
-dReal dWorldGetERP (dWorldID);
-void dWorldSetCFM (dWorldID, dReal cfm);
-dReal dWorldGetCFM (dWorldID);
-void dWorldStep (dWorldID, dReal stepsize);
-void dWorldImpulseToForce (dWorldID, dReal stepsize,
-                           dReal ix, dReal iy, dReal iz, dVector3 force);
-
-/* StepFast1 functions */
-
-void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations);
-void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth);
-
-int dWorldGetAutoEnableDepthSF1(dWorldID);
-
-void dBodySetAutoDisableThresholdSF1(dBodyID, dReal autoDisableThreshold);
-
-/* These functions are not yet implemented by ODE. */
-/*
-dReal dBodyGetAutoDisableThresholdSF1(dBodyID);
-
-void dBodySetAutoDisableStepsSF1(dBodyID, int AutoDisableSteps);
-
-int dBodyGetAutoDisableStepsSF1(dBodyID);
-
-void dBodySetAutoDisableSF1(dBodyID, int doAutoDisable);
-
-int dBodyGetAutoDisableSF1(dBodyID);
-*/
-
-/* bodies */
-
-dBodyID dBodyCreate (dWorldID);
-void dBodyDestroy (dBodyID);
-
-void  dBodySetData (dBodyID, void *data);
-void *dBodyGetData (dBodyID);
-
-void dBodySetPosition   (dBodyID, dReal x, dReal y, dReal z);
-void dBodySetRotation   (dBodyID, const dMatrix3 R);
-void dBodySetQuaternion (dBodyID, const dQuaternion q);
-void dBodySetLinearVel  (dBodyID, dReal x, dReal y, dReal z);
-void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
-const dReal * dBodyGetPosition   (dBodyID);
-const dReal * dBodyGetRotation   (dBodyID);     /* ptr to 4x3 rot matrix */
-const dReal * dBodyGetQuaternion (dBodyID);
-const dReal * dBodyGetLinearVel  (dBodyID);
-const dReal * dBodyGetAngularVel (dBodyID);
-
-void dBodySetMass (dBodyID, const dMass *mass);
-void dBodyGetMass (dBodyID, dMass *mass);
-
-void dBodyAddForce            (dBodyID, dReal fx, dReal fy, dReal fz);
-void dBodyAddTorque           (dBodyID, dReal fx, dReal fy, dReal fz);
-void dBodyAddRelForce         (dBodyID, dReal fx, dReal fy, dReal fz);
-void dBodyAddRelTorque        (dBodyID, dReal fx, dReal fy, dReal fz);
-void dBodyAddForceAtPos       (dBodyID, dReal fx, dReal fy, dReal fz,
-                                        dReal px, dReal py, dReal pz);
-void dBodyAddForceAtRelPos    (dBodyID, dReal fx, dReal fy, dReal fz,
-                                        dReal px, dReal py, dReal pz);
-void dBodyAddRelForceAtPos    (dBodyID, dReal fx, dReal fy, dReal fz,
-                                        dReal px, dReal py, dReal pz);
-void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
-                                        dReal px, dReal py, dReal pz);
-
-const dReal * dBodyGetForce   (dBodyID);
-const dReal * dBodyGetTorque  (dBodyID);
-void dBodySetForce  (dBodyID b, dReal x, dReal y, dReal z);
-void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
-
-void dBodyGetRelPointPos    (dBodyID, dReal px, dReal py, dReal pz,
-                             dVector3 result);
-void dBodyGetRelPointVel    (dBodyID, dReal px, dReal py, dReal pz,
-                             dVector3 result);
-void dBodyGetPointVel       (dBodyID, dReal px, dReal py, dReal pz,
-                             dVector3 result);
-void dBodyGetPosRelPoint    (dBodyID, dReal px, dReal py, dReal pz,
-                             dVector3 result);
-void dBodyVectorToWorld     (dBodyID, dReal px, dReal py, dReal pz,
-                             dVector3 result);
-void dBodyVectorFromWorld   (dBodyID, dReal px, dReal py, dReal pz,
-                             dVector3 result);
-
-void dBodySetFiniteRotationMode (dBodyID, int mode);
-void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
-
-int dBodyGetFiniteRotationMode (dBodyID);
-void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
-
-int dBodyGetNumJoints (dBodyID b);
-dJointID dBodyGetJoint (dBodyID, int index);
-
-void dBodyEnable (dBodyID);
-void dBodyDisable (dBodyID);
-int dBodyIsEnabled (dBodyID);
-
-void dBodySetGravityMode (dBodyID b, int mode);
-int dBodyGetGravityMode (dBodyID b);
-
-
-/* joints */
-
-dJointID dJointCreateBall (dWorldID, dJointGroupID);
-dJointID dJointCreateHinge (dWorldID, dJointGroupID);
-dJointID dJointCreateSlider (dWorldID, dJointGroupID);
-dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
-dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
-dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
-dJointID dJointCreateFixed (dWorldID, dJointGroupID);
-dJointID dJointCreateNull (dWorldID, dJointGroupID);
-dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
-
-void dJointDestroy (dJointID);
-
-dJointGroupID dJointGroupCreate (int max_size);
-void dJointGroupDestroy (dJointGroupID);
-void dJointGroupEmpty (dJointGroupID);
-
-void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
-void dJointSetData (dJointID, void *data);
-void *dJointGetData (dJointID);
-int dJointGetType (dJointID);
-dBodyID dJointGetBody (dJointID, int index);
-
-void dJointSetFeedback (dJointID, dJointFeedback *);
-dJointFeedback *dJointGetFeedback (dJointID);
-
-/******************** breakable joint contribution ***********************/
-void dJointSetBreakable (dJointID, int b);
-void dJointSetBreakCallback (dJointID, dJointBreakCallback *callbackFunc);
-void dJointSetBreakMode (dJointID, int mode);
-int dJointGetBreakMode (dJointID);
-void dJointSetBreakForce (dJointID, int body, dReal x, dReal y, dReal z);
-void dJointSetBreakTorque (dJointID, int body, dReal x, dReal y, dReal z);
-int dJointIsBreakable (dJointID);
-void dJointGetBreakForce (dJointID, int body, dReal *force);
-void dJointGetBreakTorque (dJointID, int body, dReal *torque);
-/*************************************************************************/
-
-void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHingeParam (dJointID, int parameter, dReal value);
-void dJointAddHingeTorque(dJointID joint, dReal torque);
-void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
-void dJointSetSliderParam (dJointID, int parameter, dReal value);
-void dJointAddSliderForce(dJointID joint, dReal force);
-void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
-void dJointSetHinge2Param (dJointID, int parameter, dReal value);
-void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
-void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
-void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
-void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
-void dJointSetUniversalParam (dJointID, int parameter, dReal value);
-void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
-void dJointSetFixed (dJointID);
-void dJointSetAMotorNumAxes (dJointID, int num);
-void dJointSetAMotorAxis (dJointID, int anum, int rel,
-                          dReal x, dReal y, dReal z);
-void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
-void dJointSetAMotorParam (dJointID, int parameter, dReal value);
-void dJointSetAMotorMode (dJointID, int mode);
-void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
-
-void dJointGetBallAnchor (dJointID, dVector3 result);
-void dJointGetBallAnchor2 (dJointID, dVector3 result);
-void dJointGetHingeAnchor (dJointID, dVector3 result);
-void dJointGetHingeAnchor2 (dJointID, dVector3 result);
-void dJointGetHingeAxis (dJointID, dVector3 result);
-dReal dJointGetHingeParam (dJointID, int parameter);
-dReal dJointGetHingeAngle (dJointID);
-dReal dJointGetHingeAngleRate (dJointID);
-dReal dJointGetSliderPosition (dJointID);
-dReal dJointGetSliderPositionRate (dJointID);
-void dJointGetSliderAxis (dJointID, dVector3 result);
-dReal dJointGetSliderParam (dJointID, int parameter);
-void dJointGetHinge2Anchor (dJointID, dVector3 result);
-void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
-void dJointGetHinge2Axis1 (dJointID, dVector3 result);
-void dJointGetHinge2Axis2 (dJointID, dVector3 result);
-dReal dJointGetHinge2Param (dJointID, int parameter);
-dReal dJointGetHinge2Angle1 (dJointID);
-dReal dJointGetHinge2Angle1Rate (dJointID);
-dReal dJointGetHinge2Angle2Rate (dJointID);
-void dJointGetUniversalAnchor (dJointID, dVector3 result);
-void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
-void dJointGetUniversalAxis1 (dJointID, dVector3 result);
-void dJointGetUniversalAxis2 (dJointID, dVector3 result);
-dReal dJointGetUniversalParam (dJointID, int parameter);
-dReal dJointGetUniversalAngle1 (dJointID);
-dReal dJointGetUniversalAngle2 (dJointID);
-dReal dJointGetUniversalAngle1Rate (dJointID);
-dReal dJointGetUniversalAngle2Rate (dJointID);
-int dJointGetAMotorNumAxes (dJointID);
-void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
-int dJointGetAMotorAxisRel (dJointID, int anum);
-dReal dJointGetAMotorAngle (dJointID, int anum);
-dReal dJointGetAMotorAngleRate (dJointID, int anum);
-dReal dJointGetAMotorParam (dJointID, int parameter);
-int dJointGetAMotorMode (dJointID);
-
-int dAreConnected (dBodyID, dBodyID);
-int dAreConnectedExcluding (dBodyID, dBodyID, int joint_type);
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/ode.cpp b/libraries/ode-0.9/contrib/BreakableJoints/ode.cpp
deleted file mode 100644
index 7137960..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/ode.cpp
+++ /dev/null
@@ -1,1404 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-// this source file is mostly concerned with the data structures, not the
-// numerics.
-
-#include "objects.h"
-#include <ode/ode.h>
-#include "joint.h"
-#include <ode/odemath.h>
-#include <ode/matrix.h>
-#include "step.h"
-#include <ode/memory.h>
-#include <ode/error.h>
-
-// misc defines
-#define ALLOCA dALLOCA16
-
-//****************************************************************************
-// utility
-
-static inline void initObject (dObject *obj, dxWorld *w)
-{
-  obj->world = w;
-  obj->next = 0;
-  obj->tome = 0;
-  obj->userdata = 0;
-  obj->tag = 0;
-}
-
-
-// add an object `obj' to the list who's head pointer is pointed to by `first'.
-
-static inline void addObjectToList (dObject *obj, dObject **first)
-{
-  obj->next = *first;
-  obj->tome = first;
-  if (*first) (*first)->tome = &obj->next;
-  (*first) = obj;
-}
-
-
-// remove the object from the linked list
-
-static inline void removeObjectFromList (dObject *obj)
-{
-  if (obj->next) obj->next->tome = obj->tome;
-  *(obj->tome) = obj->next;
-  // safeguard
-  obj->next = 0;
-  obj->tome = 0;
-}
-
-
-// remove the joint from neighbour lists of all connected bodies
-
-static void removeJointReferencesFromAttachedBodies (dxJoint *j)
-{
-  for (int i=0; i<2; i++) {
-    dxBody *body = j->node[i].body;
-    if (body) {
-      dxJointNode *n = body->firstjoint;
-      dxJointNode *last = 0;
-      while (n) {
-        if (n->joint == j) {
-          if (last) last->next = n->next;
-          else body->firstjoint = n->next;
-          break;
-        }
-        last = n;
-        n = n->next;
-      }
-    }
-  }
-  j->node[0].body = 0;
-  j->node[0].next = 0;
-  j->node[1].body = 0;
-  j->node[1].next = 0;
-}
-
-//****************************************************************************
-// island processing
-
-// this groups all joints and bodies in a world into islands. all objects
-// in an island are reachable by going through connected bodies and joints.
-// each island can be simulated separately.
-// note that joints that are not attached to anything will not be included
-// in any island, an so they do not affect the simulation.
-//
-// this function starts new island from unvisited bodies. however, it will
-// never start a new islands from a disabled body. thus islands of disabled
-// bodies will not be included in the simulation. disabled bodies are
-// re-enabled if they are found to be part of an active island.
-
-static void processIslands (dxWorld *world, dReal stepsize)
-{
-  dxBody *b,*bb,**body;
-  dxJoint *j,**joint;
-
-  // nothing to do if no bodies
-  if (world->nb <= 0) return;
-
-  // make arrays for body and joint lists (for a single island) to go into
-  body = (dxBody**) ALLOCA (world->nb * sizeof(dxBody*));
-  joint = (dxJoint**) ALLOCA (world->nj * sizeof(dxJoint*));
-  int bcount = 0;       // number of bodies in `body'
-  int jcount = 0;       // number of joints in `joint'
-
-  // set all body/joint tags to 0
-  for (b=world->firstbody; b; b=(dxBody*)b->next) b->tag = 0;
-  for (j=world->firstjoint; j; j=(dxJoint*)j->next) j->tag = 0;
-
-  // allocate a stack of unvisited bodies in the island. the maximum size of
-  // the stack can be the lesser of the number of bodies or joints, because
-  // new bodies are only ever added to the stack by going through untagged
-  // joints. all the bodies in the stack must be tagged!
-  int stackalloc = (world->nj < world->nb) ? world->nj : world->nb;
-  dxBody **stack = (dxBody**) ALLOCA (stackalloc * sizeof(dxBody*));
-
-  for (bb=world->firstbody; bb; bb=(dxBody*)bb->next) {
-    // get bb = the next enabled, untagged body, and tag it
-    if (bb->tag || (bb->flags & dxBodyDisabled)) continue;
-    bb->tag = 1;
-
-    // tag all bodies and joints starting from bb.
-    int stacksize = 0;
-    b = bb;
-    body[0] = bb;
-    bcount = 1;
-    jcount = 0;
-    goto quickstart;
-    while (stacksize > 0) {
-      b = stack[--stacksize];   // pop body off stack
-      body[bcount++] = b;       // put body on body list
-      quickstart:
-
-      // traverse and tag all body's joints, add untagged connected bodies
-      // to stack
-      for (dxJointNode *n=b->firstjoint; n; n=n->next) {
-        if (!n->joint->tag) {
-          n->joint->tag = 1;
-          joint[jcount++] = n->joint;
-          if (n->body && !n->body->tag) {
-            n->body->tag = 1;
-            stack[stacksize++] = n->body;
-          }
-        }
-      }
-      dIASSERT(stacksize <= world->nb);
-      dIASSERT(stacksize <= world->nj);
-    }
-
-    // now do something with body and joint lists
-    dInternalStepIsland (world,body,bcount,joint,jcount,stepsize);
-
-    // what we've just done may have altered the body/joint tag values.
-    // we must make sure that these tags are nonzero.
-    // also make sure all bodies are in the enabled state.
-    int i;
-    for (i=0; i<bcount; i++) {
-      body[i]->tag = 1;
-      body[i]->flags &= ~dxBodyDisabled;
-    }
-    for (i=0; i<jcount; i++) joint[i]->tag = 1;
-  }
-
-  // if debugging, check that all objects (except for disabled bodies,
-  // unconnected joints, and joints that are connected to disabled bodies)
-  // were tagged.
-# ifndef dNODEBUG
-  for (b=world->firstbody; b; b=(dxBody*)b->next) {
-    if (b->flags & dxBodyDisabled) {
-      if (b->tag) dDebug (0,"disabled body tagged");
-    }
-    else {
-      if (!b->tag) dDebug (0,"enabled body not tagged");
-    }
-  }
-  for (j=world->firstjoint; j; j=(dxJoint*)j->next) {
-    if ((j->node[0].body && (j->node[0].body->flags & dxBodyDisabled)==0) ||
-        (j->node[1].body && (j->node[1].body->flags & dxBodyDisabled)==0)) {
-      if (!j->tag) dDebug (0,"attached enabled joint not tagged");
-    }
-    else {
-      if (j->tag) dDebug (0,"unattached or disabled joint tagged");
-    }
-  }
-# endif
-  /******************** breakable joint contribution ***********************/
-  dxJoint* nextJ;
-  if (!world->firstjoint)
-    nextJ = 0;
-  else
-    nextJ = (dxJoint*)world->firstjoint->next;
-  for (j=world->firstjoint; j; j=nextJ) {
-        nextJ = (dxJoint*)j->next;
-        // check if joint is breakable and broken
-    if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) {
-                // detach (break) the joint
-        dJointAttach (j, 0, 0);
-                // call the callback function if it is set
-                if (j->breakInfo->callback) j->breakInfo->callback (j);
-                // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set
-                if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j);
-      }
-  }
-  /*************************************************************************/
-}
-
-//****************************************************************************
-// debugging
-
-// see if an object list loops on itself (if so, it's bad).
-
-static int listHasLoops (dObject *first)
-{
-  if (first==0 || first->next==0) return 0;
-  dObject *a=first,*b=first->next;
-  int skip=0;
-  while (b) {
-    if (a==b) return 1;
-    b = b->next;
-    if (skip) a = a->next;
-    skip ^= 1;
-  }
-  return 0;
-}
-
-
-// check the validity of the world data structures
-
-static void checkWorld (dxWorld *w)
-{
-  dxBody *b;
-  dxJoint *j;
-
-  // check there are no loops
-  if (listHasLoops (w->firstbody)) dDebug (0,"body list has loops");
-  if (listHasLoops (w->firstjoint)) dDebug (0,"joint list has loops");
-
-  // check lists are well formed (check `tome' pointers)
-  for (b=w->firstbody; b; b=(dxBody*)b->next) {
-    if (b->next && b->next->tome != &b->next)
-      dDebug (0,"bad tome pointer in body list");
-  }
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
-    if (j->next && j->next->tome != &j->next)
-      dDebug (0,"bad tome pointer in joint list");
-  }
-
-  // check counts
-  int n = 0;
-  for (b=w->firstbody; b; b=(dxBody*)b->next) n++;
-  if (w->nb != n) dDebug (0,"body count incorrect");
-  n = 0;
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) n++;
-  if (w->nj != n) dDebug (0,"joint count incorrect");
-
-  // set all tag values to a known value
-  static int count = 0;
-  count++;
-  for (b=w->firstbody; b; b=(dxBody*)b->next) b->tag = count;
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) j->tag = count;
-
-  // check all body/joint world pointers are ok
-  for (b=w->firstbody; b; b=(dxBody*)b->next) if (b->world != w)
-    dDebug (0,"bad world pointer in body list");
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) if (j->world != w)
-    dDebug (0,"bad world pointer in joint list");
-
-  /*
-  // check for half-connected joints - actually now these are valid
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
-    if (j->node[0].body || j->node[1].body) {
-      if (!(j->node[0].body && j->node[1].body))
-        dDebug (0,"half connected joint found");
-    }
-  }
-  */
-
-  // check that every joint node appears in the joint lists of both bodies it
-  // attaches
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
-    for (int i=0; i<2; i++) {
-      if (j->node[i].body) {
-        int ok = 0;
-        for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) {
-          if (n->joint == j) ok = 1;
-        }
-        if (ok==0) dDebug (0,"joint not in joint list of attached body");
-      }
-    }
-  }
-
-  // check all body joint lists (correct body ptrs)
-  for (b=w->firstbody; b; b=(dxBody*)b->next) {
-    for (dxJointNode *n=b->firstjoint; n; n=n->next) {
-      if (&n->joint->node[0] == n) {
-        if (n->joint->node[1].body != b)
-          dDebug (0,"bad body pointer in joint node of body list (1)");
-      }
-      else {
-        if (n->joint->node[0].body != b)
-          dDebug (0,"bad body pointer in joint node of body list (2)");
-      }
-      if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body");
-    }
-  }
-
-  // check all body pointers in joints, check they are distinct
-  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
-    if (j->node[0].body && (j->node[0].body == j->node[1].body))
-      dDebug (0,"non-distinct body pointers in joint");
-    if ((j->node[0].body && j->node[0].body->tag != count) ||
-        (j->node[1].body && j->node[1].body->tag != count))
-      dDebug (0,"bad body pointer in joint");
-  }
-}
-
-
-void dWorldCheck (dxWorld *w)
-{
-  checkWorld (w);
-}
-
-//****************************************************************************
-// body
-
-dxBody *dBodyCreate (dxWorld *w)
-{
-  dAASSERT (w);
-  dxBody *b = new dxBody;
-  initObject (b,w);
-  b->firstjoint = 0;
-  b->flags = 0;
-  b->geom = 0;
-  dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0);
-  dSetZero (b->invI,4*3);
-  b->invI[0] = 1;
-  b->invI[5] = 1;
-  b->invI[10] = 1;
-  b->invMass = 1;
-  dSetZero (b->pos,4);
-  dSetZero (b->q,4);
-  b->q[0] = 1;
-  dRSetIdentity (b->R);
-  dSetZero (b->lvel,4);
-  dSetZero (b->avel,4);
-  dSetZero (b->facc,4);
-  dSetZero (b->tacc,4);
-  dSetZero (b->finite_rot_axis,4);
-  addObjectToList (b,(dObject **) &w->firstbody);
-  w->nb++;
-  return b;
-}
-
-
-void dBodyDestroy (dxBody *b)
-{
-  dAASSERT (b);
-
-  // all geoms that link to this body must be notified that the body is about
-  // to disappear. note that the call to dGeomSetBody(geom,0) will result in
-  // dGeomGetBodyNext() returning 0 for the body, so we must get the next body
-  // before setting the body to 0.
-  dxGeom *next_geom = 0;
-  for (dxGeom *geom = b->geom; geom; geom = next_geom) {
-    next_geom = dGeomGetBodyNext (geom);
-    dGeomSetBody (geom,0);
-  }
-
-  // detach all neighbouring joints, then delete this body.
-  dxJointNode *n = b->firstjoint;
-  while (n) {
-    // sneaky trick to speed up removal of joint references (black magic)
-    n->joint->node[(n == n->joint->node)].body = 0;
-
-    dxJointNode *next = n->next;
-    n->next = 0;
-    removeJointReferencesFromAttachedBodies (n->joint);
-    n = next;
-  }
-  removeObjectFromList (b);
-  b->world->nb--;
-  delete b;
-}
-
-
-void dBodySetData (dBodyID b, void *data)
-{
-  dAASSERT (b);
-  b->userdata = data;
-}
-
-
-void *dBodyGetData (dBodyID b)
-{
-  dAASSERT (b);
-  return b->userdata;
-}
-
-
-void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->pos[0] = x;
-  b->pos[1] = y;
-  b->pos[2] = z;
-
-  // notify all attached geoms that this body has moved
-  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
-    dGeomMoved (geom);
-}
-
-
-void dBodySetRotation (dBodyID b, const dMatrix3 R)
-{
-  dAASSERT (b && R);
-  dQuaternion q;
-  dRtoQ (R,q);
-  dNormalize4 (q);
-  b->q[0] = q[0];
-  b->q[1] = q[1];
-  b->q[2] = q[2];
-  b->q[3] = q[3];
-  dQtoR (b->q,b->R);
-
-  // notify all attached geoms that this body has moved
-  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
-    dGeomMoved (geom);
-}
-
-
-void dBodySetQuaternion (dBodyID b, const dQuaternion q)
-{
-  dAASSERT (b && q);
-  b->q[0] = q[0];
-  b->q[1] = q[1];
-  b->q[2] = q[2];
-  b->q[3] = q[3];
-  dNormalize4 (b->q);
-  dQtoR (b->q,b->R);
-
-  // notify all attached geoms that this body has moved
-  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
-    dGeomMoved (geom);
-}
-
-
-void dBodySetLinearVel  (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->lvel[0] = x;
-  b->lvel[1] = y;
-  b->lvel[2] = z;
-}
-
-
-void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->avel[0] = x;
-  b->avel[1] = y;
-  b->avel[2] = z;
-}
-
-
-const dReal * dBodyGetPosition (dBodyID b)
-{
-  dAASSERT (b);
-  return b->pos;
-}
-
-
-const dReal * dBodyGetRotation (dBodyID b)
-{
-  dAASSERT (b);
-  return b->R;
-}
-
-
-const dReal * dBodyGetQuaternion (dBodyID b)
-{
-  dAASSERT (b);
-  return b->q;
-}
-
-
-const dReal * dBodyGetLinearVel (dBodyID b)
-{
-  dAASSERT (b);
-  return b->lvel;
-}
-
-
-const dReal * dBodyGetAngularVel (dBodyID b)
-{
-  dAASSERT (b);
-  return b->avel;
-}
-
-
-void dBodySetMass (dBodyID b, const dMass *mass)
-{
-  dAASSERT (b && mass);
-  memcpy (&b->mass,mass,sizeof(dMass));
-  if (dInvertPDMatrix (b->mass.I,b->invI,3)==0) {
-    dDEBUGMSG ("inertia must be positive definite");
-    dRSetIdentity (b->invI);
-  }
-  b->invMass = dRecip(b->mass.mass);
-}
-
-
-void dBodyGetMass (dBodyID b, dMass *mass)
-{
-  dAASSERT (b && mass);
-  memcpy (mass,&b->mass,sizeof(dMass));
-}
-
-
-void dBodyAddForce (dBodyID b, dReal fx, dReal fy, dReal fz)
-{
-  dAASSERT (b);
-  b->facc[0] += fx;
-  b->facc[1] += fy;
-  b->facc[2] += fz;
-}
-
-
-void dBodyAddTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
-{
-  dAASSERT (b);
-  b->tacc[0] += fx;
-  b->tacc[1] += fy;
-  b->tacc[2] += fz;
-}
-
-
-void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz)
-{
-  dAASSERT (b);
-  dVector3 t1,t2;
-  t1[0] = fx;
-  t1[1] = fy;
-  t1[2] = fz;
-  t1[3] = 0;
-  dMULTIPLY0_331 (t2,b->R,t1);
-  b->facc[0] += t2[0];
-  b->facc[1] += t2[1];
-  b->facc[2] += t2[2];
-}
-
-
-void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
-{
-  dAASSERT (b);
-  dVector3 t1,t2;
-  t1[0] = fx;
-  t1[1] = fy;
-  t1[2] = fz;
-  t1[3] = 0;
-  dMULTIPLY0_331 (t2,b->R,t1);
-  b->tacc[0] += t2[0];
-  b->tacc[1] += t2[1];
-  b->tacc[2] += t2[2];
-}
-
-
-void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
-                         dReal px, dReal py, dReal pz)
-{
-  dAASSERT (b);
-  b->facc[0] += fx;
-  b->facc[1] += fy;
-  b->facc[2] += fz;
-  dVector3 f,q;
-  f[0] = fx;
-  f[1] = fy;
-  f[2] = fz;
-  q[0] = px - b->pos[0];
-  q[1] = py - b->pos[1];
-  q[2] = pz - b->pos[2];
-  dCROSS (b->tacc,+=,q,f);
-}
-
-
-void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
-                            dReal px, dReal py, dReal pz)
-{
-  dAASSERT (b);
-  dVector3 prel,f,p;
-  f[0] = fx;
-  f[1] = fy;
-  f[2] = fz;
-  f[3] = 0;
-  prel[0] = px;
-  prel[1] = py;
-  prel[2] = pz;
-  prel[3] = 0;
-  dMULTIPLY0_331 (p,b->R,prel);
-  b->facc[0] += f[0];
-  b->facc[1] += f[1];
-  b->facc[2] += f[2];
-  dCROSS (b->tacc,+=,p,f);
-}
-
-
-void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
-                            dReal px, dReal py, dReal pz)
-{
-  dAASSERT (b);
-  dVector3 frel,f;
-  frel[0] = fx;
-  frel[1] = fy;
-  frel[2] = fz;
-  frel[3] = 0;
-  dMULTIPLY0_331 (f,b->R,frel);
-  b->facc[0] += f[0];
-  b->facc[1] += f[1];
-  b->facc[2] += f[2];
-  dVector3 q;
-  q[0] = px - b->pos[0];
-  q[1] = py - b->pos[1];
-  q[2] = pz - b->pos[2];
-  dCROSS (b->tacc,+=,q,f);
-}
-
-
-void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
-                               dReal px, dReal py, dReal pz)
-{
-  dAASSERT (b);
-  dVector3 frel,prel,f,p;
-  frel[0] = fx;
-  frel[1] = fy;
-  frel[2] = fz;
-  frel[3] = 0;
-  prel[0] = px;
-  prel[1] = py;
-  prel[2] = pz;
-  prel[3] = 0;
-  dMULTIPLY0_331 (f,b->R,frel);
-  dMULTIPLY0_331 (p,b->R,prel);
-  b->facc[0] += f[0];
-  b->facc[1] += f[1];
-  b->facc[2] += f[2];
-  dCROSS (b->tacc,+=,p,f);
-}
-
-
-const dReal * dBodyGetForce (dBodyID b)
-{
-  dAASSERT (b);
-  return b->facc;
-}
-
-
-const dReal * dBodyGetTorque (dBodyID b)
-{
-  dAASSERT (b);
-  return b->tacc;
-}
-
-
-void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->facc[0] = x;
-  b->facc[1] = y;
-  b->facc[2] = z;
-}
-
-
-void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->tacc[0] = x;
-  b->tacc[1] = y;
-  b->tacc[2] = z;
-}
-
-
-void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz,
-                          dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 prel,p;
-  prel[0] = px;
-  prel[1] = py;
-  prel[2] = pz;
-  prel[3] = 0;
-  dMULTIPLY0_331 (p,b->R,prel);
-  result[0] = p[0] + b->pos[0];
-  result[1] = p[1] + b->pos[1];
-  result[2] = p[2] + b->pos[2];
-}
-
-
-void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz,
-                          dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 prel,p;
-  prel[0] = px;
-  prel[1] = py;
-  prel[2] = pz;
-  prel[3] = 0;
-  dMULTIPLY0_331 (p,b->R,prel);
-  result[0] = b->lvel[0];
-  result[1] = b->lvel[1];
-  result[2] = b->lvel[2];
-  dCROSS (result,+=,b->avel,p);
-}
-
-
-void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz,
-                       dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 p;
-  p[0] = px - b->pos[0];
-  p[1] = py - b->pos[1];
-  p[2] = pz - b->pos[2];
-  p[3] = 0;
-  result[0] = b->lvel[0];
-  result[1] = b->lvel[1];
-  result[2] = b->lvel[2];
-  dCROSS (result,+=,b->avel,p);
-}
-
-
-void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz,
-                          dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 prel;
-  prel[0] = px - b->pos[0];
-  prel[1] = py - b->pos[1];
-  prel[2] = pz - b->pos[2];
-  prel[3] = 0;
-  dMULTIPLY1_331 (result,b->R,prel);
-}
-
-
-void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz,
-                         dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 p;
-  p[0] = px;
-  p[1] = py;
-  p[2] = pz;
-  p[3] = 0;
-  dMULTIPLY0_331 (result,b->R,p);
-}
-
-
-void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz,
-                           dVector3 result)
-{
-  dAASSERT (b);
-  dVector3 p;
-  p[0] = px;
-  p[1] = py;
-  p[2] = pz;
-  p[3] = 0;
-  dMULTIPLY1_331 (result,b->R,p);
-}
-
-
-void dBodySetFiniteRotationMode (dBodyID b, int mode)
-{
-  dAASSERT (b);
-  b->flags &= ~(dxBodyFlagFiniteRotation | dxBodyFlagFiniteRotationAxis);
-  if (mode) {
-    b->flags |= dxBodyFlagFiniteRotation;
-    if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 ||
-        b->finite_rot_axis[2] != 0) {
-      b->flags |= dxBodyFlagFiniteRotationAxis;
-    }
-  }
-}
-
-
-void dBodySetFiniteRotationAxis (dBodyID b, dReal x, dReal y, dReal z)
-{
-  dAASSERT (b);
-  b->finite_rot_axis[0] = x;
-  b->finite_rot_axis[1] = y;
-  b->finite_rot_axis[2] = z;
-  if (x != 0 || y != 0 || z != 0) {
-    dNormalize3 (b->finite_rot_axis);
-    b->flags |= dxBodyFlagFiniteRotationAxis;
-  }
-  else {
-    b->flags &= ~dxBodyFlagFiniteRotationAxis;
-  }
-}
-
-
-int dBodyGetFiniteRotationMode (dBodyID b)
-{
-  dAASSERT (b);
-  return ((b->flags & dxBodyFlagFiniteRotation) != 0);
-}
-
-
-void dBodyGetFiniteRotationAxis (dBodyID b, dVector3 result)
-{
-  dAASSERT (b);
-  result[0] = b->finite_rot_axis[0];
-  result[1] = b->finite_rot_axis[1];
-  result[2] = b->finite_rot_axis[2];
-}
-
-
-int dBodyGetNumJoints (dBodyID b)
-{
-  dAASSERT (b);
-  int count=0;
-  for (dxJointNode *n=b->firstjoint; n; n=n->next, count++);
-  return count;
-}
-
-
-dJointID dBodyGetJoint (dBodyID b, int index)
-{
-  dAASSERT (b);
-  int i=0;
-  for (dxJointNode *n=b->firstjoint; n; n=n->next, i++) {
-    if (i == index) return n->joint;
-  }
-  return 0;
-}
-
-
-void dBodyEnable (dBodyID b)
-{
-  dAASSERT (b);
-  b->flags &= ~dxBodyDisabled;
-}
-
-
-void dBodyDisable (dBodyID b)
-{
-  dAASSERT (b);
-  b->flags |= dxBodyDisabled;
-}
-
-
-int dBodyIsEnabled (dBodyID b)
-{
-  dAASSERT (b);
-  return ((b->flags & dxBodyDisabled) == 0);
-}
-
-
-void dBodySetGravityMode (dBodyID b, int mode)
-{
-  dAASSERT (b);
-  if (mode) b->flags &= ~dxBodyNoGravity;
-  else b->flags |= dxBodyNoGravity;
-}
-
-
-int dBodyGetGravityMode (dBodyID b)
-{
-  dAASSERT (b);
-  return ((b->flags & dxBodyNoGravity) == 0);
-}
-
-//****************************************************************************
-// joints
-
-static void dJointInit (dxWorld *w, dxJoint *j)
-{
-  dIASSERT (w && j);
-  initObject (j,w);
-  j->vtable = 0;
-  j->flags = 0;
-  j->node[0].joint = j;
-  j->node[0].body = 0;
-  j->node[0].next = 0;
-  j->node[1].joint = j;
-  j->node[1].body = 0;
-  j->node[1].next = 0;
-  addObjectToList (j,(dObject **) &w->firstjoint);
-  w->nj++;
-}
-
-
-static dxJoint *createJoint (dWorldID w, dJointGroupID group,
-                             dxJoint::Vtable *vtable)
-{
-  dIASSERT (w && vtable);
-  dxJoint *j;
-  if (group) {
-    j = (dxJoint*) group->stack.alloc (vtable->size);
-    group->num++;
-  }
-  else j = (dxJoint*) dAlloc (vtable->size);
-  dJointInit (w,j);
-  j->vtable = vtable;
-  if (group) j->flags |= dJOINT_INGROUP;
-  if (vtable->init) vtable->init (j);
-  j->feedback = 0;
-  /******************** breakable joint contribution ***********************/
-  j->breakInfo = 0;
-  /*************************************************************************/
-  return j;
-}
-
-
-dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dball_vtable);
-}
-
-
-dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dhinge_vtable);
-}
-
-
-dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dslider_vtable);
-}
-
-
-dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group,
-                               const dContact *c)
-{
-  dAASSERT (w && c);
-  dxJointContact *j = (dxJointContact *)
-    createJoint (w,group,&__dcontact_vtable);
-  j->contact = *c;
-  return j;
-}
-
-
-dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dhinge2_vtable);
-}
-
-
-dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__duniversal_vtable);
-}
-
-
-dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dfixed_vtable);
-}
-
-
-dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dnull_vtable);
-}
-
-
-dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__damotor_vtable);
-}
-
-
-void dJointDestroy (dxJoint *j)
-{
-  dAASSERT (j);
-  if (j->flags & dJOINT_INGROUP) return;
-  removeJointReferencesFromAttachedBodies (j);
-  removeObjectFromList (j);
-  /******************** breakable joint contribution ***********************/
-  if (j->breakInfo) delete j->breakInfo;
-  /*************************************************************************/
-  j->world->nj--;
-  dFree (j,j->vtable->size);
-}
-
-
-dJointGroupID dJointGroupCreate (int max_size)
-{
-  // not any more ... dUASSERT (max_size > 0,"max size must be > 0");
-  dxJointGroup *group = new dxJointGroup;
-  group->num = 0;
-  return group;
-}
-
-
-void dJointGroupDestroy (dJointGroupID group)
-{
-  dAASSERT (group);
-  dJointGroupEmpty (group);
-  delete group;
-}
-
-
-void dJointGroupEmpty (dJointGroupID group)
-{
-  // the joints in this group are detached starting from the most recently
-  // added (at the top of the stack). this helps ensure that the various
-  // linked lists are not traversed too much, as the joints will hopefully
-  // be at the start of those lists.
-  // if any group joints have their world pointer set to 0, their world was
-  // previously destroyed. no special handling is required for these joints.
-
-  dAASSERT (group);
-  int i;
-  dxJoint **jlist = (dxJoint**) ALLOCA (group->num * sizeof(dxJoint*));
-  dxJoint *j = (dxJoint*) group->stack.rewind();
-  for (i=0; i < group->num; i++) {
-    jlist[i] = j;
-    j = (dxJoint*) (group->stack.next (j->vtable->size));
-  }
-  for (i=group->num-1; i >= 0; i--) {
-    if (jlist[i]->world) {
-      removeJointReferencesFromAttachedBodies (jlist[i]);
-      removeObjectFromList (jlist[i]);
-      jlist[i]->world->nj--;
-    }
-  }
-  group->num = 0;
-  group->stack.freeAll();
-}
-
-
-void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2)
-{
-  // check arguments
-  dUASSERT (joint,"bad joint argument");
-  dUASSERT (body1 == 0 || body1 != body2,"can't have body1==body2");
-  dxWorld *world = joint->world;
-  dUASSERT ( (!body1 || body1->world == world) &&
-             (!body2 || body2->world == world),
-             "joint and bodies must be in same world");
-
-  // check if the joint can not be attached to just one body
-  dUASSERT (!((joint->flags & dJOINT_TWOBODIES) &&
-              ((body1 != 0) ^ (body2 != 0))),
-            "joint can not be attached to just one body");
-
-  // remove any existing body attachments
-  if (joint->node[0].body || joint->node[1].body) {
-    removeJointReferencesFromAttachedBodies (joint);
-  }
-
-  // if a body is zero, make sure that it is body2, so 0 --> node[1].body
-  if (body1==0) {
-    body1 = body2;
-    body2 = 0;
-    joint->flags |= dJOINT_REVERSE;
-  }
-  else {
-    joint->flags &= (~dJOINT_REVERSE);
-  }
-
-  // attach to new bodies
-  joint->node[0].body = body1;
-  joint->node[1].body = body2;
-  if (body1) {
-    joint->node[1].next = body1->firstjoint;
-    body1->firstjoint = &joint->node[1];
-  }
-  else joint->node[1].next = 0;
-  if (body2) {
-    joint->node[0].next = body2->firstjoint;
-    body2->firstjoint = &joint->node[0];
-  }
-  else {
-    joint->node[0].next = 0;
-  }
-}
-
-
-void dJointSetData (dxJoint *joint, void *data)
-{
-  dAASSERT (joint);
-  joint->userdata = data;
-}
-
-
-void *dJointGetData (dxJoint *joint)
-{
-  dAASSERT (joint);
-  return joint->userdata;
-}
-
-
-int dJointGetType (dxJoint *joint)
-{
-  dAASSERT (joint);
-  return joint->vtable->typenum;
-}
-
-
-dBodyID dJointGetBody (dxJoint *joint, int index)
-{
-  dAASSERT (joint);
-  if (index >= 0 && index < 2) return joint->node[index].body;
-  else return 0;
-}
-
-
-void dJointSetFeedback (dxJoint *joint, dJointFeedback *f)
-{
-  dAASSERT (joint);
-  joint->feedback = f;
-}
-
-
-dJointFeedback *dJointGetFeedback (dxJoint *joint)
-{
-  dAASSERT (joint);
-  return joint->feedback;
-}
-
-
-int dAreConnected (dBodyID b1, dBodyID b2)
-{
-  dAASSERT (b1 && b2);
-  // look through b1's neighbour list for b2
-  for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
-    if (n->body == b2) return 1;
-  }
-  return 0;
-}
-
-
-int dAreConnectedExcluding (dBodyID b1, dBodyID b2, int joint_type)
-{
-  dAASSERT (b1 && b2);
-  // look through b1's neighbour list for b2
-  for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
-    if (dJointGetType (n->joint) != joint_type && n->body == b2) return 1;
-  }
-  return 0;
-}
-
-//****************************************************************************
-// world
-
-dxWorld * dWorldCreate()
-{
-  dxWorld *w = new dxWorld;
-  w->firstbody = 0;
-  w->firstjoint = 0;
-  w->nb = 0;
-  w->nj = 0;
-  dSetZero (w->gravity,4);
-  w->global_erp = REAL(0.2);
-#if defined(dSINGLE)
-  w->global_cfm = 1e-5f;
-#elif defined(dDOUBLE)
-  w->global_cfm = 1e-10;
-#else
-  #error dSINGLE or dDOUBLE must be defined
-#endif
-  return w;
-}
-
-
-void dWorldDestroy (dxWorld *w)
-{
-  // delete all bodies and joints
-  dAASSERT (w);
-  dxBody *nextb, *b = w->firstbody;
-  while (b) {
-    nextb = (dxBody*) b->next;
-    delete b;
-    b = nextb;
-  }
-  dxJoint *nextj, *j = w->firstjoint;
-  while (j) {
-    nextj = (dxJoint*)j->next;
-    if (j->flags & dJOINT_INGROUP) {
-      // the joint is part of a group, so "deactivate" it instead
-      j->world = 0;
-      j->node[0].body = 0;
-      j->node[0].next = 0;
-      j->node[1].body = 0;
-      j->node[1].next = 0;
-      dMessage (0,"warning: destroying world containing grouped joints");
-    }
-    else {
-      dFree (j,j->vtable->size);
-    }
-    j = nextj;
-  }
-  delete w;
-}
-
-
-void dWorldSetGravity (dWorldID w, dReal x, dReal y, dReal z)
-{
-  dAASSERT (w);
-  w->gravity[0] = x;
-  w->gravity[1] = y;
-  w->gravity[2] = z;
-}
-
-
-void dWorldGetGravity (dWorldID w, dVector3 g)
-{
-  dAASSERT (w);
-  g[0] = w->gravity[0];
-  g[1] = w->gravity[1];
-  g[2] = w->gravity[2];
-}
-
-
-void dWorldSetERP (dWorldID w, dReal erp)
-{
-  dAASSERT (w);
-  w->global_erp = erp;
-}
-
-
-dReal dWorldGetERP (dWorldID w)
-{
-  dAASSERT (w);
-  return w->global_erp;
-}
-
-
-void dWorldSetCFM (dWorldID w, dReal cfm)
-{
-  dAASSERT (w);
-  w->global_cfm = cfm;
-}
-
-
-dReal dWorldGetCFM (dWorldID w)
-{
-  dAASSERT (w);
-  return w->global_cfm;
-}
-
-
-void dWorldStep (dWorldID w, dReal stepsize)
-{
-  dUASSERT (w,"bad world argument");
-  dUASSERT (stepsize > 0,"stepsize must be > 0");
-  processIslands (w,stepsize);
-}
-
-
-void dWorldImpulseToForce (dWorldID w, dReal stepsize,
-                           dReal ix, dReal iy, dReal iz,
-                           dVector3 force)
-{
-  dAASSERT (w);
-  stepsize = dRecip(stepsize);
-  force[0] = stepsize * ix;
-  force[1] = stepsize * iy;
-  force[2] = stepsize * iz;
-  // @@@ force[3] = 0;
-}
-
-//****************************************************************************
-// testing
-
-#define NUM 100
-
-#define DO(x)
-
-
-extern "C" void dTestDataStructures()
-{
-  int i;
-  DO(printf ("testDynamicsStuff()\n"));
-
-  dBodyID body [NUM];
-  int nb = 0;
-  dJointID joint [NUM];
-  int nj = 0;
-
-  for (i=0; i<NUM; i++) body[i] = 0;
-  for (i=0; i<NUM; i++) joint[i] = 0;
-
-  DO(printf ("creating world\n"));
-  dWorldID w = dWorldCreate();
-  checkWorld (w);
-
-  for (;;) {
-    if (nb < NUM && dRandReal() > 0.5) {
-      DO(printf ("creating body\n"));
-      body[nb] = dBodyCreate (w);
-      DO(printf ("\t--> %p\n",body[nb]));
-      nb++;
-      checkWorld (w);
-      DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-    }
-    if (nj < NUM && nb > 2 && dRandReal() > 0.5) {
-      dBodyID b1 = body [dRand() % nb];
-      dBodyID b2 = body [dRand() % nb];
-      if (b1 != b2) {
-        DO(printf ("creating joint, attaching to %p,%p\n",b1,b2));
-        joint[nj] = dJointCreateBall (w,0);
-        DO(printf ("\t-->%p\n",joint[nj]));
-        checkWorld (w);
-        dJointAttach (joint[nj],b1,b2);
-        nj++;
-        checkWorld (w);
-        DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-      }
-    }
-    if (nj > 0 && nb > 2 && dRandReal() > 0.5) {
-      dBodyID b1 = body [dRand() % nb];
-      dBodyID b2 = body [dRand() % nb];
-      if (b1 != b2) {
-        int k = dRand() % nj;
-        DO(printf ("reattaching joint %p\n",joint[k]));
-        dJointAttach (joint[k],b1,b2);
-        checkWorld (w);
-        DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-      }
-    }
-    if (nb > 0 && dRandReal() > 0.5) {
-      int k = dRand() % nb;
-      DO(printf ("destroying body %p\n",body[k]));
-      dBodyDestroy (body[k]);
-      checkWorld (w);
-      for (; k < (NUM-1); k++) body[k] = body[k+1];
-      nb--;
-      DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-    }
-    if (nj > 0 && dRandReal() > 0.5) {
-      int k = dRand() % nj;
-      DO(printf ("destroying joint %p\n",joint[k]));
-      dJointDestroy (joint[k]);
-      checkWorld (w);
-      for (; k < (NUM-1); k++) joint[k] = joint[k+1];
-      nj--;
-      DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
-    }
-  }
-
-  /*
-  printf ("creating world\n");
-  dWorldID w = dWorldCreate();
-  checkWorld (w);
-  printf ("creating body\n");
-  dBodyID b1 = dBodyCreate (w);
-  checkWorld (w);
-  printf ("creating body\n");
-  dBodyID b2 = dBodyCreate (w);
-  checkWorld (w);
-  printf ("creating joint\n");
-  dJointID j = dJointCreateBall (w);
-  checkWorld (w);
-  printf ("attaching joint\n");
-  dJointAttach (j,b1,b2);
-  checkWorld (w);
-  printf ("destroying joint\n");
-  dJointDestroy (j);
-  checkWorld (w);
-  printf ("destroying body\n");
-  dBodyDestroy (b1);
-  checkWorld (w);
-  printf ("destroying body\n");
-  dBodyDestroy (b2);
-  checkWorld (w);
-  printf ("destroying world\n");
-  dWorldDestroy (w);
-  */
-}
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/step.cpp b/libraries/ode-0.9/contrib/BreakableJoints/step.cpp
deleted file mode 100644
index 38aed6c..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/step.cpp
+++ /dev/null
@@ -1,1170 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include "objects.h"
-#include "joint.h"
-#include <ode/config.h>
-#include <ode/odemath.h>
-#include <ode/rotation.h>
-#include <ode/timer.h>
-#include <ode/error.h>
-#include <ode/matrix.h>
-#include "lcp.h"
-
-//****************************************************************************
-// misc defines
-
-#define FAST_FACTOR
-//#define TIMING
-
-#define ALLOCA dALLOCA16
-
-//****************************************************************************
-// debugging - comparison of various vectors and matrices produced by the
-// slow and fast versions of the stepper.
-
-//#define COMPARE_METHODS
-
-#ifdef COMPARE_METHODS
-#include "testing.h"
-dMatrixComparison comparator;
-#endif
-
-//****************************************************************************
-// special matrix multipliers
-
-// this assumes the 4th and 8th rows of B and C are zero.
-
-static void Multiply2_p8r (dReal *A, dReal *B, dReal *C,
-                           int p, int r, int Askip)
-{
-  int i,j;
-  dReal sum,*bb,*cc;
-  dIASSERT (p>0 && r>0 && A && B && C);
-  bb = B;
-  for (i=p; i; i--) {
-    cc = C;
-    for (j=r; j; j--) {
-      sum = bb[0]*cc[0];
-      sum += bb[1]*cc[1];
-      sum += bb[2]*cc[2];
-      sum += bb[4]*cc[4];
-      sum += bb[5]*cc[5];
-      sum += bb[6]*cc[6];
-      *(A++) = sum; 
-      cc += 8;
-    }
-    A += Askip - r;
-    bb += 8;
-  }
-}
-
-
-// this assumes the 4th and 8th rows of B and C are zero.
-
-static void MultiplyAdd2_p8r (dReal *A, dReal *B, dReal *C,
-                              int p, int r, int Askip)
-{
-  int i,j;
-  dReal sum,*bb,*cc;
-  dIASSERT (p>0 && r>0 && A && B && C);
-  bb = B;
-  for (i=p; i; i--) {
-    cc = C;
-    for (j=r; j; j--) {
-      sum = bb[0]*cc[0];
-      sum += bb[1]*cc[1];
-      sum += bb[2]*cc[2];
-      sum += bb[4]*cc[4];
-      sum += bb[5]*cc[5];
-      sum += bb[6]*cc[6];
-      *(A++) += sum; 
-      cc += 8;
-    }
-    A += Askip - r;
-    bb += 8;
-  }
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void Multiply0_p81 (dReal *A, dReal *B, dReal *C, int p)
-{
-  int i;
-  dIASSERT (p>0 && A && B && C);
-  dReal sum;
-  for (i=p; i; i--) {
-    sum =  B[0]*C[0];
-    sum += B[1]*C[1];
-    sum += B[2]*C[2];
-    sum += B[4]*C[4];
-    sum += B[5]*C[5];
-    sum += B[6]*C[6];
-    *(A++) = sum;
-    B += 8;
-  }
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void MultiplyAdd0_p81 (dReal *A, dReal *B, dReal *C, int p)
-{
-  int i;
-  dIASSERT (p>0 && A && B && C);
-  dReal sum;
-  for (i=p; i; i--) {
-    sum =  B[0]*C[0];
-    sum += B[1]*C[1];
-    sum += B[2]*C[2];
-    sum += B[4]*C[4];
-    sum += B[5]*C[5];
-    sum += B[6]*C[6];
-    *(A++) += sum;
-    B += 8;
-  }
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void MultiplyAdd1_8q1 (dReal *A, dReal *B, dReal *C, int q)
-{
-  int k;
-  dReal sum;
-  dIASSERT (q>0 && A && B && C);
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[k*8] * C[k];
-  A[0] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[1+k*8] * C[k];
-  A[1] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[2+k*8] * C[k];
-  A[2] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[4+k*8] * C[k];
-  A[4] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[5+k*8] * C[k];
-  A[5] += sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[6+k*8] * C[k];
-  A[6] += sum;
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void Multiply1_8q1 (dReal *A, dReal *B, dReal *C, int q)
-{
-  int k;
-  dReal sum;
-  dIASSERT (q>0 && A && B && C);
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[k*8] * C[k];
-  A[0] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[1+k*8] * C[k];
-  A[1] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[2+k*8] * C[k];
-  A[2] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[4+k*8] * C[k];
-  A[4] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[5+k*8] * C[k];
-  A[5] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[6+k*8] * C[k];
-  A[6] = sum;
-}
-
-//****************************************************************************
-// body rotation
-
-// return sin(x)/x. this has a singularity at 0 so special handling is needed
-// for small arguments.
-
-static inline dReal sinc (dReal x)
-{
-  // if |x| < 1e-4 then use a taylor series expansion. this two term expansion
-  // is actually accurate to one LS bit within this range if double precision
-  // is being used - so don't worry!
-  if (dFabs(x) < 1.0e-4) return REAL(1.0) - x*x*REAL(0.166666666666666666667);
-  else return dSin(x)/x;
-}
-
-
-// given a body b, apply its linear and angular rotation over the time
-// interval h, thereby adjusting its position and orientation.
-
-static inline void moveAndRotateBody (dxBody *b, dReal h)
-{
-  int j;
-
-  // handle linear velocity
-  for (j=0; j<3; j++) b->pos[j] += h * b->lvel[j];
-
-  if (b->flags & dxBodyFlagFiniteRotation) {
-    dVector3 irv;       // infitesimal rotation vector
-    dQuaternion q;      // quaternion for finite rotation
-
-    if (b->flags & dxBodyFlagFiniteRotationAxis) {
-      // split the angular velocity vector into a component along the finite
-      // rotation axis, and a component orthogonal to it.
-      dVector3 frv,irv;         // finite rotation vector
-      dReal k = dDOT (b->finite_rot_axis,b->avel);
-      frv[0] = b->finite_rot_axis[0] * k;
-      frv[1] = b->finite_rot_axis[1] * k;
-      frv[2] = b->finite_rot_axis[2] * k;
-      irv[0] = b->avel[0] - frv[0];
-      irv[1] = b->avel[1] - frv[1];
-      irv[2] = b->avel[2] - frv[2];
-
-      // make a rotation quaternion q that corresponds to frv * h.
-      // compare this with the full-finite-rotation case below.
-      h *= REAL(0.5);
-      dReal theta = k * h;
-      q[0] = dCos(theta);
-      dReal s = sinc(theta) * h;
-      q[1] = frv[0] * s;
-      q[2] = frv[1] * s;
-      q[3] = frv[2] * s;
-    }
-    else {
-      // make a rotation quaternion q that corresponds to w * h
-      dReal wlen = dSqrt (b->avel[0]*b->avel[0] + b->avel[1]*b->avel[1] +
-                          b->avel[2]*b->avel[2]);
-      h *= REAL(0.5);
-      dReal theta = wlen * h;
-      q[0] = dCos(theta);
-      dReal s = sinc(theta) * h;
-      q[1] = b->avel[0] * s;
-      q[2] = b->avel[1] * s;
-      q[3] = b->avel[2] * s;
-    }
-
-    // do the finite rotation
-    dQuaternion q2;
-    dQMultiply0 (q2,q,b->q);
-    for (j=0; j<4; j++) b->q[j] = q2[j];
-
-    // do the infitesimal rotation if required
-    if (b->flags & dxBodyFlagFiniteRotationAxis) {
-      dReal dq[4];
-      dWtoDQ (irv,b->q,dq);
-      for (j=0; j<4; j++) b->q[j] += h * dq[j];
-    }
-  }
-  else {
-    // the normal way - do an infitesimal rotation
-    dReal dq[4];
-    dWtoDQ (b->avel,b->q,dq);
-    for (j=0; j<4; j++) b->q[j] += h * dq[j];
-  }
-
-  // normalize the quaternion and convert it to a rotation matrix
-  dNormalize4 (b->q);
-  dQtoR (b->q,b->R);
-
-  // notify all attached geoms that this body has moved
-  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
-    dGeomMoved (geom);
-}
-
-//****************************************************************************
-// the slow, but sure way
-// note that this does not do any joint feedback!
-
-// given lists of bodies and joints that form an island, perform a first
-// order timestep.
-//
-// `body' is the body array, `nb' is the size of the array.
-// `_joint' is the body array, `nj' is the size of the array.
-
-void dInternalStepIsland_x1 (dxWorld *world, dxBody * const *body, int nb,
-                             dxJoint * const *_joint, int nj, dReal stepsize)
-{
-  int i,j,k;
-  int n6 = 6*nb;
-
-# ifdef TIMING
-  dTimerStart("preprocessing");
-# endif
-
-  // number all bodies in the body list - set their tag values
-  for (i=0; i<nb; i++) body[i]->tag = i;
-
-  // make a local copy of the joint array, because we might want to modify it.
-  // (the "dxJoint *const*" declaration says we're allowed to modify the joints
-  // but not the joint array, because the caller might need it unchanged).
-  dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*));
-  memcpy (joint,_joint,nj * sizeof(dxJoint*));
-
-  // for all bodies, compute the inertia tensor and its inverse in the global
-  // frame, and compute the rotational force and add it to the torque
-  // accumulator.
-  // @@@ check computation of rotational force.
-  dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal));
-  dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal));
-
-  //dSetZero (I,3*nb*4);
-  //dSetZero (invI,3*nb*4);
-  for (i=0; i<nb; i++) {
-    dReal tmp[12];
-    // compute inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->R);
-    dMULTIPLY0_333 (I+i*12,body[i]->R,tmp);
-    // compute inverse inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R);
-    dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp);
-    // compute rotational force
-    dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel);
-    dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
-  }
-
-  // add the gravity force to all bodies
-  for (i=0; i<nb; i++) {
-    if ((body[i]->flags & dxBodyNoGravity)==0) {
-      body[i]->facc[0] += body[i]->mass.mass * world->gravity[0];
-      body[i]->facc[1] += body[i]->mass.mass * world->gravity[1];
-      body[i]->facc[2] += body[i]->mass.mass * world->gravity[2];
-    }
-  }
-
-  // get m = total constraint dimension, nub = number of unbounded variables.
-  // create constraint offset array and number-of-rows array for all joints.
-  // the constraints are re-ordered as follows: the purely unbounded
-  // constraints, the mixed unbounded + LCP constraints, and last the purely
-  // LCP constraints.
-  //
-  // joints with m=0 are inactive and are removed from the joints array
-  // entirely, so that the code that follows does not consider them.
-  int m = 0;
-  dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1));
-  int *ofs = (int*) ALLOCA (nj*sizeof(int));
-  for (i=0, j=0; j<nj; j++) {   // i=dest, j=src
-    joint[j]->vtable->getInfo1 (joint[j],info+i);
-    dIASSERT (info[i].m >= 0 && info[i].m <= 6 &&
-              info[i].nub >= 0 && info[i].nub <= info[i].m);
-    if (info[i].m > 0) {
-      joint[i] = joint[j];
-      i++;
-    }
-  }
-  nj = i;
-
-  // the purely unbounded constraints
-  for (i=0; i<nj; i++) if (info[i].nub == info[i].m) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-  int nub = m;
-  // the mixed unbounded + LCP constraints
-  for (i=0; i<nj; i++) if (info[i].nub > 0 && info[i].nub < info[i].m) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-  // the purely LCP constraints
-  for (i=0; i<nj; i++) if (info[i].nub == 0) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-
-  // create (6*nb,6*nb) inverse mass matrix `invM', and fill it with mass
-  // parameters
-# ifdef TIMING
-  dTimerNow ("create mass matrix");
-# endif
-  int nskip = dPAD (n6);
-  dReal *invM = (dReal*) ALLOCA (n6*nskip*sizeof(dReal));
-  dSetZero (invM,n6*nskip);
-  for (i=0; i<nb; i++) {
-    dReal *MM = invM+(i*6)*nskip+(i*6);
-    MM[0] = body[i]->invMass;
-    MM[nskip+1] = body[i]->invMass;
-    MM[2*nskip+2] = body[i]->invMass;
-    MM += 3*nskip+3;
-    for (j=0; j<3; j++) for (k=0; k<3; k++) {
-      MM[j*nskip+k] = invI[i*12+j*4+k];
-    }
-  }
-
-  // assemble some body vectors: fe = external forces, v = velocities
-  dReal *fe = (dReal*) ALLOCA (n6 * sizeof(dReal));
-  dReal *v = (dReal*) ALLOCA (n6 * sizeof(dReal));
-  //dSetZero (fe,n6);
-  //dSetZero (v,n6);
-  for (i=0; i<nb; i++) {
-    for (j=0; j<3; j++) fe[i*6+j] = body[i]->facc[j];
-    for (j=0; j<3; j++) fe[i*6+3+j] = body[i]->tacc[j];
-    for (j=0; j<3; j++) v[i*6+j] = body[i]->lvel[j];
-    for (j=0; j<3; j++) v[i*6+3+j] = body[i]->avel[j];
-  }
-
-  // this will be set to the velocity update
-  dReal *vnew = (dReal*) ALLOCA (n6 * sizeof(dReal));
-  dSetZero (vnew,n6);
-
-  // if there are constraints, compute cforce
-  if (m > 0) {
-    // create a constraint equation right hand side vector `c', a constraint
-    // force mixing vector `cfm', and LCP low and high bound vectors, and an
-    // 'findex' vector.
-    dReal *c = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal));
-    int *findex = (int*) alloca (m*sizeof(int));
-    dSetZero (c,m);
-    dSetValue (cfm,m,world->global_cfm);
-    dSetValue (lo,m,-dInfinity);
-    dSetValue (hi,m, dInfinity);
-    for (i=0; i<m; i++) findex[i] = -1;
-
-    // create (m,6*nb) jacobian mass matrix `J', and fill it with constraint
-    // data. also fill the c vector.
-#   ifdef TIMING
-    dTimerNow ("create J");
-#   endif
-    dReal *J = (dReal*) ALLOCA (m*nskip*sizeof(dReal));
-    dSetZero (J,m*nskip);
-    dxJoint::Info2 Jinfo;
-    Jinfo.rowskip = nskip;
-    Jinfo.fps = dRecip(stepsize);
-    Jinfo.erp = world->global_erp;
-    for (i=0; i<nj; i++) {
-      Jinfo.J1l = J + nskip*ofs[i] + 6*joint[i]->node[0].body->tag;
-      Jinfo.J1a = Jinfo.J1l + 3;
-      if (joint[i]->node[1].body) {
-        Jinfo.J2l = J + nskip*ofs[i] + 6*joint[i]->node[1].body->tag;
-        Jinfo.J2a = Jinfo.J2l + 3;
-      }
-      else {
-        Jinfo.J2l = 0;
-        Jinfo.J2a = 0;
-      }
-      Jinfo.c = c + ofs[i];
-      Jinfo.cfm = cfm + ofs[i];
-      Jinfo.lo = lo + ofs[i];
-      Jinfo.hi = hi + ofs[i];
-      Jinfo.findex = findex + ofs[i];
-      joint[i]->vtable->getInfo2 (joint[i],&Jinfo);
-      // adjust returned findex values for global index numbering
-      for (j=0; j<info[i].m; j++) {
-        if (findex[ofs[i] + j] >= 0) findex[ofs[i] + j] += ofs[i];
-      }
-    }
-
-    // compute A = J*invM*J'
-#   ifdef TIMING
-    dTimerNow ("compute A");
-#   endif
-    dReal *JinvM = (dReal*) ALLOCA (m*nskip*sizeof(dReal));
-    //dSetZero (JinvM,m*nskip);
-    dMultiply0 (JinvM,J,invM,m,n6,n6);
-    int mskip = dPAD(m);
-    dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal));
-    //dSetZero (A,m*mskip);
-    dMultiply2 (A,JinvM,J,m,n6,m);
-
-    // add cfm to the diagonal of A
-    for (i=0; i<m; i++) A[i*mskip+i] += cfm[i] * Jinfo.fps;
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (A,m,m,1,"A");
-#   endif
-
-    // compute `rhs', the right hand side of the equation J*a=c
-#   ifdef TIMING
-    dTimerNow ("compute rhs");
-#   endif
-    dReal *tmp1 = (dReal*) ALLOCA (n6 * sizeof(dReal));
-    //dSetZero (tmp1,n6);
-    dMultiply0 (tmp1,invM,fe,n6,n6,1);
-    for (i=0; i<n6; i++) tmp1[i] += v[i]/stepsize;
-    dReal *rhs = (dReal*) ALLOCA (m * sizeof(dReal));
-    //dSetZero (rhs,m);
-    dMultiply0 (rhs,J,tmp1,m,n6,1);
-    for (i=0; i<m; i++) rhs[i] = c[i]/stepsize - rhs[i];
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (c,m,1,0,"c");
-    comparator.nextMatrix (rhs,m,1,0,"rhs");
-#   endif
-
-    // solve the LCP problem and get lambda.
-    // this will destroy A but that's okay
-#   ifdef TIMING
-    dTimerNow ("solving LCP problem");
-#   endif
-    dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal));
-    dReal *residual = (dReal*) ALLOCA (m * sizeof(dReal));
-    dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex);
-
-//  OLD WAY - direct factor and solve
-//
-//    // factorize A (L*L'=A)
-//#   ifdef TIMING
-//    dTimerNow ("factorize A");
-//#   endif
-//    dReal *L = (dReal*) ALLOCA (m*mskip*sizeof(dReal));
-//    memcpy (L,A,m*mskip*sizeof(dReal));
-//    if (dFactorCholesky (L,m)==0) dDebug (0,"A is not positive definite");
-//
-//    // compute lambda
-//#   ifdef TIMING
-//    dTimerNow ("compute lambda");
-//#   endif
-//    dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal));
-//    memcpy (lambda,rhs,m * sizeof(dReal));
-//    dSolveCholesky (L,lambda,m);
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (lambda,m,1,0,"lambda");
-#   endif
-
-    // compute the velocity update `vnew'
-#   ifdef TIMING
-    dTimerNow ("compute velocity update");
-#   endif
-    dMultiply1 (tmp1,J,lambda,n6,m,1);
-    for (i=0; i<n6; i++) tmp1[i] += fe[i];
-    dMultiply0 (vnew,invM,tmp1,n6,n6,1);
-    for (i=0; i<n6; i++) vnew[i] = v[i] + stepsize*vnew[i];
-
-    // see if the constraint has worked: compute J*vnew and make sure it equals
-    // `c' (to within a certain tolerance).
-#   ifdef TIMING
-    dTimerNow ("verify constraint equation");
-#   endif
-    dMultiply0 (tmp1,J,vnew,m,n6,1);
-    dReal err = 0;
-    for (i=0; i<m; i++) err += dFabs(tmp1[i]-c[i]);
-    printf ("%.6e\n",err);
-  }
-  else {
-    // no constraints
-    dMultiply0 (vnew,invM,fe,n6,n6,1);
-    for (i=0; i<n6; i++) vnew[i] = v[i] + stepsize*vnew[i];
-  }
-
-# ifdef COMPARE_METHODS
-  comparator.nextMatrix (vnew,n6,1,0,"vnew");
-# endif
-
-  // apply the velocity update to the bodies
-# ifdef TIMING
-  dTimerNow ("update velocity");
-# endif
-  for (i=0; i<nb; i++) {
-    for (j=0; j<3; j++) body[i]->lvel[j] = vnew[i*6+j];
-    for (j=0; j<3; j++) body[i]->avel[j] = vnew[i*6+3+j];
-  }
-
-  // update the position and orientation from the new linear/angular velocity
-  // (over the given timestep)
-# ifdef TIMING
-  dTimerNow ("update position");
-# endif
-  for (i=0; i<nb; i++) moveAndRotateBody (body[i],stepsize);
-
-# ifdef TIMING
-  dTimerNow ("tidy up");
-# endif
-
-  // zero all force accumulators
-  for (i=0; i<nb; i++) {
-    body[i]->facc[0] = 0;
-    body[i]->facc[1] = 0;
-    body[i]->facc[2] = 0;
-    body[i]->facc[3] = 0;
-    body[i]->tacc[0] = 0;
-    body[i]->tacc[1] = 0;
-    body[i]->tacc[2] = 0;
-    body[i]->tacc[3] = 0;
-  }
-
-# ifdef TIMING
-  dTimerEnd();
-  if (m > 0) dTimerReport (stdout,1);
-# endif
-}
-
-//****************************************************************************
-// an optimized version of dInternalStepIsland1()
-
-void dInternalStepIsland_x2 (dxWorld *world, dxBody * const *body, int nb,
-                             dxJoint * const *_joint, int nj, dReal stepsize)
-{
-  int i,j,k;
-# ifdef TIMING
-  dTimerStart("preprocessing");
-# endif
-
-  dReal stepsize1 = dRecip(stepsize);
-
-  // number all bodies in the body list - set their tag values
-  for (i=0; i<nb; i++) body[i]->tag = i;
-
-  // make a local copy of the joint array, because we might want to modify it.
-  // (the "dxJoint *const*" declaration says we're allowed to modify the joints
-  // but not the joint array, because the caller might need it unchanged).
-  dxJoint **joint = (dxJoint**) ALLOCA (nj * sizeof(dxJoint*));
-  memcpy (joint,_joint,nj * sizeof(dxJoint*));
-
-  // for all bodies, compute the inertia tensor and its inverse in the global
-  // frame, and compute the rotational force and add it to the torque
-  // accumulator. I and invI are vertically stacked 3x4 matrices, one per body.
-  // @@@ check computation of rotational force.
-  dReal *I = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal));
-  dReal *invI = (dReal*) ALLOCA (3*nb*4 * sizeof(dReal));
-
-  //dSetZero (I,3*nb*4);
-  //dSetZero (invI,3*nb*4);
-  for (i=0; i<nb; i++) {
-    dReal tmp[12];
-    // compute inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->R);
-    dMULTIPLY0_333 (I+i*12,body[i]->R,tmp);
-    // compute inverse inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R);
-    dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp);
-    // compute rotational force
-    dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel);
-    dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
-  }
-
-  // add the gravity force to all bodies
-  for (i=0; i<nb; i++) {
-    if ((body[i]->flags & dxBodyNoGravity)==0) {
-      body[i]->facc[0] += body[i]->mass.mass * world->gravity[0];
-      body[i]->facc[1] += body[i]->mass.mass * world->gravity[1];
-      body[i]->facc[2] += body[i]->mass.mass * world->gravity[2];
-    }
-  }
-
-  // get m = total constraint dimension, nub = number of unbounded variables.
-  // create constraint offset array and number-of-rows array for all joints.
-  // the constraints are re-ordered as follows: the purely unbounded
-  // constraints, the mixed unbounded + LCP constraints, and last the purely
-  // LCP constraints. this assists the LCP solver to put all unbounded
-  // variables at the start for a quick factorization.
-  //
-  // joints with m=0 are inactive and are removed from the joints array
-  // entirely, so that the code that follows does not consider them.
-  // also number all active joints in the joint list (set their tag values).
-  // inactive joints receive a tag value of -1.
-
-  int m = 0;
-  dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1));
-  int *ofs = (int*) ALLOCA (nj*sizeof(int));
-  for (i=0, j=0; j<nj; j++) {   // i=dest, j=src
-    joint[j]->vtable->getInfo1 (joint[j],info+i);
-    dIASSERT (info[i].m >= 0 && info[i].m <= 6 &&
-              info[i].nub >= 0 && info[i].nub <= info[i].m);
-    if (info[i].m > 0) {
-      joint[i] = joint[j];
-      joint[i]->tag = i;
-      i++;
-    }
-    else {
-      joint[j]->tag = -1;
-    }
-  }
-  nj = i;
-
-  // the purely unbounded constraints
-  for (i=0; i<nj; i++) if (info[i].nub == info[i].m) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-  int nub = m;
-  // the mixed unbounded + LCP constraints
-  for (i=0; i<nj; i++) if (info[i].nub > 0 && info[i].nub < info[i].m) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-  // the purely LCP constraints
-  for (i=0; i<nj; i++) if (info[i].nub == 0) {
-    ofs[i] = m;
-    m += info[i].m;
-  }
-
-  // this will be set to the force due to the constraints
-  dReal *cforce = (dReal*) ALLOCA (nb*8 * sizeof(dReal));
-  dSetZero (cforce,nb*8);
-
-  // if there are constraints, compute cforce
-  if (m > 0) {
-    // create a constraint equation right hand side vector `c', a constraint
-    // force mixing vector `cfm', and LCP low and high bound vectors, and an
-    // 'findex' vector.
-    dReal *c = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *cfm = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *lo = (dReal*) ALLOCA (m*sizeof(dReal));
-    dReal *hi = (dReal*) ALLOCA (m*sizeof(dReal));
-    int *findex = (int*) alloca (m*sizeof(int));
-    dSetZero (c,m);
-    dSetValue (cfm,m,world->global_cfm);
-    dSetValue (lo,m,-dInfinity);
-    dSetValue (hi,m, dInfinity);
-    for (i=0; i<m; i++) findex[i] = -1;
-
-    // get jacobian data from constraints. a (2*m)x8 matrix will be created
-    // to store the two jacobian blocks from each constraint. it has this
-    // format:
-    //
-    //   l l l 0 a a a 0  \    .
-    //   l l l 0 a a a 0   }-- jacobian body 1 block for joint 0 (3 rows)
-    //   l l l 0 a a a 0  /
-    //   l l l 0 a a a 0  \    .
-    //   l l l 0 a a a 0   }-- jacobian body 2 block for joint 0 (3 rows)
-    //   l l l 0 a a a 0  /
-    //   l l l 0 a a a 0  }--- jacobian body 1 block for joint 1 (1 row)
-    //   l l l 0 a a a 0  }--- jacobian body 2 block for joint 1 (1 row)
-    //   etc...
-    //
-    //   (lll) = linear jacobian data
-    //   (aaa) = angular jacobian data
-    //
-#   ifdef TIMING
-    dTimerNow ("create J");
-#   endif
-    dReal *J = (dReal*) ALLOCA (2*m*8*sizeof(dReal));
-    dSetZero (J,2*m*8);
-    dxJoint::Info2 Jinfo;
-    Jinfo.rowskip = 8;
-    Jinfo.fps = stepsize1;
-    Jinfo.erp = world->global_erp;
-    for (i=0; i<nj; i++) {
-      Jinfo.J1l = J + 2*8*ofs[i];
-      Jinfo.J1a = Jinfo.J1l + 4;
-      Jinfo.J2l = Jinfo.J1l + 8*info[i].m;
-      Jinfo.J2a = Jinfo.J2l + 4;
-      Jinfo.c = c + ofs[i];
-      Jinfo.cfm = cfm + ofs[i];
-      Jinfo.lo = lo + ofs[i];
-      Jinfo.hi = hi + ofs[i];
-      Jinfo.findex = findex + ofs[i];
-      joint[i]->vtable->getInfo2 (joint[i],&Jinfo);
-      // adjust returned findex values for global index numbering
-      for (j=0; j<info[i].m; j++) {
-        if (findex[ofs[i] + j] >= 0) findex[ofs[i] + j] += ofs[i];
-      }
-    }
-
-    // compute A = J*invM*J'. first compute JinvM = J*invM. this has the same
-    // format as J so we just go through the constraints in J multiplying by
-    // the appropriate scalars and matrices.
-#   ifdef TIMING
-    dTimerNow ("compute A");
-#   endif
-    dReal *JinvM = (dReal*) ALLOCA (2*m*8*sizeof(dReal));
-    dSetZero (JinvM,2*m*8);
-    for (i=0; i<nj; i++) {
-      int b = joint[i]->node[0].body->tag;
-      dReal body_invMass = body[b]->invMass;
-      dReal *body_invI = invI + b*12;
-      dReal *Jsrc = J + 2*8*ofs[i];
-      dReal *Jdst = JinvM + 2*8*ofs[i];
-      for (j=info[i].m-1; j>=0; j--) {
-        for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass;
-        dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI);
-        Jsrc += 8;
-        Jdst += 8;
-      }
-      if (joint[i]->node[1].body) {
-        b = joint[i]->node[1].body->tag;
-        body_invMass = body[b]->invMass;
-        body_invI = invI + b*12;
-        for (j=info[i].m-1; j>=0; j--) {
-          for (k=0; k<3; k++) Jdst[k] = Jsrc[k] * body_invMass;
-          dMULTIPLY0_133 (Jdst+4,Jsrc+4,body_invI);
-          Jsrc += 8;
-          Jdst += 8;
-        }
-      }
-    }
-
-    // now compute A = JinvM * J'. A's rows and columns are grouped by joint,
-    // i.e. in the same way as the rows of J. block (i,j) of A is only nonzero
-    // if joints i and j have at least one body in common. this fact suggests
-    // the algorithm used to fill A:
-    //
-    //    for b = all bodies
-    //      n = number of joints attached to body b
-    //      for i = 1..n
-    //        for j = i+1..n
-    //          ii = actual joint number for i
-    //          jj = actual joint number for j
-    //          // (ii,jj) will be set to all pairs of joints around body b
-    //          compute blockwise: A(ii,jj) += JinvM(ii) * J(jj)'
-    //
-    // this algorithm catches all pairs of joints that have at least one body
-    // in common. it does not compute the diagonal blocks of A however -
-    // another similar algorithm does that.
-
-    int mskip = dPAD(m);
-    dReal *A = (dReal*) ALLOCA (m*mskip*sizeof(dReal));
-    dSetZero (A,m*mskip);
-    for (i=0; i<nb; i++) {
-      for (dxJointNode *n1=body[i]->firstjoint; n1; n1=n1->next) {
-        for (dxJointNode *n2=n1->next; n2; n2=n2->next) {
-          // get joint numbers and ensure ofs[j1] >= ofs[j2]
-          int j1 = n1->joint->tag;
-          int j2 = n2->joint->tag;
-          if (ofs[j1] < ofs[j2]) {
-            int tmp = j1;
-            j1 = j2;
-            j2 = tmp;
-          }
-
-          // if either joint was tagged as -1 then it is an inactive (m=0)
-          // joint that should not be considered
-          if (j1==-1 || j2==-1) continue;
-
-          // determine if body i is the 1st or 2nd body of joints j1 and j2
-          int jb1 = (joint[j1]->node[1].body == body[i]);
-          int jb2 = (joint[j2]->node[1].body == body[i]);
-          // jb1/jb2 must be 0 for joints with only one body
-          dIASSERT(joint[j1]->node[1].body || jb1==0);
-          dIASSERT(joint[j2]->node[1].body || jb2==0);
-
-          // set block of A
-          MultiplyAdd2_p8r (A + ofs[j1]*mskip + ofs[j2],
-                            JinvM + 2*8*ofs[j1] + jb1*8*info[j1].m,
-                            J     + 2*8*ofs[j2] + jb2*8*info[j2].m,
-                            info[j1].m,info[j2].m, mskip);
-        }
-      }
-    }
-    // compute diagonal blocks of A
-    for (i=0; i<nj; i++) {
-      Multiply2_p8r (A + ofs[i]*(mskip+1),
-                     JinvM + 2*8*ofs[i],
-                     J + 2*8*ofs[i],
-                     info[i].m,info[i].m, mskip);
-      if (joint[i]->node[1].body) {
-        MultiplyAdd2_p8r (A + ofs[i]*(mskip+1),
-                          JinvM + 2*8*ofs[i] + 8*info[i].m,
-                          J + 2*8*ofs[i] + 8*info[i].m,
-                          info[i].m,info[i].m, mskip);
-      }
-    }
-
-    // add cfm to the diagonal of A
-    for (i=0; i<m; i++) A[i*mskip+i] += cfm[i] * stepsize1;
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (A,m,m,1,"A");
-#   endif
-
-    // compute the right hand side `rhs'
-#   ifdef TIMING
-    dTimerNow ("compute rhs");
-#   endif
-    dReal *tmp1 = (dReal*) ALLOCA (nb*8 * sizeof(dReal));
-    //dSetZero (tmp1,nb*8);
-    // put v/h + invM*fe into tmp1
-    for (i=0; i<nb; i++) {
-      dReal body_invMass = body[i]->invMass;
-      dReal *body_invI = invI + i*12;
-      for (j=0; j<3; j++) tmp1[i*8+j] = body[i]->facc[j] * body_invMass +
-                            body[i]->lvel[j] * stepsize1;
-      dMULTIPLY0_331 (tmp1 + i*8 + 4,body_invI,body[i]->tacc);
-      for (j=0; j<3; j++) tmp1[i*8+4+j] += body[i]->avel[j] * stepsize1;
-    }
-    // put J*tmp1 into rhs
-    dReal *rhs = (dReal*) ALLOCA (m * sizeof(dReal));
-    //dSetZero (rhs,m);
-    for (i=0; i<nj; i++) {
-      dReal *JJ = J + 2*8*ofs[i];
-      Multiply0_p81 (rhs+ofs[i],JJ,
-                     tmp1 + 8*joint[i]->node[0].body->tag, info[i].m);
-      if (joint[i]->node[1].body) {
-        MultiplyAdd0_p81 (rhs+ofs[i],JJ + 8*info[i].m,
-                          tmp1 + 8*joint[i]->node[1].body->tag, info[i].m);
-      }
-    }
-    // complete rhs
-    for (i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i];
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (c,m,1,0,"c");
-    comparator.nextMatrix (rhs,m,1,0,"rhs");
-#   endif
-
-    // solve the LCP problem and get lambda.
-    // this will destroy A but that's okay
-#   ifdef TIMING
-    dTimerNow ("solving LCP problem");
-#   endif
-    dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal));
-    dReal *residual = (dReal*) ALLOCA (m * sizeof(dReal));
-    dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex);
-
-//  OLD WAY - direct factor and solve
-//
-//    // factorize A (L*L'=A)
-//#   ifdef TIMING
-//    dTimerNow ("factorize A");
-//#   endif
-//    dReal *L = (dReal*) ALLOCA (m*mskip*sizeof(dReal));
-//    memcpy (L,A,m*mskip*sizeof(dReal));
-//#   ifdef FAST_FACTOR
-//    dFastFactorCholesky (L,m);  // does not report non positive definiteness
-//#   else
-//    if (dFactorCholesky (L,m)==0) dDebug (0,"A is not positive definite");
-//#   endif
-//
-//    // compute lambda
-//#   ifdef TIMING
-//    dTimerNow ("compute lambda");
-//#   endif
-//    dReal *lambda = (dReal*) ALLOCA (m * sizeof(dReal));
-//    memcpy (lambda,rhs,m * sizeof(dReal));
-//    dSolveCholesky (L,lambda,m);
-
-#   ifdef COMPARE_METHODS
-    comparator.nextMatrix (lambda,m,1,0,"lambda");
-#   endif
-
-    // compute the constraint force `cforce'
-#   ifdef TIMING
-    dTimerNow ("compute constraint force");
-#   endif
-    // compute cforce = J'*lambda
-    for (i=0; i<nj; i++) {
-      dReal *JJ = J + 2*8*ofs[i];
-      dxBody* b1 = joint[i]->node[0].body;
-      dxBody* b2 = joint[i]->node[1].body;
-      dJointFeedback *fb = joint[i]->feedback;
-
-/******************** breakable joint contribution ***********************/
-    // this saves us a few dereferences
-    dxJointBreakInfo *jBI = joint[i]->breakInfo;
-    // we need joint feedback if the joint is breakable or if the user
-    // requested feedback.
-        if (jBI||fb) {
-      // we need feedback on the amount of force that this joint is
-      // applying to the bodies. we use a slightly slower computation
-      // that splits out the force components and puts them in the
-      // feedback structure.
-      dJointFeedback temp_fb; // temporary storage for joint feedback
-          dReal data1[8],data2[8];
-          Multiply1_8q1 (data1, JJ, lambda+ofs[i], info[i].m);
-          dReal *cf1 = cforce + 8*b1->tag;
-          cf1[0] += (temp_fb.f1[0] = data1[0]);
-          cf1[1] += (temp_fb.f1[1] = data1[1]);
-          cf1[2] += (temp_fb.f1[2] = data1[2]);
-          cf1[4] += (temp_fb.t1[0] = data1[4]);
-          cf1[5] += (temp_fb.t1[1] = data1[5]);
-          cf1[6] += (temp_fb.t1[2] = data1[6]);
-          if (b2) {
-            Multiply1_8q1 (data2, JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
-            dReal *cf2 = cforce + 8*b2->tag;
-            cf2[0] += (temp_fb.f2[0] = data2[0]);
-            cf2[1] += (temp_fb.f2[1] = data2[1]);
-            cf2[2] += (temp_fb.f2[2] = data2[2]);
-            cf2[4] += (temp_fb.t2[0] = data2[4]);
-            cf2[5] += (temp_fb.t2[1] = data2[5]);
-            cf2[6] += (temp_fb.t2[2] = data2[6]);
-          }
-          // if the user requested so we must copy the feedback information to
-          // the feedback struct that the user suplied.
-          if (fb) {
-            // copy temp_fb to fb
-            fb->f1[0] = temp_fb.f1[0];
-            fb->f1[1] = temp_fb.f1[1];
-            fb->f1[2] = temp_fb.f1[2];
-            fb->t1[0] = temp_fb.t1[0];
-            fb->t1[1] = temp_fb.t1[1];
-            fb->t1[2] = temp_fb.t1[2];
-            if (b2) {
-              fb->f2[0] = temp_fb.f2[0];
-              fb->f2[1] = temp_fb.f2[1];
-              fb->f2[2] = temp_fb.f2[2];
-              fb->t2[0] = temp_fb.t2[0];
-              fb->t2[1] = temp_fb.t2[1];
-              fb->t2[2] = temp_fb.t2[2];
-            }
-          }
-          // if the joint is breakable we need to check the breaking conditions
-      if (jBI) {
-        dReal relCF1[3];
-                dReal relCT1[3];
-                // multiply the force and torque vectors by the rotation matrix of body 1
-                dMULTIPLY1_331 (&relCF1[0],b1->R,&temp_fb.f1[0]);
-                dMULTIPLY1_331 (&relCT1[0],b1->R,&temp_fb.t1[0]);
-                if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) {
-                  // check if the force is to high
-          for (int i = 0; i < 3; i++) {
-            if (relCF1[i] > jBI->b1MaxF[i]) {
-                      jBI->flags |= dJOINT_BROKEN;
-                      goto doneCheckingBreaks;
-                    }
-          }
-                }
-                if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) {
-                  // check if the torque is to high
-          for (int i = 0; i < 3; i++) {
-            if (relCT1[i] > jBI->b1MaxT[i]) {
-                      jBI->flags |= dJOINT_BROKEN;
-                      goto doneCheckingBreaks;
-            }
-          }
-                }
-        if (b2) {
-          dReal relCF2[3];
-          dReal relCT2[3];
-          // multiply the force and torque vectors by the rotation matrix of body 2
-          dMULTIPLY1_331 (&relCF2[0],b2->R,&temp_fb.f2[0]);
-          dMULTIPLY1_331 (&relCT2[0],b2->R,&temp_fb.t2[0]);
-                  if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) {
-            // check if the force is to high
-            for (int i = 0; i < 3; i++) {
-              if (relCF2[i] > jBI->b2MaxF[i]) {
-                jBI->flags |= dJOINT_BROKEN;
-                goto doneCheckingBreaks;
-              }
-            }
-                  }
-                  if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) {
-                  // check if the torque is to high
-            for (int i = 0; i < 3; i++) {
-              if (relCT2[i] > jBI->b2MaxT[i]) {
-                jBI->flags |= dJOINT_BROKEN;
-                goto doneCheckingBreaks;
-              }
-            }
-                  }
-        }
-                doneCheckingBreaks:
-                ;
-      }
-    }
-/*************************************************************************/
-      else {
-        // no feedback is required, let's compute cforce the faster way
-        MultiplyAdd1_8q1 (cforce + 8*b1->tag,JJ, lambda+ofs[i], info[i].m);
-        if (b2) {
-          MultiplyAdd1_8q1 (cforce + 8*b2->tag,
-                            JJ + 8*info[i].m, lambda+ofs[i], info[i].m);
-        }
-      }
-    }
-  }
-
-  // compute the velocity update
-# ifdef TIMING
-  dTimerNow ("compute velocity update");
-# endif
-
-  // add fe to cforce
-  for (i=0; i<nb; i++) {
-    for (j=0; j<3; j++) cforce[i*8+j] += body[i]->facc[j];
-    for (j=0; j<3; j++) cforce[i*8+4+j] += body[i]->tacc[j];
-  }
-  // multiply cforce by stepsize
-  for (i=0; i < nb*8; i++) cforce[i] *= stepsize;
-  // add invM * cforce to the body velocity
-  for (i=0; i<nb; i++) {
-    dReal body_invMass = body[i]->invMass;
-    dReal *body_invI = invI + i*12;
-    for (j=0; j<3; j++) body[i]->lvel[j] += body_invMass * cforce[i*8+j];
-    dMULTIPLYADD0_331 (body[i]->avel,body_invI,cforce+i*8+4);
-  }
-
-  // update the position and orientation from the new linear/angular velocity
-  // (over the given timestep)
-# ifdef TIMING
-  dTimerNow ("update position");
-# endif
-  for (i=0; i<nb; i++) moveAndRotateBody (body[i],stepsize);
-
-# ifdef COMPARE_METHODS
-  dReal *tmp_vnew = (dReal*) ALLOCA (nb*6*sizeof(dReal));
-  for (i=0; i<nb; i++) {
-    for (j=0; j<3; j++) tmp_vnew[i*6+j] = body[i]->lvel[j];
-    for (j=0; j<3; j++) tmp_vnew[i*6+3+j] = body[i]->avel[j];
-  }
-  comparator.nextMatrix (tmp_vnew,nb*6,1,0,"vnew");
-# endif
-
-# ifdef TIMING
-  dTimerNow ("tidy up");
-# endif
-
-  // zero all force accumulators
-  for (i=0; i<nb; i++) {
-    body[i]->facc[0] = 0;
-    body[i]->facc[1] = 0;
-    body[i]->facc[2] = 0;
-    body[i]->facc[3] = 0;
-    body[i]->tacc[0] = 0;
-    body[i]->tacc[1] = 0;
-    body[i]->tacc[2] = 0;
-    body[i]->tacc[3] = 0;
-  }
-
-# ifdef TIMING
-  dTimerEnd();
-  if (m > 0) dTimerReport (stdout,1);
-# endif
-}
-
-//****************************************************************************
-
-void dInternalStepIsland (dxWorld *world, dxBody * const *body, int nb,
-                          dxJoint * const *joint, int nj, dReal stepsize)
-{
-# ifndef COMPARE_METHODS
-  dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize);
-# endif
-
-# ifdef COMPARE_METHODS
-  int i;
-
-  // save body state
-  dxBody *state = (dxBody*) ALLOCA (nb*sizeof(dxBody));
-  for (i=0; i<nb; i++) memcpy (state+i,body[i],sizeof(dxBody));
-
-  // take slow step
-  comparator.reset();
-  dInternalStepIsland_x1 (world,body,nb,joint,nj,stepsize);
-  comparator.end();
-
-  // restore state
-  for (i=0; i<nb; i++) memcpy (body[i],state+i,sizeof(dxBody));
-
-  // take fast step
-  dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize);
-  comparator.end();
-
-  //comparator.dump();
-  //_exit (1);
-# endif
-}
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/stepfast.cpp b/libraries/ode-0.9/contrib/BreakableJoints/stepfast.cpp
deleted file mode 100755
index a0eb9ae..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/stepfast.cpp
+++ /dev/null
@@ -1,1212 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * Fast iterative solver, David Whittaker. Email: david@csworkbench.com  *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-// This is the StepFast code by David Whittaker. This code is faster, but
-// sometimes less stable than, the original "big matrix" code.
-// Refer to the user's manual for more information.
-// Note that this source file duplicates a lot of stuff from step.cpp,
-// eventually we should move the common code to a third file.
-
-#include "objects.h"
-#include "joint.h"
-#include <ode/config.h>
-#include <ode/objects.h>
-#include <ode/odemath.h>
-#include <ode/rotation.h>
-#include <ode/timer.h>
-#include <ode/error.h>
-#include <ode/matrix.h>
-#include "lcp.h"
-#include "step.h"
-
-
-// misc defines
-
-#define ALLOCA dALLOCA16
-
-#define RANDOM_JOINT_ORDER
-//#define FAST_FACTOR   //use a factorization approximation to the LCP solver (fast, theoretically less accurate)
-#define SLOW_LCP      //use the old LCP solver
-//#define NO_ISLANDS    //does not perform island creation code (3~4% of simulation time), body disabling doesn't work
-//#define TIMING
-
-
-static int autoEnableDepth = 2;
-
-void dWorldSetAutoEnableDepthSF1 (dxWorld *world, int autodepth)
-{
-        if (autodepth > 0)
-                autoEnableDepth = autodepth;
-        else
-                autoEnableDepth = 0;
-}
-
-int dWorldGetAutoEnableDepthSF1 (dxWorld *world)
-{
-        return autoEnableDepth;
-}
-
-//little bit of math.... the _sym_ functions assume the return matrix will be symmetric
-static void
-Multiply2_sym_p8p (dReal * A, dReal * B, dReal * C, int p, int Askip)
-{
-        int i, j;
-        dReal sum, *aa, *ad, *bb, *cc;
-        dIASSERT (p > 0 && A && B && C);
-        bb = B;
-        for (i = 0; i < p; i++)
-        {
-                //aa is going accross the matrix, ad down
-                aa = ad = A;
-                cc = C;
-                for (j = i; j < p; j++)
-                {
-                        sum = bb[0] * cc[0];
-                        sum += bb[1] * cc[1];
-                        sum += bb[2] * cc[2];
-                        sum += bb[4] * cc[4];
-                        sum += bb[5] * cc[5];
-                        sum += bb[6] * cc[6];
-                        *(aa++) = *ad = sum;
-                        ad += Askip;
-                        cc += 8;
-                }
-                bb += 8;
-                A += Askip + 1;
-                C += 8;
-        }
-}
-
-static void
-MultiplyAdd2_sym_p8p (dReal * A, dReal * B, dReal * C, int p, int Askip)
-{
-        int i, j;
-        dReal sum, *aa, *ad, *bb, *cc;
-        dIASSERT (p > 0 && A && B && C);
-        bb = B;
-        for (i = 0; i < p; i++)
-        {
-                //aa is going accross the matrix, ad down
-                aa = ad = A;
-                cc = C;
-                for (j = i; j < p; j++)
-                {
-                        sum = bb[0] * cc[0];
-                        sum += bb[1] * cc[1];
-                        sum += bb[2] * cc[2];
-                        sum += bb[4] * cc[4];
-                        sum += bb[5] * cc[5];
-                        sum += bb[6] * cc[6];
-                        *(aa++) += sum;
-                        *ad += sum;
-                        ad += Askip;
-                        cc += 8;
-                }
-                bb += 8;
-                A += Askip + 1;
-                C += 8;
-        }
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void
-Multiply0_p81 (dReal * A, dReal * B, dReal * C, int p)
-{
-        int i;
-        dIASSERT (p > 0 && A && B && C);
-        dReal sum;
-        for (i = p; i; i--)
-        {
-                sum = B[0] * C[0];
-                sum += B[1] * C[1];
-                sum += B[2] * C[2];
-                sum += B[4] * C[4];
-                sum += B[5] * C[5];
-                sum += B[6] * C[6];
-                *(A++) = sum;
-                B += 8;
-        }
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void
-MultiplyAdd0_p81 (dReal * A, dReal * B, dReal * C, int p)
-{
-        int i;
-        dIASSERT (p > 0 && A && B && C);
-        dReal sum;
-        for (i = p; i; i--)
-        {
-                sum = B[0] * C[0];
-                sum += B[1] * C[1];
-                sum += B[2] * C[2];
-                sum += B[4] * C[4];
-                sum += B[5] * C[5];
-                sum += B[6] * C[6];
-                *(A++) += sum;
-                B += 8;
-        }
-}
-
-
-// this assumes the 4th and 8th rows of B are zero.
-
-static void
-Multiply1_8q1 (dReal * A, dReal * B, dReal * C, int q)
-{
-        int k;
-        dReal sum;
-        dIASSERT (q > 0 && A && B && C);
-        sum = 0;
-        for (k = 0; k < q; k++)
-                sum += B[k * 8] * C[k];
-        A[0] = sum;
-        sum = 0;
-        for (k = 0; k < q; k++)
-                sum += B[1 + k * 8] * C[k];
-        A[1] = sum;
-        sum = 0;
-        for (k = 0; k < q; k++)
-                sum += B[2 + k * 8] * C[k];
-        A[2] = sum;
-        sum = 0;
-        for (k = 0; k < q; k++)
-                sum += B[4 + k * 8] * C[k];
-        A[4] = sum;
-        sum = 0;
-        for (k = 0; k < q; k++)
-                sum += B[5 + k * 8] * C[k];
-        A[5] = sum;
-        sum = 0;
-        for (k = 0; k < q; k++)
-                sum += B[6 + k * 8] * C[k];
-        A[6] = sum;
-}
-
-//****************************************************************************
-// body rotation
-
-// return sin(x)/x. this has a singularity at 0 so special handling is needed
-// for small arguments.
-
-static inline dReal
-sinc (dReal x)
-{
-        // if |x| < 1e-4 then use a taylor series expansion. this two term expansion
-        // is actually accurate to one LS bit within this range if double precision
-        // is being used - so don't worry!
-        if (dFabs (x) < 1.0e-4)
-                return REAL (1.0) - x * x * REAL (0.166666666666666666667);
-        else
-                return dSin (x) / x;
-}
-
-
-// given a body b, apply its linear and angular rotation over the time
-// interval h, thereby adjusting its position and orientation.
-
-static inline void
-moveAndRotateBody (dxBody * b, dReal h)
-{
-        int j;
-
-        // handle linear velocity
-        for (j = 0; j < 3; j++)
-                b->pos[j] += h * b->lvel[j];
-
-        if (b->flags & dxBodyFlagFiniteRotation)
-        {
-                dVector3 irv;                   // infitesimal rotation vector
-                dQuaternion q;                  // quaternion for finite rotation
-
-                if (b->flags & dxBodyFlagFiniteRotationAxis)
-                {
-                        // split the angular velocity vector into a component along the finite
-                        // rotation axis, and a component orthogonal to it.
-                        dVector3 frv, irv;      // finite rotation vector
-                        dReal k = dDOT (b->finite_rot_axis, b->avel);
-                        frv[0] = b->finite_rot_axis[0] * k;
-                        frv[1] = b->finite_rot_axis[1] * k;
-                        frv[2] = b->finite_rot_axis[2] * k;
-                        irv[0] = b->avel[0] - frv[0];
-                        irv[1] = b->avel[1] - frv[1];
-                        irv[2] = b->avel[2] - frv[2];
-
-                        // make a rotation quaternion q that corresponds to frv * h.
-                        // compare this with the full-finite-rotation case below.
-                        h *= REAL (0.5);
-                        dReal theta = k * h;
-                        q[0] = dCos (theta);
-                        dReal s = sinc (theta) * h;
-                        q[1] = frv[0] * s;
-                        q[2] = frv[1] * s;
-                        q[3] = frv[2] * s;
-                }
-                else
-                {
-                        // make a rotation quaternion q that corresponds to w * h
-                        dReal wlen = dSqrt (b->avel[0] * b->avel[0] + b->avel[1] * b->avel[1] + b->avel[2] * b->avel[2]);
-                        h *= REAL (0.5);
-                        dReal theta = wlen * h;
-                        q[0] = dCos (theta);
-                        dReal s = sinc (theta) * h;
-                        q[1] = b->avel[0] * s;
-                        q[2] = b->avel[1] * s;
-                        q[3] = b->avel[2] * s;
-                }
-
-                // do the finite rotation
-                dQuaternion q2;
-                dQMultiply0 (q2, q, b->q);
-                for (j = 0; j < 4; j++)
-                        b->q[j] = q2[j];
-
-                // do the infitesimal rotation if required
-                if (b->flags & dxBodyFlagFiniteRotationAxis)
-                {
-                        dReal dq[4];
-                        dWtoDQ (irv, b->q, dq);
-                        for (j = 0; j < 4; j++)
-                                b->q[j] += h * dq[j];
-                }
-        }
-        else
-        {
-                // the normal way - do an infitesimal rotation
-                dReal dq[4];
-                dWtoDQ (b->avel, b->q, dq);
-                for (j = 0; j < 4; j++)
-                        b->q[j] += h * dq[j];
-        }
-
-        // normalize the quaternion and convert it to a rotation matrix
-        dNormalize4 (b->q);
-        dQtoR (b->q, b->R);
-
-        // notify all attached geoms that this body has moved
-        for (dxGeom * geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
-                dGeomMoved (geom);
-}
-
-//****************************************************************************
-//This is an implementation of the iterated/relaxation algorithm.
-//Here is a quick overview of the algorithm per Sergi Valverde's posts to the
-//mailing list:
-//
-//  for i=0..N-1 do
-//      for c = 0..C-1 do
-//          Solve constraint c-th
-//          Apply forces to constraint bodies
-//      next
-//  next
-//  Integrate bodies
-
-void
-dInternalStepFast (dxWorld * world, dxBody * body[2], dReal * GI[2], dReal * GinvI[2], dxJoint * joint, dxJoint::Info1 info, dxJoint::Info2 Jinfo, dReal stepsize)
-{
-        int i, j, k;
-# ifdef TIMING
-        dTimerNow ("constraint preprocessing");
-# endif
-
-        dReal stepsize1 = dRecip (stepsize);
-
-        int m = info.m;
-        // nothing to do if no constraints.
-        if (m <= 0)
-                return;
-
-        int nub = 0;
-        if (info.nub == info.m)
-                nub = m;
-
-        // compute A = J*invM*J'. first compute JinvM = J*invM. this has the same
-        // format as J so we just go through the constraints in J multiplying by
-        // the appropriate scalars and matrices.
-#   ifdef TIMING
-        dTimerNow ("compute A");
-#   endif
-        dReal JinvM[2 * 6 * 8];
-        //dSetZero (JinvM, 2 * m * 8);
-
-        dReal *Jsrc = Jinfo.J1l;
-        dReal *Jdst = JinvM;
-        if (body[0])
-        {
-                for (j = m - 1; j >= 0; j--)
-                {
-                        for (k = 0; k < 3; k++)
-                                Jdst[k] = Jsrc[k] * body[0]->invMass;
-                        dMULTIPLY0_133 (Jdst + 4, Jsrc + 4, GinvI[0]);
-                        Jsrc += 8;
-                        Jdst += 8;
-                }
-        }
-        if (body[1])
-        {
-                Jsrc = Jinfo.J2l;
-                Jdst = JinvM + 8 * m;
-                for (j = m - 1; j >= 0; j--)
-                {
-                        for (k = 0; k < 3; k++)
-                                Jdst[k] = Jsrc[k] * body[1]->invMass;
-                        dMULTIPLY0_133 (Jdst + 4, Jsrc + 4, GinvI[1]);
-                        Jsrc += 8;
-                        Jdst += 8;
-                }
-        }
-
-
-        // now compute A = JinvM * J'.
-        int mskip = dPAD (m);
-        dReal A[6 * 8];
-        //dSetZero (A, 6 * 8);
-
-        if (body[0])
-                Multiply2_sym_p8p (A, JinvM, Jinfo.J1l, m, mskip);
-        if (body[1])
-                MultiplyAdd2_sym_p8p (A, JinvM + 8 * m, Jinfo.J2l, m, mskip);
-
-        // add cfm to the diagonal of A
-        for (i = 0; i < m; i++)
-                A[i * mskip + i] += Jinfo.cfm[i] * stepsize1;
-
-        // compute the right hand side `rhs'
-#   ifdef TIMING
-        dTimerNow ("compute rhs");
-#   endif
-        dReal tmp1[16];
-        //dSetZero (tmp1, 16);
-        // put v/h + invM*fe into tmp1
-        for (i = 0; i < 2; i++)
-        {
-                if (!body[i])
-                        continue;
-                for (j = 0; j < 3; j++)
-                        tmp1[i * 8 + j] = body[i]->facc[j] * body[i]->invMass + body[i]->lvel[j] * stepsize1;
-                dMULTIPLY0_331 (tmp1 + i * 8 + 4, GinvI[i], body[i]->tacc);
-                for (j = 0; j < 3; j++)
-                        tmp1[i * 8 + 4 + j] += body[i]->avel[j] * stepsize1;
-        }
-        // put J*tmp1 into rhs
-        dReal rhs[6];
-        //dSetZero (rhs, 6);
-
-        if (body[0])
-                Multiply0_p81 (rhs, Jinfo.J1l, tmp1, m);
-        if (body[1])
-                MultiplyAdd0_p81 (rhs, Jinfo.J2l, tmp1 + 8, m);
-
-        // complete rhs
-        for (i = 0; i < m; i++)
-                rhs[i] = Jinfo.c[i] * stepsize1 - rhs[i];
-
-#ifdef SLOW_LCP
-        // solve the LCP problem and get lambda.
-        // this will destroy A but that's okay
-#       ifdef TIMING
-        dTimerNow ("solving LCP problem");
-#       endif
-        dReal *lambda = (dReal *) ALLOCA (m * sizeof (dReal));
-        dReal *residual = (dReal *) ALLOCA (m * sizeof (dReal));
-        dReal lo[6], hi[6];
-        memcpy (lo, Jinfo.lo, m * sizeof (dReal));
-        memcpy (hi, Jinfo.hi, m * sizeof (dReal));
-        dSolveLCP (m, A, lambda, rhs, residual, nub, lo, hi, Jinfo.findex);
-#endif
-
-        // LCP Solver replacement:
-        // This algorithm goes like this:
-        // Do a straightforward LDLT factorization of the matrix A, solving for
-        // A*x = rhs
-        // For each x[i] that is outside of the bounds of lo[i] and hi[i],
-        //    clamp x[i] into that range.
-        //    Substitute into A the now known x's
-        //    subtract the residual away from the rhs.
-        //    Remove row and column i from L, updating the factorization
-        //    place the known x's at the end of the array, keeping up with location in p
-        // Repeat until all constraints have been clamped or all are within bounds
-        //
-        // This is probably only faster in the single joint case where only one repeat is
-        // the norm.
-
-#ifdef FAST_FACTOR
-        // factorize A (L*D*L'=A)
-#       ifdef TIMING
-        dTimerNow ("factorize A");
-#       endif
-        dReal d[6];
-        dReal L[6 * 8];
-        memcpy (L, A, m * mskip * sizeof (dReal));
-        dFactorLDLT (L, d, m, mskip);
-
-        // compute lambda
-#       ifdef TIMING
-        dTimerNow ("compute lambda");
-#       endif
-
-        int left = m;                           //constraints left to solve.
-        int remove[6];
-        dReal lambda[6];
-        dReal x[6];
-        int p[6];
-        for (i = 0; i < 6; i++)
-                p[i] = i;
-        while (true)
-        {
-                memcpy (x, rhs, left * sizeof (dReal));
-                dSolveLDLT (L, d, x, left, mskip);
-
-                int fixed = 0;
-                for (i = 0; i < left; i++)
-                {
-                        j = p[i];
-                        remove[i] = false;
-                        // This isn't the exact same use of findex as dSolveLCP.... since x[findex]
-                        // may change after I've already clamped x[i], but it should be close
-                        if (Jinfo.findex[j] > -1)
-                        {
-                                dReal f = fabs (Jinfo.hi[j] * x[p[Jinfo.findex[j]]]);
-                                if (x[i] > f)
-                                        x[i] = f;
-                                else if (x[i] < -f)
-                                        x[i] = -f;
-                                else
-                                        continue;
-                        }
-                        else
-                        {
-                                if (x[i] > Jinfo.hi[j])
-                                        x[i] = Jinfo.hi[j];
-                                else if (x[i] < Jinfo.lo[j])
-                                        x[i] = Jinfo.lo[j];
-                                else
-                                        continue;
-                        }
-                        remove[i] = true;
-                        fixed++;
-                }
-                if (fixed == 0 || fixed == left)        //no change or all constraints solved
-                        break;
-
-                for (i = 0; i < left; i++)      //sub in to right hand side.
-                        if (remove[i])
-                                for (j = 0; j < left; j++)
-                                        if (!remove[j])
-                                                rhs[j] -= A[j * mskip + i] * x[i];
-
-                for (int r = left - 1; r >= 0; r--)     //eliminate row/col for fixed variables
-                {
-                        if (remove[r])
-                        {
-                                //dRemoveLDLT adapted for use without row pointers.
-                                if (r == left - 1)
-                                {
-                                        left--;
-                                        continue;       // deleting last row/col is easy
-                                }
-                                else if (r == 0)
-                                {
-                                        dReal a[6];
-                                        for (i = 0; i < left; i++)
-                                                a[i] = -A[i * mskip];
-                                        a[0] += REAL (1.0);
-                                        dLDLTAddTL (L, d, a, left, mskip);
-                                }
-                                else
-                                {
-                                        dReal t[6];
-                                        dReal a[6];
-                                        for (i = 0; i < r; i++)
-                                                t[i] = L[r * mskip + i] / d[i];
-                                        for (i = 0; i < left - r; i++)
-                                                a[i] = dDot (L + (r + i) * mskip, t, r) - A[(r + i) * mskip + r];
-                                        a[0] += REAL (1.0);
-                                        dLDLTAddTL (L + r * mskip + r, d + r, a, left - r, mskip);
-                                }
-
-                                dRemoveRowCol (L, left, mskip, r);
-                                //end dRemoveLDLT
-
-                                left--;
-                                if (r < (left - 1))
-                                {
-                                        dReal tx = x[r];
-                                        memmove (d + r, d + r + 1, (left - r) * sizeof (dReal));
-                                        memmove (rhs + r, rhs + r + 1, (left - r) * sizeof (dReal));
-                                        //x will get written over by rhs anyway, no need to move it around
-                                        //just store the fixed value we just discovered in it.
-                                        x[left] = tx;
-                                        for (i = 0; i < m; i++)
-                                                if (p[i] > r && p[i] <= left)
-                                                        p[i]--;
-                                        p[r] = left;
-                                }
-                        }
-                }
-        }
-
-        for (i = 0; i < m; i++)
-                lambda[i] = x[p[i]];
-#       endif
-        // compute the constraint force `cforce'
-#       ifdef TIMING
-        dTimerNow ("compute constraint force");
-#endif
-
-        // compute cforce = J'*lambda
-        dJointFeedback *fb = joint->feedback;
-        dReal cforce[16];
-        //dSetZero (cforce, 16);
-
-/******************** breakable joint contribution ***********************/
-        // this saves us a few dereferences
-    dxJointBreakInfo *jBI = joint->breakInfo;
-    // we need joint feedback if the joint is breakable or if the user
-    // requested feedback.
-        if (jBI||fb) {
-                // we need feedback on the amount of force that this joint is
-                // applying to the bodies. we use a slightly slower computation
-                // that splits out the force components and puts them in the
-                // feedback structure.
-                dJointFeedback temp_fb; // temporary storage for joint feedback
-                dReal data1[8],data2[8];
-                if (body[0])
-                {
-                        Multiply1_8q1 (data1, Jinfo.J1l, lambda, m);
-                        dReal *cf1 = cforce;
-                        cf1[0] = (temp_fb.f1[0] = data1[0]);
-                        cf1[1] = (temp_fb.f1[1] = data1[1]);
-                        cf1[2] = (temp_fb.f1[2] = data1[2]);
-                        cf1[4] = (temp_fb.t1[0] = data1[4]);
-                        cf1[5] = (temp_fb.t1[1] = data1[5]);
-                        cf1[6] = (temp_fb.t1[2] = data1[6]);
-                }
-                if (body[1])
-                {
-                        Multiply1_8q1 (data2, Jinfo.J2l, lambda, m);
-                        dReal *cf2 = cforce + 8;
-                        cf2[0] = (temp_fb.f2[0] = data2[0]);
-                        cf2[1] = (temp_fb.f2[1] = data2[1]);
-                        cf2[2] = (temp_fb.f2[2] = data2[2]);
-                        cf2[4] = (temp_fb.t2[0] = data2[4]);
-                        cf2[5] = (temp_fb.t2[1] = data2[5]);
-                        cf2[6] = (temp_fb.t2[2] = data2[6]);
-                }
-                // if the user requested so we must copy the feedback information to
-                // the feedback struct that the user suplied.
-                if (fb) {
-                        // copy temp_fb to fb
-                        fb->f1[0] = temp_fb.f1[0];
-                        fb->f1[1] = temp_fb.f1[1];
-                        fb->f1[2] = temp_fb.f1[2];
-                        fb->t1[0] = temp_fb.t1[0];
-                        fb->t1[1] = temp_fb.t1[1];
-                        fb->t1[2] = temp_fb.t1[2];
-                        if (body[1]) {
-                                fb->f2[0] = temp_fb.f2[0];
-                                fb->f2[1] = temp_fb.f2[1];
-                                fb->f2[2] = temp_fb.f2[2];
-                                fb->t2[0] = temp_fb.t2[0];
-                                fb->t2[1] = temp_fb.t2[1];
-                                fb->t2[2] = temp_fb.t2[2];
-                        }
-                }
-                // if the joint is breakable we need to check the breaking conditions
-                if (jBI) {
-                        dReal relCF1[3];
-                        dReal relCT1[3];
-                        // multiply the force and torque vectors by the rotation matrix of body 1
-                        dMULTIPLY1_331 (&relCF1[0],body[0]->R,&temp_fb.f1[0]);
-                        dMULTIPLY1_331 (&relCT1[0],body[0]->R,&temp_fb.t1[0]);
-                        if (jBI->flags & dJOINT_BREAK_AT_B1_FORCE) {
-                                // check if the force is to high
-                                for (int i = 0; i < 3; i++) {
-                                        if (relCF1[i] > jBI->b1MaxF[i]) {
-                                                jBI->flags |= dJOINT_BROKEN;
-                                                goto doneCheckingBreaks;
-                                        }
-                                }
-                        }
-                        if (jBI->flags & dJOINT_BREAK_AT_B1_TORQUE) {
-                                // check if the torque is to high
-                                for (int i = 0; i < 3; i++) {
-                                        if (relCT1[i] > jBI->b1MaxT[i]) {
-                                                jBI->flags |= dJOINT_BROKEN;
-                                                goto doneCheckingBreaks;
-                                        }
-                                }
-                        }
-                        if (body[1]) {
-                                dReal relCF2[3];
-                                dReal relCT2[3];
-                                // multiply the force and torque vectors by the rotation matrix of body 2
-                                dMULTIPLY1_331 (&relCF2[0],body[1]->R,&temp_fb.f2[0]);
-                                dMULTIPLY1_331 (&relCT2[0],body[1]->R,&temp_fb.t2[0]);
-                                if (jBI->flags & dJOINT_BREAK_AT_B2_FORCE) {
-                                        // check if the force is to high
-                                        for (int i = 0; i < 3; i++) {
-                                                if (relCF2[i] > jBI->b2MaxF[i]) {
-                                                        jBI->flags |= dJOINT_BROKEN;
-                                                        goto doneCheckingBreaks;
-                                                }
-                                        }
-                                }
-                                if (jBI->flags & dJOINT_BREAK_AT_B2_TORQUE) {
-                                        // check if the torque is to high
-                                        for (int i = 0; i < 3; i++) {
-                                                if (relCT2[i] > jBI->b2MaxT[i]) {
-                                                        jBI->flags |= dJOINT_BROKEN;
-                                                        goto doneCheckingBreaks;
-                                                }
-                                        }
-                                }
-                        }
-                        doneCheckingBreaks:
-                        ;
-                }
-        }
-/*************************************************************************/
-        else
-        {
-                // no feedback is required, let's compute cforce the faster way
-                if (body[0])
-                        Multiply1_8q1 (cforce, Jinfo.J1l, lambda, m);
-                if (body[1])
-                        Multiply1_8q1 (cforce + 8, Jinfo.J2l, lambda, m);
-        }
-
-        for (i = 0; i < 2; i++)
-        {
-                if (!body[i])
-                        continue;
-                for (j = 0; j < 3; j++)
-                {
-                        body[i]->facc[j] += cforce[i * 8 + j];
-                        body[i]->tacc[j] += cforce[i * 8 + 4 + j];
-                }
-        }
-}
-
-void
-dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoint * const *_joints, int nj, dReal stepsize, int maxiterations)
-{
-#   ifdef TIMING
-        dTimerNow ("preprocessing");
-#   endif
-        dxBody *bodyPair[2], *body;
-        dReal *GIPair[2], *GinvIPair[2];
-        dxJoint *joint;
-        int iter, b, j, i;
-        dReal ministep = stepsize / maxiterations;
-
-        // make a local copy of the joint array, because we might want to modify it.
-        // (the "dxJoint *const*" declaration says we're allowed to modify the joints
-        // but not the joint array, because the caller might need it unchanged).
-        dxJoint **joints = (dxJoint **) ALLOCA (nj * sizeof (dxJoint *));
-        memcpy (joints, _joints, nj * sizeof (dxJoint *));
-
-        // get m = total constraint dimension, nub = number of unbounded variables.
-        // create constraint offset array and number-of-rows array for all joints.
-        // the constraints are re-ordered as follows: the purely unbounded
-        // constraints, the mixed unbounded + LCP constraints, and last the purely
-        // LCP constraints. this assists the LCP solver to put all unbounded
-        // variables at the start for a quick factorization.
-        //
-        // joints with m=0 are inactive and are removed from the joints array
-        // entirely, so that the code that follows does not consider them.
-        // also number all active joints in the joint list (set their tag values).
-        // inactive joints receive a tag value of -1.
-
-        int m = 0;
-        dxJoint::Info1 * info = (dxJoint::Info1 *) ALLOCA (nj * sizeof (dxJoint::Info1));
-        int *ofs = (int *) ALLOCA (nj * sizeof (int));
-        for (i = 0, j = 0; j < nj; j++)
-        {       // i=dest, j=src
-                joints[j]->vtable->getInfo1 (joints[j], info + i);
-                dIASSERT (info[i].m >= 0 && info[i].m <= 6 && info[i].nub >= 0 && info[i].nub <= info[i].m);
-                if (info[i].m > 0)
-                {
-                        joints[i] = joints[j];
-                        joints[i]->tag = i;
-                        i++;
-                }
-                else
-                {
-                        joints[j]->tag = -1;
-                }
-        }
-        nj = i;
-
-        // the purely unbounded constraints
-        for (i = 0; i < nj; i++)
-        {
-                ofs[i] = m;
-                m += info[i].m;
-        }
-        dReal *c = NULL;
-        dReal *cfm = NULL;
-        dReal *lo = NULL;
-        dReal *hi = NULL;
-        int *findex = NULL;
-
-        dReal *J = NULL;
-        dxJoint::Info2 * Jinfo = NULL;
-
-        if (m)
-        {
-        // create a constraint equation right hand side vector `c', a constraint
-        // force mixing vector `cfm', and LCP low and high bound vectors, and an
-        // 'findex' vector.
-                c = (dReal *) ALLOCA (m * sizeof (dReal));
-                cfm = (dReal *) ALLOCA (m * sizeof (dReal));
-                lo = (dReal *) ALLOCA (m * sizeof (dReal));
-                hi = (dReal *) ALLOCA (m * sizeof (dReal));
-                findex = (int *) ALLOCA (m * sizeof (int));
-        dSetZero (c, m);
-        dSetValue (cfm, m, world->global_cfm);
-        dSetValue (lo, m, -dInfinity);
-        dSetValue (hi, m, dInfinity);
-        for (i = 0; i < m; i++)
-                findex[i] = -1;
-
-        // get jacobian data from constraints. a (2*m)x8 matrix will be created
-        // to store the two jacobian blocks from each constraint. it has this
-        // format:
-        //
-        //   l l l 0 a a a 0  \    .
-        //   l l l 0 a a a 0   }-- jacobian body 1 block for joint 0 (3 rows)
-        //   l l l 0 a a a 0  /
-        //   l l l 0 a a a 0  \    .
-        //   l l l 0 a a a 0   }-- jacobian body 2 block for joint 0 (3 rows)
-        //   l l l 0 a a a 0  /
-        //   l l l 0 a a a 0  }--- jacobian body 1 block for joint 1 (1 row)
-        //   l l l 0 a a a 0  }--- jacobian body 2 block for joint 1 (1 row)
-        //   etc...
-        //
-        //   (lll) = linear jacobian data
-        //   (aaa) = angular jacobian data
-        //
-#   ifdef TIMING
-        dTimerNow ("create J");
-#   endif
-                J = (dReal *) ALLOCA (2 * m * 8 * sizeof (dReal));
-                dSetZero (J, 2 * m * 8);
-                Jinfo = (dxJoint::Info2 *) ALLOCA (nj * sizeof (dxJoint::Info2));
-        for (i = 0; i < nj; i++)
-        {
-                Jinfo[i].rowskip = 8;
-                Jinfo[i].fps = dRecip (stepsize);
-                Jinfo[i].erp = world->global_erp;
-                Jinfo[i].J1l = J + 2 * 8 * ofs[i];
-                Jinfo[i].J1a = Jinfo[i].J1l + 4;
-                Jinfo[i].J2l = Jinfo[i].J1l + 8 * info[i].m;
-                Jinfo[i].J2a = Jinfo[i].J2l + 4;
-                Jinfo[i].c = c + ofs[i];
-                Jinfo[i].cfm = cfm + ofs[i];
-                Jinfo[i].lo = lo + ofs[i];
-                Jinfo[i].hi = hi + ofs[i];
-                Jinfo[i].findex = findex + ofs[i];
-                //joints[i]->vtable->getInfo2 (joints[i], Jinfo+i);
-        }
-
-        }
-
-        dReal *saveFacc = (dReal *) ALLOCA (nb * 4 * sizeof (dReal));
-        dReal *saveTacc = (dReal *) ALLOCA (nb * 4 * sizeof (dReal));
-        dReal *globalI = (dReal *) ALLOCA (nb * 12 * sizeof (dReal));
-        dReal *globalInvI = (dReal *) ALLOCA (nb * 12 * sizeof (dReal));
-        for (b = 0; b < nb; b++)
-        {
-                for (i = 0; i < 4; i++)
-                {
-                        saveFacc[b * 4 + i] = bodies[b]->facc[i];
-                        saveTacc[b * 4 + i] = bodies[b]->tacc[i];
-                        bodies[b]->tag = b;
-                }
-        }
-
-        for (iter = 0; iter < maxiterations; iter++)
-        {
-#       ifdef TIMING
-                dTimerNow ("applying inertia and gravity");
-#       endif
-                dReal tmp[12] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
-
-                for (b = 0; b < nb; b++)
-                {
-                        body = bodies[b];
-
-                        // for all bodies, compute the inertia tensor and its inverse in the global
-                        // frame, and compute the rotational force and add it to the torque
-                        // accumulator. I and invI are vertically stacked 3x4 matrices, one per body.
-                        // @@@ check computation of rotational force.
-
-                        // compute inertia tensor in global frame
-                        dMULTIPLY2_333 (tmp, body->mass.I, body->R);
-                        dMULTIPLY0_333 (globalI + b * 12, body->R, tmp);
-                        // compute inverse inertia tensor in global frame
-                        dMULTIPLY2_333 (tmp, body->invI, body->R);
-                        dMULTIPLY0_333 (globalInvI + b * 12, body->R, tmp);
-
-                        for (i = 0; i < 4; i++)
-                                body->tacc[i] = saveTacc[b * 4 + i];
-                        // compute rotational force
-                        dMULTIPLY0_331 (tmp, globalI + b * 12, body->avel);
-                        dCROSS (body->tacc, -=, body->avel, tmp);
-
-                        // add the gravity force to all bodies
-                        if ((body->flags & dxBodyNoGravity) == 0)
-                        {
-                                body->facc[0] = saveFacc[b * 4 + 0] + body->mass.mass * world->gravity[0];
-                                body->facc[1] = saveFacc[b * 4 + 1] + body->mass.mass * world->gravity[1];
-                                body->facc[2] = saveFacc[b * 4 + 2] + body->mass.mass * world->gravity[2];
-                                body->facc[3] = 0;
-                        }
-
-                }
-
-#ifdef RANDOM_JOINT_ORDER
-#ifdef TIMING
-                dTimerNow ("randomizing joint order");
-#endif
-                //randomize the order of the joints by looping through the array
-                //and swapping the current joint pointer with a random one before it.
-                for (j = 0; j < nj; j++)
-                {
-                        joint = joints[j];
-                        dxJoint::Info1 i1 = info[j];
-                        dxJoint::Info2 i2 = Jinfo[j];
-                        int r = rand () % (j + 1);
-                        joints[j] = joints[r];
-                        info[j] = info[r];
-                        Jinfo[j] = Jinfo[r];
-                        joints[r] = joint;
-                        info[r] = i1;
-                        Jinfo[r] = i2;
-                }
-#endif
-
-                //now iterate through the random ordered joint array we created.
-                for (j = 0; j < nj; j++)
-                {
-#ifdef TIMING
-                        dTimerNow ("setting up joint");
-#endif
-                        joint = joints[j];
-                        bodyPair[0] = joint->node[0].body;
-                        bodyPair[1] = joint->node[1].body;
-
-                        if (bodyPair[0] && (bodyPair[0]->flags & dxBodyDisabled))
-                                bodyPair[0] = 0;
-                        if (bodyPair[1] && (bodyPair[1]->flags & dxBodyDisabled))
-                                bodyPair[1] = 0;
-                        
-                        //if this joint is not connected to any enabled bodies, skip it.
-                        if (!bodyPair[0] && !bodyPair[1])
-                                continue;
-                        
-                        if (bodyPair[0])
-                        {
-                                GIPair[0] = globalI + bodyPair[0]->tag * 12;
-                                GinvIPair[0] = globalInvI + bodyPair[0]->tag * 12;
-                        }
-                        if (bodyPair[1])
-                        {
-                                GIPair[1] = globalI + bodyPair[1]->tag * 12;
-                                GinvIPair[1] = globalInvI + bodyPair[1]->tag * 12;
-                        }
-
-                        joints[j]->vtable->getInfo2 (joints[j], Jinfo + j);
-
-                        //dInternalStepIslandFast is an exact copy of the old routine with one
-                        //modification: the calculated forces are added back to the facc and tacc
-                        //vectors instead of applying them to the bodies and moving them.
-                        if (info[j].m > 0)
-                        {
-                        dInternalStepFast (world, bodyPair, GIPair, GinvIPair, joint, info[j], Jinfo[j], ministep);
-                        }               
-                }
-                //  }
-#       ifdef TIMING
-                dTimerNow ("moving bodies");
-#       endif
-                //Now we can simulate all the free floating bodies, and move them.
-                for (b = 0; b < nb; b++)
-                {
-                        body = bodies[b];
-
-                        for (i = 0; i < 4; i++)
-                        {
-                                body->facc[i] *= ministep;
-                                body->tacc[i] *= ministep;
-                        }
-
-                        //apply torque
-                        dMULTIPLYADD0_331 (body->avel, globalInvI + b * 12, body->tacc);
-
-                        //apply force
-                        for (i = 0; i < 3; i++)
-                                body->lvel[i] += body->invMass * body->facc[i];
-
-                        //move It!
-                        moveAndRotateBody (body, ministep);
-                }
-        }
-        for (b = 0; b < nb; b++)
-                for (j = 0; j < 4; j++)
-                        bodies[b]->facc[j] = bodies[b]->tacc[j] = 0;
-}
-
-
-#ifdef NO_ISLANDS
-
-// Since the iterative algorithm doesn't care about islands of bodies, this is a
-// faster algorithm that just sends it all the joints and bodies in one array.
-// It's downfall is it's inability to handle disabled bodies as well as the old one.
-static void
-processIslandsFast (dxWorld * world, dReal stepsize, int maxiterations)
-{
-        // nothing to do if no bodies
-        if (world->nb <= 0)
-                return;
-
-#       ifdef TIMING
-        dTimerStart ("creating joint and body arrays");
-#       endif
-        dxBody **bodies, *body;
-        dxJoint **joints, *joint;
-        joints = (dxJoint **) ALLOCA (world->nj * sizeof (dxJoint *));
-        bodies = (dxBody **) ALLOCA (world->nb * sizeof (dxBody *));
-
-        int nj = 0;
-        for (joint = world->firstjoint; joint; joint = (dxJoint *) joint->next)
-                joints[nj++] = joint;
-
-        int nb = 0;
-        for (body = world->firstbody; body; body = (dxBody *) body->next)
-                bodies[nb++] = body;
-
-        dInternalStepIslandFast (world, bodies, nb, joints, nj, stepsize, maxiterations);
-#       ifdef TIMING
-        dTimerEnd ();
-        dTimerReport (stdout, 1);
-#       endif
-}
-
-#else
-
-//****************************************************************************
-// island processing
-
-// this groups all joints and bodies in a world into islands. all objects
-// in an island are reachable by going through connected bodies and joints.
-// each island can be simulated separately.
-// note that joints that are not attached to anything will not be included
-// in any island, an so they do not affect the simulation.
-//
-// this function starts new island from unvisited bodies. however, it will
-// never start a new islands from a disabled body. thus islands of disabled
-// bodies will not be included in the simulation. disabled bodies are
-// re-enabled if they are found to be part of an active island.
-
-static void
-processIslandsFast (dxWorld * world, dReal stepsize, int maxiterations)
-{
-#ifdef TIMING
-        dTimerStart ("Island Setup");
-#endif
-        dxBody *b, *bb, **body;
-        dxJoint *j, **joint;
-
-        // nothing to do if no bodies
-        if (world->nb <= 0)
-                return;
-
-        // make arrays for body and joint lists (for a single island) to go into
-        body = (dxBody **) ALLOCA (world->nb * sizeof (dxBody *));
-        joint = (dxJoint **) ALLOCA (world->nj * sizeof (dxJoint *));
-        int bcount = 0;                         // number of bodies in `body'
-        int jcount = 0;                         // number of joints in `joint'
-        int tbcount = 0;
-        int tjcount = 0;
-        
-        // set all body/joint tags to 0
-        for (b = world->firstbody; b; b = (dxBody *) b->next)
-                b->tag = 0;
-        for (j = world->firstjoint; j; j = (dxJoint *) j->next)
-                j->tag = 0;
-
-        // allocate a stack of unvisited bodies in the island. the maximum size of
-        // the stack can be the lesser of the number of bodies or joints, because
-        // new bodies are only ever added to the stack by going through untagged
-        // joints. all the bodies in the stack must be tagged!
-        int stackalloc = (world->nj < world->nb) ? world->nj : world->nb;
-        dxBody **stack = (dxBody **) ALLOCA (stackalloc * sizeof (dxBody *));
-        int *autostack = (int *) ALLOCA (stackalloc * sizeof (int));
-
-        for (bb = world->firstbody; bb; bb = (dxBody *) bb->next)
-        {
-#ifdef TIMING
-                dTimerNow ("Island Processing");
-#endif
-                // get bb = the next enabled, untagged body, and tag it
-                if (bb->tag || (bb->flags & dxBodyDisabled))
-                        continue;
-                bb->tag = 1;
-
-                // tag all bodies and joints starting from bb.
-                int stacksize = 0;
-                int autoDepth = autoEnableDepth;
-                b = bb;
-                body[0] = bb;
-                bcount = 1;
-                jcount = 0;
-                goto quickstart;
-                while (stacksize > 0)
-                {
-                        b = stack[--stacksize]; // pop body off stack
-                        autoDepth = autostack[stacksize];
-                        body[bcount++] = b;     // put body on body list
-                  quickstart:
-
-                        // traverse and tag all body's joints, add untagged connected bodies
-                        // to stack
-                        for (dxJointNode * n = b->firstjoint; n; n = n->next)
-                        {
-                                if (!n->joint->tag)
-                                {
-                                        int thisDepth = autoEnableDepth;
-                                        n->joint->tag = 1;
-                                        joint[jcount++] = n->joint;
-                                        if (n->body && !n->body->tag)
-                                        {
-                                                if (n->body->flags & dxBodyDisabled)
-                                                        thisDepth = autoDepth - 1;
-                                                if (thisDepth < 0)
-                                                        continue;
-                                                n->body->flags &= ~dxBodyDisabled;
-                                                n->body->tag = 1;
-                                                autostack[stacksize] = thisDepth;
-                                                stack[stacksize++] = n->body;
-                                        }
-                                }
-                        }
-                        dIASSERT (stacksize <= world->nb);
-                        dIASSERT (stacksize <= world->nj);
-                }
-
-                // now do something with body and joint lists
-                dInternalStepIslandFast (world, body, bcount, joint, jcount, stepsize, maxiterations);
-
-                // what we've just done may have altered the body/joint tag values.
-                // we must make sure that these tags are nonzero.
-                // also make sure all bodies are in the enabled state.
-                int i;
-                for (i = 0; i < bcount; i++)
-                {
-                        body[i]->tag = 1;
-                        body[i]->flags &= ~dxBodyDisabled;
-                }
-                for (i = 0; i < jcount; i++)
-                        joint[i]->tag = 1;
-                
-                tbcount += bcount;
-                tjcount += jcount;
-        }
-        
-#ifdef TIMING
-        dMessage(0, "Total joints processed: %i, bodies: %i", tjcount, tbcount);
-#endif
-
-        // if debugging, check that all objects (except for disabled bodies,
-        // unconnected joints, and joints that are connected to disabled bodies)
-        // were tagged.
-# ifndef dNODEBUG
-        for (b = world->firstbody; b; b = (dxBody *) b->next)
-        {
-                if (b->flags & dxBodyDisabled)
-                {
-                        if (b->tag)
-                                dDebug (0, "disabled body tagged");
-                }
-                else
-                {
-                        if (!b->tag)
-                                dDebug (0, "enabled body not tagged");
-                }
-        }
-        for (j = world->firstjoint; j; j = (dxJoint *) j->next)
-        {
-                if ((j->node[0].body && (j->node[0].body->flags & dxBodyDisabled) == 0) || (j->node[1].body && (j->node[1].body->flags & dxBodyDisabled) == 0))
-                {
-                        if (!j->tag)
-                                dDebug (0, "attached enabled joint not tagged");
-                }
-                else
-                {
-                        if (j->tag)
-                                dDebug (0, "unattached or disabled joint tagged");
-                }
-        }
-# endif
-  /******************** breakable joint contribution ***********************/
-  dxJoint* nextJ;
-  if (!world->firstjoint)
-    nextJ = 0;
-  else
-    nextJ = (dxJoint*)world->firstjoint->next;
-  for (j=world->firstjoint; j; j=nextJ) {
-        nextJ = (dxJoint*)j->next;
-        // check if joint is breakable and broken
-    if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) {
-                // detach (break) the joint
-        dJointAttach (j, 0, 0);
-                // call the callback function if it is set
-                if (j->breakInfo->callback) j->breakInfo->callback (j);
-                // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set
-                if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j);
-      }
-  }
-  /*************************************************************************/
-
-#       ifdef TIMING
-        dTimerEnd ();
-        dTimerReport (stdout, 1);
-#       endif
-}
-
-#endif
-
-
-void dWorldStepFast1 (dWorldID w, dReal stepsize, int maxiterations)
-{
-        dUASSERT (w, "bad world argument");
-        dUASSERT (stepsize > 0, "stepsize must be > 0");
-        processIslandsFast (w, stepsize, maxiterations);
-}
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/test_breakable.cpp b/libraries/ode-0.9/contrib/BreakableJoints/test_breakable.cpp
deleted file mode 100644
index bfed3a3..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/test_breakable.cpp
+++ /dev/null
@@ -1,416 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-buggy with suspension.
-this also shows you how to use geom groups.
-
-*/
-
-
-#include <stdlib.h>
-
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-// select correct drawing functions
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawSphere dsDrawSphereD
-#define dsDrawCylinder dsDrawCylinderD
-#define dsDrawCappedCylinder dsDrawCappedCylinderD
-#endif
-
-
-// some constants
-
-#define LENGTH 0.7      // chassis length
-#define WIDTH 0.4       // chassis width
-#define HEIGHT 0.2      // chassis height
-#define RADIUS 0.22     // wheel radius
-#define STARTZ 0.4      // starting height of chassis
-#define CMASS 1         // chassis mass
-#define WMASS 0.2       // wheel mass
-
-// dynamics and collision objects (chassis, 4 wheels, environment, obstacles, chain)
-static dWorldID world;
-static dSpaceID space;
-
-// chain stuff
-static const float chain_radius = 0.1;
-static const float chain_mass = 0.1;
-static const int chain_num = 10;
-static dBodyID chain_body[chain_num];
-static dGeomID chain_geom[chain_num];
-static dJointID chain_joint[chain_num-1]; 
-
-// 1 chasses, 4 wheels
-static dBodyID body[5];
-// joint[0] is left front wheel, joint[1] is right front wheel
-static dJointID joint[4]; 
-static int joint_exists[4];
-static dJointGroupID contactgroup;
-static dGeomID ground;
-static dSpaceID car_space;
-static dGeomID box[1];
-static dGeomID sphere[4];
-static dGeomID ground_box;
-static const int obstacle_num = 25;
-static dGeomID obstacle[obstacle_num];
-
-// things that the user controls
-
-static dReal speed=0,steer=0;   // user commands
-
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  int i,n;
-
-//   // do not collide objects that are connected
-//   dBodyID b1 = dGeomGetBody (o1),
-//           b2 = dGeomGetBody (o2);
-//   if (b1 && b2 && dAreConnected(b1, b2)) return;
-  
-  const int N = 10;
-  dContact contact[N];
-  n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
-  if (n > 0) {
-    for (i=0; i<n; i++) {
-      contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
-        dContactSoftERP | dContactSoftCFM | dContactApprox1;
-      contact[i].surface.mu = dInfinity;
-      contact[i].surface.slip1 = 0.1;
-      contact[i].surface.slip2 = 0.1;
-      contact[i].surface.soft_erp = 0.5;
-      contact[i].surface.soft_cfm = 0.3;
-      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
-      dJointAttach (c,
-                    dGeomGetBody(contact[i].geom.g1),
-                    dGeomGetBody(contact[i].geom.g2));
-    }
-  }
-}
-
-// callback function for joints that break
-static void jointBreakCallback (dJointID j)
-{
-       if (j == joint[0]) joint_exists[0] = 0;
-  else if (j == joint[1]) joint_exists[1] = 0;
-  else if (j == joint[2]) joint_exists[2] = 0;
-  else if (j == joint[3]) joint_exists[3] = 0;
-  printf ("A joint just broke\n");
-}
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {0.8317f,-0.9817f,0.8000f};
-  static float hpr[3] = {121.0000f,-27.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("Press:\t'a' to increase speed.\n"
-          "\t'z' to decrease speed.\n"
-          "\t',' to steer left.\n"
-          "\t'.' to steer right.\n"
-          "\t' ' to reset speed and steering.\n");
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  switch (cmd) {
-  case 'a': case 'A':
-    speed += 0.3;
-    break;
-  case 'z': case 'Z':
-    speed -= 0.3;
-    break;
-  case ',':
-    steer -= 0.5;
-    break;
-  case '.':
-    steer += 0.5;
-    break;
-  case ' ':
-    speed = 0;
-    steer = 0;
-    break;
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  int i;
-  if (!pause) {
-    for (i=0; i<2; i++) {
-          if (joint_exists[i]) {
-        // motor
-        dJointSetHinge2Param (joint[i],dParamVel2,-speed);
-        dJointSetHinge2Param (joint[i],dParamFMax2,0.1);
-
-        // steering
-        dReal v = steer - dJointGetHinge2Angle1 (joint[i]);
-        if (v > 0.1) v = 0.1;
-        if (v < -0.1) v = -0.1;
-        v *= 10.0;
-        dJointSetHinge2Param (joint[i],dParamVel,v);
-        dJointSetHinge2Param (joint[i],dParamFMax,0.2);
-        dJointSetHinge2Param (joint[i],dParamLoStop,-0.75);
-        dJointSetHinge2Param (joint[i],dParamHiStop,0.75);
-        dJointSetHinge2Param (joint[i],dParamFudgeFactor,0.1);
-          }
-        }
-        
-    dSpaceCollide (space,0,&nearCallback);
-    //dWorldStep (world,0.05);
-        dWorldStepFast1 (world,0.05,5);
-
-    // remove all contact joints
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (0,1,1);
-  dsSetTexture (DS_WOOD);
-  dReal sides[3] = {LENGTH,WIDTH,HEIGHT};
-  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides);
-  dsSetColor (1,1,1);
-  for (i=1; i<=4; i++) 
-    dsDrawCylinder (dBodyGetPosition(body[i]),
-                    dBodyGetRotation(body[i]),
-                                        0.2,
-                    RADIUS);
-
-  dVector3 ss;
-  dGeomBoxGetLengths (ground_box,ss);
-  dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss);
-  
-  dsSetColor (1,0,0);
-  for (i=0; i<obstacle_num; i++) {
-    dVector3 ss;
-        dGeomBoxGetLengths (obstacle[i],ss);
-        dsDrawBox (dGeomGetPosition(obstacle[i]),dGeomGetRotation(obstacle[i]),ss);
-  }
-
-  dsSetColor (1,1,0);
-  for (i=0; i<chain_num; i++) {
-    dsDrawSphere (dGeomGetPosition(chain_geom[i]),dGeomGetRotation(chain_geom[i]),chain_radius);
-  }
-  
-  /*
-  printf ("%.10f %.10f %.10f %.10f\n",
-          dJointGetHingeAngle (joint[1]),
-          dJointGetHingeAngle (joint[2]),
-          dJointGetHingeAngleRate (joint[1]),
-          dJointGetHingeAngleRate (joint[2]));
-  */
-}
-
-int main (int argc, char **argv)
-{
-  int i;
-  dMass m;
-
-  // setup pointers to drawstuff callback functions
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = &command;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-  // create world
-
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  ground = dCreatePlane (space,0,0,1,0);
-
-  // chassis body
-  body[0] = dBodyCreate (world);
-  dBodySetPosition (body[0],0,0,STARTZ);
-  dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
-  dMassAdjust (&m,CMASS);
-  dBodySetMass (body[0],&m);
-  box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT);
-  dGeomSetBody (box[0],body[0]);
-  
-  // a chain
-  for (i=0; i<chain_num; i++) {
-    chain_body[i] = dBodyCreate (world);
-        dBodySetPosition (chain_body[i],-LENGTH-(i*2*chain_radius),0,STARTZ-HEIGHT*0.5);
-    dMassSetSphere (&m,1,chain_radius);
-    dMassAdjust (&m,chain_mass);
-    dBodySetMass (chain_body[i],&m);
-    chain_geom[i] = dCreateSphere (space,chain_radius);
-    dGeomSetBody (chain_geom[i],chain_body[i]);
-  }
-  
-  // wheel bodies
-  for (i=1; i<=4; i++) {
-    body[i] = dBodyCreate (world);
-    dQuaternion q;
-    dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
-    dBodySetQuaternion (body[i],q);
-    dMassSetSphere (&m,1,RADIUS);
-    dMassAdjust (&m,WMASS);
-    dBodySetMass (body[i],&m);
-    sphere[i-1] = dCreateSphere (0,RADIUS);
-    dGeomSetBody (sphere[i-1],body[i]);
-  }
-  dBodySetPosition (body[1],  0.5*LENGTH,  WIDTH*1.0, STARTZ-HEIGHT*0.5);
-  dBodySetPosition (body[2],  0.5*LENGTH, -WIDTH*1.0, STARTZ-HEIGHT*0.5);
-  dBodySetPosition (body[3], -0.5*LENGTH,  WIDTH*1.0, STARTZ-HEIGHT*0.5);
-  dBodySetPosition (body[4], -0.5*LENGTH, -WIDTH*1.0, STARTZ-HEIGHT*0.5);
-
-  // front wheel hinge
-  /*
-  joint[0] = dJointCreateHinge2 (world,0);
-  dJointAttach (joint[0],body[0],body[1]);
-  const dReal *a = dBodyGetPosition (body[1]);
-  dJointSetHinge2Anchor (joint[0],a[0],a[1],a[2]);
-  dJointSetHinge2Axis1 (joint[0],0,0,1);
-  dJointSetHinge2Axis2 (joint[0],0,1,0);
-  */
-
-  // front and back wheel hinges
-  for (i=0; i<4; i++) {
-    joint[i] = dJointCreateHinge2 (world,0);
-        joint_exists[i] = 1;
-    dJointAttach (joint[i],body[0],body[i+1]);
-    const dReal *a = dBodyGetPosition (body[i+1]);
-    dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]);
-    dJointSetHinge2Axis1 (joint[i],0,0,1);
-    dJointSetHinge2Axis2 (joint[i],0,1,0);
-
-    // the wheels can break
-    dJointSetBreakable (joint[i], 1);
-    // the wheels wil break at a specific force
-    dJointSetBreakMode (joint[i], 
-                        dJOINT_BREAK_AT_B1_FORCE |
-                        dJOINT_BREAK_AT_B2_FORCE |
-                        dJOINT_DELETE_ON_BREAK);
-    // specify the force for the first body connected to the joint ...
-    dJointSetBreakForce (joint[i], 0, 2.5, 2.5, 2.5);
-    // and for the second body
-    dJointSetBreakForce (joint[i], 1, 2.5, 2.5, 2.5);
-        // set the callback function
-        dJointSetBreakCallback (joint[i], &jointBreakCallback);
-  }
-  
-  // joints for the chain
-  for (i=0; i<chain_num-1; i++) {
-    chain_joint[i] = dJointCreateFixed (world,0);
-    dJointAttach (chain_joint[i],chain_body[i+1],chain_body[i]);
-        dJointSetFixed (chain_joint[i]);
-        // the chain can break
-    dJointSetBreakable (chain_joint[i], 1);
-    // the chain wil break at a specific force
-    dJointSetBreakMode (chain_joint[i], 
-      dJOINT_BREAK_AT_B1_FORCE |
-      dJOINT_BREAK_AT_B2_FORCE |
-      dJOINT_DELETE_ON_BREAK);
-    // specify the force for the first body connected to the joint ...
-    dJointSetBreakForce (chain_joint[i], 0, 0.5, 0.5, 0.5);
-    // and for the second body
-    dJointSetBreakForce (chain_joint[i], 1, 0.5, 0.5, 0.5);
-        // set the callback function
-        dJointSetBreakCallback (chain_joint[i], &jointBreakCallback);
-  }
-  
-  // set joint suspension
-  for (i=0; i<4; i++) {
-    dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4);
-    dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.1);
-  }
-
-  // lock back wheels along the steering axis
-  for (i=1; i<4; i++) {
-    // set stops to make sure wheels always stay in alignment
-    dJointSetHinge2Param (joint[i],dParamLoStop,0);
-    dJointSetHinge2Param (joint[i],dParamHiStop,0);
-    // the following alternative method is no good as the wheels may get out
-    // of alignment:
-    //   dJointSetHinge2Param (joint[i],dParamVel,0);
-    //   dJointSetHinge2Param (joint[i],dParamFMax,dInfinity);
-  }
-  
-  // create car space and add it to the top level space
-  car_space = dSimpleSpaceCreate (space);
-  dSpaceSetCleanup (car_space,0);
-  dSpaceAdd (car_space,box[0]);
-  dSpaceAdd (car_space,sphere[0]);
-  dSpaceAdd (car_space,sphere[1]);
-  dSpaceAdd (car_space,sphere[2]);
-
-  // environment
-  ground_box = dCreateBox (space,2,1.5,1);
-  dMatrix3 R;
-  dRFromAxisAndAngle (R,0,1,0,-0.15);
-  dGeomSetPosition (ground_box,2,0,-0.34);
-  dGeomSetRotation (ground_box,R);
-  
-  // obstacles
-  for (i=0; i<obstacle_num; i++) {
-    dReal height = 0.1+(dReal(rand()%10)/10.0);
-    obstacle[i] = dCreateBox (space,0.2,0.2,height);
-        dGeomSetPosition (
-          obstacle[i],
-          (rand()%20)-10,
-          (rand()%20)-10,
-          height/2.0);
-  }
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dGeomDestroy (box[0]);
-  for (i=0; i<4; i++)
-    dGeomDestroy (sphere[i]);
-        
-  dCloseODE ();
-  
-  return 0;
-}
diff --git a/libraries/ode-0.9/contrib/BreakableJoints/test_buggy.cpp b/libraries/ode-0.9/contrib/BreakableJoints/test_buggy.cpp
deleted file mode 100644
index 1dc0ab3..0000000
--- a/libraries/ode-0.9/contrib/BreakableJoints/test_buggy.cpp
+++ /dev/null
@@ -1,327 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-buggy with suspension.
-this also shows you how to use geom groups.
-
-*/
-
-
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-// select correct drawing functions
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawSphere dsDrawSphereD
-#define dsDrawCylinder dsDrawCylinderD
-#define dsDrawCappedCylinder dsDrawCappedCylinderD
-#endif
-
-
-// some constants
-
-#define LENGTH 0.7      // chassis length
-#define WIDTH 0.5       // chassis width
-#define HEIGHT 0.2      // chassis height
-#define RADIUS 0.18     // wheel radius
-#define STARTZ 0.5      // starting height of chassis
-#define CMASS 1         // chassis mass
-#define WMASS 0.2       // wheel mass
-
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-static dBodyID body[4];
-static dJointID joint[3];       // joint[0] is the front wheel
-static dJointGroupID contactgroup;
-static dGeomID ground;
-static dSpaceID car_space;
-static dGeomID box[1];
-static dGeomID sphere[3];
-static dGeomID ground_box;
-
-
-// things that the user controls
-
-static dReal speed=0,steer=0;   // user commands
-
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  int i,n;
-
-  // only collide things with the ground
-  int g1 = (o1 == ground || o1 == ground_box);
-  int g2 = (o2 == ground || o2 == ground_box);
-  if (!(g1 ^ g2)) return;
-
-  const int N = 10;
-  dContact contact[N];
-  n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
-  if (n > 0) {
-    for (i=0; i<n; i++) {
-      contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
-        dContactSoftERP | dContactSoftCFM | dContactApprox1;
-      contact[i].surface.mu = dInfinity;
-      contact[i].surface.slip1 = 0.1;
-      contact[i].surface.slip2 = 0.1;
-      contact[i].surface.soft_erp = 0.5;
-      contact[i].surface.soft_cfm = 0.3;
-      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
-      dJointAttach (c,
-                    dGeomGetBody(contact[i].geom.g1),
-                    dGeomGetBody(contact[i].geom.g2));
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {0.8317f,-0.9817f,0.8000f};
-  static float hpr[3] = {121.0000f,-27.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("Press:\t'a' to increase speed.\n"
-          "\t'z' to decrease speed.\n"
-          "\t',' to steer left.\n"
-          "\t'.' to steer right.\n"
-          "\t' ' to reset speed and steering.\n");
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  switch (cmd) {
-  case 'a': case 'A':
-    speed += 0.3;
-    break;
-  case 'z': case 'Z':
-    speed -= 0.3;
-    break;
-  case ',':
-    steer -= 0.5;
-    break;
-  case '.':
-    steer += 0.5;
-    break;
-  case ' ':
-    speed = 0;
-    steer = 0;
-    break;
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  int i;
-  if (!pause) {
-    // motor
-    dJointSetHinge2Param (joint[0],dParamVel2,-speed);
-    dJointSetHinge2Param (joint[0],dParamFMax2,0.1);
-
-    // steering
-    dReal v = steer - dJointGetHinge2Angle1 (joint[0]);
-    if (v > 0.1) v = 0.1;
-    if (v < -0.1) v = -0.1;
-    v *= 10.0;
-    dJointSetHinge2Param (joint[0],dParamVel,v);
-    dJointSetHinge2Param (joint[0],dParamFMax,0.2);
-    dJointSetHinge2Param (joint[0],dParamLoStop,-0.75);
-    dJointSetHinge2Param (joint[0],dParamHiStop,0.75);
-    dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1);
-
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldStep (world,0.05);
-
-    // remove all contact joints
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (0,1,1);
-  dsSetTexture (DS_WOOD);
-  dReal sides[3] = {LENGTH,WIDTH,HEIGHT};
-  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides);
-  dsSetColor (1,1,1);
-  for (i=1; i<=3; i++) dsDrawCylinder (dBodyGetPosition(body[i]),
-                                       dBodyGetRotation(body[i]),0.02f,RADIUS);
-
-  dVector3 ss;
-  dGeomBoxGetLengths (ground_box,ss);
-  dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss);
-
-  /*
-  printf ("%.10f %.10f %.10f %.10f\n",
-          dJointGetHingeAngle (joint[1]),
-          dJointGetHingeAngle (joint[2]),
-          dJointGetHingeAngleRate (joint[1]),
-          dJointGetHingeAngleRate (joint[2]));
-  */
-}
-
-
-int main (int argc, char **argv)
-{
-  int i;
-  dMass m;
-
-  // setup pointers to drawstuff callback functions
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = &command;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  // create world
-
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  ground = dCreatePlane (space,0,0,1,0);
-
-  // chassis body
-  body[0] = dBodyCreate (world);
-  dBodySetPosition (body[0],0,0,STARTZ);
-  dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
-  dMassAdjust (&m,CMASS);
-  dBodySetMass (body[0],&m);
-  box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT);
-  dGeomSetBody (box[0],body[0]);
-
-  // wheel bodies
-  for (i=1; i<=3; i++) {
-    body[i] = dBodyCreate (world);
-    dQuaternion q;
-    dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
-    dBodySetQuaternion (body[i],q);
-    dMassSetSphere (&m,1,RADIUS);
-    dMassAdjust (&m,WMASS);
-    dBodySetMass (body[i],&m);
-    sphere[i-1] = dCreateSphere (0,RADIUS);
-    dGeomSetBody (sphere[i-1],body[i]);
-  }
-  dBodySetPosition (body[1],0.5*LENGTH,0,STARTZ-HEIGHT*0.5);
-  dBodySetPosition (body[2],-0.5*LENGTH, WIDTH*0.5,STARTZ-HEIGHT*0.5);
-  dBodySetPosition (body[3],-0.5*LENGTH,-WIDTH*0.5,STARTZ-HEIGHT*0.5);
-
-  // front wheel hinge
-  /*
-  joint[0] = dJointCreateHinge2 (world,0);
-  dJointAttach (joint[0],body[0],body[1]);
-  const dReal *a = dBodyGetPosition (body[1]);
-  dJointSetHinge2Anchor (joint[0],a[0],a[1],a[2]);
-  dJointSetHinge2Axis1 (joint[0],0,0,1);
-  dJointSetHinge2Axis2 (joint[0],0,1,0);
-  */
-
-  // front and back wheel hinges
-  for (i=0; i<3; i++) {
-    joint[i] = dJointCreateHinge2 (world,0);
-    dJointAttach (joint[i],body[0],body[i+1]);
-    const dReal *a = dBodyGetPosition (body[i+1]);
-    dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]);
-    dJointSetHinge2Axis1 (joint[i],0,0,1);
-    dJointSetHinge2Axis2 (joint[i],0,1,0);
-
-    // breakable joints contribution
-    // the wheels can break
-    dJointSetBreakable (joint[i], 1);
-    // the wheels wil break at a specific force
-    dJointSetBreakMode (joint[i], dJOINT_BREAK_AT_B1_FORCE|dJOINT_BREAK_AT_B2_FORCE);
-    // specify the force for the first body connected to the joint ...
-    dJointSetBreakForce (joint[i], 0, 1.5, 1.5, 1.5);
-    // and for the second body
-    dJointSetBreakForce (joint[i], 1, 1.5, 1.5, 1.5);
-  }
-
-  // set joint suspension
-  for (i=0; i<3; i++) {
-    dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4);
-    dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.8);
-  }
-
-  // lock back wheels along the steering axis
-  for (i=1; i<3; i++) {
-    // set stops to make sure wheels always stay in alignment
-    dJointSetHinge2Param (joint[i],dParamLoStop,0);
-    dJointSetHinge2Param (joint[i],dParamHiStop,0);
-    // the following alternative method is no good as the wheels may get out
-    // of alignment:
-    //   dJointSetHinge2Param (joint[i],dParamVel,0);
-    //   dJointSetHinge2Param (joint[i],dParamFMax,dInfinity);
-  }
-
-  // create car space and add it to the top level space
-  car_space = dSimpleSpaceCreate (space);
-  dSpaceSetCleanup (car_space,0);
-  dSpaceAdd (car_space,box[0]);
-  dSpaceAdd (car_space,sphere[0]);
-  dSpaceAdd (car_space,sphere[1]);
-  dSpaceAdd (car_space,sphere[2]);
-
-  // environment
-  ground_box = dCreateBox (space,2,1.5,1);
-  dMatrix3 R;
-  dRFromAxisAndAngle (R,0,1,0,-0.15);
-  dGeomSetPosition (ground_box,2,0,-0.34);
-  dGeomSetRotation (ground_box,R);
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dGeomDestroy (box[0]);
-  dGeomDestroy (sphere[0]);
-  dGeomDestroy (sphere[1]);
-  dGeomDestroy (sphere[2]);
-
-  return 0;
-}
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp b/libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp
deleted file mode 100644
index e550a32..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/AssemblyInfo.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-#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
deleted file mode 100644
index c95ae57..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Body.cpp
+++ /dev/null
@@ -1,322 +0,0 @@
-#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
deleted file mode 100644
index 9347c17..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Body.h
+++ /dev/null
@@ -1,76 +0,0 @@
-#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
deleted file mode 100644
index 143397d..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/CommonMgd.h
+++ /dev/null
@@ -1,43 +0,0 @@
-#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
deleted file mode 100644
index 2694a26..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.sln
+++ /dev/null
@@ -1,21 +0,0 @@
-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
deleted file mode 100644
index 2f5bb6c..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/DotNetManaged.vcproj
+++ /dev/null
@@ -1,379 +0,0 @@
-<?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
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-                        </File>
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-                        </File>
-                        <File
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-                        </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>
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-                                        RelativePath="JointBall.h">
-                                </File>
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-                                </File>
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-                                        RelativePath="Stdafx.h">
-                                </File>
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-                                </File>
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-                                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>
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-                                        <FileConfiguration
-                                                Name="Debug|Win32">
-                                                <Tool
-                                                        Name="VCCLCompilerTool"
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-                                        </FileConfiguration>
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-                                                Name="Release|Win32">
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-                                </File>
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-                                        RelativePath="JointGroup.cpp">
-                                </File>
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-                                        RelativePath="JointHinge.cpp">
-                                </File>
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-                                        RelativePath="JointHinge2.cpp">
-                                </File>
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-                                        RelativePath="JointSlider.cpp">
-                                </File>
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-                                        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>
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-                                        RelativePath="Stdafx.cpp">
-                                </File>
-                                <File
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-        </Files>
-        <Globals>
-        </Globals>
-</VisualStudioProject>
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp
deleted file mode 100644
index 3655466..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Geom.cpp
+++ /dev/null
@@ -1,219 +0,0 @@
-
-#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
deleted file mode 100644
index 83a6faf..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Geom.h
+++ /dev/null
@@ -1,75 +0,0 @@
-#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
deleted file mode 100644
index e2d8de6..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Joint.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#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
deleted file mode 100644
index d9ab254..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Joint.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#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
deleted file mode 100644
index c5a4543..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.cpp
+++ /dev/null
@@ -1,162 +0,0 @@
-#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
deleted file mode 100644
index aa3ca4b..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointAMotor.h
+++ /dev/null
@@ -1,62 +0,0 @@
-#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
deleted file mode 100644
index d9336c9..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointBall.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-#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
deleted file mode 100644
index 2355bdd..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointBall.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#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
deleted file mode 100644
index afe9222..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.cpp
+++ /dev/null
@@ -1,67 +0,0 @@
-#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
deleted file mode 100644
index 5ca50dc..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointFixed.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#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
deleted file mode 100644
index 925751f..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-#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
deleted file mode 100644
index b62ced0..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointGroup.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#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
deleted file mode 100644
index 85d420b..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.cpp
+++ /dev/null
@@ -1,121 +0,0 @@
-#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
deleted file mode 100644
index 3115845..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge.h
+++ /dev/null
@@ -1,195 +0,0 @@
-#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
deleted file mode 100644
index 94fd7a7..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.cpp
+++ /dev/null
@@ -1,133 +0,0 @@
-#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
deleted file mode 100644
index e883ea8..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointHinge2.h
+++ /dev/null
@@ -1,48 +0,0 @@
-#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
deleted file mode 100644
index ab7ebd6..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.cpp
+++ /dev/null
@@ -1,102 +0,0 @@
-#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
deleted file mode 100644
index 7e96e59..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/JointSlider.h
+++ /dev/null
@@ -1,158 +0,0 @@
-#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
deleted file mode 100755
index ccf2a41..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Release/ode.dll
+++ /dev/null
diff --git a/libraries/ode-0.9/contrib/DotNetManaged/Space.cpp b/libraries/ode-0.9/contrib/DotNetManaged/Space.cpp
deleted file mode 100644
index c9a7e19..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Space.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-#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
deleted file mode 100644
index 78e81ad..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Space.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#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
deleted file mode 100644
index b6c9d98..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.cpp
+++ /dev/null
@@ -1,5 +0,0 @@
-// 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
deleted file mode 100644
index 2222759..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/Stdafx.h
+++ /dev/null
@@ -1,12 +0,0 @@
-// 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
deleted file mode 100644
index e2cdbc3..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/TEST.h
+++ /dev/null
@@ -1,17 +0,0 @@
-                
-#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
deleted file mode 100644
index beab21a..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/World.cpp
+++ /dev/null
@@ -1,74 +0,0 @@
-#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
deleted file mode 100644
index c4c60e5..0000000
--- a/libraries/ode-0.9/contrib/DotNetManaged/World.h
+++ /dev/null
@@ -1,67 +0,0 @@
-#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;
-
-        };
-
-}
-
diff --git a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp b/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp
deleted file mode 100644
index 26b77b0..0000000
--- a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp
+++ /dev/null
@@ -1,218 +0,0 @@
-
-/* ************************************************************************ */
-/* 
-   grouped and transformed geometry functions 
-   author: Tim Schmidt tisch@uni-paderborn.de
-*/
-
-
-#include <ode/common.h>
-#include <ode/geom.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include <ode/memory.h>
-#include <ode/misc.h>
-#include <ode/objects.h>
-#include <ode/matrix.h>
-#include <ode/GeomTransformGroup.h>
-#include "objects.h"
-#include "array.h"
-#include "geom_internal.h"
-
-// given a pointer `p' to a dContactGeom, return the dContactGeom at
-// p + skip bytes.
-
-#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
-
-
-// ############################################################################
-
-int dGeomTransformGroupClass = -1;
-// ############################################################################
-
-struct dxGeomTransformGroup {
-  dArray<dxGeom*> parts;        // all the geoms that make up the group
-  dVector3 relativePosition;
-  dMatrix3 relativeRotation;
-};
-// ############################################################################
-
-void dGeomTransformGroupSetRelativePosition (dxGeom *g, dReal x, dReal y, dReal z)
-{
-  dAASSERT (g);
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  transformGroup->relativePosition[0] = x;
-  transformGroup->relativePosition[1] = y;
-  transformGroup->relativePosition[2] = z;
-}
-// ############################################################################
-
-void dGeomTransformGroupSetRelativeRotation (dxGeom *g, const dMatrix3 R)
-{
-  dAASSERT (g);
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  memcpy (transformGroup->relativeRotation,R,sizeof(dMatrix3));
-}
-// ############################################################################
-
-const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g)
-{
-  dAASSERT (g);
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  return transformGroup->relativePosition;
-}
-// ############################################################################
-
-const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g)
-{
-  dAASSERT (g);
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  return transformGroup->relativeRotation;
-}
-// ############################################################################
-
-static void computeFinalTransformation (const dxGeom *tg, const dxGeom *part)
-{
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(tg);
-  dMULTIPLY0_331 (part->pos,tg->R,transformGroup->relativePosition);
-  part->pos[0] += tg->pos[0];
-  part->pos[1] += tg->pos[1];
-  part->pos[2] += tg->pos[2];
-  dMULTIPLY0_333 (part->R,tg->R,transformGroup->relativeRotation);
-}
-// ############################################################################
-
-int dCollideTransformGroup (const dxGeom *o1, const dxGeom *o2, int flags,
-               dContactGeom *contact, int skip)
-{
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(o1);
-  if (transformGroup->parts.size() == 0)
-  {
-    return 0;
-  }
-  int numleft = flags & NUMC_MASK;
-  if (numleft == 0) numleft = 1;
-  flags &= ~NUMC_MASK;
-  int num=0, i=0;
-  while (i < transformGroup->parts.size() && numleft > 0) 
-  {
-    dUASSERT (transformGroup->parts[i]->spaceid==0,
-              "GeomTransformGroup encapsulated object must not be in a space");
-    dUASSERT (transformGroup->parts[i]->body==0,
-              "GeomTransformGroup encapsulated object must not be attached to a body");
-    if (!o1->space_aabb) 
-    {
-      computeFinalTransformation (o1, transformGroup->parts[i]);
-    }
-    dxBody *bodyBackup = transformGroup->parts[i]->body;
-    transformGroup->parts[i]->body = o1->body;
-    int n = dCollide (transformGroup->parts[i],const_cast<dxGeom*>(o2),
-                      flags | numleft,contact,skip);
-    transformGroup->parts[i]->body = bodyBackup;
-    contact = CONTACT (contact,skip*n);
-    numleft -= n;
-    num += n;
-    i++;
-  }
-  return num;
-}
-// ############################################################################
-
-static dColliderFn * dGeomTransformGroupColliderFn (int num)
-{
-  return (dColliderFn *) &dCollideTransformGroup;
-}
-// ############################################################################
-
-static void dGeomTransformGroupAABB (dxGeom *geom, dReal aabb[6])
-{
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom);
-  aabb[0] = dInfinity;
-  aabb[1] = -dInfinity;
-  aabb[2] = dInfinity;
-  aabb[3] = -dInfinity;
-  aabb[4] = dInfinity;
-  aabb[5] = -dInfinity;
-  int i,j;
-  for (i=0; i < transformGroup->parts.size(); i++)
-  {
-    computeFinalTransformation (geom, transformGroup->parts[i]);
-    dReal aabb2[6];
-    transformGroup->parts[i]->_class->aabb (transformGroup->parts[i],aabb2);
-    for (j=0; j<6; j += 2) if (aabb2[j] < aabb[j]) aabb[j] = aabb2[j];
-    for (j=1; j<6; j += 2) if (aabb2[j] > aabb[j]) aabb[j] = aabb2[j];
-  }
-}
-// ############################################################################
-
-static void dGeomTransformGroupDtor (dxGeom *geom)
-{
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom);
-  transformGroup->parts.~dArray();
-}
-// ############################################################################
-
-dxGeom *dCreateGeomTransformGroup (dSpaceID space)
-{
-  if (dGeomTransformGroupClass == -1) {
-    dGeomClass c;
-    c.bytes = sizeof (dxGeomTransformGroup);
-    c.collider = &dGeomTransformGroupColliderFn;
-    c.aabb = &dGeomTransformGroupAABB;
-    c.aabb_test = 0;
-    c.dtor = dGeomTransformGroupDtor;
-    dGeomTransformGroupClass = dCreateGeomClass (&c);
-  }
-  dxGeom *g = dCreateGeom (dGeomTransformGroupClass);
-  if (space)
-  {
-    dSpaceAdd (space,g);
-  }
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  transformGroup->parts.constructor();
-  dSetZero (transformGroup->relativePosition,4);
-  dRSetIdentity (transformGroup->relativeRotation);
-  return g;
-}
-// ############################################################################
-
-void dGeomTransformGroupAddGeom (dxGeom *g, dxGeom *obj)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformGroupClass,
-            "argument not a geom TransformGroup");
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  transformGroup->parts.push (obj);
-}
-// ############################################################################
-
-void dGeomTransformGroupRemoveGeom (dxGeom *g, dxGeom *obj)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformGroupClass,
-            "argument not a geom TransformGroup");
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  for (int i=0; i < transformGroup->parts.size(); i++) {
-    if (transformGroup->parts[i] == obj) {
-      transformGroup->parts.remove (i);
-      return;
-    }
-  }
-}
-// ############################################################################
-
-dxGeom * dGeomTransformGroupGetGeom (dxGeom *g, int i)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformGroupClass,
-            "argument not a geom TransformGroup");
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  dAASSERT (i >= 0 && i < transformGroup->parts.size());
-  return transformGroup->parts[i];
-}
-// ############################################################################
-
-int dGeomTransformGroupGetNumGeoms (dxGeom *g)
-{
-  dUASSERT (g && g->_class->num == dGeomTransformGroupClass,
-            "argument not a geom TransformGroup");
-  dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g);
-  return transformGroup->parts.size();
-}
diff --git a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.h b/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.h
deleted file mode 100644
index 705fdb9..0000000
--- a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.h
+++ /dev/null
@@ -1,29 +0,0 @@
- 
-/* ************************************************************************ */
-/* 
-   grouped and transformed geometry functions 
-   author: Tim Schmidt tisch@uni-paderborn.de
-*/
-
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-extern int dGeomTransformGroupClass;
-
-void dGeomTransformGroupSetRelativePosition (dGeomID g, dReal x, dReal y, dReal z);
-void dGeomTransformGroupSetRelativeRotation (dGeomID g, const dMatrix3 R);
-const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g);
-const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g);
-dGeomID dCreateGeomTransformGroup (dSpaceID space);
-void dGeomTransformGroupAddGeom    (dGeomID tg, dGeomID obj);
-void dGeomTransformGroupRemoveGeom (dGeomID tg, dGeomID obj);
-dGeomID dGeomTransformGroupGetGeom (dGeomID tg, int i);
-int dGeomTransformGroupGetNumGeoms (dGeomID tg);
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/libraries/ode-0.9/contrib/GeomTransformGroup/README.txt b/libraries/ode-0.9/contrib/GeomTransformGroup/README.txt
deleted file mode 100644
index bca0e66..0000000
--- a/libraries/ode-0.9/contrib/GeomTransformGroup/README.txt
+++ /dev/null
@@ -1,148 +0,0 @@
-README for GeomTransformGroup by Tim Schmidt.
----------------------------------------------
-
-This is a patch to add the dGeomTransformGroup object to the list of geometry 
-objects.
-
-It should work with the cvs version of the ode library from 07/24/2002.
-
-++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-comment by russ smith: this code is easy to use with the rest of ODE.
-simply copy GeomTransformGroup.cpp to ode/src and copy GeomTransformGroup.h
-to include/ode. then add GeomTransformGroup.cpp to the ODE_SRC variable
-in the makefile. rebuild, and you're done! of course i could have done all
-this for you, but i prefer to keep GeomTransformGroup separated from the
-rest of ODE for now while other issues with the collision system are
-resolved.
-
-++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-
-Description:
-
-The dGeomTransformGroup is an adaption of the TransformGroup known from 
-Java3D (and maybe other libraries with a similar scene graph representation).
-It can be used to build an arbitrarily structured tree of objects that are 
-each positioned relative to the particular parent node.
-
-If you have a plane for example, there is one root node associated with the 
-plane's body and another three transformgroups placed 'under' this node. One 
-with the fuselage (cappedcylinder) under it and two with the underlying wings 
-(flat boxes). And if you want to add engines, simply put them 'next to' the 
-wings under another two transformgroups.
-
-bodyTG ---> associated with dBody
-    |
-    +--fuselageTG
-    |   |
-    |   +--fuselageCylinder
-    |
-    +--leftwingTG
-    |   |
-    |   +--wingBox
-    |   |
-    |   +--leftengineTG
-    |         |
-    |         +--leftengineCylinder
-    | 
-    +--rightwingTG
-        |
-        +--wingBox
-        |
-        +--rightengineTG
-              |
-              +--rightengineCylinder
-
-This is a method to easily compose objects without the necessity of always 
-calculating global coordinates. But apart from this there is something else 
-that makes dGeomTransformGroups very valuable.
-
-Maybe you remember that some users reported the problem of acquiring the 
-correct bodies to be attached by a contactjoint in the nearCallback when 
-using dGeomGroups and dGeomTransforms at the same time. This results from the 
-fact that dGeomGroups are not associated with bodies while all other 
-geometries are.
-
-So, as you can see in the nearCallback of the the test_buggy demo you have to 
-attach the contactjoint with the bodies that you get from the geometries that 
-are stored in the contact struct (-> dGeomGetBody(contacts[i].geom.g1)). 
-Normally you would do this by asking o1 and o2 directly with dGeomGetBody(o1) 
-and dGeomGetBody(o2) respectively.
-
-As a first approach you can overcome that problem by testing o1 and o2 if 
-they are groups or not to find out how to get the corresponding bodies.
-
-However this will fail if you want grouped transforms that are constructed 
-out of dGeomTransforms encapsulated in a dGeomGroup. According to the test 
-you use contacts[i].geom.g1 to get the right body. Unfortunately g1 is 
-encapsulated in a transform and therefore not attached to any body. In this 
-case the dGeomTransform 'in the middle' would have been the right object to 
-be asked for the body.
-
-You may now conclude that it is a good idea to unwrap the group encapsulated 
-geoms at the beginning of the nearcallback and use dGeomGetBody(o1) 
-consistently. But keep in mind that this also means not to invoke 
-dCollide(..) on groups at all and therefore not to expoit the capability of 
-dGeomGroups to speed up collision detection by the creation of bounding boxes 
-around the encapsulated geometry.
-
-Everything becomes even worse if you create a dGeomTransform that contains a 
-dGeomGroup of geoms. The function that cares about the collision of 
-transforms with other objects uses the position and rotation of the 
-respective encapsulated object to compute its final position and orientation. 
-Unfortunately dGeomGroups do not have a position and rotation, so the result 
-will not be what you have expected.
-
-Here the dGeomTransformGroups comes into operation, because it combines the 
-advantages and capabilities of the dGeomGroup and the dGeomTransform.
-And as an effect of synergy it is now even possible to set the position of a 
-group of geoms with one single command.
-Even nested encapsulations of dGeomTransformGroups in dGeomTransformGroups 
-should be possible (to be honest, I have not tried that so far ;-) ).
-
-++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-API:
-
-dGeomID dCreateGeomTransformGroup (dSpaceID space);
-  - create a GeomTransformGroup 
-    
-void dGeomTransformGroupAddGeom    (dGeomID tg, dGeomID obj);
-  - Comparable to dGeomTransformSetGeom or dGeomGroupAdd
-  - add objects to this group
-   
-void dGeomTransformGroupRemoveGeom (dGeomID tg, dGeomID obj);
-  - remove objects from this group
-
-void dGeomTransformGroupSetRelativePosition
-            (dGeomID g, dReal x, dReal y, dReal z);
-void dGeomTransformGroupSetRelativeRotation
-            (dGeomID g, const dMatrix3 R);
-  - Comparable to setting the position and rotation of all the
-    dGeomTransform encapsulated geometry. The difference 
-    is that it is global with respect to this group and therefore
-    affects all geoms in this group.
-  - The relative position and rotation are attributes of the 
-    transformgroup, so the position and rotation of the individual
-    geoms are not changed 
-
-const dReal * dGeomTransformGroupGetRelativePosition (dGeomID g);
-const dReal * dGeomTransformGroupGetRelativeRotation (dGeomID g);
-  - get the relative position and rotation
-  
-dGeomID dGeomTransformGroupGetGeom (dGeomID tg, int i);
-  - Comparable to dGeomGroupGetGeom
-  - get a specific geom of the group
-  
-int dGeomTransformGroupGetNumGeoms (dGeomID tg);
-  - Comparable to dGeomGroupGetNumGeoms
-  - get the number of geoms in the group
-  
-
-++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-
-Tim Schmidt
-student of computer science
-University of Paderborn, Germany
-tisch@uni-paderborn.de
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/CW7_projects.sit.bin b/libraries/ode-0.9/contrib/Mac_CFMCarbon/CW7_projects.sit.bin
deleted file mode 100644
index c06768c..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/CW7_projects.sit.bin
+++ /dev/null
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/README.txt b/libraries/ode-0.9/contrib/Mac_CFMCarbon/README.txt
deleted file mode 100644
index 7c1f8a4..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/README.txt
+++ /dev/null
@@ -1,95 +0,0 @@
------------------------------
-ODE - Mac CFM Carbon Port
-(contact Frank Condello <pox@planetquake.com> with questions regarding this port)
-
-Although ODE contains a MacOSX makefile, and some individuals have implemented ODE in
-Cocoa, I opted to use (and prefer) CodeWarrior. This also opens up ODE to MacOS8 & 9
-users, without scarfing functionality in MacOSX (same binaries run on both platforms).
-
-The 'ode_CW7.mcp' project contains release and debug targets to create static ODE and
-DrawStuff libraries.
-
-'examples_CW7.mcp' contains targets for the entire ODE test suite, plus a couple other
-test programs which were posted to the ODE mailing list.
-
-
------------------------------
-Compiling Notes:
-
-You'll need to extract the CodeWarrior projects from the 'CW7_projects.sit.bin' archive
-(They're nearly a meg uncompressed so this was done to be bandwith friendly on the CVS).
-
-Projects require CodeWarrior 7 or above (recreating them with earlier versions shouldn't
-be too difficult). The projects use relative paths and are meant to be compiled from
-'contrib/Mac_CFMCarbon/'. Don't move them!
-
-All the libraries build into the 'lib/' directory, all test applications build into
-'contrib/Mac_CFMCarbon/mac_testbin/' (and must be run from that directory since the
-texture path is hard-coded).
-
-You'll need to compile the release ODE library, and the DrawStuff library before
-compiling the examples.
-
-The ODE 'configurator' has not been ported, but a Mac-friendly 'config.h' header has been
-manually hacked together (all PPC Macs should be fine with this header). Single or double
-precision can be defined in the 'CommonPrefix.h' header found in
-'contrib/Mac_CFMCarbon/mac_source/'.
-
-'contrib/Mac_CFMCarbon/mac_source/' also contains any mac specific additions to the main source.
-The directory structure here matches the main source tree, and I would recommend that this
-format is maintained when making additions, since the access paths are touchy (more below...)
-
-Some issues were encountered with duplicate header names. CodeWarrior tends to be
-unforgiving about this sort of thing but fudging with the access paths eventually
-cleared up the problem. If ODE fails to compile, make sure the <ode/objects.h> and
-"objects.h" or <timer.h> and <Timer.h> are actually pointing to the correct header.
-
-You'll need Apple's OpenGL SDK (with GLUT) in your compiler path to build DrawStuff. I've
-added redirection headers in 'contrib/Mac_CFMCarbon/mac_source/include/GL/' to properly
-link with the Apple headers (since the projects are set to follow DOS paths).
-
-The examples link against a crapload of static libraries, but my initial builds using
-ODE, MSL, GLUT, and DrawStuff shared/merged DLL's proved unstable (mostly problems with
-SIOUX spawning multiple sessions, and crashes in Classic). Static libs just worked better
-in the end, but the test apps are a little bloated as a result, and need to be re-linked
-whenever a change to a library is made.
-
-IMPORTANT: You must use the same 'CommonPrefix.h' settings for libraries, and test apps
-(i.e. double or single precision).
-
-
------------------------------
-Running the test apps:
-
-The test apps will show the SIOUX CLI prompt when run. Just hit OK to ignore it, or add any
-DrawStuff arguments. You'll want to log output to a file for 'test_ode'.
-
-There are two extra test programs in the 'mac_source' directory. Both were posted to the ODE
-mailing list by OSX users. 'test_stability1' visualizes some internal issues with ODE, and
-'test_stacktest' is a standalone GLUT program (doesn't use DrawStuff) that can be useful
-to stress test the library, and give you an idea of just how much stack memory you're
-going to need for large systems.
-
-ISSUES:
-
-The carbon DrawStuff lib uses GLUT to make life easy, but GLUT isn't exactly bug-free
-or stable on the Mac... Try moving the mouse around if a simulation is running slowly
-on OS9 (it's not ODE's fault, but rather a poor carbon GLUT implementation - seems GLUT stalls
-when it's not getting system events  - I haven't seen this problem on OSX).
-
-The 3D view may not update if typing in the SIOUX console window.
-
-You cannot pass startup args to GLUT due to the way the DrawStuff library initializes.
-
-'Write Frames' doesn't actually do anything at the moment.
-
-The 'test_joints' app seems broken (though I don't know what the intended effect should be)
-
-
------------------------------
-TODO:
-
-- Re-add shared library targets (if stability issues are resolved).
-- Implement 'Write Frames' in DrawStuff.
-- Write a Carbon compatible configurator
-- Create CodeWarrior 8 projects (once I scrounge up enough dough for the update).
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/CommonPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/CommonPrefix.h
deleted file mode 100644
index 5948b3e..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/CommonPrefix.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#define TARGET_API_MAC_CARBON 1
-#define finite isfinite
-#define dNODEBUG 1
-
-// Comment out for single precision
-#define PRECISION_DOUBLE 1
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h
deleted file mode 100644
index 6122528..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DSPrefix.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#ifndef prefix_h
-#define prefix_h
-
-#include "CommonPrefix.h"
-
-#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DebugPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DebugPrefix.h
deleted file mode 100644
index 0e328a9..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/DebugPrefix.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef prefix_h
-#define prefix_h
-
-#include "CommonPrefix.h"
-
-#ifdef dNODEBUG
-#undef dNODEBUG
-#endif
-
-#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h
deleted file mode 100644
index 1dedfc9..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ExamplesPrefix.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef prefix_h
-#define prefix_h
-
-#include "CommonPrefix.h"
-
-// Hack to automatically call SIOUX's CLI interface for the test apps
-#include <console.h>
-#include <SIOUX.h>
-int fmain (int argc, char **argv);
-int main (int argc, char **argv) { argc = ccommand(&argv); return fmain(argc, argv); }
-#define main(argc, argv) fmain(argc, argv)
-
-#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h
deleted file mode 100644
index f8f5022..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ODETestPrefix.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#ifndef prefix_h
-#define prefix_h
-
-#include "CommonPrefix.h"
-
-// Hack to automatically call SIOUX's CLI interface for the test apps
-#include <console.h>
-#include <SIOUX.h>
-int fmain ();
-int main (int argc, char **argv) { argc = ccommand(&argv); return fmain(); }
-#define main() fmain()
-
-#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h
deleted file mode 100644
index 6122528..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ReleasePrefix.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#ifndef prefix_h
-#define prefix_h
-
-#include "CommonPrefix.h"
-
-#endif // prefix_h
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/drawstuff/src/mac_glut_carbon.cpp b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/drawstuff/src/mac_glut_carbon.cpp
deleted file mode 100644
index eb0b144..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/drawstuff/src/mac_glut_carbon.cpp
+++ /dev/null
@@ -1,281 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * DrawStuff Library, Copyright (C) 2001 Russell L. Smith.               *
- *   Email: russ@q12.org   Web: www.q12.org                              *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of the GNU Lesser General Public            *
- * License as published by the Free Software Foundation; either          *
- * version 2.1 of the License, or (at your option) any later version.    *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU      *
- * Lesser General Public License for more details.                       *
- *                                                                       *
- * You should have received a copy of the GNU Lesser General Public      *
- * License along with this library (see the file LICENSE.TXT); if not,   *
- * write to the Free Software Foundation, Inc., 59 Temple Place,         *
- * Suite 330, Boston, MA 02111-1307 USA.                                 *
- *                                                                       *
- *************************************************************************/
-
-// main window and event handling for Mac CFM Carbon
-
-#include <ode/config.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdarg.h>
-#include <stdio.h>
-#include <glut.h>
-#include <SIOUX.h>
-
-#include <MacTypes.h>
-#include <Timer.h>
-
-#include <drawstuff/drawstuff.h>
-#include <drawstuff/version.h>
-#include "internal.h"
-
-
-//***************************************************************************
-// error handling for unix (works just fine with SIOUX)
-
-static void printMessage (char *msg1, char *msg2, va_list ap)
-{
-  fflush (stderr);
-  fflush (stdout);
-  fprintf (stderr,"\n%s: ",msg1);
-  vfprintf (stderr,msg2,ap);
-  fprintf (stderr,"\n");
-  fflush (stderr);
-}
-
-extern "C" void dsError (char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  printMessage ("Error",msg,ap);
-  exit (1);
-}
-
-
-extern "C" void dsDebug (char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  printMessage ("INTERNAL ERROR",msg,ap);
-  // *((char *)0) = 0;   ... commit SEGVicide ?
-  abort();
-}
-
-extern "C" void dsPrint (char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  vprintf (msg,ap);
-}
-
-//***************************************************************************
-// openGL window
-
-// window and openGL
-static int width=0,height=0;            // window size
-static int last_key_pressed=0;          // last key pressed in the window
-static int pause=0;                                     // 1 if in `pause' mode
-static int singlestep=0;                        // 1 if single step key pressed
-static int writeframes=0;                       // 1 if frame files to be written
-static dsFunctions *gfn;
-static int frame = 1;
-
-float getTime (void)
-{
-        UnsignedWide ms;
-        
-        Microseconds(&ms);
-        return ms.lo / 1000000.0;
-}
-
-
-static void captureFrame (int num)
-{
-// TODO
-}
-
-static void reshape(int w, int h)
-{
-        width = w;
-        height = h;
-}
-
-static void draw(void)
-{
-        dsDrawFrame (width,height,gfn,pause && !singlestep);
-        singlestep = 0;
-        glutSwapBuffers();
-        
-        if (pause==0 && writeframes) {
-      captureFrame (frame);
-      frame++;
-    }
-}
-
-static void idle(void)
-{
-        static float lasttime=0;
-        float t;
-        
-        // Try to maintain a reasonable rate (good enough for testing anyway)
-        t = getTime();
-        if (lasttime < t) {
-                lasttime = t+0.005;
-                draw();
-        }
-}
-
-static void key(unsigned char key, int x, int y)
-{
-        if (!glutGetModifiers()) {
-                
-                if (key >= ' ' && key <= 126 && gfn->command) gfn->command (key);
-        
-        // GLUT_ACTIVE_CTRL doesn't seem to be working, so we use Alt
-        } else if (glutGetModifiers()&GLUT_ACTIVE_ALT) {
-                
-                switch (key) {
-                case 't': case 'T':
-                        dsSetTextures (dsGetTextures() ^ 1);
-                        break;
-                case 's': case 'S':
-                        dsSetShadows (dsGetShadows() ^ 1);
-                        break;
-                case 'p': case 'P':
-                        pause ^= 1;
-                        singlestep = 0;
-                        break;
-                case 'o': case 'O':
-                        if (pause) singlestep = 1;
-                        break;
-                case 'v': case 'V': {
-                        float xyz[3],hpr[3];
-                        dsGetViewpoint (xyz,hpr);
-                        printf ("Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n",
-                                        xyz[0],xyz[1],xyz[2],hpr[0],hpr[1],hpr[2]);
-                        break;
-              }
-            // No case 'X' - Quit works through the Mac system menu, or cmd-q
-                case 'w': case 'W':
-                        writeframes ^= 1;
-                        if (writeframes) printf ("Write frames not done yet!\n");// TODO
-                                break;
-                }
-        }
-                
-    last_key_pressed = key;
-}
-
-static int mx=0,my=0;   // mouse position
-static int mode = 0;    // mouse button bits
-  
-static void MouseDown(int button, int state, int x, int y)
-{
-        if(button == GLUT_LEFT_BUTTON)
-        {
-                if(state == GLUT_DOWN)
-                        mode |= 1;
-                else if(state == GLUT_UP)
-                        mode &= (~1);
-        }
-        else if (button == GLUT_MIDDLE_BUTTON)
-        {
-                if(state == GLUT_DOWN)
-                        mode |= 3;
-                else if(state == GLUT_UP)
-                        mode &= (~3);
-        }
-        else if (button == GLUT_RIGHT_BUTTON)
-        {
-                if(state == GLUT_DOWN)
-                        mode |= 2;
-                else if(state == GLUT_UP)
-                        mode &= (~2);
-        }
-        
-        mx = x;
-        my = y;
-}
-
-static void MouseMove(int x, int y)
-{
-        dsMotion (mode, x - mx, y - my);
-        mx = x;
-        my = y; 
-}
-
-static void createMainWindow (int _width, int _height)
-{
-        // So GLUT doesn't complain
-        int argc = 0;
-        char **argv = NULL;
-        
-        // initialize variables
-        width = _width;
-        height = _height;
-        last_key_pressed = 0;
-
-        if (width < 1 || height < 1) dsDebug (0,"bad window width or height");
-        
-        glutInit(&argc, argv);
-        glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
-        glutInitWindowSize(_width, _height);
-        glutInitWindowPosition(100, 100);
-        glutCreateWindow("ODE Simulation");
-        
-        glutKeyboardFunc(key);
-        glutMotionFunc(MouseMove);
-        glutMouseFunc(MouseDown);
-        glutReshapeFunc(reshape);
-        glutDisplayFunc(idle);
-        glutIdleFunc(idle);
-}
-
-void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn,
-                        int initial_pause)
-{       
-        SIOUXSettings.initializeTB     = false;
-        SIOUXSettings.standalone       = false;
-        SIOUXSettings.setupmenus       = false;
-        SIOUXSettings.autocloseonquit  = true;
-        SIOUXSettings.asktosaveonclose = false;
-                
-        gfn = fn;
-        pause = initial_pause;
-
-        printf (
-                        "\n"
-                        "Simulation test environment v%d.%02d\n"
-                        "   Option-P : pause / unpause (or say `-pause' on command line).\n"
-                        "   Option-O : single step when paused.\n"
-                        "   Option-T : toggle textures (or say `-notex' on command line).\n"
-                        "   Option-S : toggle shadows (or say `-noshadow' on command line).\n"
-                        "   Option-V : print current viewpoint coordinates (x,y,z,h,p,r).\n"
-                        "   Option-W : write frames to ppm files: frame/frameNNN.ppm\n"
-                        "\n"
-                        "Change the camera position by clicking + dragging in the window.\n"
-                        "   Left button - pan and tilt.\n"
-                        "   Right button - forward and sideways.\n"
-                        "   Left + Right button (or middle button) - sideways and up.\n"
-                        "\n",DS_VERSION >> 8,DS_VERSION & 0xff);
-        
-        createMainWindow (window_width, window_height);
-        dsStartGraphics (window_width,window_height,fn);
-        
-        if (fn->start) fn->start();
-        
-        glutMainLoop();
-        
-        if (fn->stop) fn->stop();
-        dsStopGraphics();
-}
-
-extern "C" void dsStop(){ }// GLUT/MSL hooks into the system to exit
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h
deleted file mode 100644
index 4acaeed..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/gl.h
+++ /dev/null
@@ -1,2 +0,0 @@
-// A little hackaround (Apple use / in the FILENAME, which doesn't work when following DOS paths)
-#include <gl.h>
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h
deleted file mode 100644
index 5b4a791..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/GL/glu.h
+++ /dev/null
@@ -1,2 +0,0 @@
-// A little hackaround (Apple use / in the FILENAME, which doesn't work when following DOS paths)
-#include <glu.h>
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h
deleted file mode 100644
index bb889f9..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/include/ode/config.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/* This file has been manually hacked together for the Mac CFM Carbon build - Frank. */
-
-#ifndef _ODE_CONFIG_H_
-#define _ODE_CONFIG_H_
-
-/* standard system headers */
-#include <stdio.h>
-#include <stdlib.h>
-#include <math.h>
-#include <string.h>
-#include <stdarg.h>
-#include <malloc.h>
-#include <alloca.h>
-#include <float.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* #define PENTIUM 1 -- not a pentium */
-
-/* integer types (we assume int >= 32 bits) */
-typedef char int8;
-typedef unsigned char uint8;
-typedef int int32;
-typedef unsigned int uint32;
-
-/* an integer type that we can safely cast a pointer to and from without loss of bits. */
-typedef unsigned int intP;
-
-#ifdef PRECISION_DOUBLE
-
- /*select the base floating point type*/
- #define dDOUBLE 1
-
- /* the floating point infinity */
- #define dInfinity DBL_MAX
-
-#else
-
- /* select the base floating point type */
- #define dSINGLE 1
-
- /* the floating point infinity */
- #define dInfinity FLT_MAX
-
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-#endif
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp
deleted file mode 100644
index 79c066a..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stability1.cpp
+++ /dev/null
@@ -1,289 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-// select correct drawing functions
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawSphere dsDrawSphereD
-#define dsDrawCylinder dsDrawCylinderD
-#define dsDrawCappedCylinder dsDrawCappedCylinderD
-#endif
-
-
-// some constants
-
-#define DENSITY (5.0)           // density of all objects
-
-// dynamics and collision objects
-
-struct MyObject {
-  dBodyID body;         // the body
-  dGeomID geom;         // geometry representing this body
-};
-
-static dWorldID world;
-static dSpaceID space;
-static MyObject fallingObject;
-static dGeomID  box1, box2;
-static dJointGroupID contactgroup;
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  int i;
-  // if (o1->body && o2->body) return;
-
-  // exit without doing anything if the two bodies are connected by a joint
-  dBodyID b1 = dGeomGetBody(o1);
-  dBodyID b2 = dGeomGetBody(o2);
-  if (b1 && b2 && dAreConnected (b1,b2)) return;
-
-  dContact contact[4];                  // up to 3 contacts per box
-  for (i=0; i<4; i++) {
-    contact[i].surface.mode = dContactBounce; //dContactMu2;
-    contact[i].surface.mu = dInfinity;
-    contact[i].surface.mu2 = 0;
-    contact[i].surface.bounce = 0.5;
-    contact[i].surface.bounce_vel = 0.1;
-  }
-  if (int numc = dCollide (o1,o2,4,&contact[0].geom,sizeof(dContact))) {
-    // dMatrix3 RI;
-    // dRSetIdentity (RI);
-    // const dReal ss[3] = {0.02,0.02,0.02};
-    for (i=0; i<numc; i++) {
-      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
-      dJointAttach (c,b1,b2);
-      // dsDrawBox (contact[i].geom.pos,RI,ss);
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {-4.0f, 0.0f, 3.0f};
-  static float hpr[3] = {0.0f,-15.0f,0.0f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("To drop another object, press:\n");
-  printf ("   b for box.\n");
-  printf ("   s for sphere.\n");
-  printf ("   c for cylinder.\n");
-  printf ("To select an object, press space.\n");
-}
-
-
-char locase (char c)
-{
-  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
-  else return c;
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-    int i,k;
-    dReal sides[3];
-    dMass m;
-
-    cmd = locase (cmd);
-    if (cmd == 'b' || cmd == 's' || cmd == 'c') {
-        // Destroy the currently falling object and replace it by an instance of the requested type
-        if (fallingObject.body) {
-            dBodyDestroy (fallingObject.body);
-            dGeomDestroy (fallingObject.geom);
-            memset (&fallingObject, 0, sizeof(fallingObject));
-        }
-
-        fallingObject.body = dBodyCreate (world);
-        for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
-
-        // Start out centered above the V-gap
-        dBodySetPosition (fallingObject.body, 0,0,5);
-
-#if 0
-        dMatrix3 R;
-        dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-                            dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-        dBodySetRotation (fallingObject.body,R);
-        dBodySetData (fallingObject.body,(void*) i);
-#endif
-        
-        if (cmd == 'b') {
-            dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
-            fallingObject.geom = dCreateBox (space,sides[0],sides[1],sides[2]);
-        }
-        else if (cmd == 'c') {
-            sides[0] *= 0.5;
-            dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
-            fallingObject.geom = dCreateCCylinder (space,sides[0],sides[1]);
-        }
-        else if (cmd == 's') {
-            sides[0] *= 0.5;
-            dMassSetSphere (&m,DENSITY,sides[0]);
-            fallingObject.geom = dCreateSphere (space,sides[0]);
-        }
-
-        dGeomSetBody (fallingObject.geom,fallingObject.body);
-
-        dBodySetMass (fallingObject.body,&m);
-    }
-}
-
-
-// draw a geom
-
-void drawGeom (dGeomID g, const dReal *pos, const dReal *R)
-{
-  if (!g) return;
-  if (!pos) pos = dGeomGetPosition (g);
-  if (!R) R = dGeomGetRotation (g);
-
-  int type = dGeomGetClass (g);
-  if (type == dBoxClass) {
-    dVector3 sides;
-    dGeomBoxGetLengths (g,sides);
-    dsDrawBox (pos,R,sides);
-  }
-  else if (type == dSphereClass) {
-    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
-  }
-  else if (type == dCCylinderClass) {
-    dReal radius,length;
-    dGeomCCylinderGetParams (g,&radius,&length);
-    dsDrawCappedCylinder (pos,R,length,radius);
-  }
-  /*
-  else if (type == dGeomTransformClass) {
-    dGeomID g2 = dGeomTransformGetGeom (g);
-    const dReal *pos2 = dGeomGetPosition (g2);
-    const dReal *R2 = dGeomGetRotation (g2);
-    dVector3 actual_pos;
-    dMatrix3 actual_R;
-    dMULTIPLY0_331 (actual_pos,R,pos2);
-    actual_pos[0] += pos[0];
-    actual_pos[1] += pos[1];
-    actual_pos[2] += pos[2];
-    dMULTIPLY0_333 (actual_R,R,R2);
-    drawGeom (g2,actual_pos,actual_R);
-  }
-   */
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  dsSetColor (0,0,2);
-  dSpaceCollide (space,0,&nearCallback);
-  if (!pause) dWorldStep (world,0.0005);
-
-  // remove all contact joints
-  dJointGroupEmpty (contactgroup);
-
-  dsSetColor (1,1,0);
-  dsSetTexture (DS_WOOD);
-
-  // draw the falling object
-  dsSetColor (1,0,0);
-  drawGeom (fallingObject.geom,0,0);
-
-  // draw the constraining boxes
-  dsSetColor(0.8, 1, 0.8);
-  drawGeom (box1,0,0);
-  drawGeom (box2,0,0);
-}
-
-
-int main (int argc, char **argv)
-{
-  // setup pointers to drawstuff callback functions
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = &command;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  // create world
-
-  world = dWorldCreate();
-  space = dHashSpaceCreate();
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  dWorldSetCFM (world,1e-5);
-  dCreatePlane (space,0,0,1,0);
-  memset (&fallingObject,0,sizeof(fallingObject));
-
-  // Create two flat boxes, just slightly off vertical and a bit apart for stuff to fall in between.
-  // Don't create bodies for these boxes -- they'll be immovable instead.
-  {
-      dReal sides[3];
-      dMatrix3 R;
-      
-      sides[0] = 4;
-      sides[1] = 0.2;
-      sides[2] = 3;
-
-      box1 = dCreateBox (space,sides[0],sides[1],sides[2]);
-      dGeomSetPosition (box1, 0, sides[1], sides[2]/2);
-      dRFromAxisAndAngle (R, 1, 0, 0, -0.1);
-      dGeomSetRotation (box1, R);
-      
-      box2 = dCreateBox (space,sides[0],sides[1],sides[2]);
-      dGeomSetPosition (box2, 0, -sides[1], sides[2]/2);
-      dRFromAxisAndAngle (R, 1, 0, 0, 0.1);
-      dGeomSetRotation (box2, R);
-  }
-  
-  // Pretend to drop a box to start
-  command('b');
-  
-  // run simulation
-  dsSimulationLoop (argc,argv,640,480,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-
-  return 0;
-}
diff --git a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c b/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c
deleted file mode 100644
index e49fd73..0000000
--- a/libraries/ode-0.9/contrib/Mac_CFMCarbon/mac_source/ode/test/test_stacktest.c
+++ /dev/null
@@ -1,197 +0,0 @@
-#include <stdio.h>
-#include <glut.h>
-#include "ode.h"
-
-#define NUMBODIES 80
-
-#define USE_SPHERE 0
-#define USE_HELIX 1
-#define USE_TORQUE 1
-#define USE_WEIRD_MATRIX_OPS 0
-
-#define CONTACTS 1
-
-dWorldID aWorld;
-dSpaceID aSpace;
-float cycle = 0, fade;
-dJointGroupID aContactGroup;
-dBodyID bodies[NUMBODIES];
-dGeomID geoms[NUMBODIES];
-GLfloat colors[NUMBODIES][4];
-unsigned int contactsThisFrame;
-
-void kglTransformByODEGeom(dGeomID geom) {
-  const dReal *p = dGeomGetPosition(geom);
-  const dReal *R = dGeomGetRotation(geom);
-  GLdouble glm[16];
-
-  glm[0]  = R[0]; glm[1]  = R[4]; glm[2]  = R[8]; glm[3]  = 0;
-  glm[4]  = R[1]; glm[5]  = R[5]; glm[6]  = R[9]; glm[7]  = 0;
-  glm[8]  = R[2]; glm[9]  = R[6]; glm[10] = R[10];glm[11] = 0;
-  glm[12] = p[0]; glm[13] = p[1]; glm[14] = p[2]; glm[15] = 1;
-   
-  glMultMatrixd(glm);
-}
-
-static void odeNearCallback(void *data, dGeomID g1, dGeomID g2) {
-  dBodyID b1 = dGeomGetBody(g1), 
-          b2 = dGeomGetBody(g2);
-  dContact contact[CONTACTS];
-  int contactsUsed, i;
-
-  if (b1 && b2 && dAreConnected(b1, b2)) return;
-
-  contactsUsed = dCollide(g1, g2, CONTACTS, &contact[0].geom,
-    sizeof(dContact));
-  if (contactsUsed > CONTACTS) contactsUsed = CONTACTS;
-
-  for (i = 0; i < contactsUsed; i++) {
-    contact[i].surface.mode = 0;
-    contact[i].surface.mu = 20.0;
-    
-    dJointAttach(dJointCreateContact(aWorld, aContactGroup,
-      &(contact[i])), b1, b2);
-    contactsThisFrame++;
-  }
-}
-
-void myGlutResize(int w, int h) {
-  glViewport(0, 0, w, h);
-  glMatrixMode(GL_PROJECTION);
-  glLoadIdentity();
-  gluPerspective(45.0, (GLfloat)w / h, 1.0, 120.0);
-  glMatrixMode(GL_MODELVIEW);
-  glLoadIdentity();
-  glTranslatef(0, -6, -20);
-}
-
-void myGlutIdle(void) {
-  const float step = 1.0/120;
-  int i;
-
-  cycle = fmod(cycle + step / 4, 1);
-  fade = fabs(cycle * 2 - 1);
-
-  contactsThisFrame = 0;
-  dSpaceCollide(aSpace, NULL, &odeNearCallback);
-  //printf("%u\n", contactsThisFrame);
-  dWorldStep(aWorld, step);
-  dJointGroupEmpty(aContactGroup);
-
-  for (i = 0; i < NUMBODIES; i++) {
-    const dReal *cvel = dBodyGetLinearVel(bodies[i]);
-    dBodyAddForce(bodies[i],
-      -cvel[0] * 0.5,
-      -cvel[1] * 0.5,
-      -cvel[2] * 0.5
-    );
-  }
-
-  glutPostRedisplay();
-}
-
-void myGlutDisplay(void) {
-  int i;
-
-  glClearColor(fade * 0.15, 0, 0, 1);
-  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-  
-  if (USE_WEIRD_MATRIX_OPS) glPushMatrix();
-  for (i = 0; i < NUMBODIES; i++) {
-    if (!USE_WEIRD_MATRIX_OPS) glPushMatrix();
-    kglTransformByODEGeom(geoms[i]);
-    glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, colors[i]);
-    glColor3f(fade * 1.5, 0, 0);
-#if USE_SPHERE
-    glRotatef(90, 1, 0, 0);
-    glutSolidSphere(0.5, 9, 6);
-    glDisable(GL_LIGHTING);
-    glutWireSphere(0.5, 9, 6);
-#else
-    glutSolidCube(1);
-    glDisable(GL_LIGHTING);
-    glutWireCube(1);
-#endif
-    glEnable(GL_LIGHTING);
-    if (!USE_WEIRD_MATRIX_OPS) glPopMatrix();
-  }
-  if (USE_WEIRD_MATRIX_OPS) glPopMatrix();
-  
-  glutSwapBuffers();
-}
-
-int main(int argc, char **argv) {
-        printf("Initializing GLUT\n");
-
-  glutInit(&argc, argv);                
-  glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
-  glutInitWindowSize(400, 300);
-  glutInitWindowPosition(100, 100);
-  glutCreateWindow("ODE Crash Test");
-  
-  glutDisplayFunc(myGlutDisplay);
-  glutReshapeFunc(myGlutResize);
-  glutIdleFunc(myGlutIdle);
-
-  glPolygonOffset(1, 1);
-  glDepthFunc(GL_LEQUAL);
-  glEnable(GL_POLYGON_OFFSET_FILL);
-  glEnable(GL_DEPTH_TEST);
-  glEnable(GL_CULL_FACE);
-  glEnable(GL_LIGHTING);
-  glEnable(GL_LIGHT0);
-  myGlutResize(400, 300);
-
-  printf("Creating ODE world\n");
-  aWorld = dWorldCreate();
-  aSpace = dHashSpaceCreate();
-  aContactGroup = dJointGroupCreate(0);
-  dCreatePlane(aSpace, 0, 1, 0, 0);
-  dWorldSetGravity(aWorld, 0, -9.81, 0);
-  dWorldSetERP(aWorld, 0.4);
-  dWorldSetCFM(aWorld, 1e-10);
-  
-  printf("Creating objects\n");
-  {
-    int i;
-    dMass mass;
-    
-    dMassSetBox(&mass, 1.0, 1, 1, 1);
-
-    for (i = 0; i < NUMBODIES; i++) {
-      float fraction = (float)i / NUMBODIES;
-    
-      bodies[i] = dBodyCreate(aWorld);
-      dBodySetMass(bodies[i], &mass);
-#if USE_SPHERE
-      geoms[i] = dCreateSphere(aSpace, 0.5);
-#else
-      geoms[i] = dCreateBox(aSpace, 1, 1, 1);
-#endif
-      dGeomSetBody(geoms[i], bodies[i]);
-    
-      if (USE_HELIX) {
-        float r     = (i % 3 - 1) * (1.5+4*(1 - fraction)),
-              theta = (float)i / 4;
-        dBodySetPosition(bodies[i],
-          sin(theta) * r, 
-          (float)i + 1,
-          cos(theta) * r
-        );
-      } else {
-        dBodySetPosition(bodies[i], 0, (float)i * 2 + 1, 0);
-      }
-      if (USE_TORQUE) dBodyAddTorque(bodies[i], fraction*10, fraction*20, fraction*30);
-      
-      colors[i][0] = fraction;
-      colors[i][1] = 1 - fraction;
-      colors[i][2] = 1 - fabs(fraction * 2 - 1);
-      colors[i][3] = 1;
-    }
-  }
-
-  printf("Starting simulation\n");
-  glutMainLoop();
-        
-  return 0;
-}
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs b/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs
deleted file mode 100644
index 8d2b86a..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/AssemblyInfo.cs
+++ /dev/null
@@ -1,18 +0,0 @@
-using System;

-using System.Reflection;

-using System.Runtime.CompilerServices;

-using System.Runtime.InteropServices;

-

-[assembly: AssemblyTitle("Drawstuff.NET")]

-[assembly: AssemblyDescription("")]

-[assembly: AssemblyConfiguration("")]

-[assembly: AssemblyCompany("")]

-[assembly: AssemblyProduct("Ode.NET")]

-[assembly: AssemblyCopyright("")]

-[assembly: AssemblyTrademark("")]

-[assembly: AssemblyCulture("")]

-[assembly: ComVisible(false)]

-[assembly: Guid("b2a39dd4-dd67-4e8a-af70-d3b412da8850")]

-[assembly: AssemblyVersion("0.7.0.0")]

-[assembly: AssemblyFileVersion("0.7.0.0")]

-[assembly: CLSCompliantAttribute(true)]

diff --git a/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/Drawstuff.cs b/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/Drawstuff.cs
deleted file mode 100644
index aa84966..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/Drawstuff.cs
+++ /dev/null
@@ -1,58 +0,0 @@
-using System;

-using System.Runtime.InteropServices;

-using Ode.NET;

-

-namespace Drawstuff.NET

-{

-#if dDOUBLE

-        using dReal = System.Double;

-#else

-        using dReal = System.Single;

-#endif

-

-        public static class ds

-        {

-                public const int VERSION = 2;

-

-                public enum Texture

-                {

-                        None,

-                        Wood

-                }

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate void CallbackFunction(int arg);

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct Functions

-                {

-                        public int version;

-                        public CallbackFunction start;

-                        public CallbackFunction step;

-                        public CallbackFunction command;

-                        public CallbackFunction stop;

-                        public string path_to_textures;

-                }

-

-                [DllImport("drawstuff", EntryPoint="dsDrawBox")]

-                public static extern void DrawBox(ref d.Vector3 pos, ref d.Matrix3 R, ref d.Vector3 sides);

-

-                [DllImport("drawstuff", EntryPoint = "dsDrawCapsule")]

-                public static extern void DrawCapsule(ref d.Vector3 pos, ref d.Matrix3 R, dReal length, dReal radius);

-

-                [DllImport("drawstuff", EntryPoint = "dsDrawConvex")]

-                public static extern void DrawConvex(ref d.Vector3 pos, ref d.Matrix3 R, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);

-

-                [DllImport("drawstuff", EntryPoint="dsSetColor")]

-                public static extern void SetColor(float red, float green, float blue);

-

-                [DllImport("drawstuff", EntryPoint="dsSetTexture")]

-                public static extern void SetTexture(Texture texture);

-

-                [DllImport("drawstuff", EntryPoint="dsSetViewpoint")]

-                public static extern void SetViewpoint(ref d.Vector3 xyz, ref d.Vector3 hpr);

-

-                [DllImport("drawstuff", EntryPoint="dsSimulationLoop")]

-                public static extern void SimulationLoop(int argc, string[] argv, int window_width, int window_height, ref Functions fn);

-        }

-}

diff --git a/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/premake.lua b/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/premake.lua
deleted file mode 100644
index d777ffb..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/Drawstuff/premake.lua
+++ /dev/null
@@ -1,19 +0,0 @@
-package.name = "Drawstuff.NET"

-package.kind = "dll"

-package.language = "c#"

-

-if (options["with-doubles"]) then

-  package.defines = { "dDOUBLE" }

-else

-  package.defines = { "dSINGLE " }

-end

-

-package.links = {

-  "System",

-  "Ode.NET"

-}

-

-package.files = {

-  "AssemblyInfo.cs",

-  "Drawstuff.cs"

-}

diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode.NET.sln b/libraries/ode-0.9/contrib/Ode.NET/Ode.NET.sln
deleted file mode 100755
index ecc6d9d..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/Ode.NET.sln
+++ /dev/null
@@ -1,21 +0,0 @@
-Microsoft Visual Studio Solution File, Format Version 9.00

-# Visual Studio 2005

-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Ode.NET", "Ode/Ode.NET.csproj", "{637D89E7-AA43-EB43-9D2C-5210B740F36B}"

-        ProjectSection(ProjectDependencies) = postProject

-        EndProjectSection

-EndProject

-Global

-        GlobalSection(SolutionConfigurationPlatforms) = preSolution

-                Debug|Any CPU = Debug|Any CPU

-                Release|Any CPU = Release|Any CPU

-        EndGlobalSection

-        GlobalSection(ProjectConfigurationPlatforms) = postSolution

-                {637D89E7-AA43-EB43-9D2C-5210B740F36B}.Debug|Any CPU.ActiveCfg = Debug|Any CPU

-                {637D89E7-AA43-EB43-9D2C-5210B740F36B}.Debug|Any CPU.Build.0 = Debug|Any CPU

-                {637D89E7-AA43-EB43-9D2C-5210B740F36B}.Release|Any CPU.ActiveCfg = Release|Any CPU

-                {637D89E7-AA43-EB43-9D2C-5210B740F36B}.Release|Any CPU.Build.0 = Release|Any CPU

-        EndGlobalSection

-        GlobalSection(SolutionProperties) = preSolution

-                HideSolutionNode = FALSE

-        EndGlobalSection

-EndGlobal

diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs b/libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs
deleted file mode 100644
index 6a8c2b6..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/Ode/AssemblyInfo.cs
+++ /dev/null
@@ -1,18 +0,0 @@
-using System;

-using System.Reflection;

-using System.Runtime.CompilerServices;

-using System.Runtime.InteropServices;

-

-[assembly: AssemblyTitle("Ode.NET")]

-[assembly: AssemblyDescription("")]

-[assembly: AssemblyConfiguration("")]

-[assembly: AssemblyCompany("")]

-[assembly: AssemblyProduct("Ode.NET")]

-[assembly: AssemblyCopyright("")]

-[assembly: AssemblyTrademark("")]

-[assembly: AssemblyCulture("")]

-[assembly: ComVisible(false)]

-[assembly: Guid("1347a35e-c32b-4ff6-8064-7d10b2cc113b")]

-[assembly: AssemblyVersion("0.7.0.0")]

-[assembly: AssemblyFileVersion("0.7.0.0")]

-[assembly: CLSCompliantAttribute(true)]

diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs b/libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs
deleted file mode 100644
index 0603810..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/Ode/Ode.cs
+++ /dev/null
@@ -1,1732 +0,0 @@
-using System;

-using System.Runtime.InteropServices;

-using System.Security;

-

-namespace Ode.NET

-{

-#if dDOUBLE

-        using dReal = System.Double;

-#else

-        using dReal = System.Single;

-#endif

-

-        public static class d

-        {

-                public static dReal Infinity = dReal.MaxValue;

-

-                #region Flags and Enumerations

-

-                [Flags]

-                public enum ContactFlags : int

-                {

-                        Mu2 = 0x001,

-                        FDir1 = 0x002,

-                        Bounce = 0x004,

-                        SoftERP = 0x008,

-                        SoftCFM = 0x010,

-                        Motion1 = 0x020,

-                        Motion2 = 0x040,

-                        Slip1 = 0x080,

-                        Slip2 = 0x100,

-                        Approx0 = 0x0000,

-                        Approx1_1 = 0x1000,

-                        Approx1_2 = 0x2000,

-                        Approx1 = 0x3000

-                }

-

-                public enum GeomClassID : int

-                {

-                        SphereClass,

-                        BoxClass,

-                        CapsuleClass,

-                        CylinderClass,

-                        PlaneClass,

-                        RayClass,

-                        ConvexClass,

-                        GeomTransformClass,

-                        TriMeshClass,

-                        HeightfieldClass,

-                        FirstSpaceClass,

-                        SimpleSpaceClass = FirstSpaceClass,

-                        HashSpaceClass,

-                        QuadTreeSpaceClass,

-                        LastSpaceClass = QuadTreeSpaceClass,

-                        FirstUserClass,

-                        LastUserClass = FirstUserClass + MaxUserClasses - 1,

-                        NumClasses,

-                        MaxUserClasses = 4

-                }

-

-                public enum JointType : int

-                {

-                        None,

-                        Ball,

-                        Hinge,

-                        Slider,

-                        Contact,

-                        Universal,

-                        Hinge2,

-                        Fixed,

-                        Null,

-                        AMotor,

-                        LMotor,

-                        Plane2D

-                }

-

-                public enum JointParam : int

-                {

-                        LoStop,

-                        HiStop,

-                        Vel,

-                        FMax,

-                        FudgeFactor,

-                        Bounce,

-                        CFM,

-                        StopERP,

-                        StopCFM,

-                        SuspensionERP,

-                        SuspensionCFM,

-                        LoStop2 = 256,

-                        HiStop2,

-                        Vel2,

-                        FMax2,

-                        FudgeFactor2,

-                        Bounce2,

-                        CFM2,

-                        StopERP2,

-                        StopCFM2,

-                        SuspensionERP2,

-                        SuspensionCFM2,

-                        LoStop3 = 512,

-                        HiStop3,

-                        Vel3,

-                        FMax3,

-                        FudgeFactor3,

-                        Bounce3,

-                        CFM3,

-                        StopERP3,

-                        StopCFM3,

-                        SuspensionERP3,

-                        SuspensionCFM3

-                }

-

-                #endregion

-

-                #region Callbacks

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate int AABBTestFn(IntPtr o1, IntPtr o2, ref AABB aabb);

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate int ColliderFn(IntPtr o1, IntPtr o2, int flags, out ContactGeom contact, int skip);

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate void GetAABBFn(IntPtr geom, out AABB aabb);

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate ColliderFn GetColliderFnFn(int num);

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate void GeomDtorFn(IntPtr o);

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate dReal HeightfieldGetHeight(IntPtr p_user_data, int x, int z);

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate void NearCallback(IntPtr data, IntPtr geom1, IntPtr geom2);

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate int TriCallback(IntPtr trimesh, IntPtr refObject, int triangleIndex);

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate int TriArrayCallback(IntPtr trimesh, IntPtr refObject, int[] triangleIndex, int triCount);

-

-                [UnmanagedFunctionPointer(CallingConvention.Cdecl)]

-                public delegate int TriRayCallback(IntPtr trimesh, IntPtr ray, int triangleIndex, dReal u, dReal v);

-

-                #endregion

-

-                #region Structs

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct AABB

-                {

-                        public dReal MinX, MaxX;

-                        public dReal MinY, MaxY;

-                        public dReal MinZ, MaxZ;

-                }

-

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct Contact

-                {

-                        public SurfaceParameters surface;

-                        public ContactGeom geom;

-                        public Vector3 fdir1;

-                }

-

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct ContactGeom

-                {

-                        public static readonly int SizeOf = Marshal.SizeOf(typeof(ContactGeom));

-

-                        public Vector3 pos;

-                        public Vector3 normal;

-                        public dReal depth;

-                        public IntPtr g1;

-                        public IntPtr g2;

-                        public int side1;

-                        public int side2;

-                }

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct GeomClass

-                {

-                        public int bytes;

-                        public GetColliderFnFn collider;

-                        public GetAABBFn aabb;

-                        public AABBTestFn aabb_test;

-                        public GeomDtorFn dtor;

-                }

-

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct JointFeedback 

-                {

-                        public Vector3 f1;

-                        public Vector3 t1;

-                        public Vector3 f2;

-                        public Vector3 t2;

-                }

-

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct Mass

-                {

-                        public dReal mass;

-                        public Vector4 c;

-                        public Matrix3 I;

-                }

-

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct Matrix3

-                {

-                        public Matrix3(dReal m00, dReal m10, dReal m20, dReal m01, dReal m11, dReal m21, dReal m02, dReal m12, dReal m22)

-                        {

-                                M00 = m00;  M10 = m10;  M20 = m20;  _m30 = 0.0f;

-                                M01 = m01;  M11 = m11;  M21 = m21;  _m31 = 0.0f;

-                                M02 = m02;  M12 = m12;  M22 = m22;  _m32 = 0.0f;

-                        }

-                        public dReal M00, M10, M20;

-                        private dReal _m30;

-                        public dReal M01, M11, M21;

-                        private dReal _m31;

-                        public dReal M02, M12, M22;

-                        private dReal _m32;

-                }

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct Matrix4

-                {

-                        public Matrix4(dReal m00, dReal m10, dReal m20, dReal m30,

-                                dReal m01, dReal m11, dReal m21, dReal m31,

-                                dReal m02, dReal m12, dReal m22, dReal m32,

-                                dReal m03, dReal m13, dReal m23, dReal m33)

-                        {

-                                M00 = m00; M10 = m10; M20 = m20; M30 = m30;

-                                M01 = m01; M11 = m11; M21 = m21; M31 = m31;

-                                M02 = m02; M12 = m12; M22 = m22; M32 = m32;

-                                M03 = m03; M13 = m13; M23 = m23; M33 = m33;

-                        }

-                        public dReal M00, M10, M20, M30;

-                        public dReal M01, M11, M21, M31;

-                        public dReal M02, M12, M22, M32;

-                        public dReal M03, M13, M23, M33;

-                }

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct Quaternion

-                {

-                        public dReal W, X, Y, Z;

-                }

-

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct SurfaceParameters

-                {

-                        public ContactFlags mode;

-                        public dReal mu;

-                        public dReal mu2;

-                        public dReal bounce;

-                        public dReal bounce_vel;

-                        public dReal soft_erp;

-                        public dReal soft_cfm;

-                        public dReal motion1;

-                        public dReal motion2;

-                        public dReal slip1;

-                        public dReal slip2;

-                }

-

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct Vector3

-                {

-                        public Vector3(dReal x, dReal y, dReal z)

-                        {

-                                X = x;  Y = y;  Z = z;  _w = 0.0f;

-                        }

-                        public dReal X, Y, Z;

-                        private dReal _w;

-                }

-

-

-                [StructLayout(LayoutKind.Sequential)]

-                public struct Vector4

-                {

-                        public Vector4(dReal x, dReal y, dReal z, dReal w)

-                        {

-                                X = x;  Y = y;  Z = z;  W = w;

-                        }

-                        public dReal X, Y, Z, W;

-                }

-

-                #endregion

-

-                [DllImport("ode", EntryPoint = "dAreConnected"), SuppressUnmanagedCodeSecurity]

-                public static extern bool AreConnected(IntPtr b1, IntPtr b2);

-

-                [DllImport("ode", EntryPoint = "dAreConnectedExcluding"), SuppressUnmanagedCodeSecurity]

-                public static extern bool AreConnectedExcluding(IntPtr b1, IntPtr b2, JointType joint_type);

-

-                [DllImport("ode", EntryPoint = "dBodyAddForce"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyAddForce(IntPtr body, dReal fx, dReal fy, dReal fz);

-

-                [DllImport("ode", EntryPoint = "dBodyAddForceAtPos"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyAddForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);

-

-                [DllImport("ode", EntryPoint = "dBodyAddForceAtRelPos"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyAddForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);

-

-                [DllImport("ode", EntryPoint = "dBodyAddRelForce"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyAddRelForce(IntPtr body, dReal fx, dReal fy, dReal fz);

-

-                [DllImport("ode", EntryPoint = "dBodyAddRelForceAtPos"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyAddRelForceAtPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);

-

-                [DllImport("ode", EntryPoint = "dBodyAddRelForceAtRelPos"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyAddRelForceAtRelPos(IntPtr body, dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz);

-

-                [DllImport("ode", EntryPoint = "dBodyAddRelTorque"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyAddRelTorque(IntPtr body, dReal fx, dReal fy, dReal fz);

-

-                [DllImport("ode", EntryPoint = "dBodyAddTorque"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyAddTorque(IntPtr body, dReal fx, dReal fy, dReal fz);

-

-                [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyCopyPosition(IntPtr body, out Vector3 pos);

-

-                [DllImport("ode", EntryPoint = "dBodyCopyPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyCopyPosition(IntPtr body, out dReal X);

-

-                [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyCopyQuaternion(IntPtr body, out Quaternion quat);

-

-                [DllImport("ode", EntryPoint = "dBodyCopyQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyCopyQuaternion(IntPtr body, out dReal X);

-

-                [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyCopyRotation(IntPtr body, out Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dBodyCopyRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyCopyRotation(IntPtr body, out dReal M00);

-

-                [DllImport("ode", EntryPoint = "dBodyCreate"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr BodyCreate(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dBodyDestroy"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyDestroy(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyDisable"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyDisable(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyEnable"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyEnable(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal BodyGetAutoDisableAngularThreshold(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]

-                public static extern bool BodyGetAutoDisableFlag(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal BodyGetAutoDisableLinearThreshold(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]

-                public static extern int BodyGetAutoDisableSteps(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal BodyGetAutoDisableTime(IntPtr body);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dBodyGetAngularVel"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Vector3* BodyGetAngularVelUnsafe(IntPtr body);

-                public static Vector3 BodyGetAngularVel(IntPtr body)

-                {

-                        unsafe { return *(BodyGetAngularVelUnsafe(body)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dBodyGetData"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr BodyGetData(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]

-                public static extern int BodyGetFiniteRotationMode(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyGetFiniteRotationAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyGetFiniteRotationAxis(IntPtr body, out Vector3 result);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dBodyGetForce"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Vector3* BodyGetForceUnsafe(IntPtr body);

-                public static Vector3 BodyGetForce(IntPtr body)

-                {

-                        unsafe { return *(BodyGetForceUnsafe(body)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dBodyGetGravityMode"), SuppressUnmanagedCodeSecurity]

-                public static extern bool BodyGetGravityMode(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyGetJoint"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr BodyGetJoint(IntPtr body, int index);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dBodyGetLinearVel"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Vector3* BodyGetLinearVelUnsafe(IntPtr body);

-                public static Vector3 BodyGetLinearVel(IntPtr body)

-                {

-                        unsafe { return *(BodyGetLinearVelUnsafe(body)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dBodyGetMass"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyGetMass(IntPtr body, out Mass mass);

-

-                [DllImport("ode", EntryPoint = "dBodyGetNumJoints"), SuppressUnmanagedCodeSecurity]

-                public static extern int BodyGetNumJoints(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodyGetPointVel"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyGetPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dBodyGetPosition"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Vector3* BodyGetPositionUnsafe(IntPtr body);

-                public static Vector3 BodyGetPosition(IntPtr body)

-                {

-                        unsafe { return *(BodyGetPositionUnsafe(body)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dBodyGetPosRelPoint"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyGetPosRelPoint(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dBodyGetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Quaternion* BodyGetQuaternionUnsafe(IntPtr body);

-                public static Quaternion BodyGetQuaternion(IntPtr body)

-                {

-                        unsafe { return *(BodyGetQuaternionUnsafe(body)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dBodyGetRelPointPos"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyGetRelPointPos(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dBodyGetRelPointVel"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyGetRelPointVel(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dBodyGetRotation"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Matrix3* BodyGetRotationUnsafe(IntPtr body);

-                public static Matrix3 BodyGetRotation(IntPtr body)

-                {

-                        unsafe { return *(BodyGetRotationUnsafe(body)); }

-                }

-#endif

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dBodyGetTorque"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Vector3* BodyGetTorqueUnsafe(IntPtr body);

-                public static Vector3 BodyGetTorque(IntPtr body)

-                {

-                        unsafe { return *(BodyGetTorqueUnsafe(body)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dBodyIsEnabled"), SuppressUnmanagedCodeSecurity]

-                public static extern bool BodyIsEnabled(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodySetAngularVel"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetAngularVel(IntPtr body, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dBodySetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetAutoDisableAngularThreshold(IntPtr body, dReal angular_threshold);

-

-                [DllImport("ode", EntryPoint = "dBodySetAutoDisableDefaults"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetAutoDisableDefaults(IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dBodySetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetAutoDisableFlag(IntPtr body, bool do_auto_disable);

-

-                [DllImport("ode", EntryPoint = "dBodySetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetAutoDisableLinearThreshold(IntPtr body, dReal linear_threshold);

-

-                [DllImport("ode", EntryPoint = "dBodySetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetAutoDisableSteps(IntPtr body, int steps);

-

-                [DllImport("ode", EntryPoint = "dBodySetAutoDisableTime"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetAutoDisableTime(IntPtr body, dReal time);

-

-                [DllImport("ode", EntryPoint = "dBodySetData"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetData(IntPtr body, IntPtr data);

-

-                [DllImport("ode", EntryPoint = "dBodySetFiniteRotationMode"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetFiniteRotationMode(IntPtr body, int mode);

-

-                [DllImport("ode", EntryPoint = "dBodySetFiniteRotationModeAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetFiniteRotationModeAxis(IntPtr body, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dBodySetForce"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetForce(IntPtr body, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dBodySetGravityMode"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetGravityMode(IntPtr body, bool mode);

-

-                [DllImport("ode", EntryPoint = "dBodySetLinearVel"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetLinearVel(IntPtr body, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dBodySetMass"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetMass(IntPtr body, ref Mass mass);

-

-                [DllImport("ode", EntryPoint = "dBodySetPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetPosition(IntPtr body, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetQuaternion(IntPtr body, ref Quaternion q);

-

-                [DllImport("ode", EntryPoint = "dBodySetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetQuaternion(IntPtr body, ref dReal w);

-

-                [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetRotation(IntPtr body, ref Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dBodySetRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetRotation(IntPtr body, ref dReal M00);

-

-                [DllImport("ode", EntryPoint = "dBodySetTorque"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodySetTorque(IntPtr body, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dBodyVectorFromWorld"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyVectorFromWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dBodyVectorToWorld"), SuppressUnmanagedCodeSecurity]

-                public static extern void BodyVectorToWorld(IntPtr body, dReal px, dReal py, dReal pz, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dBoxBox"), SuppressUnmanagedCodeSecurity]

-                public static extern void BoxBox(ref Vector3 p1, ref Matrix3 R1,

-                        ref Vector3 side1, ref Vector3 p2,

-                        ref Matrix3 R2, ref Vector3 side2,

-                        ref Vector3 normal, out dReal depth, out int return_code,

-                        int maxc, out ContactGeom contact, int skip);

-

-                [DllImport("ode", EntryPoint = "dBoxTouchesBox"), SuppressUnmanagedCodeSecurity]

-                public static extern void BoxTouchesBox(ref Vector3 _p1, ref Matrix3 R1,

-                        ref Vector3 side1, ref Vector3 _p2,

-                        ref Matrix3 R2, ref Vector3 side2);

-

-                [DllImport("ode", EntryPoint = "dClosestLineSegmentPoints"), SuppressUnmanagedCodeSecurity]

-                public static extern void ClosestLineSegmentPoints(ref Vector3 a1, ref Vector3 a2, 

-                        ref Vector3 b1, ref Vector3 b2, 

-                        ref Vector3 cp1, ref Vector3 cp2);

-

-                [DllImport("ode", EntryPoint = "dCloseODE"), SuppressUnmanagedCodeSecurity]

-                public static extern void CloseODE();

-

-                [DllImport("ode", EntryPoint = "dCollide"), SuppressUnmanagedCodeSecurity]

-                public static extern int Collide(IntPtr o1, IntPtr o2, int flags, [In, Out] ContactGeom[] contact, int skip);

-

-                [DllImport("ode", EntryPoint = "dConnectingJoint"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr ConnectingJoint(IntPtr j1, IntPtr j2);

-

-                [DllImport("ode", EntryPoint = "dCreateBox"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateBox(IntPtr space, dReal lx, dReal ly, dReal lz);

-

-                [DllImport("ode", EntryPoint = "dCreateCapsule"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateCapsule(IntPtr space, dReal radius, dReal length);

-

-                [DllImport("ode", EntryPoint = "dCreateConvex"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateConvex(IntPtr space, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);

-

-                [DllImport("ode", EntryPoint = "dCreateCylinder"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateCylinder(IntPtr space, dReal radius, dReal length);

-

-                [DllImport("ode", EntryPoint = "dCreateHeightfield"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateHeightfield(IntPtr space, IntPtr data, int bPlaceable);

-

-                [DllImport("ode", EntryPoint = "dCreateGeom"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateGeom(int classnum);

-

-                [DllImport("ode", EntryPoint = "dCreateGeomClass"), SuppressUnmanagedCodeSecurity]

-                public static extern int CreateGeomClass(ref GeomClass classptr);

-

-                [DllImport("ode", EntryPoint = "dCreateGeomTransform"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateGeomTransform(IntPtr space);

-

-                [DllImport("ode", EntryPoint = "dCreatePlane"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreatePlane(IntPtr space, dReal a, dReal b, dReal c, dReal d);

-

-                [DllImport("ode", EntryPoint = "dCreateRay"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateRay(IntPtr space, dReal length);

-

-                [DllImport("ode", EntryPoint = "dCreateSphere"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateSphere(IntPtr space, dReal radius);

-

-                [DllImport("ode", EntryPoint = "dCreateTriMesh"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr CreateTriMesh(IntPtr space, IntPtr data, 

-                        TriCallback callback, TriArrayCallback arrayCallback, TriRayCallback rayCallback);

-

-                [DllImport("ode", EntryPoint = "dDot"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal Dot(ref dReal X0, ref dReal X1, int n);

-

-                [DllImport("ode", EntryPoint = "dDQfromW"), SuppressUnmanagedCodeSecurity]

-                public static extern void DQfromW(dReal[] dq, ref Vector3 w, ref Quaternion q);

-

-                [DllImport("ode", EntryPoint = "dFactorCholesky"), SuppressUnmanagedCodeSecurity]

-                public static extern int FactorCholesky(ref dReal A00, int n);

-

-                [DllImport("ode", EntryPoint = "dFactorLDLT"), SuppressUnmanagedCodeSecurity]

-                public static extern void FactorLDLT(ref dReal A, out dReal d, int n, int nskip);

-

-                [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomBoxGetLengths(IntPtr geom, out Vector3 len);

-

-                [DllImport("ode", EntryPoint = "dGeomBoxGetLengths"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomBoxGetLengths(IntPtr geom, out dReal x);

-

-                [DllImport("ode", EntryPoint = "dGeomBoxPointDepth"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal GeomBoxPointDepth(IntPtr geom, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dGeomBoxSetLengths"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomBoxSetLengths(IntPtr geom, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dGeomCapsuleGetParams"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCapsuleGetParams(IntPtr geom, out dReal radius, out dReal length);

-

-                [DllImport("ode", EntryPoint = "dGeomCapsulePointDepth"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal GeomCapsulePointDepth(IntPtr geom, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dGeomCapsuleSetParams"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCapsuleSetParams(IntPtr geom, dReal radius, dReal length);

-

-                [DllImport("ode", EntryPoint = "dGeomClearOffset"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomClearOffset(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref Vector3 pos);

-

-                [DllImport("ode", EntryPoint = "dGeomCopyOffsetPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomCopyOffsetPosition(IntPtr geom, ref dReal X);

-

-                [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref Quaternion Q);

-

-                [DllImport("ode", EntryPoint = "dGeomGetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCopyOffsetQuaternion(IntPtr geom, ref dReal X);

-

-                [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dGeomCopyOffsetRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomCopyOffsetRotation(IntPtr geom, ref dReal M00);

-

-                [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCopyPosition(IntPtr geom, out Vector3 pos);

-

-                [DllImport("ode", EntryPoint = "dGeomCopyPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCopyPosition(IntPtr geom, out dReal X);

-

-                [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCopyRotation(IntPtr geom, out Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dGeomCopyRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCopyRotation(IntPtr geom, out dReal M00);

-

-                [DllImport("ode", EntryPoint = "dGeomCylinderGetParams"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCylinderGetParams(IntPtr geom, out dReal radius, out dReal length);

-

-                [DllImport("ode", EntryPoint = "dGeomCylinderSetParams"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCylinderSetParams(IntPtr geom, dReal radius, dReal length);

-

-                [DllImport("ode", EntryPoint = "dGeomDestroy"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomDestroy(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomDisable"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomDisable(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomEnable"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomEnable(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomGetAABB(IntPtr geom, out AABB aabb);

-

-                [DllImport("ode", EntryPoint = "dGeomGetAABB"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomGetAABB(IntPtr geom, out dReal minX);

-

-                [DllImport("ode", EntryPoint = "dGeomGetBody"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomGetBody(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomGetCategoryBits"), SuppressUnmanagedCodeSecurity]

-                public static extern int GeomGetCategoryBits(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomGetClassData"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomGetClassData(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomGetCollideBits"), SuppressUnmanagedCodeSecurity]

-                public static extern int GeomGetCollideBits(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomGetClass"), SuppressUnmanagedCodeSecurity]

-                public static extern GeomClassID GeomGetClass(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomGetData"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomGetData(IntPtr geom);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dGeomGetOffsetPosition"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Vector3* GeomGetOffsetPositionUnsafe(IntPtr geom);

-                public static Vector3 GeomGetOffsetPosition(IntPtr geom)

-                {

-                        unsafe { return *(GeomGetOffsetPositionUnsafe(geom)); }

-                }

-#endif

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dGeomGetOffsetRotation"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Matrix3* GeomGetOffsetRotationUnsafe(IntPtr geom);

-                public static Matrix3 GeomGetOffsetRotation(IntPtr geom)

-                {

-                        unsafe { return *(GeomGetOffsetRotationUnsafe(geom)); }

-                }

-#endif

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dGeomGetPosition"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Vector3* GeomGetPositionUnsafe(IntPtr geom);

-                public static Vector3 GeomGetPosition(IntPtr geom)

-                {

-                        unsafe { return *(GeomGetPositionUnsafe(geom)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCopyQuaternion(IntPtr geom, out Quaternion q);

-

-                [DllImport("ode", EntryPoint = "dGeomGetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomCopyQuaternion(IntPtr geom, out dReal X);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dGeomGetRotation"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Matrix3* GeomGetRotationUnsafe(IntPtr geom);

-                public static Matrix3 GeomGetRotation(IntPtr geom)

-                {

-                        unsafe { return *(GeomGetRotationUnsafe(geom)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dGeomGetSpace"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomGetSpace(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildByte(IntPtr d, byte[] pHeightData, int bCopyHeightData,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness, int bWrap);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildByte"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildByte(IntPtr d, IntPtr pHeightData, int bCopyHeightData,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness,     int bWrap);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildCallback"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildCallback(IntPtr d, IntPtr pUserData, HeightfieldGetHeight pCallback,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness, int bWrap);

-

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildShort(IntPtr d, ushort[] pHeightData, int bCopyHeightData,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness, int bWrap);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildShort(IntPtr d, short[] pHeightData, int bCopyHeightData,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness, int bWrap);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildShort"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildShort(IntPtr d, IntPtr pHeightData, int bCopyHeightData,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness, int bWrap);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, float[] pHeightData, int bCopyHeightData,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness, int bWrap);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildSingle"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildSingle(IntPtr d, IntPtr pHeightData, int bCopyHeightData,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness, int bWrap);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, double[] pHeightData, int bCopyHeightData,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness, int bWrap);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataBuildDouble"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataBuildDouble(IntPtr d, IntPtr pHeightData, int bCopyHeightData,

-                                dReal width, dReal depth, int widthSamples, int depthSamples,

-                                dReal scale, dReal offset, dReal thickness, int bWrap);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataCreate"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomHeightfieldDataCreate();

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataDestroy"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataDestroy(IntPtr d);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldDataSetBounds"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldDataSetBounds(IntPtr d, dReal minHeight, dReal maxHeight);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldGetHeightfieldData"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomHeightfieldGetHeightfieldData(IntPtr g);

-

-                [DllImport("ode", EntryPoint = "dGeomHeightfieldSetHeightfieldData"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomHeightfieldSetHeightfieldData(IntPtr g, IntPtr d);

-

-                [DllImport("ode", EntryPoint = "dGeomIsEnabled"), SuppressUnmanagedCodeSecurity]

-                public static extern bool GeomIsEnabled(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomIsOffset"), SuppressUnmanagedCodeSecurity]

-                public static extern bool GeomIsOffset(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomIsSpace"), SuppressUnmanagedCodeSecurity]

-                public static extern bool GeomIsSpace(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomPlaneGetParams(IntPtr geom, ref Vector4 result);

-

-                [DllImport("ode", EntryPoint = "dGeomPlaneGetParams"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomPlaneGetParams(IntPtr geom, ref dReal A);

-

-                [DllImport("ode", EntryPoint = "dGeomPlanePointDepth"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal GeomPlanePointDepth(IntPtr geom, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dGeomPlaneSetParams"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomPlaneSetParams(IntPtr plane, dReal a, dReal b, dReal c, dReal d);

-

-                [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomRayGet(IntPtr ray, ref Vector3 start, ref Vector3 dir);

-

-                [DllImport("ode", EntryPoint = "dGeomRayGet"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomRayGet(IntPtr ray, ref dReal startX, ref dReal dirX);

-

-                [DllImport("ode", EntryPoint = "dGeomRayGetClosestHit"), SuppressUnmanagedCodeSecurity]

-                public static extern int GeomRayGetClosestHit(IntPtr ray);

-

-                [DllImport("ode", EntryPoint = "dGeomRayGetLength"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal GeomRayGetLength(IntPtr ray);

-

-                [DllImport("ode", EntryPoint = "dGeomRayGetParams"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal GeomRayGetParams(IntPtr g, out int firstContact, out int backfaceCull);

-

-                [DllImport("ode", EntryPoint = "dGeomRaySet"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomRaySet(IntPtr ray, dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);

-

-                [DllImport("ode", EntryPoint = "dGeomRaySetClosestHit"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomRaySetClosestHit(IntPtr ray, int closestHit);

-

-                [DllImport("ode", EntryPoint = "dGeomRaySetLength"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomRaySetLength(IntPtr ray, dReal length);

-

-                [DllImport("ode", EntryPoint = "dGeomRaySetParams"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomRaySetParams(IntPtr ray, int firstContact, int backfaceCull);

-

-                [DllImport("ode", EntryPoint = "dGeomSetBody"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetBody(IntPtr geom, IntPtr body);

-

-                [DllImport("ode", EntryPoint = "dGeomSetCategoryBits"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetCategoryBits(IntPtr geom, int bits);

-

-                [DllImport("ode", EntryPoint = "dGeomSetCollideBits"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetCollideBits(IntPtr geom, int bits);

-

-                [DllImport("ode", EntryPoint = "dGeomSetConvex"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomSetConvex(IntPtr geom, dReal[] planes, int planeCount, dReal[] points, int pointCount, int[] polygons);

-

-                [DllImport("ode", EntryPoint = "dGeomSetData"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetData(IntPtr geom, IntPtr data);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetPosition(IntPtr geom, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref Quaternion Q);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetQuaternion(IntPtr geom, ref dReal X);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetRotation(IntPtr geom, ref Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetRotation(IntPtr geom, ref dReal M00);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetWorldPosition(IntPtr geom, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref Quaternion Q);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetWorldQuaternion(IntPtr geom, ref dReal X);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dGeomSetOffsetWorldRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetOffsetWorldRotation(IntPtr geom, ref dReal M00);

-

-                [DllImport("ode", EntryPoint = "dGeomSetPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetPosition(IntPtr geom, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetQuaternion(IntPtr geom, ref Quaternion quat);

-

-                [DllImport("ode", EntryPoint = "dGeomSetQuaternion"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetQuaternion(IntPtr geom, ref dReal w);

-

-                [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetRotation(IntPtr geom, ref Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dGeomSetRotation"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSetRotation(IntPtr geom, ref dReal M00);

-

-                [DllImport("ode", EntryPoint = "dGeomSphereGetRadius"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal GeomSphereGetRadius(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomSpherePointDepth"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal GeomSpherePointDepth(IntPtr geom, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dGeomSphereSetRadius"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomSphereSetRadius(IntPtr geom, dReal radius);

-

-                [DllImport("ode", EntryPoint = "dGeomTransformGetCleanup"), SuppressUnmanagedCodeSecurity]

-                public static extern int GeomTransformGetCleanup(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomTransformGetGeom"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomTransformGetGeom(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomTransformGetInfo"), SuppressUnmanagedCodeSecurity]

-                public static extern int GeomTransformGetInfo(IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dGeomTransformSetCleanup"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTransformSetCleanup(IntPtr geom, int mode);

-

-                [DllImport("ode", EntryPoint = "dGeomTransformSetGeom"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTransformSetGeom(IntPtr geom, IntPtr obj);

-

-                [DllImport("ode", EntryPoint = "dGeomTransformSetInfo"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTransformSetInfo(IntPtr geom, int info);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildDouble(IntPtr d,

-                        double[] vertices, int vertexStride, int vertexCount,

-                        int[] indices, int indexCount, int triStride);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildDouble(IntPtr d,

-                        IntPtr vertices, int vertexStride, int vertexCount,

-                        IntPtr indices, int indexCount, int triStride);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildDouble1(IntPtr d,

-                        double[] vertices, int vertexStride, int vertexCount,

-                        int[] indices, int indexCount, int triStride,

-                        double[] normals);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildDouble1"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildDouble(IntPtr d,

-                        IntPtr vertices, int vertexStride, int vertexCount,

-                        IntPtr indices, int indexCount, int triStride,

-                        IntPtr normals);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildSingle(IntPtr d,

-                        dReal[] vertices, int vertexStride, int vertexCount,

-                        int[] indices, int indexCount, int triStride);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildSingle(IntPtr d,

-                        IntPtr vertices, int vertexStride, int vertexCount,

-                        IntPtr indices, int indexCount, int triStride);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,

-                        dReal[] vertices, int vertexStride, int vertexCount,

-                        int[] indices, int indexCount, int triStride,

-                        dReal[] normals);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSimple1"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildSingle1(IntPtr d,

-                        IntPtr vertices, int vertexStride, int vertexCount,

-                        IntPtr indices, int indexCount, int triStride,

-                        IntPtr normals);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildSimple(IntPtr d, 

-                        float[] vertices, int vertexStride, int vertexCount,

-                        int[] indices, int indexCount, int triStride);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildSimple(IntPtr d,

-                        IntPtr vertices, int vertexStride, int vertexCount,

-                        IntPtr indices, int indexCount, int triStride);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildSimple1(IntPtr d, 

-                        float[] vertices, int vertexStride, int vertexCount,

-                        int[] indices, int indexCount, int triStride,

-                        float[] normals);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataBuildSingle1"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataBuildSimple1(IntPtr d,

-                        IntPtr vertices, int vertexStride, int vertexCount,

-                        IntPtr indices, int indexCount, int triStride,

-                        IntPtr normals);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshClearTCCache"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshClearTCCache(IntPtr g);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataCreate"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomTriMeshDataCreate();

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataDestroy"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataDestroy(IntPtr d);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataGet"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomTriMeshDataGet(IntPtr d, int data_id);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataPreprocess"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataPreprocess(IntPtr d);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataSet"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataSet(IntPtr d, int data_id, IntPtr in_data);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshDataUpdate"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshDataUpdate(IntPtr d);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshEnableTC"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshEnableTC(IntPtr g, int geomClass, bool enable);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshGetArrayCallback"), SuppressUnmanagedCodeSecurity]

-                public static extern TriArrayCallback GeomTriMeshGetArrayCallback(IntPtr g);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshGetCallback"), SuppressUnmanagedCodeSecurity]

-                public static extern TriCallback GeomTriMeshGetCallback(IntPtr g);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshGetData"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomTriMeshGetData(IntPtr g);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dGeomTriMeshGetLastTransform"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static Matrix4* GeomTriMeshGetLastTransformUnsafe(IntPtr geom);

-                public static Matrix4 GeomTriMeshGetLastTransform(IntPtr geom)

-                {

-                        unsafe { return *(GeomTriMeshGetLastTransformUnsafe(geom)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshGetPoint"), SuppressUnmanagedCodeSecurity]

-                public extern static void GeomTriMeshGetPoint(IntPtr g, int index, dReal u, dReal v, ref Vector3 outVec);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshGetRayCallback"), SuppressUnmanagedCodeSecurity]

-                public static extern TriRayCallback GeomTriMeshGetRayCallback(IntPtr g);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangle"), SuppressUnmanagedCodeSecurity]

-                public extern static void GeomTriMeshGetTriangle(IntPtr g, int index, ref Vector3 v0, ref Vector3 v1, ref Vector3 v2);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriangleCount"), SuppressUnmanagedCodeSecurity]

-                public extern static int GeomTriMeshGetTriangleCount(IntPtr g);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshGetTriMeshDataID"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr GeomTriMeshGetTriMeshDataID(IntPtr g);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshIsTCEnabled"), SuppressUnmanagedCodeSecurity]

-                public static extern bool GeomTriMeshIsTCEnabled(IntPtr g, int geomClass);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshSetArrayCallback"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshSetArrayCallback(IntPtr g, TriArrayCallback arrayCallback);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshSetCallback"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshSetCallback(IntPtr g, TriCallback callback);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshSetData"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshSetData(IntPtr g, IntPtr data);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref Matrix4 last_trans);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshSetLastTransform"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshSetLastTransform(IntPtr g, ref dReal M00);

-

-                [DllImport("ode", EntryPoint = "dGeomTriMeshSetRayCallback"), SuppressUnmanagedCodeSecurity]

-                public static extern void GeomTriMeshSetRayCallback(IntPtr g, TriRayCallback callback);

-

-                [DllImport("ode", EntryPoint = "dHashSpaceCreate"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr HashSpaceCreate(IntPtr space);

-

-                [DllImport("ode", EntryPoint = "dHashSpaceGetLevels"), SuppressUnmanagedCodeSecurity]

-                public static extern void HashSpaceGetLevels(IntPtr space, out int minlevel, out int maxlevel);

-

-                [DllImport("ode", EntryPoint = "dHashSpaceSetLevels"), SuppressUnmanagedCodeSecurity]

-                public static extern void HashSpaceSetLevels(IntPtr space, int minlevel, int maxlevel);

-

-                [DllImport("ode", EntryPoint = "dInfiniteAABB"), SuppressUnmanagedCodeSecurity]

-                public static extern void InfiniteAABB(IntPtr geom, out AABB aabb);

-

-                [DllImport("ode", EntryPoint = "dInitODE"), SuppressUnmanagedCodeSecurity]

-                public static extern void InitODE();

-

-                [DllImport("ode", EntryPoint = "dIsPositiveDefinite"), SuppressUnmanagedCodeSecurity]

-                public static extern int IsPositiveDefinite(ref dReal A, int n);

-

-                [DllImport("ode", EntryPoint = "dInvertPDMatrix"), SuppressUnmanagedCodeSecurity]

-                public static extern int InvertPDMatrix(ref dReal A, out dReal Ainv, int n);

-

-                [DllImport("ode", EntryPoint = "dJointAddAMotorTorques"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointAddAMotorTorques(IntPtr joint, dReal torque1, dReal torque2, dReal torque3);

-

-                [DllImport("ode", EntryPoint = "dJointAddHingeTorque"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointAddHingeTorque(IntPtr joint, dReal torque);

-

-                [DllImport("ode", EntryPoint = "dJointAddHinge2Torque"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointAddHinge2Torques(IntPtr joint, dReal torque1, dReal torque2);

-

-                [DllImport("ode", EntryPoint = "dJointAddPRTorque"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointAddPRTorque(IntPtr joint, dReal torque);

-

-                [DllImport("ode", EntryPoint = "dJointAddUniversalTorque"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointAddUniversalTorques(IntPtr joint, dReal torque1, dReal torque2);

-

-                [DllImport("ode", EntryPoint = "dJointAddSliderForce"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointAddSliderForce(IntPtr joint, dReal force);

-

-                [DllImport("ode", EntryPoint = "dJointAttach"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointAttach(IntPtr joint, IntPtr body1, IntPtr body2);

-

-                [DllImport("ode", EntryPoint = "dJointCreateAMotor"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateAMotor(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreateBall"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateBall(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreateContact"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateContact(IntPtr world, IntPtr group, ref Contact contact);

-

-                [DllImport("ode", EntryPoint = "dJointCreateFixed"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateFixed(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreateHinge"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateHinge(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreateHinge2"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateHinge2(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreateLMotor"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateLMotor(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreateNull"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateNull(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreatePR"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreatePR(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreatePlane2D"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreatePlane2D(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreateSlider"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateSlider(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointCreateUniversal"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointCreateUniversal(IntPtr world, IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointDestroy"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointDestroy(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetAMotorAngle"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetAMotorAngle(IntPtr j, int anum);

-

-                [DllImport("ode", EntryPoint = "dJointGetAMotorAngleRate"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetAMotorAngleRate(IntPtr j, int anum);

-

-                [DllImport("ode", EntryPoint = "dJointGetAMotorAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetAMotorAxis(IntPtr j, int anum, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetAMotorAxisRel"), SuppressUnmanagedCodeSecurity]

-                public static extern int JointGetAMotorAxisRel(IntPtr j, int anum);

-

-                [DllImport("ode", EntryPoint = "dJointGetAMotorMode"), SuppressUnmanagedCodeSecurity]

-                public static extern int JointGetAMotorMode(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]

-                public static extern int JointGetAMotorNumAxes(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetAMotorParam"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetAMotorParam(IntPtr j, int parameter);

-

-                [DllImport("ode", EntryPoint = "dJointGetBallAnchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetBallAnchor(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetBallAnchor2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetBallAnchor2(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetBody"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointGetBody(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetData"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointGetData(IntPtr j);

-

-#if !dNO_UNSAFE_CODE

-                [CLSCompliant(false)]

-                [DllImport("ode", EntryPoint = "dJointGetFeedback"), SuppressUnmanagedCodeSecurity]

-                public extern unsafe static JointFeedback* JointGetFeedbackUnsafe(IntPtr j);

-                public static JointFeedback JointGetFeedback(IntPtr j)

-                {

-                        unsafe { return *(JointGetFeedbackUnsafe(j)); }

-                }

-#endif

-

-                [DllImport("ode", EntryPoint = "dJointGetHingeAnchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetHingeAnchor(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetHingeAngle"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetHingeAngle(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetHingeAngleRate"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetHingeAngleRate(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetHingeAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetHingeAxis(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetHingeParam"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetHingeParam(IntPtr j, int parameter);

-

-                [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetHinge2Angle1(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetHinge2Angle1Rate"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetHinge2Angle1Rate(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetHinge2Angle2Rate"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetHinge2Angle2Rate(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetHingeAnchor2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetHingeAnchor2(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetHinge2Anchor(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetHinge2Anchor2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetHinge2Anchor2(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetHinge2Axis1"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetHinge2Axis1(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetHinge2Axis2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetHinge2Axis2(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetHinge2Param"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetHinge2Param(IntPtr j, int parameter);

-

-                [DllImport("ode", EntryPoint = "dJointGetLMotorAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetLMotorAxis(IntPtr j, int anum, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]

-                public static extern int JointGetLMotorNumAxes(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetLMotorParam"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetLMotorParam(IntPtr j, int parameter);

-

-                [DllImport("ode", EntryPoint = "dJointGetPRAnchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetPRAnchor(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetPRAxis1"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetPRAxis1(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetPRAxis2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetPRAxis2(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetPRParam"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetPRParam(IntPtr j, int parameter);

-

-                [DllImport("ode", EntryPoint = "dJointGetPRPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetPRPosition(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetPRPositionRate"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetPRPositionRate(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetSliderAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetSliderAxis(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetSliderParam"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetSliderParam(IntPtr j, int parameter);

-

-                [DllImport("ode", EntryPoint = "dJointGetSliderPosition"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetSliderPosition(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetSliderPositionRate"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetSliderPositionRate(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetType"), SuppressUnmanagedCodeSecurity]

-                public static extern JointType JointGetType(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetUniversalAnchor(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalAnchor2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetUniversalAnchor2(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetUniversalAngle1(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalAngle1Rate"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetUniversalAngle1Rate(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetUniversalAngle2(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalAngle2Rate"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetUniversalAngle2Rate(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalAngles"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetUniversalAngles(IntPtr j, out dReal angle1, out dReal angle2);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalAxis1"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetUniversalAxis1(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalAxis2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGetUniversalAxis2(IntPtr j, out Vector3 result);

-

-                [DllImport("ode", EntryPoint = "dJointGetUniversalParam"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal JointGetUniversalParam(IntPtr j, int parameter);

-

-                [DllImport("ode", EntryPoint = "dJointGroupCreate"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr JointGroupCreate(int max_size);

-

-                [DllImport("ode", EntryPoint = "dJointGroupDestroy"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGroupDestroy(IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointGroupEmpty"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointGroupEmpty(IntPtr group);

-

-                [DllImport("ode", EntryPoint = "dJointSetAMotorAngle"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetAMotorAngle(IntPtr j, int anum, dReal angle);

-

-                [DllImport("ode", EntryPoint = "dJointSetAMotorAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetAMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetAMotorMode"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetAMotorMode(IntPtr j, int mode);

-

-                [DllImport("ode", EntryPoint = "dJointSetAMotorNumAxes"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetAMotorNumAxes(IntPtr group, int num);

-

-                [DllImport("ode", EntryPoint = "dJointSetAMotorParam"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetAMotorParam(IntPtr group, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dJointSetBallAnchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetBallAnchor(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetBallAnchor2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetBallAnchor2(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetData"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetData(IntPtr j, IntPtr data);

-

-                [DllImport("ode", EntryPoint = "dJointSetFeedback"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);

-

-                [DllImport("ode", EntryPoint = "dJointSetFixed"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetFixed(IntPtr j);

-

-                [DllImport("ode", EntryPoint = "dJointSetHingeAnchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetHingeAnchor(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetHingeAnchorDelta"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetHingeAnchorDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);

-

-                [DllImport("ode", EntryPoint = "dJointSetHingeAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetHingeAxis(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetHingeParam"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetHingeParam(IntPtr j, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dJointSetHinge2Anchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetHinge2Anchor(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetHinge2Axis1"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetHinge2Axis1(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetHinge2Axis2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetHinge2Axis2(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetHinge2Param"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetHinge2Param(IntPtr j, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dJointSetLMotorAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetLMotorAxis(IntPtr j, int anum, int rel, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetLMotorNumAxes"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetLMotorNumAxes(IntPtr j, int num);

-

-                [DllImport("ode", EntryPoint = "dJointSetLMotorParam"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetLMotorParam(IntPtr j, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dJointSetPlane2DAngleParam"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetPlane2DAngleParam(IntPtr j, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dJointSetPlane2DXParam"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetPlane2DXParam(IntPtr j, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dJointSetPlane2DYParam"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetPlane2DYParam(IntPtr j, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dJointSetPRAnchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetPRAnchor(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetPRAxis1"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetPRAxis1(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetPRAxis2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetPRAxis2(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetPRParam"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetPRParam(IntPtr j, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dJointSetSliderAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetSliderAxis(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetSliderAxisDelta"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetSliderAxisDelta(IntPtr j, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);

-

-                [DllImport("ode", EntryPoint = "dJointSetSliderParam"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetSliderParam(IntPtr j, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dJointSetUniversalAnchor"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetUniversalAnchor(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetUniversalAxis1"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetUniversalAxis1(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetUniversalAxis2"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetUniversalAxis2(IntPtr j, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dJointSetUniversalParam"), SuppressUnmanagedCodeSecurity]

-                public static extern void JointSetUniversalParam(IntPtr j, int parameter, dReal value);

-

-                [DllImport("ode", EntryPoint = "dLDLTAddTL"), SuppressUnmanagedCodeSecurity]

-                public static extern void LDLTAddTL(ref dReal L, ref dReal d, ref dReal a, int n, int nskip);

-

-                [DllImport("ode", EntryPoint = "dMassAdd"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassAdd(ref Mass a, ref Mass b);

-

-                [DllImport("ode", EntryPoint = "dMassAdjust"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassAdjust(ref Mass m, dReal newmass);

-

-                [DllImport("ode", EntryPoint = "dMassCheck"), SuppressUnmanagedCodeSecurity]

-                public static extern bool MassCheck(ref Mass m);

-

-                [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassRotate(out Mass mass, ref Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dMassRotate"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassRotate(out Mass mass, ref dReal M00);

-

-                [DllImport("ode", EntryPoint = "dMassSetBox"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetBox(out Mass mass, dReal density, dReal lx, dReal ly, dReal lz);

-

-                [DllImport("ode", EntryPoint = "dMassSetBoxTotal"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetBoxTotal(out Mass mass, dReal total_mass, dReal lx, dReal ly, dReal lz);

-

-                [DllImport("ode", EntryPoint = "dMassSetCapsule"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetCapsule(out Mass mass, dReal density, int direction, dReal radius, dReal length);

-

-                [DllImport("ode", EntryPoint = "dMassSetCapsuleTotal"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetCapsuleTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);

-

-                [DllImport("ode", EntryPoint = "dMassSetCylinder"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetCylinder(out Mass mass, dReal density, int direction, dReal radius, dReal length);

-

-                [DllImport("ode", EntryPoint = "dMassSetCylinderTotal"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetCylinderTotal(out Mass mass, dReal total_mass, int direction, dReal radius, dReal length);

-

-                [DllImport("ode", EntryPoint = "dMassSetParameters"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetParameters(out Mass mass, dReal themass,

-                         dReal cgx, dReal cgy, dReal cgz,

-                         dReal i11, dReal i22, dReal i33,

-                         dReal i12, dReal i13, dReal i23);

-

-                [DllImport("ode", EntryPoint = "dMassSetSphere"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetSphere(out Mass mass, dReal density, dReal radius);

-

-                [DllImport("ode", EntryPoint = "dMassSetSphereTotal"), SuppressUnmanagedCodeSecurity]

-                public static extern void dMassSetSphereTotal(out Mass mass, dReal total_mass, dReal radius);

-

-                [DllImport("ode", EntryPoint = "dMassSetTrimesh"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetTrimesh(out Mass mass, dReal density, IntPtr g);

-

-                [DllImport("ode", EntryPoint = "dMassSetZero"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassSetZero(out Mass mass);

-

-                [DllImport("ode", EntryPoint = "dMassTranslate"), SuppressUnmanagedCodeSecurity]

-                public static extern void MassTranslate(out Mass mass, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dMultiply0"), SuppressUnmanagedCodeSecurity]

-                public static extern void Multiply0(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);

-

-                [DllImport("ode", EntryPoint = "dMultiply1"), SuppressUnmanagedCodeSecurity]

-                public static extern void Multiply1(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);

-

-                [DllImport("ode", EntryPoint = "dMultiply2"), SuppressUnmanagedCodeSecurity]

-                public static extern void Multiply2(out dReal A00, ref dReal B00, ref dReal C00, int p, int q, int r);

-

-                [DllImport("ode", EntryPoint = "dQFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]

-                public static extern void QFromAxisAndAngle(out Quaternion q, dReal ax, dReal ay, dReal az, dReal angle);

-

-                [DllImport("ode", EntryPoint = "dQfromR"), SuppressUnmanagedCodeSecurity]

-                public static extern void QfromR(out Quaternion q, ref Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dQMultiply0"), SuppressUnmanagedCodeSecurity]

-                public static extern void QMultiply0(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);

-

-                [DllImport("ode", EntryPoint = "dQMultiply1"), SuppressUnmanagedCodeSecurity]

-                public static extern void QMultiply1(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);

-

-                [DllImport("ode", EntryPoint = "dQMultiply2"), SuppressUnmanagedCodeSecurity]

-                public static extern void QMultiply2(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);

-

-                [DllImport("ode", EntryPoint = "dQMultiply3"), SuppressUnmanagedCodeSecurity]

-                public static extern void QMultiply3(out Quaternion qa, ref Quaternion qb, ref Quaternion qc);

-

-                [DllImport("ode", EntryPoint = "dQSetIdentity"), SuppressUnmanagedCodeSecurity]

-                public static extern void QSetIdentity(out Quaternion q);

-

-                [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref Vector3 center, ref Vector3 extents, int depth);

-

-                [DllImport("ode", EntryPoint = "dQuadTreeSpaceCreate"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr QuadTreeSpaceCreate(IntPtr space, ref dReal centerX, ref dReal extentsX, int depth);

-

-                [DllImport("ode", EntryPoint = "dRandReal"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal RandReal();

-

-                [DllImport("ode", EntryPoint = "dRFrom2Axes"), SuppressUnmanagedCodeSecurity]

-                public static extern void RFrom2Axes(out Matrix3 R, dReal ax, dReal ay, dReal az, dReal bx, dReal by, dReal bz);

-

-                [DllImport("ode", EntryPoint = "dRFromAxisAndAngle"), SuppressUnmanagedCodeSecurity]

-                public static extern void RFromAxisAndAngle(out Matrix3 R, dReal x, dReal y, dReal z, dReal angle);

-

-                [DllImport("ode", EntryPoint = "dRFromEulerAngles"), SuppressUnmanagedCodeSecurity]

-                public static extern void RFromEulerAngles(out Matrix3 R, dReal phi, dReal theta, dReal psi);

-

-                [DllImport("ode", EntryPoint = "dRfromQ"), SuppressUnmanagedCodeSecurity]

-                public static extern void RfromQ(out Matrix3 R, ref Quaternion q);

-

-                [DllImport("ode", EntryPoint = "dRFromZAxis"), SuppressUnmanagedCodeSecurity]

-                public static extern void RFromZAxis(out Matrix3 R, dReal ax, dReal ay, dReal az);

-

-                [DllImport("ode", EntryPoint = "dRSetIdentity"), SuppressUnmanagedCodeSecurity]

-                public static extern void RSetIdentity(out Matrix3 R);

-

-                [DllImport("ode", EntryPoint = "dSetValue"), SuppressUnmanagedCodeSecurity]

-                public static extern void SetValue(out dReal a, int n);

-

-                [DllImport("ode", EntryPoint = "dSetZero"), SuppressUnmanagedCodeSecurity]

-                public static extern void SetZero(out dReal a, int n);

-

-                [DllImport("ode", EntryPoint = "dSimpleSpaceCreate"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr SimpleSpaceCreate(IntPtr space);

-

-                [DllImport("ode", EntryPoint = "dSolveCholesky"), SuppressUnmanagedCodeSecurity]

-                public static extern void SolveCholesky(ref dReal L, out dReal b, int n);

-

-                [DllImport("ode", EntryPoint = "dSolveL1"), SuppressUnmanagedCodeSecurity]

-                public static extern void SolveL1(ref dReal L, out dReal b, int n, int nskip);

-

-                [DllImport("ode", EntryPoint = "dSolveL1T"), SuppressUnmanagedCodeSecurity]

-                public static extern void SolveL1T(ref dReal L, out dReal b, int n, int nskip);

-

-                [DllImport("ode", EntryPoint = "dSolveLDLT"), SuppressUnmanagedCodeSecurity]

-                public static extern void SolveLDLT(ref dReal L, ref dReal d, out dReal b, int n, int nskip);

-

-                [DllImport("ode", EntryPoint = "dSpaceAdd"), SuppressUnmanagedCodeSecurity]

-                public static extern void SpaceAdd(IntPtr space, IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dSpaceClean"), SuppressUnmanagedCodeSecurity]

-                public static extern void SpaceClean(IntPtr space);

-

-                [DllImport("ode", EntryPoint = "dSpaceCollide"), SuppressUnmanagedCodeSecurity]

-                public static extern void SpaceCollide(IntPtr space, IntPtr data, NearCallback callback);

-

-                [DllImport("ode", EntryPoint = "dSpaceCollide2"), SuppressUnmanagedCodeSecurity]

-                public static extern void SpaceCollide2(IntPtr space1, IntPtr space2, IntPtr data, NearCallback callback);

-

-                [DllImport("ode", EntryPoint = "dSpaceDestroy"), SuppressUnmanagedCodeSecurity]

-                public static extern void SpaceDestroy(IntPtr space);

-

-                [DllImport("ode", EntryPoint = "dSpaceGetCleanup"), SuppressUnmanagedCodeSecurity]

-                public static extern bool SpaceGetCleanup(IntPtr space);

-

-                [DllImport("ode", EntryPoint = "dSpaceGetNumGeoms"), SuppressUnmanagedCodeSecurity]

-                public static extern int SpaceGetNumGeoms(IntPtr space);

-

-                [DllImport("ode", EntryPoint = "dSpaceGetGeom"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr SpaceGetGeom(IntPtr space, int i);

-

-                [DllImport("ode", EntryPoint = "dSpaceQuery"), SuppressUnmanagedCodeSecurity]

-                public static extern bool SpaceQuery(IntPtr space, IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dSpaceRemove"), SuppressUnmanagedCodeSecurity]

-                public static extern void SpaceRemove(IntPtr space, IntPtr geom);

-

-                [DllImport("ode", EntryPoint = "dSpaceSetCleanup"), SuppressUnmanagedCodeSecurity]

-                public static extern void SpaceSetCleanup(IntPtr space, bool mode);

-

-                [DllImport("ode", EntryPoint = "dVectorScale"), SuppressUnmanagedCodeSecurity]

-                public static extern void VectorScale(out dReal a, ref dReal d, int n);

-

-                [DllImport("ode", EntryPoint = "dWorldCreate"), SuppressUnmanagedCodeSecurity]

-                public static extern IntPtr WorldCreate();

-

-                [DllImport("ode", EntryPoint = "dWorldDestroy"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldDestroy(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal WorldGetAutoDisableAngularThreshold(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]

-                public static extern bool WorldGetAutoDisableFlag(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal WorldGetAutoDisableLinearThreshold(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]

-                public static extern int WorldGetAutoDisableSteps(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetAutoDisableTime"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal WorldGetAutoDisableTime(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]

-                public static extern int WorldGetAutoEnableDepthSF1(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetCFM"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal WorldGetCFM(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetERP"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal WorldGetERP(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldGetGravity(IntPtr world, out Vector3 gravity);

-

-                [DllImport("ode", EntryPoint = "dWorldGetGravity"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldGetGravity(IntPtr world, out dReal X);

-

-                [DllImport("ode", EntryPoint = "dWorldGetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal WorldGetContactMaxCorrectingVel(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal WorldGetContactSurfaceLayer(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]

-                public static extern int WorldGetQuickStepNumIterations(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldGetQuickStepW"), SuppressUnmanagedCodeSecurity]

-                public static extern dReal WorldGetQuickStepW(IntPtr world);

-

-                [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out Vector3 force);

-

-                [DllImport("ode", EntryPoint = "dWorldImpulseToForce"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldImpulseToForce(IntPtr world, dReal stepsize, dReal ix, dReal iy, dReal iz, out dReal forceX);

-

-                [DllImport("ode", EntryPoint = "dWorldQuickStep"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldQuickStep(IntPtr world, dReal stepsize);

-

-                [DllImport("ode", EntryPoint = "dWorldSetAutoDisableAngularThreshold"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetAutoDisableAngularThreshold(IntPtr world, dReal angular_threshold);

-

-                [DllImport("ode", EntryPoint = "dWorldSetAutoDisableFlag"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetAutoDisableFlag(IntPtr world, bool do_auto_disable);

-

-                [DllImport("ode", EntryPoint = "dWorldSetAutoDisableLinearThreshold"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetAutoDisableLinearThreshold(IntPtr world, dReal linear_threshold);

-

-                [DllImport("ode", EntryPoint = "dWorldSetAutoDisableSteps"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetAutoDisableSteps(IntPtr world, int steps);

-

-                [DllImport("ode", EntryPoint = "dWorldSetAutoDisableTime"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetAutoDisableTime(IntPtr world, dReal time);

-

-                [DllImport("ode", EntryPoint = "dWorldSetAutoEnableDepthSF1"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetAutoEnableDepthSF1(IntPtr world, int autoEnableDepth);

-

-                [DllImport("ode", EntryPoint = "dWorldSetCFM"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetCFM(IntPtr world, dReal cfm);

-

-                [DllImport("ode", EntryPoint = "dWorldSetContactMaxCorrectingVel"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetContactMaxCorrectingVel(IntPtr world, dReal vel);

-

-                [DllImport("ode", EntryPoint = "dWorldSetContactSurfaceLayer"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetContactSurfaceLayer(IntPtr world, dReal depth);

-

-                [DllImport("ode", EntryPoint = "dWorldSetERP"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetERP(IntPtr world, dReal erp);

-

-                [DllImport("ode", EntryPoint = "dWorldSetGravity"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetGravity(IntPtr world, dReal x, dReal y, dReal z);

-

-                [DllImport("ode", EntryPoint = "dWorldSetQuickStepNumIterations"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetQuickStepNumIterations(IntPtr world, int num);

-

-                [DllImport("ode", EntryPoint = "dWorldSetQuickStepW"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldSetQuickStepW(IntPtr world, dReal over_relaxation);

-

-                [DllImport("ode", EntryPoint = "dWorldStep"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldStep(IntPtr world, dReal stepsize);

-

-                [DllImport("ode", EntryPoint = "dWorldStepFast1"), SuppressUnmanagedCodeSecurity]

-                public static extern void WorldStepFast1(IntPtr world, dReal stepsize, int maxiterations);

-        }

-}

diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua b/libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua
deleted file mode 100644
index b53d54c..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/Ode/premake.lua
+++ /dev/null
@@ -1,31 +0,0 @@
-package.name = "Ode.NET"

-package.kind = "dll"

-package.language = "c#"

-

--- Build options

-

-  package.defines = { }

-

-  if (options["with-doubles"]) then

-    table.insert(package.defines, "dDOUBLE")

-  else

-    table.insert(package.defines, "dSINGLE")

-  end

-

-  if (options["no-unsafe"]) then

-    table.insert(package.defines, "dNO_UNSAFE_CODE")

-  else

-    package.buildflags = { "unsafe" }

-  end

-  

-

--- Files & Libraries

-

-  package.files = {

-    "AssemblyInfo.cs",

-    "Ode.cs"

-  }

-

-  package.links = {

-    "System"

-  }

diff --git a/libraries/ode-0.9/contrib/Ode.NET/README.TXT b/libraries/ode-0.9/contrib/Ode.NET/README.TXT
deleted file mode 100644
index e6f1262..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/README.TXT
+++ /dev/null
@@ -1,73 +0,0 @@
-Ode.NET - .NET bindings for ODE

-Jason Perkins (starkos@gmail.com)

-

- THIS IS A WORK IN PROGRESS! I'm not done yet!

- 

-

---------------------------------------------------------------------- 

- INSTALLATION

---------------------------------------------------------------------- 

-

- Note that this binding uses a C# 2.0 feature (the

- UnmanagedFunctionPointer attribute). You will need to use

- Visual Studio 2005 (C# Express is fine) or Mono's gmcs

- compiler.

- 

- Start by getting or building ODE as a shared library (DLL).

- 

- The simplest way to build the bindings is probably to create a 

- new library assembly in your tool of choice and drop in the files

- Ode/Ode.cs and Ode/AssemblyInfo.cs. Define the symbol`dDOUBLE` if 

- you used double-precision math in your ode.dll. Build, done.

- 

- For testing purposes, I have also created bindings for the 

- Drawstuff library and a C# version of the BoxStack demo. You can

- throw all of these files into a console executable and run it to

- see the demo.

- 

- If you happen to have Premake installed (http://premake.sf.net/),

- you can generate build scripts for the library with:

- 

-  premake --target (toolset)                 # for single precision

-  premake --with-doubles --target (toolset)  # for double precision

-

- To build the test application too, use:

- 

-  premake --with-tests --target (toolset)

-  

- To build with Mono, you must add the --dotnet parameter to enable

- support .NET 2.0:

- 

-   premake --dotnet mono2 --target gnu

-   

-

---------------------------------------------------------------------- 

- USAGE

---------------------------------------------------------------------- 

-

- I have tried to keep things as close to the original C API as I can,

- rather than forcing a class structure on everyone. Everything is

- contained within the `Ode.NET` namespace inside a static class

- named `d`. All ODE IDs are replaced with IntPtrs. A quick example:

- 

-   using Ode.NET;

-   

-   IntPtr world = d.WorldCreate();

-   IntPtr body = d.BodyCreate(world);

- 

- Take a look at Tests/BoxStack.cs for a more complete example.

- 

- 

---------------------------------------------------------------------- 

- KNOWN ISSUES

---------------------------------------------------------------------- 

-

- I'm not done yet, so many functions are still missing.

-

- It is not possible to implement dBodyGetPosition(), dBodyGetRotation(),

- etc. without resorting to unsafe code, which I was trying to avoid.

- This binding uses the .NET friendly dBodyCopyPosition(), 

- dBodyCopyRotation(), etc. instead. 

-  

- Collision response (contact joints) do not work when built under 

- Mono as double-precision. I have not tried to track down why.

diff --git a/libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs b/libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs
deleted file mode 100644
index 1077124..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/Tests/BoxStack.cs
+++ /dev/null
@@ -1,260 +0,0 @@
-using System;

-using System.Collections.Generic;

-using Drawstuff.NET;

-

-namespace Ode.NET

-{

-#if dDOUBLE

-        using dReal = System.Double;

-#else

-        using dReal = System.Single;

-#endif

-

-        public class TestBoxStack

-        {

-                #region Description of convex shape

-

-                static dReal[] planes = 

-                        {

-                                1.0f, 0.0f, 0.0f, 0.25f,

-                                0.0f, 1.0f, 0.0f, 0.25f,

-                                0.0f, 0.0f, 1.0f, 0.25f,

-                                0.0f, 0.0f, -1.0f, 0.25f,

-                                0.0f, -1.0f, 0.0f, 0.25f,

-                                -1.0f, 0.0f , 0.0f, 0.25f

-                        };

-

-                static dReal[] points =

-                        {

-                                0.25f, 0.25f, 0.25f,

-                                -0.25f, 0.25f, 0.25f,

-                                0.25f, -0.25f, 0.25f,

-                                -0.25f, -0.25f, 0.25f,

-                                0.25f, 0.25f, -0.25f,

-                                -0.25f,0.25f,-0.25f,

-                                0.25f,-0.25f,-0.25f,

-                                -0.25f,-0.25f,-0.25f,

-                        };

-

-                static int[] polygons =

-                {

-                        4, 0, 2, 6, 4,

-                        4, 1, 0, 4, 5,

-                        4, 0, 1, 3, 2,

-                        4, 3, 1, 5, 7,

-                        4, 2, 3, 7, 6,

-                        4, 5, 4, 6, 7,

-                };

-

-                #endregion

-

-                const int NUM = 100;

-                const float DENSITY = 5.0f;

-                const int MAX_CONTACTS = 8;

-                

-                static IntPtr world;

-                static IntPtr space;

-                static IntPtr contactgroup;

-

-                static Queue<IntPtr> obj = new Queue<IntPtr>();

-

-                static d.Vector3 xyz = new d.Vector3(2.1640f, -1.3079f, 1.7600f);

-                static d.Vector3 hpr = new d.Vector3(125.5000f, -17.0000f, 0.0000f);

-

-                static d.NearCallback nearCallback = near;

-                static d.ContactGeom[] contacts = new d.ContactGeom[MAX_CONTACTS];

-                static d.Contact contact;

-

-

-                // Called when window is opened - sets up viewpoint and prints usage

-                static void start(int unused)

-                {

-                        ds.SetViewpoint(ref xyz, ref hpr);

-                        Console.WriteLine("To drop another object, press:");

-                        Console.WriteLine("   b for box.");

-                        Console.WriteLine("   s for sphere.");

-                        Console.WriteLine("   c for capsule.");

-                        Console.WriteLine("   y for cylinder.");

-                        Console.WriteLine("   v for a convex object.");

-                        Console.WriteLine("   x for a composite object.");

-                        Console.WriteLine("To select an object, press space.");

-                        Console.WriteLine("To disable the selected object, press d.");

-                        Console.WriteLine("To enable the selected object, press e.");

-                        Console.WriteLine("To toggle showing the geom AABBs, press a.");

-                        Console.WriteLine("To toggle showing the contact points, press t.");

-                        Console.WriteLine("To toggle dropping from random position/orientation, press r.");

-                        Console.WriteLine("To save the current state to 'state.dif', press 1.");

-                }

-

-

-                // Near callback - creates contact joints

-                static void near(IntPtr space, IntPtr g1, IntPtr g2)

-                {

-                        IntPtr b1 = d.GeomGetBody(g1);

-                        IntPtr b2 = d.GeomGetBody(g2);

-                        if (b1 != IntPtr.Zero && b2 != IntPtr.Zero && d.AreConnectedExcluding(b1, b2, d.JointType.Contact))

-                                return;

-

-                        int count = d.Collide(g1, g2, MAX_CONTACTS, contacts, d.ContactGeom.SizeOf);

-                        for (int i = 0; i < count; ++i)

-                        {

-                                contact.geom = contacts[i];

-                                IntPtr joint = d.JointCreateContact(world, contactgroup, ref contact);

-                                d.JointAttach(joint, b1, b2);

-                        }

-                }

-

-

-                // Adds a new object to the scene - attaches a body to the geom and

-                // sets the initial position and orientation

-                static void addObject(IntPtr geom, d.Mass mass)

-                {

-                        // Create a body for this object

-                        IntPtr body = d.BodyCreate(world);

-                        d.GeomSetBody(geom, body);

-                        d.BodySetMass(body, ref mass);

-                        obj.Enqueue(geom);

-

-                        // Set the position of the new object

-                        d.Matrix3 R;

-                        d.BodySetPosition(body, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() + 2);

-                        d.RFromAxisAndAngle(out R, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 2 - 1, d.RandReal() * 10 - 5);

-                        d.BodySetRotation(body, ref R);

-

-                        // Cap the total number of objects

-                        if (obj.Count > NUM)

-                        {

-                                geom = obj.Dequeue();

-                                body = d.GeomGetBody(geom);

-                                d.BodyDestroy(body);

-                                d.GeomDestroy(geom);

-                        }

-                }

-

-

-                // Keyboard callback

-                static void command(int cmd)

-                {

-                        IntPtr geom;

-                        d.Mass mass;

-                        d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);

-

-                        Char ch = Char.ToLower((Char)cmd);

-                        switch ((Char)ch)

-                        {

-                        case 'b':

-                                d.MassSetBox(out mass, DENSITY, sides.X, sides.Y, sides.Z);

-                                geom = d.CreateBox(space, sides.X, sides.Y, sides.Z);

-                                addObject(geom, mass);

-                                break;

-

-                        case 'c':

-                                sides.X *= 0.5f;

-                                d.MassSetCapsule(out mass, DENSITY, 3, sides.X, sides.Y);

-                                geom = d.CreateCapsule(space, sides.X, sides.Y);

-                                addObject(geom, mass);

-                                break;

-

-                        case 'v':

-                                d.MassSetBox(out mass, DENSITY, 0.25f, 0.25f, 0.25f);

-                                geom = d.CreateConvex(space, planes, planes.Length / 4, points, points.Length / 3, polygons);

-                                addObject(geom, mass);

-                                break;

-                        }

-                }

-

-

-                // Draw an object in the scene

-                static void drawGeom(IntPtr geom)

-                {

-                        IntPtr body = d.GeomGetBody(geom);

-

-                        d.Vector3 pos;

-                        d.BodyCopyPosition(body, out pos);

-

-                        d.Matrix3 R;

-                        d.BodyCopyRotation(body, out R);

-

-                        d.GeomClassID type = d.GeomGetClass(geom);

-                        switch (type)

-                        {

-                        case d.GeomClassID.BoxClass:

-                                d.Vector3 sides;

-                                d.GeomBoxGetLengths(geom, out sides);

-                                ds.DrawBox(ref pos, ref R, ref sides);

-                                break;

-                        case d.GeomClassID.CapsuleClass:

-                                dReal radius, length;

-                                d.GeomCapsuleGetParams(geom, out radius, out length);

-                                ds.DrawCapsule(ref pos, ref R, length, radius);

-                                break;

-                        case d.GeomClassID.ConvexClass:

-                                ds.DrawConvex(ref pos, ref R, planes, planes.Length / 4, points, points.Length / 3, polygons);

-                                break;

-                        }

-                }

-

-

-                // Called once per frame; updates the scene

-                static void step(int pause)

-                {

-                        d.SpaceCollide(space, IntPtr.Zero, nearCallback);

-                        if (pause == 0)

-                                d.WorldQuickStep(world, 0.02f);

-                        d.JointGroupEmpty(contactgroup);

-

-                        ds.SetColor(1.0f, 1.0f, 0.0f);

-                        ds.SetTexture(ds.Texture.Wood);

-

-                        foreach (IntPtr geom in obj)

-                        {

-                                drawGeom(geom);

-                        }

-                }

-

-

-                static void Main(string[] args)

-                {

-                        // Setup pointers to drawstuff callback functions

-                        ds.Functions fn;

-                        fn.version = ds.VERSION;

-                        fn.start = new ds.CallbackFunction(start);

-                        fn.step = new ds.CallbackFunction(step);

-                        fn.command = new ds.CallbackFunction(command);

-                        fn.stop = null;

-                        fn.path_to_textures = "../../../../drawstuff/textures";

-                        if (args.Length > 0)

-                        {

-                                fn.path_to_textures = args[0];

-                        }

-

-                        // Set up contact response parameters

-                        contact.surface.mode = d.ContactFlags.Bounce | d.ContactFlags.SoftCFM;

-                        contact.surface.mu = d.Infinity;

-                        contact.surface.mu2 = 0.0f;

-                        contact.surface.bounce = 0.1f;

-                        contact.surface.bounce_vel = 0.1f;

-                        contact.surface.soft_cfm = 0.01f;

-

-                        // Initialize the scene

-                        world = d.WorldCreate();

-                        space = d.HashSpaceCreate(IntPtr.Zero);

-                        contactgroup = d.JointGroupCreate(0);

-                        d.WorldSetGravity(world, 0.0f, 0.0f, -0.5f);

-                        d.WorldSetCFM(world, 1e-5f);

-                        d.WorldSetAutoDisableFlag(world, true);

-                        d.WorldSetContactMaxCorrectingVel(world, 0.1f);

-                        d.WorldSetContactSurfaceLayer(world, 0.001f);

-                        d.CreatePlane(space, 0, 0, 1, 0);

-

-                        // Run the scene

-                        ds.SimulationLoop(args.Length, args, 352, 288, ref fn);

-

-                        // Clean up

-                        d.JointGroupDestroy(contactgroup);

-                        d.SpaceDestroy(space);

-                        d.WorldDestroy(world);

-                        d.CloseODE();

-                }

-        }

-}

diff --git a/libraries/ode-0.9/contrib/Ode.NET/Tests/premake.lua b/libraries/ode-0.9/contrib/Ode.NET/Tests/premake.lua
deleted file mode 100644
index 5253ae1..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/Tests/premake.lua
+++ /dev/null
@@ -1,27 +0,0 @@
--- This function creates the test packages

-function maketest(name)

-

-  package = newpackage()

-  package.name = name

-  package.kind = "exe"

-  package.language = "c#"

-

-  if (options["with-doubles"]) then

-    package.defines = { "dDOUBLE" }

-  else

-    package.defines = { "dSINGLE " }

-  end

-

-  package.links = { 

-    "System", 

-    "Ode.NET", 

-    "Drawstuff.NET" 

-  }

-

-  package.files = {

-    name .. ".cs"

-  }

-

-end

-

-maketest("BoxStack")

diff --git a/libraries/ode-0.9/contrib/Ode.NET/premake.lua b/libraries/ode-0.9/contrib/Ode.NET/premake.lua
deleted file mode 100644
index c25a017..0000000
--- a/libraries/ode-0.9/contrib/Ode.NET/premake.lua
+++ /dev/null
@@ -1,29 +0,0 @@
-project.name = "Ode.NET"

-

--- Target checking

-

-  if (target and target ~= "vs2005" and target ~= "gnu") then

-    error("Ode.NET requires a .NET 2.0 compiler")

-  end

-      

-

--- Project options

-

-  addoption("with-doubles",  "Use double instead of float as base numeric type")

-  addoption("with-tests",    "Builds the test applications and DrawStuff library")

-  addoption("no-unsafe",     "Exclude functions using unsafe code (dBodyGetPosition, etc.)")

-

-

--- Build settings

-

-  project.config["Debug"].bindir = "bin/Debug"

-  project.config["Release"].bindir = "bin/Release"

-  

-

--- Packages

-

-  if (options["with-tests"]) then

-    dopackage("Tests")

-    dopackage("Drawstuff")

-  end

-  dopackage("Ode")

diff --git a/libraries/ode-0.9/contrib/OdeModelProcessor/LICENSE-BSD.TXT b/libraries/ode-0.9/contrib/OdeModelProcessor/LICENSE-BSD.TXT
deleted file mode 100644
index b2b1995..0000000
--- a/libraries/ode-0.9/contrib/OdeModelProcessor/LICENSE-BSD.TXT
+++ /dev/null
@@ -1,37 +0,0 @@
-

-This is the BSD-style license for The ODE Model Processor

-----------------------------------------------------------

-

-The ODE Model Processor

-Copyright (c) 2007, Department Of Information Science,

-University of Otago, Dunedin, New Zealand.

-All rights reserved.

-

-Author: Richard Barrington <barri662@student.otago.ac.nz>

-

-Redistribution and use in source and binary forms, with or without

-modification, are permitted provided that the following conditions

-are met:

-

-Redistributions of source code must retain the above copyright notice,

-this list of conditions and the following disclaimer.

-

-Redistributions in binary form must reproduce the above copyright notice,

-this list of conditions and the following disclaimer in the documentation

-and/or other materials provided with the distribution.

-

-Neither the names of the copyright owner nor the names of its

-contributors may be used to endorse or promote products derived from

-this software without specific prior written permission.

-

-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

-FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT

-OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,

-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED

-TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR

-PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF

-LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING

-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

diff --git a/libraries/ode-0.9/contrib/OdeModelProcessor/LICENSE.TXT b/libraries/ode-0.9/contrib/OdeModelProcessor/LICENSE.TXT
deleted file mode 100644
index cfe59bc..0000000
--- a/libraries/ode-0.9/contrib/OdeModelProcessor/LICENSE.TXT
+++ /dev/null
@@ -1,502 +0,0 @@
-                  GNU LESSER GENERAL PUBLIC LICENSE
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-
-  Yoyodyne, Inc., hereby disclaims all copyright interest in the
-  library `Frob' (a library for tweaking knobs) written by James Random Hacker.
-
-  <signature of Ty Coon>, 1 April 1990
-  Ty Coon, President of Vice
-
-That's all there is to it!
diff --git a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor.sln b/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor.sln
deleted file mode 100644
index 6a3f521..0000000
--- a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor.sln
+++ /dev/null
@@ -1,20 +0,0 @@
-

-Microsoft Visual Studio Solution File, Format Version 9.00

-# Visual C# Express 2005

-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "OdeModelProcessor", "OdeModelProcessor\OdeModelProcessor.csproj", "{246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}"

-EndProject

-Global

-        GlobalSection(SolutionConfigurationPlatforms) = preSolution

-                Debug|Any CPU = Debug|Any CPU

-                Release|Any CPU = Release|Any CPU

-        EndGlobalSection

-        GlobalSection(ProjectConfigurationPlatforms) = postSolution

-                {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Debug|Any CPU.ActiveCfg = Debug|Any CPU

-                {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Debug|Any CPU.Build.0 = Debug|Any CPU

-                {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Release|Any CPU.ActiveCfg = Release|Any CPU

-                {246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}.Release|Any CPU.Build.0 = Release|Any CPU

-        EndGlobalSection

-        GlobalSection(SolutionProperties) = preSolution

-                HideSolutionNode = FALSE

-        EndGlobalSection

-EndGlobal

diff --git a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs b/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs
deleted file mode 100644
index 9c974eb..0000000
--- a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.cs
+++ /dev/null
@@ -1,354 +0,0 @@
-/*

- * The ODE Model Processor

- * -----------------------

- * 

- * Copyright 2007, Department of Information Science,

- * University of Otago, Dunedin, New Zealand.

- * 

- * Author: Richard Barrington <barri662@student.otago.ac.nz>

- * 

- * This is a Content Processor and Tag library written for use with

- * Microsoft Visual C# 2005 Express Edition and Microsoft XNA Game 

- * Studio Express 1.0.

- * 

- * It can be used to read .x model vertex and index data before 

- * insertion into the content pipeline. This is used to build ODE

- * Triangle Meshes which are then used for collision detection that

- * is more accurate than the default XNA bounding boxes or spheres.

- * 

- * Usage is simple:

- * Build the library and reference the DLL in your project.

- * Add the DLL to the Content Pipeline

- * Set the content processor for you .x models to OdeModelProcessor.

- * 

- * Create triangle meshes as follows:

- * 1) Create a space, but only one for all of models.

- * 2) Create a triangle data.

- * 3) Load the model.

- * 4) Retreive the tag from the model.

- * 6) Build the triangle mesh by calling d.GeomTriMeshDataBuildSimple.

- * 

- * Eg:

- * IntPtr space = d.SimpleSpaceCreate(IntPtr.Zero);

- * IntPtr triangleData = d.GeomTriMeshDataCreate();

- * Model obj = content.Load<Model>("Content\\mycube");

- * OdeTag tag = (OdeTag)obj.Tag;

- * IntPtr vertexArray = tag.getVertices();

- * IntPtr indexArray = tag.getIndices();

- * d.GeomTriMeshDataBuildSimple

- * (

- *     triangleData,

- *     vertexArray, tag.getVertexStride(), tag.getVertexCount(),

- *     indexArray, tag.getIndexCount(), tag.getIndexStride()

- * );

- * IntPtr triangleMesh = d.CreateTriMesh(space, triangleData, null, null, null);

- * 

- * You can load multiple models and test for collisions with something

- * like this in the update method:

- * 

- * d.GeomSetPosition(odeTri1, obj1Position.X, obj1Position.Y, obj1Position.Z);

- * d.GeomSetPosition(odeTri2, obj2Position.X, obj2Position.Y, obj2Position.Z);

- * int numberOfContacts = d.Collide(odeTri1, odeTri2, ODE_CONTACTS,

- *     contactGeom, d.ContactGeom.SizeOf);

- * 

- * Where odeTri1 and odeTri2 are triangle meshes you've created, obj1Position

- * and obj2Position are the positions of your rendered models in the scene,

- * ODE_CONTACTS is a constant defining the maximum number of contacts

- * to test for, contactGeom is a d.ContactGeom[] of length ODE_CONTACTS.

- * 

- * If numberOfContacts is greater than 0, you have a collision.

- * 

- * Other ODE functions such as d.SpaceCollide() also work; see ODE.NET BoxTest.cs.

- * 

- * This library is free software; you can redistribute it and/or

- * modify it under the same terms as the ODE and ODE.Net libraries.

- * Specifically, the terms are one of EITHER:

- * 

- *   (1) The GNU Lesser General Public License as published by the Free

- *       Software Foundation; either version 2.1 of the License, or (at

- *       your option) any later version. The text of the GNU Lesser

- *       General Public License is included with this library in the

- *       file LICENSE.TXT.

- * 

- *   (2) The BSD-style license that is included with this library in

- *       the file LICENSE-BSD.TXT.

- *

- * This library is distributed in the hope that it will be useful,

- * but WITHOUT ANY WARRANTY; without even the implied warranty of

- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files

- * LICENSE.TXT and LICENSE-BSD.TXT for more details.

- * 

- */

-

-using System;

-using System.Collections.Generic;

-using System.Text;

-using Microsoft.Xna.Framework;

-using Microsoft.Xna.Framework.Content;

-using Microsoft.Xna.Framework.Graphics;

-using Microsoft.Xna.Framework.Design;

-using Microsoft.Xna.Framework.Content.Pipeline;

-using Microsoft.Xna.Framework.Content.Pipeline.Graphics;

-using Microsoft.Xna.Framework.Content.Pipeline.Processors;

-using Microsoft.Xna.Framework.Content.Pipeline.Serialization.Compiler;

-using Ode.NET;

-using System.Runtime.InteropServices;

-

-namespace OdeModelProcessor

-{

-    /*

-     * Container for vertex and index data in a format

-     * that ODE.Net can use

-     */

-    public class OdeTag

-    {

-

-        private float[] vertexData;

-        private int[] indexData;

-        private const int indexStride = (sizeof(int));

-        private const int vertexStride = (3 * sizeof(float));

-

-        /* Constructors */

-        public OdeTag()

-        {

-            vertexData = new float[0];

-            indexData = new int[0];

-        }

-        

-        public OdeTag(float[] vertexData, int[] indexData)

-        {

-            this.vertexData = vertexData;

-            this.indexData = indexData;

-        }

-        

-        /* Data setter */

-        public void setData(float[] vertexData, int[] indexData)

-        {

-            this.vertexData = vertexData;

-            this.indexData = indexData;

-        }

-

-        /* Data appenders */

-        public void appendVertexData(float[] vertexData)

-        {

-            int newVertexDataLength = vertexData.Length;

-            float[] tempVertexArray = new float[newVertexDataLength + this.vertexData.Length];

-            this.vertexData.CopyTo(tempVertexArray, 0);

-            vertexData.CopyTo(tempVertexArray, this.vertexData.Length);

-            this.vertexData = tempVertexArray;

-        }

-

-        public void appendIndexData(int[] indexData)

-        {

-            int newIndexDataLength = indexData.Length;

-            int[] tempIndexArray = new int[newIndexDataLength + this.indexData.Length];

-            this.indexData.CopyTo(tempIndexArray, 0);

-            indexData.CopyTo(tempIndexArray, this.indexData.Length);

-            this.indexData = tempIndexArray;

-        }

-

-        /* Data getters */

-        public float[] getVertexData()

-        {

-            return this.vertexData;

-        }

-

-        public int[] getIndexData()

-        {

-            return this.indexData;

-        }

-

-        /* Native data getters */

-        public IntPtr getVertices()

-        {

-            int count = getVertexData().Length;

-            int memsize = count * Marshal.SizeOf(getVertexData()[0].GetType());

-            IntPtr pointer = Marshal.AllocCoTaskMem(memsize);

-            Marshal.Copy(getVertexData(), 0, pointer, count);

-            return pointer;

-        }

-

-        public IntPtr getIndices()

-        {

-            int count = getIndexData().Length;

-            int memsize = count * Marshal.SizeOf(getIndexData()[0].GetType());

-            IntPtr pointer = Marshal.AllocCoTaskMem(memsize);

-            Marshal.Copy(getIndexData(), 0, pointer, count);

-            return pointer;

-        }

-

-        /* Count getters */

-        public int getVertexCount()

-        {

-            return vertexData.Length/3;

-        }

-

-        public int getIndexCount()

-        {

-            return indexData.Length;

-        }

-

-        /* Stride getters */

-        public int getVertexStride()

-        {

-            return vertexStride;

-        }

-

-        public int getIndexStride()

-        {

-            return indexStride;

-        }

-

-        /*

-         * Convienience method to build the mesh and return it. The triangleData

-         * is passed in to allow the calling application to delete it afterwards.

-         *

-         * Be sure to destroy the returned TriangleMesh in the client application.

-         * 

-         * Can't destroy the index and vertex arrays here though, so best to handle

-         * this manually - only use this method if nothing else makes sense.

-         */ 

-        public IntPtr getTriangleMesh(IntPtr space, IntPtr triangleData)

-        {

-            d.GeomTriMeshDataBuildSimple(

-                triangleData,

-                getVertices(), getVertexStride(), getVertexCount(),

-                getIndices(), getIndexCount(), getIndexStride()

-            );

-            return d.CreateTriMesh(space, triangleData, null, null, null);

-        }

-

-    }

-

-    /*

-     * Subclass of the XNA .x model processor, which creates and appends a tag

-     * containing vertex and index data for ODE.Net to use.

-     */ 

-    [ContentProcessor]

-    public class OdeModelProcessor : ModelProcessor

-    {

-        private OdeTag tag;

-        private int indexOffset = 0;

-

-        public override ModelContent Process(NodeContent input, ContentProcessorContext context)

-        {

-            tag = new OdeTag();

-            GenerateVerticesRecursive( input );

-            ModelContent model = base.Process(input, context);

-            model.Tag = tag;

-            indexOffset = 0;

-            return model;

-        }

-

-        public void GenerateVerticesRecursive(NodeContent input)

-        {

-            

-            MeshContent mesh = input as MeshContent;

-            

-            if (mesh != null)

-            {

-                GeometryContentCollection gc = mesh.Geometry;

-                foreach (GeometryContent g in gc)

-                {

-                    VertexContent vc = g.Vertices;

-                    IndirectPositionCollection ipc = vc.Positions;

-                    IndexCollection ic = g.Indices;

-

-                    float[] vertexData = new float[ipc.Count * 3];

-                    for (int i = 0; i < ipc.Count; i++)

-                    {

-                        

-                        Vector3 v0 = ipc[i];

-                        vertexData[(i * 3) + 0] = v0.X;

-                        vertexData[(i * 3) + 1] = v0.Y;

-                        vertexData[(i * 3) + 2] = v0.Z;                        

-                        

-                    }

-

-                    int[] indexData = new int[ic.Count];

-                    for (int j = 0; j < ic.Count; j ++)

-                    {

-

-                        indexData[j] = ic[j] + indexOffset;

-

-                    }

-

-                    tag.appendVertexData(vertexData);

-                    tag.appendIndexData(indexData);

-                    indexOffset += ipc.Count;

-                }

-                

-            }

-

-            foreach (NodeContent child in input.Children)

-            {

-                GenerateVerticesRecursive(child);

-            }

-

-        }

-

-    }

-

-    /* Writer for the OdeTag class */

-    [ContentTypeWriter]

-    public class OdeTagWriter : ContentTypeWriter<OdeTag>

-    {

-

-        protected override void Write(ContentWriter output, OdeTag value)

-        {

-            float[] vertexData = value.getVertexData();

-            int[] indexData = value.getIndexData();

-            output.Write(vertexData.Length);

-            output.Write(indexData.Length);

-            for (int j = 0; j < vertexData.Length; j++)

-            {

-                output.Write(vertexData[j]);

-            }

-            for (int i = 0; i < indexData.Length; i++)

-            {

-                output.Write(indexData[i]);

-            }

-        }

-

-        public override string GetRuntimeType(TargetPlatform targetPlatform)

-        {

-            return typeof(OdeTag).AssemblyQualifiedName;

-        }

-

-        public override string GetRuntimeReader(TargetPlatform targetPlatform)

-        {

-            return "OdeModelProcessor.OdeTagReader, OdeModelProcessor, Version=1.0.0.0, Culture=neutral";

-        }

-

-    }

-

-    /* Reader for the OdeTag class */

-    public class OdeTagReader : ContentTypeReader<OdeTag>

-    {

-        protected override OdeTag Read(ContentReader input, OdeTag existingInstance)

-        {

-            float[] vertexData = new float[input.ReadInt32()];

-            int[] indexData = new int[input.ReadInt32()];

-            for (int j = 0; j < vertexData.Length; j++)

-            {

-                vertexData[j] = input.ReadSingle();

-            }

-            for (int i = 0; i < indexData.Length; i++)

-            {

-                indexData[i] = input.ReadInt32();

-            }

-

-            OdeTag tag = null;

-            if (existingInstance == null)

-            {

-                tag = new OdeTag(vertexData, indexData);

-            }

-            else

-            {

-                tag = existingInstance;

-                tag.setData(vertexData, indexData);

-            }

-            return tag;

-        }

-    }

-}

diff --git a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj b/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj
deleted file mode 100644
index 3a36a12..0000000
--- a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/OdeModelProcessor.csproj
+++ /dev/null
@@ -1,69 +0,0 @@
-<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">

-  <PropertyGroup>

-    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>

-    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>

-    <ProductVersion>8.0.50727</ProductVersion>

-    <SchemaVersion>2.0</SchemaVersion>

-    <ProjectGuid>{246F3075-FEE3-45F9-8CB6-47DADBFFD1F2}</ProjectGuid>

-    <OutputType>Library</OutputType>

-    <AppDesignerFolder>Properties</AppDesignerFolder>

-    <RootNamespace>OdeModelProcessor</RootNamespace>

-    <AssemblyName>OdeModelProcessor</AssemblyName>

-  </PropertyGroup>

-  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">

-    <DebugSymbols>true</DebugSymbols>

-    <DebugType>full</DebugType>

-    <Optimize>false</Optimize>

-    <OutputPath>bin\Debug\</OutputPath>

-    <DefineConstants>DEBUG</DefineConstants>

-    <ErrorReport>prompt</ErrorReport>

-    <WarningLevel>4</WarningLevel>

-    <AllowUnsafeBlocks>false</AllowUnsafeBlocks>

-    <UseVSHostingProcess>false</UseVSHostingProcess>

-  </PropertyGroup>

-  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">

-    <DebugType>pdbonly</DebugType>

-    <Optimize>true</Optimize>

-    <OutputPath>bin\Release\</OutputPath>

-    <DefineConstants>

-    </DefineConstants>

-    <ErrorReport>prompt</ErrorReport>

-    <WarningLevel>4</WarningLevel>

-    <AllowUnsafeBlocks>false</AllowUnsafeBlocks>

-    <UseVSHostingProcess>false</UseVSHostingProcess>

-  </PropertyGroup>

-  <ItemGroup>

-    <Reference Include="Microsoft.Xna.Framework, Version=1.0.0.0, Culture=neutral, PublicKeyToken=6d5c3888ef60e27d, processorArchitecture=x86" />

-    <Reference Include="Microsoft.Xna.Framework.Content.Pipeline, Version=1.0.0.0, Culture=neutral, PublicKeyToken=6d5c3888ef60e27d, processorArchitecture=x86" />

-    <Reference Include="Ode.NET, Version=0.7.0.0, Culture=neutral, processorArchitecture=MSIL">

-      <SpecificVersion>False</SpecificVersion>

-      <HintPath>..\..\ODE\Ode.NET-0.8\bin\Release\Ode.NET.dll</HintPath>

-    </Reference>

-    <Reference Include="System" />

-    <Reference Include="System.Data" />

-    <Reference Include="System.Xml" />

-  </ItemGroup>

-  <ItemGroup>

-    <Compile Include="OdeModelProcessor.cs" />

-    <Compile Include="Properties\AssemblyInfo.cs" />

-    <Compile Include="Properties\Settings.Designer.cs">

-      <AutoGen>True</AutoGen>

-      <DesignTimeSharedInput>True</DesignTimeSharedInput>

-      <DependentUpon>Settings.settings</DependentUpon>

-    </Compile>

-  </ItemGroup>

-  <ItemGroup>

-    <None Include="Properties\Settings.settings">

-      <Generator>SettingsSingleFileGenerator</Generator>

-      <LastGenOutput>Settings.Designer.cs</LastGenOutput>

-    </None>

-  </ItemGroup>

-  <Import Project="$(MSBuildBinPath)\Microsoft.CSharp.targets" />

-  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 

-       Other similar extension points exist, see Microsoft.Common.targets.

-  <Target Name="BeforeBuild">

-  </Target>

-  <Target Name="AfterBuild">

-  </Target>

-  -->

-</Project>
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs b/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs
deleted file mode 100644
index 1ecad3e..0000000
--- a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/Properties/AssemblyInfo.cs
+++ /dev/null
@@ -1,35 +0,0 @@
-using System.Reflection;

-using System.Runtime.CompilerServices;

-using System.Runtime.InteropServices;

-

-// 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: AssemblyTitle("OdeModelProcessor")]

-[assembly: AssemblyDescription("")]

-[assembly: AssemblyConfiguration("")]

-[assembly: AssemblyCompany("")]

-[assembly: AssemblyProduct("OdeModelProcessor")]

-[assembly: AssemblyCopyright("Copyright ©  2007")]

-[assembly: AssemblyTrademark("")]

-[assembly: AssemblyCulture("")]

-

-// Setting ComVisible to false makes the types in this assembly not visible 

-// to COM components.  If you need to access a type in this assembly from 

-// COM, set the ComVisible attribute to true on that type.

-[assembly: ComVisible(false)]

-

-// The following GUID is for the ID of the typelib if this project is exposed to COM

-[assembly: Guid("29c5609a-cd5f-480b-b4ef-5c11de022268")]

-

-// Version information for an assembly consists of the following four values:

-//

-//      Major Version

-//      Minor Version 

-//      Build Number

-//      Revision

-//

-// You can specify all the values or you can default the Revision and Build Numbers 

-// by using the '*' as shown below:

-[assembly: AssemblyVersion("1.0.0.0")]

-[assembly: AssemblyFileVersion("1.0.0.0")]

diff --git a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs b/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs
deleted file mode 100755
index 6ab60a8..0000000
--- a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.Designer.cs
+++ /dev/null
@@ -1,26 +0,0 @@
-//------------------------------------------------------------------------------

-// <auto-generated>

-//     This code was generated by a tool.

-//     Runtime Version:2.0.50727.832

-//

-//     Changes to this file may cause incorrect behavior and will be lost if

-//     the code is regenerated.

-// </auto-generated>

-//------------------------------------------------------------------------------

-

-namespace OdeModelProcessor.Properties {

-    

-    

-    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]

-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "8.0.0.0")]

-    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {

-        

-        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));

-        

-        public static Settings Default {

-            get {

-                return defaultInstance;

-            }

-        }

-    }

-}

diff --git a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings b/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings
deleted file mode 100755
index 15034e7..0000000
--- a/libraries/ode-0.9/contrib/OdeModelProcessor/OdeModelProcessor/Properties/Settings.settings
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>

-<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">

-  <Profiles>

-    <Profile Name="(Default)" />

-  </Profiles>

-</SettingsFile>

diff --git a/libraries/ode-0.9/contrib/OdeModelProcessor/README.TXT b/libraries/ode-0.9/contrib/OdeModelProcessor/README.TXT
deleted file mode 100644
index 97683f9..0000000
--- a/libraries/ode-0.9/contrib/OdeModelProcessor/README.TXT
+++ /dev/null
@@ -1,78 +0,0 @@
-The ODE Model Processor

------------------------

-

-Copyright 2007, Department of Information Science,

-University of Otago, Dunedin, New Zealand.

-

-Author: Richard Barrington <barri662@student.otago.ac.nz>

-

-This is a Content Processor and Tag library written for use with

-Microsoft Visual C# 2005 Express Edition and Microsoft XNA Game 

-Studio Express 1.0.

-

-It can be used to read .x model vertex and index data before 

-insertion into the content pipeline. This is used to build ODE

-Triangle Meshes which are then used for collision detection that

-is more accurate than the default XNA bounding boxes or spheres.

-

-Usage is fairly simple:

-Build the library and reference the DLL in your project.

-Add the DLL to the Content Pipeline

-Set the content processor for you .x models to OdeModelProcessor.

-

-Create triangle meshes as follows:

-1) Create a space, but only one for all of models.

-2) Create a triangle data.

-3) Load the model.

-4) Retreive the tag from the model.

-6) Build the triangle mesh by calling d.GeomTriMeshDataBuildSimple.

-

-Eg:

-IntPtr space = d.SimpleSpaceCreate(IntPtr.Zero);

-IntPtr triangleData = d.GeomTriMeshDataCreate();

-Model obj = content.Load<Model>("Content\\mycube");

-OdeTag tag = (OdeTag)obj.Tag;

-IntPtr vertexArray = tag.getVertices();

-IntPtr indexArray = tag.getIndices();

-d.GeomTriMeshDataBuildSimple

-(

-        triangleData,

-        vertexArray, tag.getVertexStride(), tag.getVertexCount(),

-        indexArray, tag.getIndexCount(), tag.getIndexStride()

-);

-IntPtr triangleMesh = d.CreateTriMesh(space, triangleData, null, null, null);

-

-You can load multiple models and test for collisions with something

-like this in the update method:

-

-d.GeomSetPosition(odeTri1, obj1Position.X, obj1Position.Y, obj1Position.Z);

-d.GeomSetPosition(odeTri2, obj2Position.X, obj2Position.Y, obj2Position.Z);

-int numberOfContacts = d.Collide(odeTri1, odeTri2, ODE_CONTACTS,

-                           contactGeom, d.ContactGeom.SizeOf);

-

-Where odeTri1 and odeTri2 are triangle meshes you've created, obj1Position

-and obj2Position are the positions of your rendered models in the scene,

-ODE_CONTACTS is a constant defining the maximum number of contacts

-to test for, contactGeom is a d.ContactGeom[] of length ODE_CONTACTS.

-

-If numberOfContacts is greater than 0, you have a collision.

-

-Other ODE functions such as d.SpaceCollide() also work; see ODE.NET BoxTest.cs.

-

-This library is free software; you can redistribute it and/or

-modify it under the same terms as the ODE and ODE.Net libraries.

-Specifically, the terms are one of EITHER:

-

-  (1) The GNU Lesser General Public License as published by the Free

-      Software Foundation; either version 2.1 of the License, or (at

-      your option) any later version. The text of the GNU Lesser

-      General Public License is included with this library in the

-      file LICENSE.TXT.

-

-  (2) The BSD-style license that is included with this library in

-      the file LICENSE-BSD.TXT.

- 

-This library is distributed in the hope that it will be useful,

-but WITHOUT ANY WARRANTY; without even the implied warranty of

-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files

-LICENSE.TXT and LICENSE-BSD.TXT for more details.

diff --git a/libraries/ode-0.9/contrib/README b/libraries/ode-0.9/contrib/README
deleted file mode 100644
index dbfaf7f..0000000
--- a/libraries/ode-0.9/contrib/README
+++ /dev/null
@@ -1,19 +0,0 @@
-This directory contains ODE-related things that have been generously
-contributed by ODE's users. Why is this stuff here and not integrated
-into the main ODE source tree?  There may be several reasons:
-
-  * The author(s) and ODE maintainers(s) may not have had time to do
-    the job.
-
-  * It may not be finished.
-
-  * It may contribute functionality that is useful but not considered
-    to be part of ODE's core.
-
-No guarantees are made about the code in this directory - it may not
-be documented, it may not have been tested, and it may not even
-compile for you.
-
-Each package has its own subdirectory, with a README file in that
-directory explaining what the package is.
-
diff --git a/libraries/ode-0.9/contrib/TerrainAndCone/collision_std_internal.h b/libraries/ode-0.9/contrib/TerrainAndCone/collision_std_internal.h
deleted file mode 100644
index b445353..0000000
--- a/libraries/ode-0.9/contrib/TerrainAndCone/collision_std_internal.h
+++ /dev/null
@@ -1,100 +0,0 @@
-//Benoit CHAPEROT 2003-2004 www.jstarlab.com
-#ifndef _ODE_COLLISION_STD_INTERNAL_H_
-#define _ODE_COLLISION_STD_INTERNAL_H_
-
-#include <ode/common.h>
-#include "collision_kernel.h"
-
-struct dxSphere : public dxGeom {
-  dReal radius;         // sphere radius
-  dxSphere (dSpaceID space, dReal _radius);
-  void computeAABB();
-};
-
-
-struct dxBox : public dxGeom {
-  dVector3 side;        // side lengths (x,y,z)
-  dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
-  void computeAABB();
-};
-
-
-struct dxCCylinder : public dxGeom {
-  dReal radius,lz;      // radius, length along z axis
-  dxCCylinder (dSpaceID space, dReal _radius, dReal _length);
-  void computeAABB();
-};
-
-
-struct dxPlane : public dxGeom {
-  dReal p[4];
-  dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
-  void computeAABB();
-};
-
-struct dxCylinder : public dxGeom {
-  dReal radius,lz;      // radius, length along z axis
-  dxCylinder (dSpaceID space, dReal _radius, dReal _length);
-  void computeAABB();
-};
-
-struct dxCone : public dxGeom {
-  dReal radius,lz;
-  dxCone(dSpaceID space, dReal _radius,dReal _length);
-  ~dxCone();
-  void computeAABB();
-};
-
-struct dxRay : public dxGeom {
-  dReal length;
-  dxRay (dSpaceID space, dReal _length);
-  void computeAABB();
-};
-
-struct dxTerrainY : public dxGeom {
-  dReal m_vLength;
-  dReal *m_pHeights;
-  dReal m_vMinHeight;
-  dReal m_vMaxHeight;
-  dReal m_vNodeLength;
-  int   m_nNumNodesPerSide;
-  int   m_nNumNodesPerSideShift;
-  int   m_nNumNodesPerSideMask;
-  int   m_bFinite;
-  dxTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
-  ~dxTerrainY();
-  void computeAABB();
-  dReal GetHeight(dReal x,dReal z);
-  dReal GetHeight(int x,int z);
-  int dCollideTerrainUnit(int x,int z,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip);
-  bool IsOnTerrain(int nx,int nz,int w,dReal *pos);
-};
-
-struct dxTerrainZ : public dxGeom {
-  dReal m_vLength;
-  dReal *m_pHeights;
-  dReal m_vMinHeight;
-  dReal m_vMaxHeight;
-  dReal m_vNodeLength;
-  int   m_nNumNodesPerSide;
-  int   m_nNumNodesPerSideShift;
-  int   m_nNumNodesPerSideMask;
-  int   m_bFinite;
-  dxTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
-  ~dxTerrainZ();
-  void computeAABB();
-  dReal GetHeight(dReal x,dReal y);
-  dReal GetHeight(int x,int y);
-  int dCollideTerrainUnit(int x,int y,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip);
-  bool IsOnTerrain(int nx,int ny,int w,dReal *pos);
-};
-
-#ifndef MIN
-#define MIN(a,b)        ((a<b)?a:b)
-#endif
-
-#ifndef MAX
-#define MAX(a,b)        ((a>b)?a:b)
-#endif
-
-#endif //_ODE_COLLISION_STD_INTERNAL_H_
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/TerrainAndCone/dCone.cpp b/libraries/ode-0.9/contrib/TerrainAndCone/dCone.cpp
deleted file mode 100644
index 8c5c3be..0000000
--- a/libraries/ode-0.9/contrib/TerrainAndCone/dCone.cpp
+++ /dev/null
@@ -1,504 +0,0 @@
-//Benoit CHAPEROT 2003-2004 www.jstarlab.com
-//some code inspired by Magic Software
-#include <ode/common.h>
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_kernel.h"
-#include "collision_std.h"
-#include "collision_std_internal.h"
-#include "collision_util.h"
-#include <drawstuff/drawstuff.h>
-#include "windows.h"
-#include "ode\ode.h"
-
-#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
-const dReal fEPSILON = 1e-9f;
-
-dxCone::dxCone (dSpaceID space, dReal _radius,dReal _length) :
-dxGeom (space,1)
-{
-        dAASSERT(_radius > 0.f);
-        dAASSERT(_length > 0.f);
-        type = dConeClass;
-        radius = _radius;
-        lz = _length;
-}
-
-dxCone::~dxCone()
-{
-}
-
-void dxCone::computeAABB()
-{
-  const dMatrix3& R = final_posr->R;
-  const dVector3& pos = final_posr->pos;
-
-        dReal xrange = dFabs(R[2]  * lz) + radius;
-        dReal yrange = dFabs(R[6]  * lz) + radius;
-        dReal zrange = dFabs(R[10] * lz) + radius;
-        aabb[0] = pos[0] - xrange;
-        aabb[1] = pos[0] + xrange;
-        aabb[2] = pos[1] - yrange;
-        aabb[3] = pos[1] + yrange;
-        aabb[4] = pos[2] - zrange;
-        aabb[5] = pos[2] + zrange;
-}
-
-dGeomID dCreateCone(dSpaceID space, dReal _radius,dReal _length)
-{
-        return new dxCone(space,_radius,_length);
-}
-
-void dGeomConeSetParams (dGeomID g, dReal _radius, dReal _length)
-{
-        dUASSERT (g && g->type == dConeClass,"argument not a cone");
-        dAASSERT (_radius > 0.f);
-        dAASSERT (_length > 0.f);
-  g->recomputePosr();
-        dxCone *c = (dxCone*) g;
-        c->radius = _radius;
-        c->lz = _length;
-        dGeomMoved (g);
-}
-
-
-void dGeomConeGetParams (dGeomID g, dReal *_radius, dReal *_length)
-{
-        dUASSERT (g && g->type == dConeClass,"argument not a cone");
-  g->recomputePosr();
-        dxCone *c = (dxCone*) g;
-        *_radius = c->radius;
-        *_length = c->lz;
-}
-
-//positive inside
-dReal dGeomConePointDepth(dGeomID g, dReal x, dReal y, dReal z)
-{
-        dUASSERT (g && g->type == dConeClass,"argument not a cone");
-
-   g->recomputePosr();
-        dxCone *cone = (dxCone*) g;
-
-        dVector3 tmp,q;
-        tmp[0] = x - cone->final_posr->pos[0];
-        tmp[1] = y - cone->final_posr->pos[1];
-        tmp[2] = z - cone->final_posr->pos[2];
-        dMULTIPLY1_331 (q,cone->final_posr->R,tmp);
-
-        dReal r = cone->radius;
-        dReal h = cone->lz;
-
-        dReal d0 = (r - r*q[2]/h) - dSqrt(q[0]*q[0]+q[1]*q[1]);
-        dReal d1 = q[2];
-        dReal d2 = h-q[2];
-        
-        if (d0 < d1) {
-    if (d0 < d2) return d0; else return d2;
-        }
-        else {
-        if (d1 < d2) return d1; else return d2;
-        }
-}
-
-//plane plane
-bool FindIntersectionPlanePlane(const dReal Plane0[4], const dReal Plane1[4],
-        dVector3 LinePos,dVector3 LineDir)
-{
-    // If Cross(N0,N1) is zero, then either planes are parallel and separated
-    // or the same plane.  In both cases, 'false' is returned.  Otherwise,
-    // the intersection line is
-    //
-    //   L(t) = t*Cross(N0,N1) + c0*N0 + c1*N1
-    //
-    // for some coefficients c0 and c1 and for t any real number (the line
-    // parameter).  Taking dot products with the normals,
-    //
-    //   d0 = Dot(N0,L) = c0*Dot(N0,N0) + c1*Dot(N0,N1)
-    //   d1 = Dot(N1,L) = c0*Dot(N0,N1) + c1*Dot(N1,N1)
-    //
-    // which are two equations in two unknowns.  The solution is
-    //
-    //   c0 = (Dot(N1,N1)*d0 - Dot(N0,N1)*d1)/det
-    //   c1 = (Dot(N0,N0)*d1 - Dot(N0,N1)*d0)/det
-    //
-    // where det = Dot(N0,N0)*Dot(N1,N1)-Dot(N0,N1)^2.
-/*
-    Real fN00 = rkPlane0.Normal().SquaredLength();
-    Real fN01 = rkPlane0.Normal().Dot(rkPlane1.Normal());
-    Real fN11 = rkPlane1.Normal().SquaredLength();
-    Real fDet = fN00*fN11 - fN01*fN01;
-
-    if ( Math::FAbs(fDet) < gs_fEpsilon )
-        return false;
-
-    Real fInvDet = 1.0f/fDet;
-    Real fC0 = (fN11*rkPlane0.Constant() - fN01*rkPlane1.Constant())*fInvDet;
-    Real fC1 = (fN00*rkPlane1.Constant() - fN01*rkPlane0.Constant())*fInvDet;
-
-    rkLine.Direction() = rkPlane0.Normal().Cross(rkPlane1.Normal());
-    rkLine.Origin() = fC0*rkPlane0.Normal() + fC1*rkPlane1.Normal();
-    return true;
-*/
-        dReal fN00 = dLENGTHSQUARED(Plane0);
-    dReal fN01 = dDOT(Plane0,Plane1);
-    dReal fN11 = dLENGTHSQUARED(Plane1);
-    dReal fDet = fN00*fN11 - fN01*fN01;
-
-    if ( fabs(fDet) < fEPSILON)
-        return false;
-
-    dReal fInvDet = 1.0f/fDet;
-    dReal fC0 = (fN11*Plane0[3] - fN01*Plane1[3])*fInvDet;
-    dReal fC1 = (fN00*Plane1[3] - fN01*Plane0[3])*fInvDet;
-
-    dCROSS(LineDir,=,Plane0,Plane1);
-        dNormalize3(LineDir);
-
-        dVector3 Temp0,Temp1;
-        dOPC(Temp0,*,Plane0,fC0);
-        dOPC(Temp1,*,Plane1,fC1);
-        dOP(LinePos,+,Temp0,Temp1);
-
-    return true;
-}
-
-//plane ray
-bool FindIntersectionPlaneRay(const dReal Plane[4],
-                                          const dVector3 &LinePos,const dVector3 &LineDir,
-                                          dReal &u,dVector3 &Pos)
-{
-/*
-        u = (A*X1 + B*Y1 + C*Z1 + D) / (A*(X1-X2) + B*(Y1-Y2)+C*(Z1-Z2))        
-*/      
-        dReal fDet = -dDot(Plane,LineDir,3);
-
-        if ( fabs(fDet) < fEPSILON)
-        return false;
-
-        u = (dDot(Plane,LinePos,3) - Plane[3]) / fDet;
-        dOPC(Pos,*,LineDir,u);
-        dOPE(Pos,+=,LinePos);
-
-        return true;
-}
-
-int SolveQuadraticPolynomial(dReal a,dReal b,dReal c,dReal &x0,dReal &x1)
-{
-        dReal d = b*b - 4*a*c;
-        int NumRoots = 0;
-        dReal dr;
-
-        if (d < 0.f)
-                return NumRoots;
-
-        if (d == 0.f)
-        {
-                NumRoots = 1;
-                dr = 0.f;
-        }
-        else
-        {
-                NumRoots = 2;
-                dr = sqrtf(d);
-        }
-
-        x0 = (-b -dr) / (2.f * a);
-        x1 = (-b +dr) / (2.f * a);
-
-        return NumRoots;
-}
-/*
-const int VALID_INTERSECTION    = 1<<0;
-const int POS_TEST_FAILEDT0             = 1<<0;
-const int POS_TEST_FAILEDT1             = 1<<1;
-*/
-int ProcessConeRayIntersectionPoint(    dReal r,dReal h,
-                                                                                const dVector3 &q,const dVector3 &v,dReal t,
-                                                                                dVector3 &p,
-                                                                                dVector3 &n,
-                                                                                int &f)
-{
-        dOPC(p,*,v,t);
-        dOPE(p,+=,q);
-        n[0] = 2*p[0];
-        n[1] = 2*p[1];
-        n[2] = -2*p[2]*r*r/(h*h);
-
-        f = 0;
-        if (p[2] > h)   return 0;
-        if (p[2] < 0)   return 0;
-        if (t > 1)              return 0;
-        if (t < 0)              return 0;
-
-        return 1;
-}
-
-//cone ray
-//line in cone space (position,direction)
-//distance from line position (direction normalized)(if any)
-//return the number of intersection
-int FindIntersectionConeRay(dReal r,dReal h,    
-                                         const dVector3 &q,const dVector3 &v,dContactGeom *pContact)
-{
-        dVector3 qp,vp;
-        dOPE(qp,=,q);
-        dOPE(vp,=,v);
-        qp[2] = h-q[2];
-        vp[2] = -v[2];
-        dReal ts = (r/h);
-        ts *= ts;
-        dReal a = vp[0]*vp[0] + vp[1]*vp[1] - ts*vp[2]*vp[2];
-        dReal b = 2.f*qp[0]*vp[0] + 2.f*qp[1]*vp[1] - 2.f*ts*qp[2]*vp[2];
-        dReal c = qp[0]*qp[0] + qp[1]*qp[1] - ts*qp[2]*qp[2];
-
-/*
-        dReal a = v[0]*v[0] + v[1]*v[1] - (v[2]*v[2]*r*r) / (h*h);
-        dReal b = 2.f*q[0]*v[0] + 2.f*q[1]*v[1] + 2.f*r*r*v[2]/h - 2*r*r*q[0]*v[0]/(h*h);
-        dReal c = q[0]*q[0] + q[1]*q[1] + 2*r*r*q[2]/h - r*r*q[2]/(h*h) - r*r;
-*/
-        int nNumRoots=SolveQuadraticPolynomial(a,b,c,pContact[0].depth,pContact[1].depth);
-        int flag = 0;
-
-        dContactGeom ValidContact[2];
-
-        int nNumValidContacts = 0;
-        for (int i=0;i<nNumRoots;i++)
-        {
-                if (ProcessConeRayIntersectionPoint(r,h,q,v,pContact[i].depth,pContact[i].pos,
-                        pContact[i].normal,flag))
-                {
-                        ValidContact[nNumValidContacts] = pContact[i];
-                        nNumValidContacts++;
-                }
-        }
-
-        dOP(qp,+,q,v);
-
-        if ((nNumValidContacts < 2) && (v[2] != 0.f))
-        {
-                dReal d = (0.f-q[2]) / (v[2]); 
-                if ((d>=0) && (d<=1))
-                {
-                        dOPC(vp,*,v,d);
-                        dOP(qp,+,q,vp);
-
-                        if (qp[0]*qp[0]+qp[1]*qp[1] < r*r)
-                        {
-                                dOPE(ValidContact[nNumValidContacts].pos,=,qp);
-                                ValidContact[nNumValidContacts].normal[0] = 0.f;
-                                ValidContact[nNumValidContacts].normal[1] = 0.f;
-                                ValidContact[nNumValidContacts].normal[2] = -1.f;
-                                ValidContact[nNumValidContacts].depth = d;
-                                nNumValidContacts++;
-                        }
-                }
-        }
-
-        if (nNumValidContacts == 2)
-        {
-                if (ValidContact[0].depth > ValidContact[1].depth)
-                {
-                        pContact[0] = ValidContact[1];
-                        pContact[1] = ValidContact[0];
-                }
-                else
-                {
-                        pContact[0] = ValidContact[0];
-                        pContact[1] = ValidContact[1];
-                }
-        }
-        else if (nNumValidContacts == 1)
-        {
-                pContact[0] = ValidContact[0];
-        }
-
-        return nNumValidContacts;
-}
-
-int dCollideConePlane (dxGeom *o1, dxGeom *o2, int flags,
-                                                 dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dConeClass);
-        dIASSERT (o2->type == dPlaneClass);
-        dxCone *cone = (dxCone*) o1;
-        dxPlane *plane = (dxPlane*) o2;
-
-        contact->g1 = o1;
-        contact->g2 = o2;
-
-        dVector3 p0,p1,pp0,pp1;
-        dOPE(p0,=,cone->final_posr->pos);
-        p1[0] = cone->final_posr->R[0*4+2] * cone->lz + p0[0];
-        p1[1] = cone->final_posr->R[1*4+2] * cone->lz + p0[1];
-        p1[2] = cone->final_posr->R[2*4+2] * cone->lz + p0[2];
-
-        dReal u;
-        FindIntersectionPlaneRay(plane->p,p0,plane->p,u,pp0);
-        FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1);
-
-        if (dDISTANCE(pp0,pp1) < fEPSILON)
-        {
-                p1[0] = cone->final_posr->R[0*4+0] * cone->lz + p0[0];
-                p1[1] = cone->final_posr->R[1*4+0] * cone->lz + p0[1];
-                p1[2] = cone->final_posr->R[2*4+0] * cone->lz + p0[2];
-                FindIntersectionPlaneRay(plane->p,p1,plane->p,u,pp1);
-                dIASSERT(dDISTANCE(pp0,pp1) >= fEPSILON);
-        }
-        dVector3 h,r0,r1;
-        h[0] = cone->final_posr->R[0*4+2];
-        h[1] = cone->final_posr->R[1*4+2];
-        h[2] = cone->final_posr->R[2*4+2];
-        
-        dOP(r0,-,pp0,pp1);
-        dCROSS(r1,=,h,r0);
-        dCROSS(r0,=,r1,h);
-        dNormalize3(r0);
-        dOPEC(h,*=,cone->lz);
-        dOPEC(r0,*=,cone->radius);
-
-        dVector3 p[3];
-        dOP(p[0],+,cone->final_posr->pos,h);
-        dOP(p[1],+,cone->final_posr->pos,r0);
-        dOP(p[2],-,cone->final_posr->pos,r0);
-        
-        int numMaxContacts = flags & 0xffff;
-        if (numMaxContacts == 0) 
-                numMaxContacts = 1;
-
-        int n=0;
-        for (int i=0;i<3;i++)
-        {
-                dReal d = dGeomPlanePointDepth(o2, p[i][0], p[i][1], p[i][2]);
-
-                if (d>0.f)
-                {
-                        CONTACT(contact,n*skip)->g1 = o1;
-                        CONTACT(contact,n*skip)->g2 = o2;
-                        dOPE(CONTACT(contact,n*skip)->normal,=,plane->p); 
-                        dOPE(CONTACT(contact,n*skip)->pos,=,p[i]); 
-                        CONTACT(contact,n*skip)->depth = d;
-                        n++;
-
-                        if (n == numMaxContacts)
-                                return n;
-                }
-        }
-        
-        return n;
-}
-
-int dCollideRayCone (dxGeom *o1, dxGeom *o2, int flags,
-                                                 dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dRayClass);
-        dIASSERT (o2->type == dConeClass);
-        dxRay *ray = (dxRay*) o1;
-        dxCone *cone = (dxCone*) o2;
-
-        contact->g1 = o1;
-        contact->g2 = o2;
-
-        dVector3 tmp,q,v;
-        tmp[0] = ray->final_posr->pos[0] - cone->final_posr->pos[0];
-        tmp[1] = ray->final_posr->pos[1] - cone->final_posr->pos[1];
-        tmp[2] = ray->final_posr->pos[2] - cone->final_posr->pos[2];
-        dMULTIPLY1_331 (q,cone->final_posr->R,tmp);
-        tmp[0] = ray->final_posr->R[0*4+2] * ray->length;
-        tmp[1] = ray->final_posr->R[1*4+2] * ray->length;
-        tmp[2] = ray->final_posr->R[2*4+2] * ray->length;
-        dMULTIPLY1_331 (v,cone->final_posr->R,tmp);
-
-        dReal r = cone->radius;
-        dReal h = cone->lz;
-
-        dContactGeom Contact[2];
-
-        if (FindIntersectionConeRay(r,h,q,v,Contact))
-        {
-                dMULTIPLY0_331(contact->normal,cone->final_posr->R,Contact[0].normal);
-                dMULTIPLY0_331(contact->pos,cone->final_posr->R,Contact[0].pos);
-                dOPE(contact->pos,+=,cone->final_posr->pos);
-                contact->depth = Contact[0].depth * dLENGTH(v);
-/*
-                dMatrix3 RI;
-                dRSetIdentity (RI);
-                dVector3 ss;
-                ss[0] = 0.01f;
-                ss[1] = 0.01f;
-                ss[2] = 0.01f;
-
-                dsSetColorAlpha (1,0,0,0.8f);
-                dsDrawBox(contact->pos,RI,ss);
-*/              
-                return 1;
-        }
-
-        return 0;
-}
-
-int dCollideConeSphere(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dConeClass);
-        dIASSERT (o2->type == dSphereClass);
-        dxCone          *cone = (dxCone*) o1;
-        
-        dxSphere ASphere(0,cone->radius);
-        dGeomSetRotation(&ASphere,cone->final_posr->R);
-        dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]);
-
-        return dCollideSphereSphere(&ASphere, o2, flags, contact, skip);
-}
-
-int dCollideConeBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dConeClass);
-        dIASSERT (o2->type == dBoxClass);
-        dxCone          *cone = (dxCone*) o1;
-        
-        dxSphere ASphere(0,cone->radius);
-        dGeomSetRotation(&ASphere,cone->final_posr->R);
-        dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]);
-
-        return dCollideSphereBox(&ASphere, o2, flags, contact, skip);
-}
-
-int dCollideCCylinderCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dCCylinderClass);
-        dIASSERT (o2->type == dConeClass);
-        dxCone          *cone = (dxCone*) o2;
-        
-        dxSphere ASphere(0,cone->radius);
-        dGeomSetRotation(&ASphere,cone->final_posr->R);
-        dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]);
-
-        return dCollideCCylinderSphere(o1, &ASphere, flags, contact, skip);
-}
-
-extern int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-
-int dCollideTriMeshCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dTriMeshClass);
-        dIASSERT (o2->type == dConeClass);
-        dxCone          *cone = (dxCone*) o2;
-
-        dxSphere ASphere(0,cone->radius);
-        dGeomSetRotation(&ASphere,cone->final_posr->R);
-        dGeomSetPosition(&ASphere,cone->final_posr->pos[0],cone->final_posr->pos[1],cone->final_posr->pos[2]);
-
-        return dCollideSTL(o1, &ASphere, flags, contact, skip);
-}
-
-
-        
-
-
diff --git a/libraries/ode-0.9/contrib/TerrainAndCone/dTerrainY.cpp b/libraries/ode-0.9/contrib/TerrainAndCone/dTerrainY.cpp
deleted file mode 100644
index ff779ac..0000000
--- a/libraries/ode-0.9/contrib/TerrainAndCone/dTerrainY.cpp
+++ /dev/null
@@ -1,662 +0,0 @@
-//Benoit CHAPEROT 2003-2004 www.jstarlab.com
-//some code inspired by Magic Software
-#include <ode/common.h>
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_kernel.h"
-#include "collision_std.h"
-#include "collision_std_internal.h"
-#include "collision_util.h"
-//#include <drawstuff/drawstuff.h>
-#include "windows.h"
-#include "ode\ode.h"
-
-#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
-#define MAXCONTACT 10
-#define TERRAINTOL 0.0f
-
-static bool IsAPowerOfTwo(int f)
-{
-        dAASSERT(f!=0);
-        while ((f&1) != 1)      
-                f >>= 1;
-
-        return (f == 1);
-}
-
-static int GetPowerOfTwo(int f)
-{
-        dAASSERT(f!=0);
-        int n = 0;
-        while ((f&1) != 1)
-        {
-                n++;
-                f >>= 1;
-        }
-        
-        return n;
-}
-
-dxTerrainY::dxTerrainY (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) :
-dxGeom (space,bPlaceable)
-{
-        dIASSERT(IsAPowerOfTwo(nNumNodesPerSide));
-        dIASSERT(pHeights);
-        dIASSERT(vLength > 0.f);
-        dIASSERT(nNumNodesPerSide > 0);
-        type = dTerrainYClass;
-        m_vLength = vLength;
-        m_pHeights = new dReal[nNumNodesPerSide * nNumNodesPerSide];
-        dIASSERT(m_pHeights);
-        m_nNumNodesPerSide = nNumNodesPerSide;
-        m_vNodeLength = m_vLength / m_nNumNodesPerSide;
-        m_nNumNodesPerSideShift = GetPowerOfTwo(m_nNumNodesPerSide);
-        m_nNumNodesPerSideMask  = m_nNumNodesPerSide - 1;
-        m_vMinHeight = dInfinity;
-        m_vMaxHeight = -dInfinity;
-        m_bFinite = bFinite;
-
-        for (int i=0;i<nNumNodesPerSide * nNumNodesPerSide;i++)
-        {
-                m_pHeights[i] = pHeights[i];
-                if (m_pHeights[i] < m_vMinHeight)       m_vMinHeight = m_pHeights[i];
-                if (m_pHeights[i] > m_vMaxHeight)       m_vMaxHeight = m_pHeights[i];
-        }
-}
-
-dxTerrainY::~dxTerrainY()
-{
-        dIASSERT(m_pHeights);
-        delete [] m_pHeights;
-}
-
-void dxTerrainY::computeAABB()
-{
-        if (m_bFinite)
-        {
-                if (gflags & GEOM_PLACEABLE)
-                {
-                        dReal dx[6],dy[6],dz[6];
-                        dx[0] = 0;
-                        dx[1] = final_posr->R[0] * m_vLength;
-                        dx[2] = final_posr->R[1] * m_vMinHeight;
-                        dx[3] = final_posr->R[1] * m_vMaxHeight;
-                        dx[4] = 0;
-                        dx[5] = final_posr->R[2] * m_vLength;
-
-                        dy[0] = 0;
-                        dy[1] = final_posr->R[4] * m_vLength;
-                        dy[2] = final_posr->R[5] * m_vMinHeight;
-                        dy[3] = final_posr->R[5] * m_vMaxHeight;
-                        dy[4] = 0;
-                        dy[5] = final_posr->R[6] * m_vLength;
-
-                        dz[0]  = 0;
-                        dz[1]  = final_posr->R[8] * m_vLength;
-                        dz[2]  = final_posr->R[9] * m_vMinHeight;
-                        dz[3]  = final_posr->R[9] * m_vMaxHeight;
-                        dz[4]  = 0;
-                        dz[5]  = final_posr->R[10] * m_vLength;
-
-                        aabb[0] = final_posr->pos[0] + MIN(dx[0],dx[1]) + MIN(dx[2],dx[3]) + MIN(dx[4],dx[5]);
-                        aabb[1] = final_posr->pos[0] + MAX(dx[0],dx[1]) + MAX(dx[2],dx[3]) + MAX(dx[4],dx[5]);
-                        aabb[2] = final_posr->pos[1] + MIN(dy[0],dy[1]) + MIN(dy[2],dy[3]) + MIN(dy[4],dy[5]);
-                        aabb[3] = final_posr->pos[1] + MAX(dy[0],dy[1]) + MAX(dy[2],dy[3]) + MAX(dy[4],dy[5]);
-                        aabb[4] = final_posr->pos[2] + MIN(dz[0],dz[1]) + MIN(dz[2],dz[3]) + MIN(dz[4],dz[5]);
-                        aabb[5] = final_posr->pos[2] + MAX(dz[0],dz[1]) + MAX(dz[2],dz[3]) + MAX(dz[4],dz[5]);
-                }
-                else
-                {
-                        aabb[0] = 0;
-                        aabb[1] = m_vLength;
-                        aabb[2] = m_vMinHeight;
-                        aabb[3] = m_vMaxHeight;
-                        aabb[4] = 0;
-                        aabb[5] = m_vLength;
-                }
-        }
-        else
-        {
-                if (gflags & GEOM_PLACEABLE)
-                {
-                        aabb[0] = -dInfinity;
-                        aabb[1] = dInfinity;
-                        aabb[2] = -dInfinity;
-                        aabb[3] = dInfinity;
-                        aabb[4] = -dInfinity;
-                        aabb[5] = dInfinity;
-                }
-                else
-                {
-                        aabb[0] = -dInfinity;
-                        aabb[1] = dInfinity;
-                        aabb[2] = m_vMinHeight;
-                        aabb[3] = m_vMaxHeight;
-                        aabb[4] = -dInfinity;
-                        aabb[5] = dInfinity;
-                }
-        }
-}
-
-dReal dxTerrainY::GetHeight(int x,int z)
-{
-        return m_pHeights[      (((unsigned int)(z) & m_nNumNodesPerSideMask) << m_nNumNodesPerSideShift)
-                                        +        ((unsigned int)(x) & m_nNumNodesPerSideMask)];
-}
-
-dReal dxTerrainY::GetHeight(dReal x,dReal z)
-{
-        int nX          = int(floor(x / m_vNodeLength));
-        int nZ          = int(floor(z / m_vNodeLength));
-        dReal dx        = (x - (dReal(nX) * m_vNodeLength)) / m_vNodeLength;
-        dReal dz        = (z - (dReal(nZ) * m_vNodeLength)) / m_vNodeLength;
-        dIASSERT((dx >= 0.f) && (dx <= 1.f));
-        dIASSERT((dz >= 0.f) && (dz <= 1.f));
-
-        dReal y,y0;
-        
-        if (dx + dz < 1.f)
-        {
-                y0      = GetHeight(nX,nZ);
-                y       = y0    
-                        + (GetHeight(nX+1,nZ) - y0) * dx
-                        + (GetHeight(nX,nZ+1) - y0) * dz;
-        }
-        else
-        {
-                y0      = GetHeight(nX+1,nZ+1);
-                y       = y0    
-                        + (GetHeight(nX+1,nZ) - y0) * (1.f - dz)
-                        + (GetHeight(nX,nZ+1) - y0) * (1.f - dx);
-        }
-
-        return y;       
-}
-
-bool dxTerrainY::IsOnTerrain(int nx,int nz,int w,dReal *pos)
-{
-        dVector3 Min,Max;
-        Min[0] = nx * m_vNodeLength;
-        Min[2] = nz * m_vNodeLength;
-        Max[0] = (nx+1) * m_vNodeLength;
-        Max[2] = (nz+1) * m_vNodeLength;
-        dReal Tol = m_vNodeLength * TERRAINTOL;
-        
-        if ((pos[0]<Min[0]-Tol) || (pos[0]>Max[0]+Tol))
-                return false;
-
-        if ((pos[2]<Min[2]-Tol) || (pos[2]>Max[2]+Tol))
-                return false;
-
-        dReal dx        = (pos[0] - (dReal(nx) * m_vNodeLength)) / m_vNodeLength;
-        dReal dz        = (pos[2] - (dReal(nz) * m_vNodeLength)) / m_vNodeLength;
-
-        if ((w == 0) && (dx + dz > 1.f+TERRAINTOL))
-                return false;
-
-        if ((w == 1) && (dx + dz < 1.f-TERRAINTOL))
-                return false;
-
-        return true;
-}
-
-dGeomID dCreateTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable)
-{
-        return new dxTerrainY(space, pHeights,vLength,nNumNodesPerSide,bFinite,bPlaceable);
-}
-
-dReal dGeomTerrainYPointDepth (dGeomID g, dReal x, dReal y, dReal z)
-{
-        dUASSERT (g && g->type == dTerrainYClass,"argument not a terrain");
-  g->recomputePosr();
-        dxTerrainY *t = (dxTerrainY*) g;
-        return t->GetHeight(x,z) - y;
-}
-
-typedef dReal dGetDepthFn(dGeomID g, dReal x, dReal y, dReal z);
-#define RECOMPUTE_RAYNORMAL
-//#define DO_RAYDEPTH
-
-#define DMESS(A)        \
-                        dMessage(0,"Contact Plane (%d %d %d) %.5e %.5e (%.5e %.5e %.5e)(%.5e %.5e %.5e)).",     \
-                                        x,z,A,  \
-                                        pContact->depth,        \
-                                        dGeomSphereGetRadius(o2),               \
-                                        pContact->pos[0],       \
-                                        pContact->pos[1],       \
-                                        pContact->pos[2],       \
-                                        pContact->normal[0],    \
-                                        pContact->normal[1],    \
-                                        pContact->normal[2]);
-/*
-(y is up)
-
-A-B-E.x
-|/|
-C-D
-|
-F
-.
-z
-*/
-int dxTerrainY::dCollideTerrainUnit(
-        int x,int z,dxGeom *o2,int numMaxContacts,
-        int flags,dContactGeom *contact, int skip)
-{
-        dColliderFn *CollideRayN;
-        dColliderFn *CollideNPlane;
-        dGetDepthFn *GetDepth;
-        int numContacts = 0;
-        int numPlaneContacts = 0;
-        int i;
-        
-        if (numContacts == numMaxContacts)
-                return numContacts;
-
-        dContactGeom PlaneContact[MAXCONTACT];
-        flags = (flags & 0xffff0000) | MAXCONTACT;
-        
-        switch (o2->type)
-        {
-        case dSphereClass:
-                CollideRayN             = dCollideRaySphere;
-                CollideNPlane   = dCollideSpherePlane;
-                GetDepth                = dGeomSpherePointDepth;
-                break;
-        case dBoxClass:
-                CollideRayN             = dCollideRayBox;
-                CollideNPlane   = dCollideBoxPlane;
-                GetDepth                = dGeomBoxPointDepth;
-                break;
-        case dCCylinderClass:
-                CollideRayN             = dCollideRayCCylinder;
-                CollideNPlane   = dCollideCCylinderPlane;
-                GetDepth                = dGeomCCylinderPointDepth;
-                break;
-        case dRayClass:
-                CollideRayN             = NULL;
-                CollideNPlane   = dCollideRayPlane;
-                GetDepth                = NULL;
-                break;
-        case dConeClass:
-                CollideRayN             = dCollideRayCone;
-                CollideNPlane   = dCollideConePlane;
-                GetDepth                = dGeomConePointDepth;
-                break;
-        default:
-                dIASSERT(0);
-        }
-
-        dReal Plane[4],lBD,lCD,lBC;
-        dVector3 A,B,C,D,BD,CD,BC,AB,AC;
-        A[0] = x * m_vNodeLength;
-        A[2] = z* m_vNodeLength;
-        A[1] = GetHeight(x,z);
-        B[0] = (x+1) * m_vNodeLength;
-        B[2] = z * m_vNodeLength;
-        B[1] = GetHeight(x+1,z);
-        C[0] = x * m_vNodeLength;
-        C[2] = (z+1) * m_vNodeLength;
-        C[1] = GetHeight(x,z+1);
-        D[0] = (x+1) * m_vNodeLength;
-        D[2] = (z+1) * m_vNodeLength;
-        D[1] = GetHeight(x+1,z+1);
-
-        dOP(BC,-,C,B);
-        lBC = dLENGTH(BC);
-        dOPEC(BC,/=,lBC);
-
-        dOP(BD,-,D,B);
-        lBD = dLENGTH(BD);
-        dOPEC(BD,/=,lBD);
-
-        dOP(CD,-,D,C);
-        lCD = dLENGTH(CD);
-        dOPEC(CD,/=,lCD);
-
-        dOP(AB,-,B,A);
-        dNormalize3(AB);
-
-        dOP(AC,-,C,A);
-        dNormalize3(AC);
-
-        if (CollideRayN)
-        {
-#ifdef RECOMPUTE_RAYNORMAL
-                dVector3 E,F;
-                dVector3 CE,FB,AD;
-                dVector3 Normal[3];
-                E[0] = (x+2) * m_vNodeLength;
-                E[2] = z * m_vNodeLength;
-                E[1] = GetHeight(x+2,z);
-                F[0] = x * m_vNodeLength;
-                F[2] = (z+2) * m_vNodeLength;
-                F[1] = GetHeight(x,z+2);
-                dOP(AD,-,D,A);
-                dNormalize3(AD);
-                dOP(CE,-,E,C);
-                dNormalize3(CE);
-                dOP(FB,-,B,F);
-                dNormalize3(FB);
-
-                //BC
-                dCROSS(Normal[0],=,BC,AD);
-                dNormalize3(Normal[0]);
-
-                //BD
-                dCROSS(Normal[1],=,BD,CE);
-                dNormalize3(Normal[1]);
-
-                //CD
-                dCROSS(Normal[2],=,CD,FB);
-                dNormalize3(Normal[2]);
-#endif          
-                int nA[3],nB[3];
-                dContactGeom ContactA[3],ContactB[3];
-                dxRay rayBC(0,lBC);     
-                dGeomRaySet(&rayBC, B[0], B[1], B[2], BC[0], BC[1], BC[2]);
-                nA[0] = CollideRayN(&rayBC,o2,flags,&ContactA[0],sizeof(dContactGeom));
-                dGeomRaySet(&rayBC, C[0], C[1], C[2], -BC[0], -BC[1], -BC[2]);
-                nB[0] = CollideRayN(&rayBC,o2,flags,&ContactB[0],sizeof(dContactGeom));
-                
-                dxRay rayBD(0,lBD);     
-                dGeomRaySet(&rayBD, B[0], B[1], B[2], BD[0], BD[1], BD[2]);
-                nA[1] = CollideRayN(&rayBD,o2,flags,&ContactA[1],sizeof(dContactGeom));
-                dGeomRaySet(&rayBD, D[0], D[1], D[2], -BD[0], -BD[1], -BD[2]);
-                nB[1] = CollideRayN(&rayBD,o2,flags,&ContactB[1],sizeof(dContactGeom));
-        
-                dxRay rayCD(0,lCD);     
-                dGeomRaySet(&rayCD, C[0], C[1], C[2], CD[0], CD[1], CD[2]);
-                nA[2] = CollideRayN(&rayCD,o2,flags,&ContactA[2],sizeof(dContactGeom));
-                dGeomRaySet(&rayCD, D[0], D[1], D[2], -CD[0], -CD[1], -CD[2]);
-                nB[2] = CollideRayN(&rayCD,o2,flags,&ContactB[2],sizeof(dContactGeom));
-        
-                for (i=0;i<3;i++)
-                {
-                        if (nA[i] & nB[i])
-                        {
-                                dContactGeom *pContact = CONTACT(contact,numContacts*skip);
-                                pContact->pos[0] = (ContactA[i].pos[0] + ContactB[i].pos[0])/2;
-                                pContact->pos[1] = (ContactA[i].pos[1] + ContactB[i].pos[1])/2;
-                                pContact->pos[2] = (ContactA[i].pos[2] + ContactB[i].pos[2])/2;
-#ifdef RECOMPUTE_RAYNORMAL
-                                pContact->normal[0] = -Normal[i][0];
-                                pContact->normal[1] = -Normal[i][1];
-                                pContact->normal[2] = -Normal[i][2];
-#else
-                                pContact->normal[0] = (ContactA[i].normal[0] + ContactB[i].normal[0])/2;        //0.f;
-                                pContact->normal[1] = (ContactA[i].normal[1] + ContactB[i].normal[1])/2;        //0.f;
-                                pContact->normal[2] = (ContactA[i].normal[2] + ContactB[i].normal[2])/2;        //-1.f;
-                                dNormalize3(pContact->normal);
-#endif
-#ifdef DO_RAYDEPTH
-                                dxRay rayV(0,1000.f);
-                                dGeomRaySet(&rayV,      pContact->pos[0],
-                                                                        pContact->pos[1],
-                                                                        pContact->pos[2],
-                                                                        -pContact->normal[0],
-                                                                        -pContact->normal[1],
-                                                                        -pContact->normal[2]);
-                
-                                dContactGeom ContactV;
-                                if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom)))
-                                {
-                                        pContact->depth = ContactV.depth;
-                                        numContacts++;  
-                                }
-#else
-
-            if (GetDepth == NULL)
-               {
-                                   dxRay rayV(0,1000.f);
-                                   dGeomRaySet(&rayV,   pContact->pos[0],
-                                                                           pContact->pos[1],
-                                                                           pContact->pos[2],
-                                                                           -pContact->normal[0],
-                                                                           -pContact->normal[1],
-                                                                           -pContact->normal[2]);
-                
-                                   dContactGeom ContactV;
-
-                                   if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom)))
-                                      {
-                                           pContact->depth = ContactV.depth;
-                                           numContacts++;       
-                                      }
-               }
-            else
-               {
-                                   pContact->depth =  GetDepth(o2,
-                                      pContact->pos[0],
-                                      pContact->pos[1],
-                                      pContact->pos[2]);
-                                   numContacts++;
-               }
-
-#endif
-                                if (numContacts == numMaxContacts)
-                                        return numContacts;
-
-                        }
-                }
-        }
-
-        dCROSS(Plane,=,AC,AB);
-        dNormalize3(Plane);
-        Plane[3] = Plane[0] * A[0] + Plane[1] * A[1] + Plane[2] * A[2];
-        dxPlane planeABC(0,Plane[0],Plane[1],Plane[2],Plane[3]);
-        numPlaneContacts = CollideNPlane(o2,&planeABC,flags,PlaneContact,sizeof(dContactGeom));
-
-        for (i=0;i<numPlaneContacts;i++)
-        {
-                if (IsOnTerrain(x,z,0,PlaneContact[i].pos))
-                {
-                        dContactGeom *pContact = CONTACT(contact,numContacts*skip);
-                        pContact->pos[0] = PlaneContact[i].pos[0];
-                        pContact->pos[1] = PlaneContact[i].pos[1];
-                        pContact->pos[2] = PlaneContact[i].pos[2];
-                        pContact->normal[0] = -PlaneContact[i].normal[0];
-                        pContact->normal[1] = -PlaneContact[i].normal[1];
-                        pContact->normal[2] = -PlaneContact[i].normal[2];
-                        pContact->depth = PlaneContact[i].depth;
-
-                        //DMESS(0);
-                        numContacts++;
-
-                        if (numContacts == numMaxContacts)
-                                        return numContacts;
-                }
-        }
-
-        dCROSS(Plane,=,BD,CD);
-        dNormalize3(Plane);
-        Plane[3] = Plane[0] * D[0] + Plane[1] * D[1] + Plane[2] * D[2];
-        dxPlane planeDCB(0,Plane[0],Plane[1],Plane[2],Plane[3]);
-        numPlaneContacts = CollideNPlane(o2,&planeDCB,flags,PlaneContact,sizeof(dContactGeom));
-
-        for (i=0;i<numPlaneContacts;i++)
-        {
-                if (IsOnTerrain(x,z,1,PlaneContact[i].pos))
-                {
-                        dContactGeom *pContact = CONTACT(contact,numContacts*skip);
-                        pContact->pos[0] = PlaneContact[i].pos[0];
-                        pContact->pos[1] = PlaneContact[i].pos[1];
-                        pContact->pos[2] = PlaneContact[i].pos[2];
-                        pContact->normal[0] = -PlaneContact[i].normal[0];
-                        pContact->normal[1] = -PlaneContact[i].normal[1];
-                        pContact->normal[2] = -PlaneContact[i].normal[2];
-                        pContact->depth = PlaneContact[i].depth;
-                        //DMESS(1);
-                        numContacts++;
-
-                        if (numContacts == numMaxContacts)
-                                        return numContacts;
-                }
-        }
-
-        return numContacts;
-}
-
-int dCollideTerrainY(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dTerrainYClass);
-        int i,j;
-
-        if ((flags & 0xffff) == 0)
-                flags = (flags & 0xffff0000) | 1;
-
-        int numMaxTerrainContacts = (flags & 0xffff);
-        dxTerrainY *terrain = (dxTerrainY*) o1;
-
-        dReal aabbbak[6];
-        int gflagsbak;
-
-        dVector3 pos0;
-        int numTerrainContacts = 0;
-
-        dxPosR *bak;
-   dxPosR X1;
-        
-        if (terrain->gflags & GEOM_PLACEABLE)
-        {
-                dOP(pos0,-,o2->final_posr->pos,terrain->final_posr->pos);
-                dMULTIPLY1_331(X1.pos,terrain->final_posr->R,pos0);
-                dMULTIPLY1_333(X1.R,terrain->final_posr->R,o2->final_posr->R);
-                bak = o2->final_posr;
-                o2->final_posr = &X1;
-                memcpy(aabbbak,o2->aabb,sizeof(dReal)*6);
-                gflagsbak = o2->gflags;
-                o2->computeAABB();
-        }
-
-        int nMinX       = int(floor(o2->aabb[0] / terrain->m_vNodeLength));
-        int nMaxX       = int(floor(o2->aabb[1] / terrain->m_vNodeLength)) + 1;
-        int nMinZ       = int(floor(o2->aabb[4] / terrain->m_vNodeLength));
-        int nMaxZ       = int(floor(o2->aabb[5] / terrain->m_vNodeLength)) + 1;
-
-        if (terrain->m_bFinite)
-        {
-                nMinX = MAX(nMinX,0);
-                nMaxX = MIN(nMaxX,terrain->m_nNumNodesPerSide);
-                nMinZ = MAX(nMinZ,0);
-                nMaxZ = MIN(nMaxZ,terrain->m_nNumNodesPerSide);
-
-                if ((nMinX >= nMaxX) || (nMinZ >= nMaxZ))
-                        goto dCollideTerrainYExit;
-        }
-        
-        dVector3 AabbTop;
-        AabbTop[0] = (o2->aabb[0]+o2->aabb[1]) / 2;
-        AabbTop[2] = (o2->aabb[4]+o2->aabb[5]) / 2;
-        AabbTop[1] = o2->aabb[3];
-        if (o2->type != dRayClass)
-        {
-                dReal AabbTopDepth = terrain->GetHeight(AabbTop[0],AabbTop[2]) - AabbTop[1];
-                if (AabbTopDepth > 0.f)
-                {
-                        contact->depth = AabbTopDepth;
-                        dReal MaxDepth = (o2->aabb[3]-o2->aabb[2]) / 2;
-                        if (contact->depth > MaxDepth)
-                                contact->depth = MaxDepth;
-                        contact->g1 = o1;
-                        contact->g2 = o2;
-                        dOPE(contact->pos,=,AabbTop);
-                        contact->normal[0] = 0.f;
-                        contact->normal[1] = -1.f;
-                        contact->normal[2] = 0.f;
-
-                        numTerrainContacts = 1;
-                        goto dCollideTerrainYExit;
-                }
-        }
-                
-        for (i=nMinX;i<nMaxX;i++)
-        {
-                for (j=nMinZ;j<nMaxZ;j++)
-                {
-                        numTerrainContacts += terrain->dCollideTerrainUnit(
-                                i,j,o2,numMaxTerrainContacts - numTerrainContacts,
-                                flags,CONTACT(contact,numTerrainContacts*skip),skip     );
-                }
-        }
-
-        dIASSERT(numTerrainContacts <= numMaxTerrainContacts);
-
-        for (i=0; i<numTerrainContacts; i++) 
-        {
-                CONTACT(contact,i*skip)->g1 = o1;
-                CONTACT(contact,i*skip)->g2 = o2;
-        }
-
-dCollideTerrainYExit:
-
-        if (terrain->gflags & GEOM_PLACEABLE)
-        {
-      o2->final_posr = bak;
-                memcpy(o2->aabb,aabbbak,sizeof(dReal)*6);
-                o2->gflags = gflagsbak;
-
-                for (i=0; i<numTerrainContacts; i++) 
-                {
-                        dOPE(pos0,=,CONTACT(contact,i*skip)->pos);
-                        dMULTIPLY0_331(CONTACT(contact,i*skip)->pos,terrain->final_posr->R,pos0);
-                        dOP(CONTACT(contact,i*skip)->pos,+,CONTACT(contact,i*skip)->pos,terrain->final_posr->pos);
-
-                        dOPE(pos0,=,CONTACT(contact,i*skip)->normal);
-                        dMULTIPLY0_331(CONTACT(contact,i*skip)->normal,terrain->final_posr->R,pos0);
-                }
-        }
-
-        return numTerrainContacts;
-}
-/*
-void dsDrawTerrainY(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos)
-{
-        float A[3],B[3],C[3],D[3];
-        float R[12];
-        float pos[3];
-        if (pR)
-                memcpy(R,pR,sizeof(R));
-        else
-        {
-                memset(R,0,sizeof(R));
-                R[0] = 1.f;
-                R[5] = 1.f;
-                R[10] = 1.f;
-        }
-        
-        if (ppos)
-                memcpy(pos,ppos,sizeof(pos));
-        else
-                memset(pos,0,sizeof(pos));
-        
-        float vx,vz;
-        vx = vLength * x;
-        vz = vLength * z;
-        
-        int i;
-        for (i=0;i<nNumNodesPerSide;i++)
-        {
-                for (int j=0;j<nNumNodesPerSide;j++)
-                {
-                        A[0] = i * vNodeLength + vx;
-                        A[2] = j * vNodeLength + vz;
-                        A[1] = GetHeight(i,j,nNumNodesPerSide,pHeights);
-                        B[0] = (i+1) * vNodeLength + vx;
-                        B[2] = j * vNodeLength + vz;
-                        B[1] = GetHeight(i+1,j,nNumNodesPerSide,pHeights);
-                        C[0] = i * vNodeLength + vx;
-                        C[2] = (j+1) * vNodeLength + vz;
-                        C[1] = GetHeight(i,j+1,nNumNodesPerSide,pHeights);
-                        D[0] = (i+1) * vNodeLength + vx;
-                        D[2] = (j+1) * vNodeLength + vz;
-                        D[1] = GetHeight(i+1,j+1,nNumNodesPerSide,pHeights);
-                        dsDrawTriangle(pos,R,C,B,A,1);
-                        dsDrawTriangle(pos,R,D,B,C,1);
-                }
-        }
-}
-*/
diff --git a/libraries/ode-0.9/contrib/TerrainAndCone/dTerrainZ.cpp b/libraries/ode-0.9/contrib/TerrainAndCone/dTerrainZ.cpp
deleted file mode 100644
index d47c402..0000000
--- a/libraries/ode-0.9/contrib/TerrainAndCone/dTerrainZ.cpp
+++ /dev/null
@@ -1,659 +0,0 @@
-//Benoit CHAPEROT 2003-2004 www.jstarlab.com
-//some code inspired by Magic Software
-#include <ode/common.h>
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_kernel.h"
-#include "collision_std.h"
-#include "collision_std_internal.h"
-#include "collision_util.h"
-//#include <drawstuff/drawstuff.h>
-#include "windows.h"
-#include "ode\ode.h"
-
-#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
-#define MAXCONTACT 10
-#define TERRAINTOL 0.0f
-
-static bool IsAPowerOfTwo(int f)
-{
-        dAASSERT(f!=0);
-        while ((f&1) != 1)      
-                f >>= 1;
-
-        return (f == 1);
-}
-
-static int GetPowerOfTwo(int f)
-{
-        dAASSERT(f!=0);
-        int n = 0;
-        while ((f&1) != 1)
-        {
-                n++;
-                f >>= 1;
-        }
-        
-        return n;
-}
-
-dxTerrainZ::dxTerrainZ (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable) :
-dxGeom (space,bPlaceable)
-{
-        dIASSERT(IsAPowerOfTwo(nNumNodesPerSide));
-        dIASSERT(pHeights);
-        dIASSERT(vLength > 0.f);
-        dIASSERT(nNumNodesPerSide > 0);
-        type = dTerrainZClass;
-        m_vLength = vLength;
-        m_pHeights = new dReal[nNumNodesPerSide * nNumNodesPerSide];
-        dIASSERT(m_pHeights);
-        m_nNumNodesPerSide = nNumNodesPerSide;
-        m_vNodeLength = m_vLength / m_nNumNodesPerSide;
-        m_nNumNodesPerSideShift = GetPowerOfTwo(m_nNumNodesPerSide);
-        m_nNumNodesPerSideMask  = m_nNumNodesPerSide - 1;
-        m_vMinHeight = dInfinity;
-        m_vMaxHeight = -dInfinity;
-        m_bFinite = bFinite;
-
-        for (int i=0;i<nNumNodesPerSide * nNumNodesPerSide;i++)
-        {
-                m_pHeights[i] = pHeights[i];
-                if (m_pHeights[i] < m_vMinHeight)       m_vMinHeight = m_pHeights[i];
-                if (m_pHeights[i] > m_vMaxHeight)       m_vMaxHeight = m_pHeights[i];
-        }
-}
-
-dxTerrainZ::~dxTerrainZ()
-{
-        dIASSERT(m_pHeights);
-        delete [] m_pHeights;
-}
-
-void dxTerrainZ::computeAABB()
-{
-        if (m_bFinite)
-        {
-                if (gflags & GEOM_PLACEABLE)
-                {
-                        dReal dx[6],dy[6],dz[6];
-                        dx[0] = 0;
-                        dx[1] = final_posr->R[0] * m_vLength;
-                        dx[2] = 0;
-                        dx[3] = final_posr->R[1] * m_vLength;
-                        dx[4] = final_posr->R[2] * m_vMinHeight;
-                        dx[5] = final_posr->R[2] * m_vMaxHeight;
-                        
-                        dy[0] = 0;
-                        dy[1] = final_posr->R[4] * m_vLength;
-                        dy[2] = 0;
-                        dy[3] = final_posr->R[5] * m_vLength;
-                        dy[4] = final_posr->R[6] * m_vMinHeight;
-                        dy[5] = final_posr->R[6] * m_vMaxHeight;
-                        
-                        dz[0]  = 0;
-                        dz[1]  = final_posr->R[8] * m_vLength;
-                        dz[2]  = 0;
-                        dz[3]  = final_posr->R[9] * m_vLength;
-                        dz[4]  = final_posr->R[10] * m_vMinHeight;
-                        dz[5]  = final_posr->R[10] * m_vMaxHeight;
-
-                        aabb[0] = final_posr->pos[0] + MIN(dx[0],dx[1]) + MIN(dx[2],dx[3]) + MIN(dx[4],dx[5]);
-                        aabb[1] = final_posr->pos[0] + MAX(dx[0],dx[1]) + MAX(dx[2],dx[3]) + MAX(dx[4],dx[5]);
-                        aabb[2] = final_posr->pos[1] + MIN(dy[0],dy[1]) + MIN(dy[2],dy[3]) + MIN(dy[4],dy[5]);
-                        aabb[3] = final_posr->pos[1] + MAX(dy[0],dy[1]) + MAX(dy[2],dy[3]) + MAX(dy[4],dy[5]);
-                        aabb[4] = final_posr->pos[2] + MIN(dz[0],dz[1]) + MIN(dz[2],dz[3]) + MIN(dz[4],dz[5]);
-                        aabb[5] = final_posr->pos[2] + MAX(dz[0],dz[1]) + MAX(dz[2],dz[3]) + MAX(dz[4],dz[5]);
-                }
-                else
-                {
-                        aabb[0] = 0;
-                        aabb[1] = m_vLength;
-                        aabb[2] = 0;
-                        aabb[3] = m_vLength;
-                        aabb[4] = m_vMinHeight;
-                        aabb[5] = m_vMaxHeight;
-                }
-        }
-        else
-        {
-                if (gflags & GEOM_PLACEABLE)
-                {
-                        aabb[0] = -dInfinity;
-                        aabb[1] = dInfinity;
-                        aabb[2] = -dInfinity;
-                        aabb[3] = dInfinity;
-                        aabb[4] = -dInfinity;
-                        aabb[5] = dInfinity;
-                }
-                else
-                {
-                        aabb[0] = -dInfinity;
-                        aabb[1] = dInfinity;
-                        aabb[2] = -dInfinity;
-                        aabb[3] = dInfinity;
-                        aabb[4] = m_vMinHeight;
-                        aabb[5] = m_vMaxHeight;
-                }
-        }
-}
-
-dReal dxTerrainZ::GetHeight(int x,int y)
-{
-        return m_pHeights[      (((unsigned int)(y) & m_nNumNodesPerSideMask) << m_nNumNodesPerSideShift)
-                                        +        ((unsigned int)(x) & m_nNumNodesPerSideMask)];
-}
-
-dReal dxTerrainZ::GetHeight(dReal x,dReal y)
-{
-        int nX          = int(floor(x / m_vNodeLength));
-        int nY          = int(floor(y / m_vNodeLength));
-        dReal dx        = (x - (dReal(nX) * m_vNodeLength)) / m_vNodeLength;
-        dReal dy        = (y - (dReal(nY) * m_vNodeLength)) / m_vNodeLength;
-        dIASSERT((dx >= 0.f) && (dx <= 1.f));
-        dIASSERT((dy >= 0.f) && (dy <= 1.f));
-
-        dReal z,z0;
-        
-        if (dx + dy < 1.f)
-        {
-                z0      = GetHeight(nX,nY);
-                z       = z0    
-                        + (GetHeight(nX+1,nY) - z0) * dx
-                        + (GetHeight(nX,nY+1) - z0) * dy;
-        }
-        else
-        {
-                z0      = GetHeight(nX+1,nY+1);
-                z       = z0    
-                        + (GetHeight(nX+1,nY) - z0) * (1.f - dy)
-                        + (GetHeight(nX,nY+1) - z0) * (1.f - dx);
-        }
-
-        return z;       
-}
-
-bool dxTerrainZ::IsOnTerrain(int nx,int ny,int w,dReal *pos)
-{
-        dVector3 Min,Max;
-        Min[0] = nx * m_vNodeLength;
-        Min[1] = ny * m_vNodeLength;
-        Max[0] = (nx+1) * m_vNodeLength;
-        Max[1] = (ny+1) * m_vNodeLength;
-        dReal Tol = m_vNodeLength * TERRAINTOL;
-        
-        if ((pos[0]<Min[0]-Tol) || (pos[0]>Max[0]+Tol))
-                return false;
-
-        if ((pos[1]<Min[1]-Tol) || (pos[1]>Max[1]+Tol))
-                return false;
-
-        dReal dx        = (pos[0] - (dReal(nx) * m_vNodeLength)) / m_vNodeLength;
-        dReal dy        = (pos[1] - (dReal(ny) * m_vNodeLength)) / m_vNodeLength;
-
-        if ((w == 0) && (dx + dy > 1.f+TERRAINTOL))
-                return false;
-
-        if ((w == 1) && (dx + dy < 1.f-TERRAINTOL))
-                return false;
-
-        return true;
-}
-
-dGeomID dCreateTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable)
-{
-        return new dxTerrainZ(space, pHeights,vLength,nNumNodesPerSide, bFinite, bPlaceable);
-}
-
-dReal dGeomTerrainZPointDepth (dGeomID g, dReal x, dReal y, dReal z)
-{
-        dUASSERT (g && g->type == dTerrainZClass,"argument not a terrain");
-  g->recomputePosr();
-        dxTerrainZ *t = (dxTerrainZ*) g;
-        return t->GetHeight(x,y) - z;
-}
-
-typedef dReal dGetDepthFn(dGeomID g, dReal x, dReal y, dReal z);
-#define RECOMPUTE_RAYNORMAL
-//#define DO_RAYDEPTH
-
-#define DMESS(A)        \
-                        dMessage(0,"Contact Plane (%d %d %d) %.5e %.5e (%.5e %.5e %.5e)(%.5e %.5e %.5e)).",     \
-                                        x,y,A,  \
-                                        pContact->depth,        \
-                                        dGeomSphereGetRadius(o2),               \
-                                        pContact->pos[0],       \
-                                        pContact->pos[1],       \
-                                        pContact->pos[2],       \
-                                        pContact->normal[0],    \
-                                        pContact->normal[1],    \
-                                        pContact->normal[2]);
-/*
-(z is up)
-
-y
-.
-F
-|
-C-D
-|\|
-A-B-E.x
-*/
-int dxTerrainZ::dCollideTerrainUnit(
-        int x,int y,dxGeom *o2,int numMaxContacts,
-        int flags,dContactGeom *contact, int skip)
-{
-        dColliderFn *CollideRayN;
-        dColliderFn *CollideNPlane;
-        dGetDepthFn *GetDepth;
-        int numContacts = 0;
-        int numPlaneContacts = 0;
-        int i;
-        
-        if (numContacts == numMaxContacts)
-                return numContacts;
-
-        dContactGeom PlaneContact[MAXCONTACT];
-        flags = (flags & 0xffff0000) | MAXCONTACT;
-        
-        switch (o2->type)
-        {
-        case dSphereClass:
-                CollideRayN             = dCollideRaySphere;
-                CollideNPlane   = dCollideSpherePlane;
-                GetDepth                = dGeomSpherePointDepth;
-                break;
-        case dBoxClass:
-                CollideRayN             = dCollideRayBox;
-                CollideNPlane   = dCollideBoxPlane;
-                GetDepth                = dGeomBoxPointDepth;
-                break;
-        case dCCylinderClass:
-                CollideRayN             = dCollideRayCCylinder;
-                CollideNPlane   = dCollideCCylinderPlane;
-                GetDepth                = dGeomCCylinderPointDepth;
-                break;
-        case dRayClass:
-                CollideRayN             = NULL;
-                CollideNPlane   = dCollideRayPlane;
-                GetDepth                = NULL;
-                break;
-        case dConeClass:
-                CollideRayN             = dCollideRayCone;
-                CollideNPlane   = dCollideConePlane;
-                GetDepth                = dGeomConePointDepth;
-                break;
-        default:
-                dIASSERT(0);
-        }
-
-        dReal Plane[4],lBD,lCD,lBC;
-        dVector3 A,B,C,D,BD,CD,BC,AB,AC;
-        A[0] = x * m_vNodeLength;
-        A[1] = y * m_vNodeLength;
-        A[2] = GetHeight(x,y);
-        B[0] = (x+1) * m_vNodeLength;
-        B[1] = y * m_vNodeLength;
-        B[2] = GetHeight(x+1,y);
-        C[0] = x * m_vNodeLength;
-        C[1] = (y+1) * m_vNodeLength;
-        C[2] = GetHeight(x,y+1);
-        D[0] = (x+1) * m_vNodeLength;
-        D[1] = (y+1) * m_vNodeLength;
-        D[2] = GetHeight(x+1,y+1);
-
-        dOP(BC,-,C,B);
-        lBC = dLENGTH(BC);
-        dOPEC(BC,/=,lBC);
-
-        dOP(BD,-,D,B);
-        lBD = dLENGTH(BD);
-        dOPEC(BD,/=,lBD);
-
-        dOP(CD,-,D,C);
-        lCD = dLENGTH(CD);
-        dOPEC(CD,/=,lCD);
-
-        dOP(AB,-,B,A);
-        dNormalize3(AB);
-
-        dOP(AC,-,C,A);
-        dNormalize3(AC);
-
-        if (CollideRayN)
-        {
-#ifdef RECOMPUTE_RAYNORMAL
-                dVector3 E,F;
-                dVector3 CE,FB,AD;
-                dVector3 Normal[3];
-                E[0] = (x+2) * m_vNodeLength;
-                E[1] = y * m_vNodeLength;
-                E[2] = GetHeight(x+2,y);
-                F[0] = x * m_vNodeLength;
-                F[1] = (y+2) * m_vNodeLength;
-                F[2] = GetHeight(x,y+2);
-                dOP(AD,-,D,A);
-                dNormalize3(AD);
-                dOP(CE,-,E,C);
-                dNormalize3(CE);
-                dOP(FB,-,B,F);
-                dNormalize3(FB);
-
-                //BC
-                dCROSS(Normal[0],=,AD,BC);
-                dNormalize3(Normal[0]);
-
-                //BD
-                dCROSS(Normal[1],=,CE,BD);
-                dNormalize3(Normal[1]);
-
-                //CD
-                dCROSS(Normal[2],=,FB,CD);
-                dNormalize3(Normal[2]);
-#endif          
-                int nA[3],nB[3];
-                dContactGeom ContactA[3],ContactB[3];
-                dxRay rayBC(0,lBC);     
-                dGeomRaySet(&rayBC, B[0], B[1], B[2], BC[0], BC[1], BC[2]);
-                nA[0] = CollideRayN(&rayBC,o2,flags,&ContactA[0],sizeof(dContactGeom));
-                dGeomRaySet(&rayBC, C[0], C[1], C[2], -BC[0], -BC[1], -BC[2]);
-                nB[0] = CollideRayN(&rayBC,o2,flags,&ContactB[0],sizeof(dContactGeom));
-                
-                dxRay rayBD(0,lBD);     
-                dGeomRaySet(&rayBD, B[0], B[1], B[2], BD[0], BD[1], BD[2]);
-                nA[1] = CollideRayN(&rayBD,o2,flags,&ContactA[1],sizeof(dContactGeom));
-                dGeomRaySet(&rayBD, D[0], D[1], D[2], -BD[0], -BD[1], -BD[2]);
-                nB[1] = CollideRayN(&rayBD,o2,flags,&ContactB[1],sizeof(dContactGeom));
-        
-                dxRay rayCD(0,lCD);     
-                dGeomRaySet(&rayCD, C[0], C[1], C[2], CD[0], CD[1], CD[2]);
-                nA[2] = CollideRayN(&rayCD,o2,flags,&ContactA[2],sizeof(dContactGeom));
-                dGeomRaySet(&rayCD, D[0], D[1], D[2], -CD[0], -CD[1], -CD[2]);
-                nB[2] = CollideRayN(&rayCD,o2,flags,&ContactB[2],sizeof(dContactGeom));
-        
-                for (i=0;i<3;i++)
-                {
-                        if (nA[i] & nB[i])
-                        {
-                                dContactGeom *pContact = CONTACT(contact,numContacts*skip);
-                                pContact->pos[0] = (ContactA[i].pos[0] + ContactB[i].pos[0])/2;
-                                pContact->pos[1] = (ContactA[i].pos[1] + ContactB[i].pos[1])/2;
-                                pContact->pos[2] = (ContactA[i].pos[2] + ContactB[i].pos[2])/2;
-#ifdef RECOMPUTE_RAYNORMAL
-                                pContact->normal[0] = -Normal[i][0];
-                                pContact->normal[1] = -Normal[i][1];
-                                pContact->normal[2] = -Normal[i][2];
-#else
-                                pContact->normal[0] = (ContactA[i].normal[0] + ContactB[i].normal[0])/2;        //0.f;
-                                pContact->normal[1] = (ContactA[i].normal[1] + ContactB[i].normal[1])/2;        //0.f;
-                                pContact->normal[2] = (ContactA[i].normal[2] + ContactB[i].normal[2])/2;        //-1.f;
-                                dNormalize3(pContact->normal);
-#endif
-#ifdef DO_RAYDEPTH
-                                dxRay rayV(0,1000.f);
-                                dGeomRaySet(&rayV,      pContact->pos[0],
-                                                                        pContact->pos[1],
-                                                                        pContact->pos[2],
-                                                                        -pContact->normal[0],
-                                                                        -pContact->normal[1],
-                                                                        -pContact->normal[2]);
-                
-                                dContactGeom ContactV;
-                                if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom)))
-                                {
-                                        pContact->depth = ContactV.depth;
-                                        numContacts++;  
-                                }
-#else
-            if (GetDepth == NULL)
-               {
-                                   dxRay rayV(0,1000.f);
-                                   dGeomRaySet(&rayV,   pContact->pos[0],
-                                                                           pContact->pos[1],
-                                                                           pContact->pos[2],
-                                                                           -pContact->normal[0],
-                                                                           -pContact->normal[1],
-                                                                           -pContact->normal[2]);
-                
-                                   dContactGeom ContactV;
-                                   if (CollideRayN(&rayV,o2,flags,&ContactV,sizeof(dContactGeom)))
-                                   {
-                                           pContact->depth = ContactV.depth;
-                                           numContacts++;       
-                                   }
-               }
-            else
-               {
-                                   pContact->depth =  GetDepth(o2,
-                                   pContact->pos[0],
-                                   pContact->pos[1],
-                                   pContact->pos[2]);
-                                   numContacts++;
-               }
-#endif
-                                if (numContacts == numMaxContacts)
-                                        return numContacts;
-
-                        }
-                }
-        }
-
-        dCROSS(Plane,=,AB,AC);
-        dNormalize3(Plane);
-        Plane[3] = Plane[0] * A[0] + Plane[1] * A[1] + Plane[2] * A[2];
-        dxPlane planeABC(0,Plane[0],Plane[1],Plane[2],Plane[3]);
-        numPlaneContacts = CollideNPlane(o2,&planeABC,flags,PlaneContact,sizeof(dContactGeom));
-
-        for (i=0;i<numPlaneContacts;i++)
-        {
-                if (IsOnTerrain(x,y,0,PlaneContact[i].pos))
-                {
-                        dContactGeom *pContact = CONTACT(contact,numContacts*skip);
-                        pContact->pos[0] = PlaneContact[i].pos[0];
-                        pContact->pos[1] = PlaneContact[i].pos[1];
-                        pContact->pos[2] = PlaneContact[i].pos[2];
-                        pContact->normal[0] = -PlaneContact[i].normal[0];
-                        pContact->normal[1] = -PlaneContact[i].normal[1];
-                        pContact->normal[2] = -PlaneContact[i].normal[2];
-                        pContact->depth = PlaneContact[i].depth;
-
-                        //DMESS(0);
-                        numContacts++;
-
-                        if (numContacts == numMaxContacts)
-                                        return numContacts;
-                }
-        }
-
-        dCROSS(Plane,=,CD,BD);
-        dNormalize3(Plane);
-        Plane[3] = Plane[0] * D[0] + Plane[1] * D[1] + Plane[2] * D[2];
-        dxPlane planeDCB(0,Plane[0],Plane[1],Plane[2],Plane[3]);
-        numPlaneContacts = CollideNPlane(o2,&planeDCB,flags,PlaneContact,sizeof(dContactGeom));
-
-        for (i=0;i<numPlaneContacts;i++)
-        {
-                if (IsOnTerrain(x,y,1,PlaneContact[i].pos))
-                {
-                        dContactGeom *pContact = CONTACT(contact,numContacts*skip);
-                        pContact->pos[0] = PlaneContact[i].pos[0];
-                        pContact->pos[1] = PlaneContact[i].pos[1];
-                        pContact->pos[2] = PlaneContact[i].pos[2];
-                        pContact->normal[0] = -PlaneContact[i].normal[0];
-                        pContact->normal[1] = -PlaneContact[i].normal[1];
-                        pContact->normal[2] = -PlaneContact[i].normal[2];
-                        pContact->depth = PlaneContact[i].depth;
-                        //DMESS(1);
-                        numContacts++;
-
-                        if (numContacts == numMaxContacts)
-                                        return numContacts;
-                }
-        }
-
-        return numContacts;
-}
-
-int dCollideTerrainZ(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dTerrainZClass);
-        int i,j;
-
-        if ((flags & 0xffff) == 0)
-                flags = (flags & 0xffff0000) | 1;
-
-        int numMaxTerrainContacts = (flags & 0xffff);
-        dxTerrainZ *terrain = (dxTerrainZ*) o1;
-
-        dReal aabbbak[6];
-        int gflagsbak;
-
-        dVector3 pos0;
-        int numTerrainContacts = 0;
-
-        dxPosR *bak;
-   dxPosR X1;
-
-        if (terrain->gflags & GEOM_PLACEABLE)
-        {
-                dOP(pos0,-,o2->final_posr->pos,terrain->final_posr->pos);
-                dMULTIPLY1_331(X1.pos,terrain->final_posr->R,pos0);
-                dMULTIPLY1_333(X1.R,terrain->final_posr->R,o2->final_posr->R);
-                bak = o2->final_posr;
-                o2->final_posr = &X1;
-                memcpy(aabbbak,o2->aabb,sizeof(dReal)*6);
-                gflagsbak = o2->gflags;
-                o2->computeAABB();
-        }
-
-        int nMinX       = int(floor(o2->aabb[0] / terrain->m_vNodeLength));
-        int nMaxX       = int(floor(o2->aabb[1] / terrain->m_vNodeLength)) + 1;
-        int nMinY       = int(floor(o2->aabb[2] / terrain->m_vNodeLength));
-        int nMaxY       = int(floor(o2->aabb[3] / terrain->m_vNodeLength)) + 1;
-
-        if (terrain->m_bFinite)
-        {
-                nMinX = MAX(nMinX,0);
-                nMaxX = MIN(nMaxX,terrain->m_nNumNodesPerSide);
-                nMinY = MAX(nMinY,0);
-                nMaxY = MIN(nMaxY,terrain->m_nNumNodesPerSide);
-
-                if ((nMinX >= nMaxX) || (nMinY >= nMaxY))
-                        goto dCollideTerrainZExit;
-        }
-
-        dVector3 AabbTop;
-        AabbTop[0] = (o2->aabb[0]+o2->aabb[1]) / 2;
-        AabbTop[1] = (o2->aabb[2]+o2->aabb[3]) / 2;
-        AabbTop[2] = o2->aabb[5];
-        if (o2->type != dRayClass)
-        {
-                dReal AabbTopDepth = terrain->GetHeight(AabbTop[0],AabbTop[1]) - AabbTop[2];
-                if (AabbTopDepth > 0.f)
-                {
-                        contact->depth = AabbTopDepth;
-                        dReal MaxDepth = (o2->aabb[5]-o2->aabb[4]) / 2;
-                        if (contact->depth > MaxDepth)
-                                contact->depth = MaxDepth;
-                        contact->g1 = o1;
-                        contact->g2 = o2;
-                        dOPE(contact->pos,=,AabbTop);
-                        contact->normal[0] = 0.f;
-                        contact->normal[1] = 0.f;
-                        contact->normal[2] = -1.f;
-
-                        numTerrainContacts = 1;
-                        goto dCollideTerrainZExit;
-                }
-        }
-        
-        for (i=nMinX;i<nMaxX;i++)
-        {
-                for (j=nMinY;j<nMaxY;j++)
-                {
-                        numTerrainContacts += terrain->dCollideTerrainUnit(
-                                i,j,o2,numMaxTerrainContacts - numTerrainContacts,
-                                flags,CONTACT(contact,numTerrainContacts*skip),skip     );
-                }
-        }
-
-        dIASSERT(numTerrainContacts <= numMaxTerrainContacts);
-
-        for (i=0; i<numTerrainContacts; i++) 
-        {
-                CONTACT(contact,i*skip)->g1 = o1;
-                CONTACT(contact,i*skip)->g2 = o2;
-        }
-
-dCollideTerrainZExit:
-
-        if (terrain->gflags & GEOM_PLACEABLE)
-        {
-      o2->final_posr = bak;
-                memcpy(o2->aabb,aabbbak,sizeof(dReal)*6);
-                o2->gflags = gflagsbak;
-
-                for (i=0; i<numTerrainContacts; i++) 
-                {
-                        dOPE(pos0,=,CONTACT(contact,i*skip)->pos);
-                        dMULTIPLY0_331(CONTACT(contact,i*skip)->pos,terrain->final_posr->R,pos0);
-                        dOP(CONTACT(contact,i*skip)->pos,+,CONTACT(contact,i*skip)->pos,terrain->final_posr->pos);
-
-                        dOPE(pos0,=,CONTACT(contact,i*skip)->normal);
-                        dMULTIPLY0_331(CONTACT(contact,i*skip)->normal,terrain->final_posr->R,pos0);
-                }
-        }
-
-        return numTerrainContacts;
-}
-/*
-void dsDrawTerrainZ(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos)
-{
-        float A[3],B[3],C[3],D[3];
-        float R[12];
-        float pos[3];
-        if (pR)
-                memcpy(R,pR,sizeof(R));
-        else
-        {
-                memset(R,0,sizeof(R));
-                R[0] = 1.f;
-                R[5] = 1.f;
-                R[10] = 1.f;
-        }
-        
-        if (ppos)
-                memcpy(pos,ppos,sizeof(pos));
-        else
-                memset(pos,0,sizeof(pos));
-        
-        float vx,vz;
-        vx = vLength * x;
-        vz = vLength * z;
-        
-        int i;
-        for (i=0;i<nNumNodesPerSide;i++)
-        {
-                for (int j=0;j<nNumNodesPerSide;j++)
-                {
-                        A[0] = i * vNodeLength + vx;
-                        A[1] = j * vNodeLength + vz;
-                        A[2] = GetHeight(i,j,nNumNodesPerSide,pHeights);
-                        B[0] = (i+1) * vNodeLength + vx;
-                        B[1] = j * vNodeLength + vz;
-                        B[2] = GetHeight(i+1,j,nNumNodesPerSide,pHeights);
-                        C[0] = i * vNodeLength + vx;
-                        C[1] = (j+1) * vNodeLength + vz;
-                        C[2] = GetHeight(i,j+1,nNumNodesPerSide,pHeights);
-                        D[0] = (i+1) * vNodeLength + vx;
-                        D[1] = (j+1) * vNodeLength + vz;
-                        D[2] = GetHeight(i+1,j+1,nNumNodesPerSide,pHeights);
-                        dsDrawTriangle(pos,R,C,A,B,1);
-                        dsDrawTriangle(pos,R,D,C,B,1);
-                }
-        }
-}
-*/
diff --git a/libraries/ode-0.9/contrib/TerrainAndCone/readme.txt b/libraries/ode-0.9/contrib/TerrainAndCone/readme.txt
deleted file mode 100644
index 0428846..0000000
--- a/libraries/ode-0.9/contrib/TerrainAndCone/readme.txt
+++ /dev/null
@@ -1,322 +0,0 @@
-Benoit CHAPEROT 2003-2004 www.jstarlab.com
-Support for terrain and cones, collision and drawing.
-
-Terrains can be with z up (dTerrainZ) or y up (dTerrainY).
-Terrains are defined by a height field.
-Terrains are now placeable.
-Terrains can now be finite or infinite (repeat themselve in the x and (y or z) directions).
-
-Terrains can potentially collide with everything that collides with planes and rays; 
-see the switch statement.
-
-Cones currently collides only with terrain and planes and rays.
-Cones, with high radius to height ratios are perfect to simulate vehicle wheels on terrains.
-
-
-
-There was an error in the depths returned by dCollideTerrain.
-Plus now contacts are not sorted according to their depths.
-Contact sorting is now supposed to be done externally. 
-Not all dCollide functions seem to sort contacts according to depth.
-Requesting a high number of contacts, sorting them and then considering only the most significant contacts
-is a good way I think to improve stability.
-* Cones Collisions with spheres, boxes, ccylinder and trimesh are now roughly approximated using sphere collisions.
-
-You will need to complete the following operations (with ODE 0.039):
-
-*** add to folder ode\src:
-
-dCone.cpp        
-dTerrainY.cpp 
-dTerrainZ.cpp 
-collision_std_internal.h
-
-On linux => edit each .cpp file and comment out     #include "windows.h"    &    #include "ode\ode.h"
-
-
-*** add to drawstuff\src\drawstuff.cpp:
-
-static void drawCone(float l, float r)
-{
-  int i;
-  float tmp,ny,nz,a,ca,sa;
-  const int n = 24;     // number of sides to the cone (divisible by 4)
-
-  a = float(M_PI*2.0)/float(n);
-  sa = (float) sin(a);
-  ca = (float) cos(a);
-
-  // draw top
-  glShadeModel (GL_FLAT);
-  ny=1; nz=0;             // normal vector = (0,ny,nz)
-  glBegin (GL_TRIANGLE_FAN);
-  glNormal3d (0,0,1);
-  glVertex3d (0,0,l);
-  for (i=0; i<=n; i++) {
-    if (i==1 || i==n/2+1)
-      setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
-    glNormal3d (ny*r,nz*r,0);
-    glVertex3d (ny*r,nz*r,0);
-    if (i==1 || i==n/2+1)
-      setColor (color[0],color[1],color[2],color[3]);
-
-    // rotate ny,nz
-    tmp = ca*ny - sa*nz;
-    nz = sa*ny + ca*nz;
-    ny = tmp;
-  }
-  glEnd();
-
-  // draw bottom
-  ny=1; nz=0;             // normal vector = (0,ny,nz)
-  glBegin (GL_TRIANGLE_FAN);
-  glNormal3d (0,0,-1);
-  glVertex3d (0,0,0);
-  for (i=0; i<=n; i++) {
-    if (i==1 || i==n/2+1)
-      setColor (color[0]*0.75f,color[1]*0.75f,color[2]*0.75f,color[3]);
-    glNormal3d (0,0,-1);
-    glVertex3d (ny*r,nz*r,0);
-    if (i==1 || i==n/2+1)
-      setColor (color[0],color[1],color[2],color[3]);
-
-    // rotate ny,nz
-    tmp = ca*ny + sa*nz;
-    nz = -sa*ny + ca*nz;
-    ny = tmp;
-  }
-  glEnd();
-}
-
-void dsDrawCone (const float pos[3], const float R[12], float length, float radius)
-{
-        if (current_state != 2) dsError ("drawing function called outside simulation loop");
-        setupDrawingMode();
-        glShadeModel (GL_SMOOTH);
-        setTransform (pos,R);
-        drawCone (length,radius);
-        glPopMatrix();
-        
-        if (use_shadows) {
-                setShadowDrawingMode();
-                setShadowTransform();
-                setTransform (pos,R);
-                drawCone (length,radius);
-                glPopMatrix();
-                glPopMatrix();
-                glDepthRange (0,1);
-        }
-}
-
-void dsDrawConeD (const double pos[3], const double R[12], float length, float radius)
-{
-  int i;
-  float pos2[3],R2[12];
-  for (i=0; i<3; i++) pos2[i]=(float)pos[i];
-  for (i=0; i<12; i++) R2[i]=(float)R[i];
-  dsDrawCone(pos2,R2,length,radius);
-}
-
-static float GetHeight(int x,int y,int nNumNodesPerSide,float *pHeights)
-{
-        int nNumNodesPerSideMask = nNumNodesPerSide - 1;
-        return pHeights[        (((unsigned int)(y) & nNumNodesPerSideMask) * nNumNodesPerSide)
-                                        +        ((unsigned int)(x) & nNumNodesPerSideMask)];
-}
-
-void dsDrawTerrainY(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos)
-{
-        float A[3],B[3],C[3],D[3];
-        float R[12];
-        float pos[3];
-        if (pR)
-                memcpy(R,pR,sizeof(R));
-        else
-        {
-                memset(R,0,sizeof(R));
-                R[0] = 1.f;
-                R[5] = 1.f;
-                R[10] = 1.f;
-        }
-        
-        if (ppos)
-                memcpy(pos,ppos,sizeof(pos));
-        else
-                memset(pos,0,sizeof(pos));
-        
-        float vx,vz;
-        vx = vLength * x;
-        vz = vLength * z;
-        
-        int i;
-        for (i=0;i<nNumNodesPerSide;i++)
-        {
-                for (int j=0;j<nNumNodesPerSide;j++)
-                {
-                        A[0] = i * vNodeLength + vx;
-                        A[2] = j * vNodeLength + vz;
-                        A[1] = GetHeight(i,j,nNumNodesPerSide,pHeights);
-                        B[0] = (i+1) * vNodeLength + vx;
-                        B[2] = j * vNodeLength + vz;
-                        B[1] = GetHeight(i+1,j,nNumNodesPerSide,pHeights);
-                        C[0] = i * vNodeLength + vx;
-                        C[2] = (j+1) * vNodeLength + vz;
-                        C[1] = GetHeight(i,j+1,nNumNodesPerSide,pHeights);
-                        D[0] = (i+1) * vNodeLength + vx;
-                        D[2] = (j+1) * vNodeLength + vz;
-                        D[1] = GetHeight(i+1,j+1,nNumNodesPerSide,pHeights);
-                        dsDrawTriangle(pos,R,C,B,A,1);
-                        dsDrawTriangle(pos,R,D,B,C,1);
-                }
-        }
-}
-
-void dsDrawTerrainZ(int x,int z,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos)
-{
-        float A[3],B[3],C[3],D[3];
-        float R[12];
-        float pos[3];
-        if (pR)
-                memcpy(R,pR,sizeof(R));
-        else
-        {
-                memset(R,0,sizeof(R));
-                R[0] = 1.f;
-                R[5] = 1.f;
-                R[10] = 1.f;
-        }
-        
-        if (ppos)
-                memcpy(pos,ppos,sizeof(pos));
-        else
-                memset(pos,0,sizeof(pos));
-        
-        float vx,vz;
-        vx = vLength * x;
-        vz = vLength * z;
-        
-        int i;
-        for (i=0;i<nNumNodesPerSide;i++)
-        {
-                for (int j=0;j<nNumNodesPerSide;j++)
-                {
-                        A[0] = i * vNodeLength + vx;
-                        A[1] = j * vNodeLength + vz;
-                        A[2] = GetHeight(i,j,nNumNodesPerSide,pHeights);
-                        B[0] = (i+1) * vNodeLength + vx;
-                        B[1] = j * vNodeLength + vz;
-                        B[2] = GetHeight(i+1,j,nNumNodesPerSide,pHeights);
-                        C[0] = i * vNodeLength + vx;
-                        C[1] = (j+1) * vNodeLength + vz;
-                        C[2] = GetHeight(i,j+1,nNumNodesPerSide,pHeights);
-                        D[0] = (i+1) * vNodeLength + vx;
-                        D[1] = (j+1) * vNodeLength + vz;
-                        D[2] = GetHeight(i+1,j+1,nNumNodesPerSide,pHeights);
-                        dsDrawTriangle(pos,R,C,A,B,1);
-                        dsDrawTriangle(pos,R,D,C,B,1);
-                }
-        }
-}
-
-*** add to include\drawstuff\drawstuff.h:
-void dsDrawCone (const float pos[3], const float R[12], float length, float radius);
-void dsDrawConeD (const double pos[3], const double R[12], float length, float radius);
-void dsDrawTerrainY(int x,int y,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos);
-void dsDrawTerrainZ(int x,int y,float vLength,float vNodeLength,int nNumNodesPerSide,float *pHeights,const float *pR,const float *ppos);
-
-*** add in include\ode\collision.h line 77:
-/* class numbers - each geometry object needs a unique number */
-enum {
-  dSphereClass = 0,
-  dBoxClass,
-  dCCylinderClass,
-  dCylinderClass,
-  dPlaneClass,
-  dRayClass,
-  dGeomTransformClass,
-  dTriMeshClass,
-
-  dTerrainYClass,       //here
-  dTerrainZClass,       //here
-  dConeClass,           //here
-
-  dFirstSpaceClass,
-  dSimpleSpaceClass = dFirstSpaceClass,
-  dHashSpaceClass,
-  dQuadTreeSpaceClass,
-
-  dLastSpaceClass = dQuadTreeSpaceClass,
-
-  dFirstUserClass,
-  dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
-  dGeomNumClasses
-};
-
-dGeomID dCreateTerrainY (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
-dReal dGeomTerrainYPointDepth (dGeomID g, dReal x, dReal y, dReal z);
-dGeomID dCreateTerrainZ (dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
-dReal dGeomTerrainZPointDepth (dGeomID g, dReal x, dReal y, dReal z);
-
-dGeomID dCreateCone(dSpaceID space, dReal radius, dReal length);
-void dGeomConeSetParams (dGeomID cone, dReal radius, dReal length);
-void dGeomConeGetParams (dGeomID cone, dReal *radius, dReal *length);
-dReal dGeomConePointDepth(dGeomID g, dReal x, dReal y, dReal z);
-
-*** add in include\ode\odemath.h:
-#define dOP(a,op,b,c) \
-  (a)[0] = ((b)[0]) op ((c)[0]); \
-  (a)[1] = ((b)[1]) op ((c)[1]); \
-  (a)[2] = ((b)[2]) op ((c)[2]);
-#define dOPC(a,op,b,c) \
-  (a)[0] = ((b)[0]) op (c); \
-  (a)[1] = ((b)[1]) op (c); \
-  (a)[2] = ((b)[2]) op (c);
-#define dOPE(a,op,b) \
-  (a)[0] op ((b)[0]); \
-  (a)[1] op ((b)[1]); \
-  (a)[2] op ((b)[2]);
-#define dOPEC(a,op,c) \
-  (a)[0] op (c); \
-  (a)[1] op (c); \
-  (a)[2] op (c);
-#define dLENGTH(a) \
-        (dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ));
-#define dLENGTHSQUARED(a) \
-        (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]));
-
-*** add in ode\src\collision_kernel.cpp function  'static void initColliders()'  next to other 'setCollider' calls:
-  setCollider (dTerrainYClass,dSphereClass,&dCollideTerrainY);
-  setCollider (dTerrainYClass,dBoxClass,&dCollideTerrainY);
-  setCollider (dTerrainYClass,dCCylinderClass,&dCollideTerrainY);
-  setCollider (dTerrainYClass,dRayClass,&dCollideTerrainY);
-  setCollider (dTerrainYClass,dConeClass,&dCollideTerrainY);
-
-  setCollider (dTerrainZClass,dSphereClass,&dCollideTerrainZ);
-  setCollider (dTerrainZClass,dBoxClass,&dCollideTerrainZ);
-  setCollider (dTerrainZClass,dCCylinderClass,&dCollideTerrainZ);
-  setCollider (dTerrainZClass,dRayClass,&dCollideTerrainZ);
-  setCollider (dTerrainZClass,dConeClass,&dCollideTerrainZ);
-
-  setCollider (dRayClass,dConeClass,&dCollideRayCone);
-  setCollider (dConeClass,dPlaneClass,&dCollideConePlane);
-  setCollider (dConeClass,dSphereClass,&dCollideConeSphere);
-  setCollider (dConeClass,dBoxClass,&dCollideConeBox);
-  setCollider (dCCylinderClass,dConeClass,&dCollideCCylinderCone);
-  setCollider (dTriMeshClass,dConeClass,&dCollideTriMeshCone);
-
-*** add in ode\src\collision_std.h:
-int dCollideTerrainY(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
-int dCollideTerrainZ(dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
-
-int dCollideConePlane (dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
-int dCollideRayCone (dxGeom *o1, dxGeom *o2, int flags,dContactGeom *contact, int skip);
-int dCollideConeSphere(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-int dCollideConeBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-int dCollideCCylinderCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-int dCollideTriMeshCone(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-
-*** add dCone.cpp, dTerrainY.cpp and dTerrainZ.cpp to the the ODE_SRC variable in the makefile
-On Linux => add dCone.cpp, dTerrainY.cpp and dTerrainZ.cpp to the the libode_a_SOURCES variable in the ode/src/Makefile.am file.
-
-*** now you can now test using file test_boxstackb.cpp (to add in folder ode\test).
-
diff --git a/libraries/ode-0.9/contrib/TerrainAndCone/test_boxstackb.cpp b/libraries/ode-0.9/contrib/TerrainAndCone/test_boxstackb.cpp
deleted file mode 100644
index f1fa592..0000000
--- a/libraries/ode-0.9/contrib/TerrainAndCone/test_boxstackb.cpp
+++ /dev/null
@@ -1,1375 +0,0 @@
-/*************************************************************************
-
-
-*                                                                                                                                                *
-
-
-* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.                *
-
-
-* All rights reserved.  Email: russ@q12.org   Web: www.q12.org           *
-
-
-*                                                                                                                                                *
-
-
-* This library is free software; you can redistribute it and/or          *
-
-
-* modify it under the terms of EITHER:                                                           *
-
-
-*        (1) The GNU Lesser General Public License as published by the Free  *
-
-
-*                Software Foundation; either version 2.1 of the License, or (at  *
-
-
-*                your option) any later version. The text of the GNU Lesser      *
-
-
-*                General Public License is included with this library in the     *
-
-
-*                file LICENSE.TXT.                                                                                               *
-
-
-*        (2) The BSD-style license that is included with this library in         *
-
-
-*                the file LICENSE-BSD.TXT.                                                                               *
-
-
-*                                                                                                                                                *
-
-
-* This library is distributed in the hope that it will be useful,                *
-
-
-* but WITHOUT ANY WARRANTY; without even the implied warranty of                 *
-
-
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files     *
-
-
-* LICENSE.TXT and LICENSE-BSD.TXT for more details.                                      *
-
-
-*                                                                                                                                                *
-
-
-*************************************************************************/
-
-
-
-
-
-#include <ode/ode.h>
-
-
-#include <drawstuff/drawstuff.h>
-
-
-
-
-
-#ifdef _MSC_VER
-
-
-#pragma warning(disable:4244 4305)      // for VC++, no precision loss complaints
-
-
-#endif
-
-
-
-
-
-// select correct drawing functions
-
-
-
-
-
-#ifdef dDOUBLE
-
-
-#define dsDrawBox dsDrawBoxD
-
-
-#define dsDrawSphere dsDrawSphereD
-
-
-#define dsDrawCylinder dsDrawCylinderD
-
-
-#define dsDrawCappedCylinder dsDrawCappedCylinderD
-
-
-#endif
-
-
-
-
-
-
-
-
-// some constants
-
-
-
-
-
-const dReal vTerrainLength = 4.f;
-
-
-const dReal vTerrainHeight = 0.5f;
-
-
-const int TERRAINNODES = 4;
-
-
-dReal pTerrainHeights[TERRAINNODES*TERRAINNODES];
-
-
-
-
-
-dGeomID terrainZ = NULL;
-
-
-dGeomID terrainY = NULL;
-
-
-
-
-
-#define NUM 20                  // max number of objects
-
-
-#define DENSITY (5.0)           // density of all objects
-
-
-#define GPB 3                   // maximum number of geometries per body
-
-
-#define MAX_CONTACTS 4          // maximum number of contact points per body
-
-
-
-
-
-
-
-
-// dynamics and collision objects
-
-
-
-
-
-struct MyObject {
-
-
-        dBodyID body;           // the body
-
-
-        dGeomID geom[GPB];              // geometries representing this body
-
-
-};
-
-
-
-
-
-static int num=0;               // number of objects in simulation
-
-
-static int nextobj=0;           // next object to recycle if num==NUM
-
-
-static dWorldID world;
-
-
-static dSpaceID space;
-
-
-static MyObject obj[NUM];
-
-
-static dJointGroupID contactgroup;
-
-
-static int selected = -1;       // selected object
-
-
-static int show_aabb = 0;       // show geom AABBs?
-
-
-static int show_contacts = 0;   // show contact points?
-
-
-static int random_pos = 1;      // drop objects from random position?
-
-
-
-
-
-
-
-
-// this is called by dSpaceCollide when two objects in space are
-
-
-// potentially colliding.
-
-
-
-
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-
-
-{
-
-
-        int i;
-
-
-        // if (o1->body && o2->body) return;
-
-
-        
-
-
-        // exit without doing anything if the two bodies are connected by a joint
-
-
-        dBodyID b1 = dGeomGetBody(o1);
-
-
-        dBodyID b2 = dGeomGetBody(o2);
-
-
-        if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
-
-
-        
-
-
-        dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
-
-
-        for (i=0; i<MAX_CONTACTS; i++) {
-
-
-                contact[i].surface.mode = dContactBounce | dContactApprox1;     //dContactSoftCFM;
-
-
-                contact[i].surface.mu = dInfinity;
-
-
-                contact[i].surface.mu2 = 0;
-
-
-                contact[i].surface.bounce = 0.1;
-
-
-                contact[i].surface.bounce_vel = 0.1;
-
-
-                contact[i].surface.soft_cfm = 0.01;
-
-
-        }
-
-
-        if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
-
-
-                sizeof(dContact))) {
-
-
-                dMatrix3 RI;
-
-
-                dRSetIdentity (RI);
-
-
-                const dReal ss[3] = {0.02,0.02,0.02};
-
-
-                for (i=0; i<numc; i++) {
-
-
-                        dJointID c = dJointCreateContact (world,contactgroup,contact+i);
-
-
-                        dJointAttach (c,b1,b2);
-
-
-                        if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
-
-
-                }
-
-
-        }
-
-
-}
-
-
-
-
-
-
-
-
-// start simulation - set viewpoint
-
-
-
-
-
-static void start()
-
-
-{
-
-
-        static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
-
-
-        static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
-
-
-        dsSetViewpoint (xyz,hpr);
-
-
-        printf ("To drop another object, press:\n");
-
-
-        printf ("   b for box.\n");
-
-
-        printf ("   s for sphere.\n");
-
-
-        printf ("   c for cylinder.\n");
-
-
-        printf ("   x for a composite object.\n");
-
-
-        printf ("To select an object, press space.\n");
-
-
-        printf ("To disable the selected object, press d.\n");
-
-
-        printf ("To enable the selected object, press e.\n");
-
-
-        printf ("To toggle showing the geom AABBs, press a.\n");
-
-
-        printf ("To toggle showing the contact points, press t.\n");
-
-
-        printf ("To toggle dropping from random position/orientation, press r.\n");
-
-
-}
-
-
-
-
-
-
-
-
-char locase (char c)
-
-
-{
-
-
-        if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
-
-
-        else return c;
-
-
-}
-
-
-
-
-
-
-
-
-// called when a key pressed
-
-
-
-
-
-static void command (int cmd)
-
-
-{
-
-
-        int i,j,k;
-
-
-        dReal sides[3];
-
-
-        dMass m;
-
-
-        
-
-
-        cmd = locase (cmd);
-
-
-        if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x'
-
-
-                /* || cmd == 'l' */) {
-
-
-                if (num < NUM) {
-
-
-                        i = num;
-
-
-                        num++;
-
-
-                }
-
-
-                else {
-
-
-                        i = nextobj;
-
-
-                        nextobj++;
-
-
-                        if (nextobj >= num) nextobj = 0;
-
-
-                        
-
-
-                        // destroy the body and geoms for slot i
-
-
-                        dBodyDestroy (obj[i].body);
-
-
-                        for (k=0; k < GPB; k++) {
-
-
-                                if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
-
-
-                        }
-
-
-                        memset (&obj[i],0,sizeof(obj[i]));
-
-
-                }
-
-
-                
-
-
-                obj[i].body = dBodyCreate (world);
-
-
-                for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
-
-
-                
-
-
-                dMatrix3 R;
-
-
-                if (random_pos) {
-
-
-                        dBodySetPosition (obj[i].body,
-
-
-                                dRandReal()*2-1,dRandReal()*2+1,dRandReal()+3);
-
-
-                        dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-
-
-                                dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-
-
-                }
-
-
-                else {
-
-
-                        dReal maxheight = 0;
-
-
-                        for (k=0; k<num; k++) {
-
-
-                                const dReal *pos = dBodyGetPosition (obj[k].body);
-
-
-                                if (pos[2] > maxheight) maxheight = pos[2];
-
-
-                        }
-
-
-                        dBodySetPosition (obj[i].body, 0,maxheight+1,maxheight+3);
-
-
-                        dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
-
-
-                }
-
-
-                dBodySetRotation (obj[i].body,R);
-
-
-                dBodySetData (obj[i].body,(void*) i);
-
-
-                
-
-
-                if (cmd == 'b') {
-
-
-                        dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
-
-
-                        obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
-
-
-                }
-
-
-                else if (cmd == 'c') {
-
-
-                        sides[0] *= 0.5;
-
-
-                        dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
-
-
-                        obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
-
-
-                }
-
-
-                /*
-
-
-                // cylinder option not yet implemented
-
-
-                else if (cmd == 'l') {
-
-
-                sides[1] *= 0.5;
-
-
-                dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
-
-
-                obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
-
-
-                }
-
-
-                */
-
-
-                else if (cmd == 's') {
-
-
-                        sides[0] *= 0.5;
-
-
-                        dMassSetSphere (&m,DENSITY,sides[0]);
-
-
-                        obj[i].geom[0] = dCreateSphere (space,sides[0]);
-
-
-                }
-
-
-                else if (cmd == 'x') {
-
-
-                        dGeomID g2[GPB];                // encapsulated geometries
-
-
-                        dReal dpos[GPB][3];     // delta-positions for encapsulated geometries
-
-
-                        
-
-
-                        // start accumulating masses for the encapsulated geometries
-
-
-                        dMass m2;
-
-
-                        dMassSetZero (&m);
-
-
-                        
-
-
-                        // set random delta positions
-
-
-                        for (j=0; j<GPB; j++) {
-
-
-                                for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
-
-
-                        }
-
-
-                        
-
-
-                        for (k=0; k<GPB; k++) {
-
-
-                                obj[i].geom[k] = dCreateGeomTransform (space);
-
-
-                                dGeomTransformSetCleanup (obj[i].geom[k],1);
-
-
-                                if (k==0) {
-
-
-                                        dReal radius = dRandReal()*0.25+0.05;
-
-
-                                        g2[k] = dCreateSphere (0,radius);
-
-
-                                        dMassSetSphere (&m2,DENSITY,radius);
-
-
-                                }
-
-
-                                else if (k==1) {
-
-
-                                        g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
-
-
-                                        dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
-
-
-                                }
-
-
-                                else {
-
-
-                                        dReal radius = dRandReal()*0.1+0.05;
-
-
-                                        dReal length = dRandReal()*1.0+0.1;
-
-
-                                        g2[k] = dCreateCCylinder (0,radius,length);
-
-
-                                        dMassSetCappedCylinder (&m2,DENSITY,3,radius,length);
-
-
-                                }
-
-
-                                dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
-
-
-                                
-
-
-                                // set the transformation (adjust the mass too)
-
-
-                                dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
-
-
-                                dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
-
-
-                                dMatrix3 Rtx;
-
-
-                                dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-
-
-                                        dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-
-
-                                dGeomSetRotation (g2[k],Rtx);
-
-
-                                dMassRotate (&m2,Rtx);
-
-
-                                
-
-
-                                // add to the total mass
-
-
-                                dMassAdd (&m,&m2);
-
-
-                        }
-
-
-                        
-
-
-                        // move all encapsulated objects so that the center of mass is (0,0,0)
-
-
-                        for (k=0; k<2; k++) {
-
-
-                                dGeomSetPosition (g2[k],
-
-
-                                        dpos[k][0]-m.c[0],
-
-
-                                        dpos[k][1]-m.c[1],
-
-
-                                        dpos[k][2]-m.c[2]);
-
-
-                        }
-
-
-                        dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
-
-
-                }
-
-
-                
-
-
-                for (k=0; k < GPB; k++) {
-
-
-                        if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
-
-
-                }
-
-
-                
-
-
-                dBodySetMass (obj[i].body,&m);
-
-
-  }
-
-
-  
-
-
-  if (cmd == ' ') {
-
-
-          selected++;
-
-
-          if (selected >= num) selected = 0;
-
-
-          if (selected < 0) selected = 0;
-
-
-  }
-
-
-  else if (cmd == 'd' && selected >= 0 && selected < num) {
-
-
-          dBodyDisable (obj[selected].body);
-
-
-  }
-
-
-  else if (cmd == 'e' && selected >= 0 && selected < num) {
-
-
-          dBodyEnable (obj[selected].body);
-
-
-  }
-
-
-  else if (cmd == 'a') {
-
-
-          show_aabb ^= 1;
-
-
-  }
-
-
-  else if (cmd == 't') {
-
-
-          show_contacts ^= 1;
-
-
-  }
-
-
-  else if (cmd == 'r') {
-
-
-          random_pos ^= 1;
-
-
-  }
-
-
-}
-
-
-
-
-
-
-
-
-// draw a geom
-
-
-
-
-
-void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
-
-
-{
-
-
-        int i;
-
-
-        
-
-
-        if (!g) return;
-
-
-        if (!pos) pos = dGeomGetPosition (g);
-
-
-        if (!R) R = dGeomGetRotation (g);
-
-
-        
-
-
-        int type = dGeomGetClass (g);
-
-
-        if (type == dBoxClass) {
-
-
-                dVector3 sides;
-
-
-                dGeomBoxGetLengths (g,sides);
-
-
-                dsDrawBox (pos,R,sides);
-
-
-        }
-
-
-        else if (type == dSphereClass) {
-
-
-                dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
-
-
-        }
-
-
-        else if (type == dCCylinderClass) {
-
-
-                dReal radius,length;
-
-
-                dGeomCCylinderGetParams (g,&radius,&length);
-
-
-                dsDrawCappedCylinder (pos,R,length,radius);
-
-
-        }
-
-
-        /*
-
-
-        // cylinder option not yet implemented
-
-
-        else if (type == dCylinderClass) {
-
-
-        dReal radius,length;
-
-
-        dGeomCylinderGetParams (g,&radius,&length);
-
-
-        dsDrawCylinder (pos,R,length,radius);
-
-
-        }
-
-
-        */
-
-
-        else if (type == dGeomTransformClass) {
-
-
-                dGeomID g2 = dGeomTransformGetGeom (g);
-
-
-                const dReal *pos2 = dGeomGetPosition (g2);
-
-
-                const dReal *R2 = dGeomGetRotation (g2);
-
-
-                dVector3 actual_pos;
-
-
-                dMatrix3 actual_R;
-
-
-                dMULTIPLY0_331 (actual_pos,R,pos2);
-
-
-                actual_pos[0] += pos[0];
-
-
-                actual_pos[1] += pos[1];
-
-
-                actual_pos[2] += pos[2];
-
-
-                dMULTIPLY0_333 (actual_R,R,R2);
-
-
-                drawGeom (g2,actual_pos,actual_R,0);
-
-
-        }
-
-
-        
-
-
-        if (show_aabb) {
-
-
-                // draw the bounding box for this geom
-
-
-                dReal aabb[6];
-
-
-                dGeomGetAABB (g,aabb);
-
-
-                dVector3 bbpos;
-
-
-                for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
-
-
-                dVector3 bbsides;
-
-
-                for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
-
-
-                dMatrix3 RI;
-
-
-                dRSetIdentity (RI);
-
-
-                dsSetColorAlpha (1,0,0,0.5);
-
-
-                dsDrawBox (bbpos,RI,bbsides);
-
-
-        }
-
-
-}
-
-
-
-
-
-
-
-
-// simulation loop
-
-
-
-
-
-static void simLoop (int pause)
-
-
-{
-
-
-        dsSetColor (0,0,2);
-
-
-        dSpaceCollide (space,0,&nearCallback);
-
-
-        if (!pause) dWorldStep (world,0.05);
-
-
-
-
-
-        dAASSERT(terrainY);
-
-
-        dAASSERT(terrainZ);
-
-
-        dsSetColor (0,1,0);
-
-
-        dsDrawTerrainY(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainY),dGeomGetPosition(terrainY));
-
-
-        dsDrawTerrainZ(0,0,vTerrainLength,vTerrainLength/TERRAINNODES,TERRAINNODES,pTerrainHeights,dGeomGetRotation(terrainZ),dGeomGetPosition(terrainZ));
-
-
-
-
-
-        if (show_aabb) 
-
-
-        {
-
-
-                dReal aabb[6];
-
-
-                dGeomGetAABB (terrainY,aabb);
-
-
-                dVector3 bbpos;
-
-
-                int i;
-
-
-                for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
-
-
-                dVector3 bbsides;
-
-
-                for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
-
-
-                dMatrix3 RI;
-
-
-                dRSetIdentity (RI);
-
-
-                dsSetColorAlpha (1,0,0,0.5);
-
-
-                dsDrawBox (bbpos,RI,bbsides);
-
-
-
-
-
-                dGeomGetAABB (terrainZ,aabb);
-
-
-                for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
-
-
-                for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
-
-
-                dsDrawBox (bbpos,RI,bbsides);
-
-
-        }
-
-
-
-
-
-        dsSetColor (1,1,0);
-
-
-        
-
-
-        // remove all contact joints
-
-
-        dJointGroupEmpty (contactgroup);
-
-
-        
-
-
-        dsSetColor (1,1,0);
-
-
-        dsSetTexture (DS_WOOD);
-
-
-        for (int i=0; i<num; i++) {
-
-
-                for (int j=0; j < GPB; j++) {
-
-
-                        if (i==selected) {
-
-
-                                dsSetColor (0,0.7,1);
-
-
-                        }
-
-
-                        else if (! dBodyIsEnabled (obj[i].body)) {
-
-
-                                dsSetColor (1,0,0);
-
-
-                        }
-
-
-                        else {
-
-
-                                dsSetColor (1,1,0);
-
-
-                        }
-
-
-                        drawGeom (obj[i].geom[j],0,0,show_aabb);
-
-
-                }
-
-
-        }
-
-
-}
-
-
-
-
-
-
-
-
-int main (int argc, char **argv)
-
-
-{
-
-
-        // setup pointers to drawstuff callback functions
-
-
-        dsFunctions fn;
-
-
-        fn.version = DS_VERSION;
-
-
-        fn.start = &start;
-
-
-        fn.step = &simLoop;
-
-
-        fn.command = &command;
-
-
-        fn.stop = 0;
-
-
-        fn.path_to_textures = "../../drawstuff/textures";
-
-
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-        
-
-
-        // create world
-
-
-        
-
-
-        world = dWorldCreate();
-
-
-        space = dHashSpaceCreate (0);
-
-
-        contactgroup = dJointGroupCreate (0);
-
-
-        dWorldSetGravity (world,0,0,-0.5); //-0.5
-
-
-        dWorldSetCFM (world,1e-5);
-
-
-        dCreatePlane (space,0,0,1,0);
-
-
-        memset (obj,0,sizeof(obj));
-
-
-
-
-
-        for (int i=0;i<TERRAINNODES*TERRAINNODES;i++)   pTerrainHeights[i] = vTerrainHeight * dRandReal();
-
-
-        terrainY = dCreateTerrainY(space,pTerrainHeights,vTerrainLength,TERRAINNODES,1,1);
-
-
-        terrainZ = dCreateTerrainZ(space,pTerrainHeights,vTerrainLength,TERRAINNODES,1,1);
-
-
-
-
-
-        dMatrix3 R;
-
-
-        dRFromZAxis(R, 0.2f, 0.2f, 0.2f);
-
-
-        dGeomSetPosition(terrainY,0.f,0.f,0.5f);
-
-
-        dGeomSetRotation(terrainY,R);
-
-
-        dGeomSetPosition(terrainZ,0.f,0.f,0.5f);
-
-
-        dGeomSetRotation(terrainZ,R);
-
-
-
-
-
-        // run simulation
-
-
-        dsSimulationLoop (argc,argv,352,288,&fn);
-
-
-        
-
-
-        dJointGroupDestroy (contactgroup);
-
-
-        dSpaceDestroy (space);
-
-
-        dWorldDestroy (world);
-
-
-        
-
-
-        return 0;
-
-
-}
-
-
diff --git a/libraries/ode-0.9/contrib/dCylinder/dCylinder.cpp b/libraries/ode-0.9/contrib/dCylinder/dCylinder.cpp
deleted file mode 100644
index 215da25..0000000
--- a/libraries/ode-0.9/contrib/dCylinder/dCylinder.cpp
+++ /dev/null
@@ -1,1445 +0,0 @@
-#include <ode/ode.h>
-#include "dCylinder.h"
-// given a pointer `p' to a dContactGeom, return the dContactGeom at
-// p + skip bytes.
-
-struct dxCylinder {     // cylinder
-  dReal radius,lz;      // radius, length along y axis //
-};
-
-int dCylinderClassUser = -1;
-
-#define NUMC_MASK (0xffff)
-
-#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
-
-/////////////////////////////////////////////////////////////////////////////////////////////////
-/////////////////////////////circleIntersection//////////////////////////////////////////////////
-//this does following:
-//takes two circles as normals to planes n1,n2, center points cp1,cp2,and radiuses r1,r2
-//finds line on which circles' planes intersect
-//finds four points O1,O2 - intersection between the line and sphere with center cp1 radius r1
-//                                      O3,O4 - intersection between the line and sphere with center cp2 radius r2
-//returns false if there is no intersection
-//computes distances O1-O3, O1-O4, O2-O3, O2-O4
-//in "point" returns mean point between intersection points with smallest distance
-/////////////////////////////////////////////////////////////////////////////////////////////////
-inline bool circleIntersection(const dReal* n1,const dReal* cp1,dReal r1,const dReal* n2,const dReal* cp2,dReal r2,dVector3 point){
-dReal c1=dDOT14(cp1,n1);
-dReal c2=dDOT14(cp2,n2);
-dReal cos=dDOT44(n1,n2);
-dReal cos_2=cos*cos;
-dReal sin_2=1-cos_2;
-dReal p1=(c1-c2*cos)/sin_2;
-dReal p2=(c2-c1*cos)/sin_2;
-dVector3 lp={p1*n1[0]+p2*n2[0],p1*n1[4]+p2*n2[4],p1*n1[8]+p2*n2[8]};
-dVector3 n;
-dCROSS144(n,=,n1,n2);
-dVector3 LC1={lp[0]-cp1[0],lp[1]-cp1[1],lp[2]-cp1[2]};
-dVector3 LC2={lp[0]-cp2[0],lp[1]-cp2[1],lp[2]-cp2[2]};
-dReal A,B,C,B_A,B_A_2,D;
-dReal t1,t2,t3,t4;
-A=dDOT(n,n);
-B=dDOT(LC1,n);
-C=dDOT(LC1,LC1)-r1*r1;
-B_A=B/A;
-B_A_2=B_A*B_A;
-D=B_A_2-C;
-if(D<0.f){      //somewhat strange solution 
-                        //- it is needed to set some 
-                        //axis to sepparate cylinders
-                        //when their edges approach
-        t1=-B_A+sqrtf(-D);
-        t2=-B_A-sqrtf(-D);
-//      return false;
-        }
-else{
-t1=-B_A-sqrtf(D);
-t2=-B_A+sqrtf(D);
-}
-B=dDOT(LC2,n);
-C=dDOT(LC2,LC2)-r2*r2;
-B_A=B/A;
-B_A_2=B_A*B_A;
-D=B_A_2-C;
-
-if(D<0.f) {
-        t3=-B_A+sqrtf(-D);
-        t4=-B_A-sqrtf(-D);
-//      return false;
-        }
-else{
-t3=-B_A-sqrtf(D);
-t4=-B_A+sqrtf(D);
-}
-dVector3 O1={lp[0]+n[0]*t1,lp[1]+n[1]*t1,lp[2]+n[2]*t1};
-dVector3 O2={lp[0]+n[0]*t2,lp[1]+n[1]*t2,lp[2]+n[2]*t2};
-
-dVector3 O3={lp[0]+n[0]*t3,lp[1]+n[1]*t3,lp[2]+n[2]*t3};
-dVector3 O4={lp[0]+n[0]*t4,lp[1]+n[1]*t4,lp[2]+n[2]*t4};
-
-dVector3 L1_3={O3[0]-O1[0],O3[1]-O1[1],O3[2]-O1[2]};
-dVector3 L1_4={O4[0]-O1[0],O4[1]-O1[1],O4[2]-O1[2]};
-
-dVector3 L2_3={O3[0]-O2[0],O3[1]-O2[1],O3[2]-O2[2]};
-dVector3 L2_4={O4[0]-O2[0],O4[1]-O2[1],O4[2]-O2[2]};
-
-
-dReal l1_3=dDOT(L1_3,L1_3);
-dReal l1_4=dDOT(L1_4,L1_4);
-
-dReal l2_3=dDOT(L2_3,L2_3);
-dReal l2_4=dDOT(L2_4,L2_4);
-
-
-if (l1_3<l1_4)
-        if(l2_3<l2_4)
-                if(l1_3<l2_3)
-                        {
-                        //l1_3;
-                        point[0]=0.5f*(O1[0]+O3[0]);
-                        point[1]=0.5f*(O1[1]+O3[1]);
-                        point[2]=0.5f*(O1[2]+O3[2]);
-                        }
-                else{
-                        //l2_3;
-                        point[0]=0.5f*(O2[0]+O3[0]);
-                        point[1]=0.5f*(O2[1]+O3[1]);
-                        point[2]=0.5f*(O2[2]+O3[2]);
-                        }
-        else
-                if(l1_3<l2_4)
-                        {
-                        //l1_3;
-                        point[0]=0.5f*(O1[0]+O3[0]);
-                        point[1]=0.5f*(O1[1]+O3[1]);
-                        point[2]=0.5f*(O1[2]+O3[2]);
-                        }
-                else{
-                        //l2_4;
-                        point[0]=0.5f*(O2[0]+O4[0]);
-                        point[1]=0.5f*(O2[1]+O4[1]);
-                        point[2]=0.5f*(O2[2]+O4[2]);
-                        }
-
-else
-        if(l2_3<l2_4)
-                if(l1_4<l2_3)
-                        {
-                        //l1_4;
-                        point[0]=0.5f*(O1[0]+O4[0]);
-                        point[1]=0.5f*(O1[1]+O4[1]);
-                        point[2]=0.5f*(O1[2]+O4[2]);
-                        }
-                else{
-                        //l2_3;
-                        point[0]=0.5f*(O2[0]+O3[0]);
-                        point[1]=0.5f*(O2[1]+O3[1]);
-                        point[2]=0.5f*(O2[2]+O3[2]);
-                        }
-        else
-                if(l1_4<l2_4)
-                        {
-                        //l1_4;
-                        point[0]=0.5f*(O1[0]+O4[0]);
-                        point[1]=0.5f*(O1[1]+O4[1]);
-                        point[2]=0.5f*(O1[2]+O4[2]);
-                        }
-                else{
-                        //l2_4;
-                        point[0]=0.5f*(O2[0]+O4[0]);
-                        point[1]=0.5f*(O2[1]+O4[1]);
-                        point[2]=0.5f*(O2[2]+O4[2]);
-                        }
-
-return true;
-}
-
-
-
-
-void lineClosestApproach (const dVector3 pa, const dVector3 ua,
-                                 const dVector3 pb, const dVector3 ub,
-                                 dReal *alpha, dReal *beta)
-{
-  dVector3 p;
-  p[0] = pb[0] - pa[0];
-  p[1] = pb[1] - pa[1];
-  p[2] = pb[2] - pa[2];
-  dReal uaub = dDOT(ua,ub);
-  dReal q1 =  dDOT(ua,p);
-  dReal q2 = -dDOT(ub,p);
-  dReal d = 1-uaub*uaub;
-  if (d <= 0) {
-    // @@@ this needs to be made more robust
-    *alpha = 0;
-    *beta  = 0;
-  }
-  else {
-    d = dRecip(d);
-    *alpha = (q1 + uaub*q2)*d;
-    *beta  = (uaub*q1 + q2)*d;
-  }
-}
-
-
-// @@@ some stuff to optimize here, reuse code in contact point calculations.
-
-extern "C" int dCylBox (const dVector3 p1, const dMatrix3 R1,
-                        const dReal radius,const dReal lz, const dVector3 p2,
-                        const dMatrix3 R2, const dVector3 side2,
-                        dVector3 normal, dReal *depth, int *code,
-                        int maxc, dContactGeom *contact, int skip)
-{
-  dVector3 p,pp,normalC;
-  const dReal *normalR = 0;
-  dReal B1,B2,B3,R11,R12,R13,R21,R22,R23,R31,R32,R33,
-    Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l,sQ21,sQ22,sQ23;
-  int i,invert_normal;
-
-  // get vector from centers of box 1 to box 2, relative to box 1
-  p[0] = p2[0] - p1[0];
-  p[1] = p2[1] - p1[1];
-  p[2] = p2[2] - p1[2];
-  dMULTIPLY1_331 (pp,R1,p);             // get pp = p relative to body 1
-
-  // get side lengths / 2
-  //A1 =radius; A2 = lz*REAL(0.5); A3 = radius;
-  dReal hlz=lz/2.f;
-  B1 = side2[0]*REAL(0.5); B2 = side2[1]*REAL(0.5); B3 = side2[2]*REAL(0.5);
-
-  // Rij is R1'*R2, i.e. the relative rotation between R1 and R2
-  R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
-  R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
-  R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
-
-  Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
-  Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
-  Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);
-
-  
-  //   * see if the axis separates the box with cylinder. if so, return 0.
-  //   * find the depth of the penetration along the separating axis (s2)
-  //   * if this is the largest depth so far, record it.
-  // the normal vector will be set to the separating axis with the smallest
-  // depth. note: normalR is set to point to a column of R1 or R2 if that is
-  // the smallest depth normal so far. otherwise normalR is 0 and normalC is
-  // set to a vector relative to body 1. invert_normal is 1 if the sign of
-  // the normal should be flipped.
-
-#define TEST(expr1,expr2,norm,cc) \
-  s2 = dFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  if (s2 > s) { \
-    s = s2; \
-    normalR = norm; \
-    invert_normal = ((expr1) < 0); \
-    *code = (cc); \
-  }
-
-  s = -dInfinity;
-  invert_normal = 0;
-  *code = 0;
-
-  // separating axis = cylinder ax u2
- //used when a box vertex touches a flat face of the cylinder
-  TEST (pp[1],(hlz + B1*Q21 + B2*Q22 + B3*Q23),R1+1,0);
-
-
-  // separating axis = box axis v1,v2,v3
-  //used when cylinder edge touches box face
-  //there is two ways to compute sQ: sQ21=sqrtf(1.f-Q21*Q21); or sQ21=sqrtf(Q23*Q23+Q22*Q22); 
-  //if we did not need Q23 and Q22 the first way might be used to quiken the routine but then it need to 
-  //check if Q21<=1.f, becouse it may slightly exeed 1.f.
-
- 
-  sQ21=sqrtf(Q23*Q23+Q22*Q22);
-  TEST (dDOT41(R2+0,p),(radius*sQ21 + hlz*Q21 + B1),R2+0,1);
-
-  sQ22=sqrtf(Q23*Q23+Q21*Q21);
-  TEST (dDOT41(R2+1,p),(radius*sQ22 + hlz*Q22 + B2),R2+1,2);
-
-  sQ23=sqrtf(Q22*Q22+Q21*Q21);
-  TEST (dDOT41(R2+2,p),(radius*sQ23 + hlz*Q23 + B3),R2+2,3);
-
- 
-#undef TEST
-#define TEST(expr1,expr2,n1,n2,n3,cc) \
-  s2 = dFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  if (s2 > s) { \
-      s = s2; \
-          normalR = 0; \
-      normalC[0] = (n1); normalC[1] = (n2); normalC[2] = (n3); \
-      invert_normal = ((expr1) < 0); \
-      *code = (cc); \
-    } 
- 
-
-
-// separating axis is a normal to the cylinder axis passing across the nearest box vertex
-//used when a box vertex touches the lateral surface of the cylinder
-
-dReal proj,boxProj,cos,sin,cos1,cos3;
-dVector3 tAx,Ax,pb;
-{
-//making Ax which is perpendicular to cyl ax to box position//
-proj=dDOT14(p2,R1+1)-dDOT14(p1,R1+1);
-
-Ax[0]=p2[0]-p1[0]-R1[1]*proj;
-Ax[1]=p2[1]-p1[1]-R1[5]*proj;
-Ax[2]=p2[2]-p1[2]-R1[9]*proj;
-dNormalize3(Ax);
-//using Ax find box vertex which is nearest to the cylinder axis
-        dReal sign;
-    
-    for (i=0; i<3; i++) pb[i] = p2[i];
-    sign = (dDOT14(Ax,R2+0) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) pb[i] += sign * B1 * R2[i*4];
-    sign = (dDOT14(Ax,R2+1) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) pb[i] += sign * B2 * R2[i*4+1];
-    sign = (dDOT14(Ax,R2+2) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) pb[i] += sign * B3 * R2[i*4+2];
-
-//building axis which is normal to cylinder ax to the nearest box vertex
-proj=dDOT14(pb,R1+1)-dDOT14(p1,R1+1);
-
-Ax[0]=pb[0]-p1[0]-R1[1]*proj;
-Ax[1]=pb[1]-p1[1]-R1[5]*proj;
-Ax[2]=pb[2]-p1[2]-R1[9]*proj;
-dNormalize3(Ax);
-}
-
-boxProj=dFabs(dDOT14(Ax,R2+0)*B1)+
-                dFabs(dDOT14(Ax,R2+1)*B2)+
-                dFabs(dDOT14(Ax,R2+2)*B3);
-
-TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(radius+boxProj),Ax[0],Ax[1],Ax[2],4);
-
-
-//next three test used to handle collisions between cylinder circles and box ages
-proj=dDOT14(p1,R2+0)-dDOT14(p2,R2+0);
-
-tAx[0]=-p1[0]+p2[0]+R2[0]*proj;
-tAx[1]=-p1[1]+p2[1]+R2[4]*proj;
-tAx[2]=-p1[2]+p2[2]+R2[8]*proj;
-dNormalize3(tAx);
-
-//now tAx is normal to first ax of the box to cylinder center
-//making perpendicular to tAx lying in the plane which is normal to the cylinder axis
-//it is tangent in the point where projection of tAx on cylinder's ring intersect edge circle
-
-cos=dDOT14(tAx,R1+0);
-sin=dDOT14(tAx,R1+2);
-tAx[0]=R1[2]*cos-R1[0]*sin;
-tAx[1]=R1[6]*cos-R1[4]*sin;
-tAx[2]=R1[10]*cos-R1[8]*sin;
-
-
-//use cross between tAx and first ax of the box as separating axix 
-
-dCROSS114(Ax,=,tAx,R2+0);
-dNormalize3(Ax);
-
-boxProj=dFabs(dDOT14(Ax,R2+1)*B2)+
-                dFabs(dDOT14(Ax,R2+0)*B1)+
-                dFabs(dDOT14(Ax,R2+2)*B3);
-
-  cos=dFabs(dDOT14(Ax,R1+1));
-  cos1=dDOT14(Ax,R1+0);
-  cos3=dDOT14(Ax,R1+2);
-  sin=sqrtf(cos1*cos1+cos3*cos3);
-
-TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(sin*radius+cos*hlz+boxProj),Ax[0],Ax[1],Ax[2],5);
-
-
-//same thing with the second axis of the box
-proj=dDOT14(p1,R2+1)-dDOT14(p2,R2+1);
-
-tAx[0]=-p1[0]+p2[0]+R2[1]*proj;
-tAx[1]=-p1[1]+p2[1]+R2[5]*proj;
-tAx[2]=-p1[2]+p2[2]+R2[9]*proj;
-dNormalize3(tAx);
-
-
-cos=dDOT14(tAx,R1+0);
-sin=dDOT14(tAx,R1+2);
-tAx[0]=R1[2]*cos-R1[0]*sin;
-tAx[1]=R1[6]*cos-R1[4]*sin;
-tAx[2]=R1[10]*cos-R1[8]*sin;
-
-dCROSS114(Ax,=,tAx,R2+1);
-dNormalize3(Ax);
-
-boxProj=dFabs(dDOT14(Ax,R2+0)*B1)+
-                dFabs(dDOT14(Ax,R2+1)*B2)+
-                dFabs(dDOT14(Ax,R2+2)*B3);
-
-  cos=dFabs(dDOT14(Ax,R1+1));
-  cos1=dDOT14(Ax,R1+0);
-  cos3=dDOT14(Ax,R1+2);
-  sin=sqrtf(cos1*cos1+cos3*cos3);
-TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(sin*radius+cos*hlz+boxProj),Ax[0],Ax[1],Ax[2],6);
-
-//same thing with the third axis of the box
-proj=dDOT14(p1,R2+2)-dDOT14(p2,R2+2);
-
-Ax[0]=-p1[0]+p2[0]+R2[2]*proj;
-Ax[1]=-p1[1]+p2[1]+R2[6]*proj;
-Ax[2]=-p1[2]+p2[2]+R2[10]*proj;
-dNormalize3(tAx);
-
-cos=dDOT14(tAx,R1+0);
-sin=dDOT14(tAx,R1+2);
-tAx[0]=R1[2]*cos-R1[0]*sin;
-tAx[1]=R1[6]*cos-R1[4]*sin;
-tAx[2]=R1[10]*cos-R1[8]*sin;
-
-dCROSS114(Ax,=,tAx,R2+2);
-dNormalize3(Ax);
-boxProj=dFabs(dDOT14(Ax,R2+1)*B2)+
-                dFabs(dDOT14(Ax,R2+2)*B3)+
-                dFabs(dDOT14(Ax,R2+0)*B1);
-
-  cos=dFabs(dDOT14(Ax,R1+1));
-  cos1=dDOT14(Ax,R1+0);
-  cos3=dDOT14(Ax,R1+2);
-  sin=sqrtf(cos1*cos1+cos3*cos3);
-TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],(sin*radius+cos*hlz+boxProj),Ax[0],Ax[1],Ax[2],7);
-
-
-#undef TEST
-
-// note: cross product axes need to be scaled when s is computed.
-// normal (n1,n2,n3) is relative to box 1.
-
-#define TEST(expr1,expr2,n1,n2,n3,cc) \
-  s2 = dFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  l = dSqrt ((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
-  if (l > 0) { \
-    s2 /= l; \
-    if (s2 > s) { \
-      s = s2; \
-      normalR = 0; \
-      normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
-      invert_normal = ((expr1) < 0); \
-      *code = (cc); \
-    } \
-  }
-
-//crosses between cylinder axis and box axes
-  // separating axis = u2 x (v1,v2,v3)
-  TEST(pp[0]*R31-pp[2]*R11,(radius+B2*Q23+B3*Q22),R31,0,-R11,8);
-  TEST(pp[0]*R32-pp[2]*R12,(radius+B1*Q23+B3*Q21),R32,0,-R12,9);
-  TEST(pp[0]*R33-pp[2]*R13,(radius+B1*Q22+B2*Q21),R33,0,-R13,10);
-
-
-#undef TEST
-
-  // if we get to this point, the boxes interpenetrate. compute the normal
-  // in global coordinates.
-  if (normalR) {
-    normal[0] = normalR[0];
-    normal[1] = normalR[4];
-    normal[2] = normalR[8];
-  }
-  else {
-          if(*code>7) dMULTIPLY0_331 (normal,R1,normalC);
-          else {normal[0] =normalC[0];normal[1] = normalC[1];normal[2] = normalC[2];}
-  }
-  if (invert_normal) {
-    normal[0] = -normal[0];
-    normal[1] = -normal[1];
-    normal[2] = -normal[2];
-  }
-  *depth = -s;
-
-  // compute contact point(s)
-
-  if (*code > 7) {
- //find point on the cylinder pa deepest along normal
-    dVector3 pa;
-    dReal sign, cos1,cos3,factor;
-
-
-    for (i=0; i<3; i++) pa[i] = p1[i];
-
-        cos1 = dDOT14(normal,R1+0);
-        cos3 = dDOT14(normal,R1+2) ;
-        factor=sqrtf(cos1*cos1+cos3*cos3);
-
-        cos1/=factor;
-        cos3/=factor;
-        
-    for (i=0; i<3; i++) pa[i] += cos1 * radius * R1[i*4];
-
-    sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) pa[i] += sign * hlz * R1[i*4+1];
-
-  
-    for (i=0; i<3; i++) pa[i] += cos3 * radius * R1[i*4+2];
-
-    // find vertex of the box  deepest along normal 
-    dVector3 pb;
-    for (i=0; i<3; i++) pb[i] = p2[i];
-    sign = (dDOT14(normal,R2+0) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) pb[i] += sign * B1 * R2[i*4];
-    sign = (dDOT14(normal,R2+1) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) pb[i] += sign * B2 * R2[i*4+1];
-    sign = (dDOT14(normal,R2+2) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) pb[i] += sign * B3 * R2[i*4+2];
-
-
-    dReal alpha,beta;
-    dVector3 ua,ub;
-    for (i=0; i<3; i++) ua[i] = R1[1 + i*4];
-    for (i=0; i<3; i++) ub[i] = R2[*code-8 + i*4];
-
-    lineClosestApproach (pa,ua,pb,ub,&alpha,&beta);
-    for (i=0; i<3; i++) pa[i] += ua[i]*alpha;
-    for (i=0; i<3; i++) pb[i] += ub[i]*beta;
-
-    for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]);
-    contact[0].depth = *depth;
-    return 1;
-  }
-
-
-        if(*code==4){
-                for (i=0; i<3; i++) contact[0].pos[i] = pb[i];
-                contact[0].depth = *depth;
-                return 1;
-                                }
-  
-
-  dVector3 vertex;
-  if (*code == 0) {
-   
-    dReal sign;
-    for (i=0; i<3; i++) vertex[i] = p2[i];
-    sign = (dDOT14(normal,R2+0) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * B1 * R2[i*4];
-    sign = (dDOT14(normal,R2+1) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * B2 * R2[i*4+1];
-    sign = (dDOT14(normal,R2+2) > 0) ? REAL(-1.0) : REAL(1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * B3 * R2[i*4+2];
-  }
-  else {
-   
-    dReal sign,cos1,cos3,factor;
-    for (i=0; i<3; i++) vertex[i] = p1[i];
-    cos1 = dDOT14(normal,R1+0) ;
-        cos3 = dDOT14(normal,R1+2);
-        factor=sqrtf(cos1*cos1+cos3*cos3);
-        factor= factor ? factor : 1.f;
-        cos1/=factor;
-        cos3/=factor;
-    for (i=0; i<3; i++) vertex[i] += cos1 * radius * R1[i*4];
-
-    sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * hlz * R1[i*4+1];
-   
-    for (i=0; i<3; i++) vertex[i] += cos3 * radius * R1[i*4+2];
-  }
-  for (i=0; i<3; i++) contact[0].pos[i] = vertex[i];
-  contact[0].depth = *depth;
-  return 1;
-}
-
-//****************************************************************************
-
-extern "C" int dCylCyl (const dVector3 p1, const dMatrix3 R1,
-                        const dReal radius1,const dReal lz1, const dVector3 p2,
-                        const dMatrix3 R2, const dReal radius2,const dReal lz2,
-                        dVector3 normal, dReal *depth, int *code,
-                        int maxc, dContactGeom *contact, int skip)
-{
-  dVector3 p,pp1,pp2,normalC;
-  const dReal *normalR = 0;
-  dReal hlz1,hlz2,s,s2;
-  int i,invert_normal;
-
-  // get vector from centers of box 1 to box 2, relative to box 1
-  p[0] = p2[0] - p1[0];
-  p[1] = p2[1] - p1[1];
-  p[2] = p2[2] - p1[2];
-  dMULTIPLY1_331 (pp1,R1,p);            // get pp1 = p relative to body 1
-  dMULTIPLY1_331 (pp2,R2,p);
-  // get side lengths / 2
-  hlz1 = lz1*REAL(0.5);
-  hlz2 = lz2*REAL(0.5); 
-
- dReal proj,cos,sin,cos1,cos3;
-
-
-
-#define TEST(expr1,expr2,norm,cc) \
-  s2 = dFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  if (s2 > s) { \
-    s = s2; \
-    normalR = norm; \
-    invert_normal = ((expr1) < 0); \
-    *code = (cc); \
-  }
-
-  s = -dInfinity;
-  invert_normal = 0;
-  *code = 0;
-
-  cos=dFabs(dDOT44(R1+1,R2+1));
-  sin=sqrtf(1.f-(cos>1.f ? 1.f : cos));
-
-  TEST (pp1[1],(hlz1 + radius2*sin + hlz2*cos ),R1+1,0);//pp
-
-  TEST (pp2[1],(radius1*sin + hlz1*cos + hlz2),R2+1,1);
-
-
-
-  // note: cross product axes need to be scaled when s is computed.
- 
-#undef TEST
-#define TEST(expr1,expr2,n1,n2,n3,cc) \
-  s2 = dFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  if (s2 > s) { \
-      s = s2; \
-          normalR = 0; \
-      normalC[0] = (n1); normalC[1] = (n2); normalC[2] = (n3); \
-      invert_normal = ((expr1) < 0); \
-      *code = (cc); \
-    } 
- 
-
-dVector3 tAx,Ax,pa,pb;
-
-//cross between cylinders' axes
-dCROSS144(Ax,=,R1+1,R2+1);
-dNormalize3(Ax);
-TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],radius1+radius2,Ax[0],Ax[1],Ax[2],6);
-
-
-{
- 
-    dReal sign, factor;
-
-        //making ax which is perpendicular to cyl1 ax passing across cyl2 position//
-                //(project p on cyl1 flat surface )
-    for (i=0; i<3; i++) pb[i] = p2[i];
-        //cos1 = dDOT14(p,R1+0);
-        //cos3 = dDOT14(p,R1+2) ;
-        tAx[0]=pp1[0]*R1[0]+pp1[2]*R1[2];
-        tAx[1]=pp1[0]*R1[4]+pp1[2]*R1[6];
-        tAx[2]=pp1[0]*R1[8]+pp1[2]*R1[10];
-        dNormalize3(tAx);
-
-//find deepest point pb of cyl2 on opposite direction of tAx
-        cos1 = dDOT14(tAx,R2+0);
-        cos3 = dDOT14(tAx,R2+2) ;
-        factor=sqrtf(cos1*cos1+cos3*cos3);
-        cos1/=factor;
-        cos3/=factor;
-    for (i=0; i<3; i++) pb[i] -= cos1 * radius2 * R2[i*4];
-
-    sign = (dDOT14(tAx,R2+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) pb[i] -= sign * hlz2 * R2[i*4+1];
-
-    for (i=0; i<3; i++) pb[i] -= cos3 * radius2 * R2[i*4+2];
-
-//making perpendicular to cyl1 ax passing across pb
-        proj=dDOT14(pb,R1+1)-dDOT14(p1,R1+1);
-
-        Ax[0]=pb[0]-p1[0]-R1[1]*proj;
-        Ax[1]=pb[1]-p1[1]-R1[5]*proj;
-        Ax[2]=pb[2]-p1[2]-R1[9]*proj;
-
-}
-
-dNormalize3(Ax);
-
-
-  cos=dFabs(dDOT14(Ax,R2+1));
-  cos1=dDOT14(Ax,R2+0);
-  cos3=dDOT14(Ax,R2+2);
-  sin=sqrtf(cos1*cos1+cos3*cos3);
-
-TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],radius1+cos*hlz2+sin*radius2,Ax[0],Ax[1],Ax[2],3);
-
-
-
-{
-   
-   dReal sign, factor;
-        
-    for (i=0; i<3; i++) pa[i] = p1[i];
-
-        //making ax which is perpendicular to cyl2 ax passing across cyl1 position//
-        //(project p on cyl2 flat surface )
-        //cos1 = dDOT14(p,R2+0);
-        //cos3 = dDOT14(p,R2+2) ;
-        tAx[0]=pp2[0]*R2[0]+pp2[2]*R2[2];
-        tAx[1]=pp2[0]*R2[4]+pp2[2]*R2[6];
-        tAx[2]=pp2[0]*R2[8]+pp2[2]*R2[10];
-        dNormalize3(tAx);
-
-        cos1 = dDOT14(tAx,R1+0);
-        cos3 = dDOT14(tAx,R1+2) ;
-        factor=sqrtf(cos1*cos1+cos3*cos3);
-        cos1/=factor;
-        cos3/=factor;
-
-//find deepest point pa of cyl2 on direction of tAx
-    for (i=0; i<3; i++) pa[i] += cos1 * radius1 * R1[i*4];
-
-    sign = (dDOT14(tAx,R1+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) pa[i] += sign * hlz1 * R1[i*4+1];
-
-  
-    for (i=0; i<3; i++) pa[i] += cos3 * radius1 * R1[i*4+2];
-
-        proj=dDOT14(pa,R2+1)-dDOT14(p2,R2+1);
-
-        Ax[0]=pa[0]-p2[0]-R2[1]*proj;
-        Ax[1]=pa[1]-p2[1]-R2[5]*proj;
-        Ax[2]=pa[2]-p2[2]-R2[9]*proj;
-
-}
-dNormalize3(Ax);
-
-
-
-  cos=dFabs(dDOT14(Ax,R1+1));
-  cos1=dDOT14(Ax,R1+0);
-  cos3=dDOT14(Ax,R1+2);
-  sin=sqrtf(cos1*cos1+cos3*cos3);
-
-TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],radius2+cos*hlz1+sin*radius1,Ax[0],Ax[1],Ax[2],4);
-
-
-////test circl
-
-//@ this needed to set right normal when cylinders edges intersect
-//@ the most precise axis for this test may be found as a line between nearest points of two
-//@ circles. But it needs comparatively a lot of computation.
-//@ I use a trick which lets not to solve quadric equation. 
-//@ In the case when cylinder eidges touches the test below rather accurate.
-//@ I still not sure about problems with sepparation but they have not been revealed during testing.
-dVector3 point;
-{
- dVector3 ca,cb; 
- dReal sign;
- for (i=0; i<3; i++) ca[i] = p1[i];
- for (i=0; i<3; i++) cb[i] = p2[i];
-//find two nearest flat rings
- sign = (pp1[1] > 0) ? REAL(1.0) : REAL(-1.0);
- for (i=0; i<3; i++) ca[i] += sign * hlz1 * R1[i*4+1];
-
- sign = (pp2[1] > 0) ? REAL(1.0) : REAL(-1.0);
- for (i=0; i<3; i++) cb[i] -= sign * hlz2 * R2[i*4+1];
-
- dVector3 tAx,tAx1;
-        circleIntersection(R1+1,ca,radius1,R2+1,cb,radius2,point);
-
-        Ax[0]=point[0]-ca[0];
-        Ax[1]=point[1]-ca[1];
-        Ax[2]=point[2]-ca[2];
-
-        cos1 = dDOT14(Ax,R1+0);
-        cos3 = dDOT14(Ax,R1+2) ;
-
-        tAx[0]=cos3*R1[0]-cos1*R1[2];
-        tAx[1]=cos3*R1[4]-cos1*R1[6];
-        tAx[2]=cos3*R1[8]-cos1*R1[10];
-
-        Ax[0]=point[0]-cb[0];
-        Ax[1]=point[1]-cb[1];
-        Ax[2]=point[2]-cb[2];
-
-
-        cos1 = dDOT14(Ax,R2+0);
-        cos3 = dDOT14(Ax,R2+2) ;
-
-        tAx1[0]=cos3*R2[0]-cos1*R2[2];
-        tAx1[1]=cos3*R2[4]-cos1*R2[6];
-        tAx1[2]=cos3*R2[8]-cos1*R2[10];
-        dCROSS(Ax,=,tAx,tAx1);
-        
-
- 
-
-dNormalize3(Ax);
-dReal cyl1Pr,cyl2Pr;
-
- cos=dFabs(dDOT14(Ax,R1+1));
- cos1=dDOT14(Ax,R1+0);
- cos3=dDOT14(Ax,R1+2);
- sin=sqrtf(cos1*cos1+cos3*cos3);
- cyl1Pr=cos*hlz1+sin*radius1;
-
- cos=dFabs(dDOT14(Ax,R2+1));
- cos1=dDOT14(Ax,R2+0);
- cos3=dDOT14(Ax,R2+2);
- sin=sqrtf(cos1*cos1+cos3*cos3);
- cyl2Pr=cos*hlz2+sin*radius2;
-TEST(p[0]*Ax[0]+p[1]*Ax[1]+p[2]*Ax[2],cyl1Pr+cyl2Pr,Ax[0],Ax[1],Ax[2],5);
-
-
-}
-
-
-#undef TEST
-
-
-
-  // if we get to this point, the cylinders interpenetrate. compute the normal
-  // in global coordinates.
-  if (normalR) {
-    normal[0] = normalR[0];
-    normal[1] = normalR[4];
-    normal[2] = normalR[8];
-  }
-  else {
-                normal[0] =normalC[0];normal[1] = normalC[1];normal[2] = normalC[2];
-                }
-  if (invert_normal) {
-    normal[0] = -normal[0];
-    normal[1] = -normal[1];
-    normal[2] = -normal[2];
-  }
-
-  *depth = -s;
-
-  // compute contact point(s)
-
-        if(*code==3){
-                for (i=0; i<3; i++) contact[0].pos[i] = pb[i];
-                contact[0].depth = *depth;
-                return 1;
-                                }
-
-        if(*code==4){
-                for (i=0; i<3; i++) contact[0].pos[i] = pa[i];
-                contact[0].depth = *depth;
-                return 1;
-                                }
-
-        if(*code==5){
-                for (i=0; i<3; i++) contact[0].pos[i] = point[i];
-                contact[0].depth = *depth;
-                return 1;
-                                }
-
-if (*code == 6) {
-            dVector3 pa;
-    dReal sign, cos1,cos3,factor;
-
-
-    for (i=0; i<3; i++) pa[i] = p1[i];
-
-        cos1 = dDOT14(normal,R1+0);
-        cos3 = dDOT14(normal,R1+2) ;
-        factor=sqrtf(cos1*cos1+cos3*cos3);
-
-        cos1/=factor;
-        cos3/=factor;
-        
-    for (i=0; i<3; i++) pa[i] += cos1 * radius1 * R1[i*4];
-
-    sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) pa[i] += sign * hlz1 * R1[i*4+1];
-
-  
-    for (i=0; i<3; i++) pa[i] += cos3 * radius1 * R1[i*4+2];
-
-    // find a point pb on the intersecting edge of cylinder 2
-    dVector3 pb;
-    for (i=0; i<3; i++) pb[i] = p2[i];
-        cos1 = dDOT14(normal,R2+0);
-        cos3 = dDOT14(normal,R2+2) ;
-        factor=sqrtf(cos1*cos1+cos3*cos3);
-
-        cos1/=factor;
-        cos3/=factor;
-        
-    for (i=0; i<3; i++) pb[i] -= cos1 * radius2 * R2[i*4];
-
-    sign = (dDOT14(normal,R2+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) pb[i] -= sign * hlz2 * R2[i*4+1];
-
-  
-    for (i=0; i<3; i++) pb[i] -= cos3 * radius2 * R2[i*4+2];
-
-        
-        dReal alpha,beta;
-        dVector3 ua,ub;
-        for (i=0; i<3; i++) ua[i] = R1[1 + i*4];
-        for (i=0; i<3; i++) ub[i] = R2[1 + i*4];
-        lineClosestApproach (pa,ua,pb,ub,&alpha,&beta);
-        for (i=0; i<3; i++) pa[i] += ua[i]*alpha;
-        for (i=0; i<3; i++) pb[i] += ub[i]*beta;
-
-    for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]);
-    contact[0].depth = *depth;
-    return 1;
-  }
-
-  // okay, we have a face-something intersection (because the separating
-  // axis is perpendicular to a face).
-
-  // @@@ temporary: make deepest point on the "other" cylinder the contact point.
-  // @@@ this kind of works, but we need multiple contact points for stability,
-  // @@@ especially for face-face contact.
-
-  dVector3 vertex;
-  if (*code == 0) {
-    // flat face from cylinder 1 touches a edge/face from cylinder 2.
-    dReal sign,cos1,cos3,factor;
-    for (i=0; i<3; i++) vertex[i] = p2[i];
-    cos1 = dDOT14(normal,R2+0) ;
-        cos3 = dDOT14(normal,R2+2);
-        factor=sqrtf(cos1*cos1+cos3*cos3);
-
-        cos1/=factor;
-        cos3/=factor;
-    for (i=0; i<3; i++) vertex[i] -= cos1 * radius2 * R2[i*4];
-
-    sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) vertex[i] -= sign * hlz2 * R2[i*4+1];
-   
-    for (i=0; i<3; i++) vertex[i] -= cos3 * radius2 * R2[i*4+2];
-  }
-  else {
-     // flat face from cylinder 2 touches a edge/face from cylinder 1.
-    dReal sign,cos1,cos3,factor;
-    for (i=0; i<3; i++) vertex[i] = p1[i];
-    cos1 = dDOT14(normal,R1+0) ;
-        cos3 = dDOT14(normal,R1+2);
-        factor=sqrtf(cos1*cos1+cos3*cos3);
-
-        cos1/=factor;
-        cos3/=factor;
-    for (i=0; i<3; i++) vertex[i] += cos1 * radius1 * R1[i*4];
-
-    sign = (dDOT14(normal,R1+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) vertex[i] += sign * hlz1 * R1[i*4+1];
-   
-    for (i=0; i<3; i++) vertex[i] += cos3 * radius1 * R1[i*4+2];
-  }
-  for (i=0; i<3; i++) contact[0].pos[i] = vertex[i];
-  contact[0].depth = *depth;
-  return 1;
-}
-
-//****************************************************************************
-
-
-int dCollideCylS (dxGeom *o1, dxGeom *o2, int flags,
-                dContactGeom *contact, int skip)
-{
- 
-
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (dGeomGetClass(o2) == dSphereClass);
-  dIASSERT (dGeomGetClass(o1) == dCylinderClassUser);
-  const dReal* p1=dGeomGetPosition(o1);
-  const dReal* p2=dGeomGetPosition(o2);
-  const dReal* R=dGeomGetRotation(o1);
-  dVector3 p,normalC,normal;
-  const dReal *normalR = 0;
-  dReal cylRadius;
-  dReal hl;
-  dGeomCylinderGetParams(o1,&cylRadius,&hl);
-  dReal sphereRadius;
-  sphereRadius=dGeomSphereGetRadius(o2);
-  
-  int i,invert_normal;
-
-  // get vector from centers of cyl to shere
-  p[0] = p2[0] - p1[0];
-  p[1] = p2[1] - p1[1];
-  p[2] = p2[2] - p1[2];
- 
-dReal s,s2;
-unsigned char code;
-#define TEST(expr1,expr2,norm,cc) \
-  s2 = dFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  if (s2 > s) { \
-    s = s2; \
-    normalR = norm; \
-    invert_normal = ((expr1) < 0); \
-    code = (cc); \
-  }
-
-  s = -dInfinity;
-  invert_normal = 0;
-  code = 0;
-
-  // separating axis cyl ax 
-
-  TEST (dDOT14(p,R+1),sphereRadius+hl,R+1,2);
-  // note: cross product axes need to be scaled when s is computed.
-  // normal (n1,n2,n3) is relative to 
-#undef TEST
-#define TEST(expr1,expr2,n1,n2,n3,cc) \
-  s2 = dFabs(expr1) - (expr2); \
-  if (s2 > 0) return 0; \
-  if (s2 > s) { \
-      s = s2; \
-          normalR = 0; \
-      normalC[0] = (n1); normalC[1] = (n2); normalC[2] = (n3); \
-      invert_normal = ((expr1) < 0); \
-      code = (cc); \
-    } 
- 
-//making ax which is perpendicular to cyl1 ax to sphere center//
- 
-dReal proj,cos,sin,cos1,cos3;
-dVector3 Ax;
-        proj=dDOT14(p2,R+1)-dDOT14(p1,R+1);
-
-        Ax[0]=p2[0]-p1[0]-R[1]*proj;
-        Ax[1]=p2[1]-p1[1]-R[5]*proj;
-        Ax[2]=p2[2]-p1[2]-R[9]*proj;
-dNormalize3(Ax);
-TEST(dDOT(p,Ax),sphereRadius+cylRadius,Ax[0],Ax[1],Ax[2],9);
-
-
-Ax[0]=p[0];
-Ax[1]=p[1];
-Ax[2]=p[2];
-dNormalize3(Ax);
-
-        dVector3 pa;
-    dReal sign, factor;
-    for (i=0; i<3; i++) pa[i] = p1[i];
-
-        cos1 = dDOT14(Ax,R+0);
-        cos3 = dDOT14(Ax,R+2) ;
-        factor=sqrtf(cos1*cos1+cos3*cos3);
-        cos1/=factor;
-        cos3/=factor;
-    for (i=0; i<3; i++) pa[i] += cos1 * cylRadius * R[i*4];
-    sign = (dDOT14(normal,R+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) pa[i] += sign * hl * R[i*4+1];
-    for (i=0; i<3; i++) pa[i] += cos3 * cylRadius  * R[i*4+2];
-
-Ax[0]=p2[0]-pa[0];
-Ax[1]=p2[1]-pa[1];
-Ax[2]=p2[2]-pa[2];
-dNormalize3(Ax);
-
- cos=dFabs(dDOT14(Ax,R+1));
- cos1=dDOT14(Ax,R+0);
- cos3=dDOT14(Ax,R+2);
- sin=sqrtf(cos1*cos1+cos3*cos3);
-TEST(dDOT(p,Ax),sphereRadius+cylRadius*sin+hl*cos,Ax[0],Ax[1],Ax[2],14);
-
-
-#undef TEST
-
-  if (normalR) {
-    normal[0] = normalR[0];
-    normal[1] = normalR[4];
-    normal[2] = normalR[8];
-  }
-  else {
-
-        normal[0] = normalC[0];
-        normal[1] = normalC[1];
-        normal[2] = normalC[2];
-                }
-  if (invert_normal) {
-    normal[0] = -normal[0];
-    normal[1] = -normal[1];
-    normal[2] = -normal[2];
-  }
-   // compute contact point(s)
-contact->depth=-s;
-contact->normal[0]=-normal[0];
-contact->normal[1]=-normal[1];
-contact->normal[2]=-normal[2];
-contact->g1=const_cast<dxGeom*> (o1);
-contact->g2=const_cast<dxGeom*> (o2);
-contact->pos[0]=p2[0]-normal[0]*sphereRadius;
-contact->pos[1]=p2[1]-normal[1]*sphereRadius;
-contact->pos[2]=p2[2]-normal[2]*sphereRadius;
-return 1;
-}
-
-
-
-int dCollideCylB (dxGeom *o1, dxGeom *o2, int flags,
-                dContactGeom *contact, int skip)
-{
-  dVector3 normal;
-  dReal depth;
-  int code;
-  dReal cylRadius,cylLength;
-  dVector3 boxSides;
-  dGeomCylinderGetParams(o1,&cylRadius,&cylLength);
-  dGeomBoxGetLengths(o2,boxSides);
-  int num = dCylBox(dGeomGetPosition(o1),dGeomGetRotation(o1),cylRadius,cylLength, 
-                                        dGeomGetPosition(o2),dGeomGetRotation(o2),boxSides,
-                                        normal,&depth,&code,flags & NUMC_MASK,contact,skip);
-  for (int i=0; i<num; i++) {
-    CONTACT(contact,i*skip)->normal[0] = -normal[0];
-    CONTACT(contact,i*skip)->normal[1] = -normal[1];
-    CONTACT(contact,i*skip)->normal[2] = -normal[2];
-    CONTACT(contact,i*skip)->g1 = const_cast<dxGeom*> (o1);
-    CONTACT(contact,i*skip)->g2 = const_cast<dxGeom*> (o2);
-  }
-  return num;
-}
-
-int dCollideCylCyl (dxGeom *o1, dxGeom *o2, int flags,
-                dContactGeom *contact, int skip)
-{
-  dVector3 normal;
-  dReal depth;
-  int code;
-dReal cylRadius1,cylRadius2;
-dReal cylLength1,cylLength2;
-dGeomCylinderGetParams(o1,&cylRadius1,&cylLength1);
-dGeomCylinderGetParams(o2,&cylRadius2,&cylLength2);
-int num = dCylCyl (dGeomGetPosition(o1),dGeomGetRotation(o1),cylRadius1,cylLength1,
-                                   dGeomGetPosition(o2),dGeomGetRotation(o2),cylRadius2,cylLength2,
-                                     normal,&depth,&code,flags & NUMC_MASK,contact,skip);
-
-  for (int i=0; i<num; i++) {
-    CONTACT(contact,i*skip)->normal[0] = -normal[0];
-    CONTACT(contact,i*skip)->normal[1] = -normal[1];
-    CONTACT(contact,i*skip)->normal[2] = -normal[2];
-    CONTACT(contact,i*skip)->g1 = const_cast<dxGeom*> (o1);
-    CONTACT(contact,i*skip)->g2 = const_cast<dxGeom*> (o2);
-  }
-  return num;
-}
-
-struct dxPlane {
-  dReal p[4];
-};
-
-
-int dCollideCylPlane 
-        (
-        dxGeom *o1, dxGeom *o2, int flags,
-                          dContactGeom *contact, int skip){
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (dGeomGetClass(o1) == dCylinderClassUser);
-  dIASSERT (dGeomGetClass(o2) == dPlaneClass);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  
- unsigned int ret = 0;
-
- dReal radius;
- dReal hlz;
- dGeomCylinderGetParams(o1,&radius,&hlz);
- hlz /= 2;
- 
- const dReal *R =       dGeomGetRotation(o1);// rotation of cylinder
- const dReal* p =       dGeomGetPosition(o1);
- dVector4 n;            // normal vector
- dReal pp;
- dGeomPlaneGetParams (o2, n);
- pp=n[3];
- dReal cos1,sin1;
-  cos1=dFabs(dDOT14(n,R+1));
-
-cos1=cos1<REAL(1.) ? cos1 : REAL(1.); //cos1 may slightly exeed 1.f
-sin1=sqrtf(REAL(1.)-cos1*cos1);
-//////////////////////////////
-
-dReal sidePr=cos1*hlz+sin1*radius;
-
-dReal dist=-pp+dDOT(n,p);
-dReal outDepth=sidePr-dist;
-
-if(outDepth<0.f) return 0;
-
-dVector3 pos;
-
-
-/////////////////////////////////////////// from geom.cpp dCollideBP
-  dReal Q1 = dDOT14(n,R+0);
-  dReal Q2 = dDOT14(n,R+1);
-  dReal Q3 = dDOT14(n,R+2);
-  dReal factor =sqrtf(Q1*Q1+Q3*Q3);
-  factor= factor ? factor :1.f;
-  dReal A1 = radius *           Q1/factor;
-  dReal A2 = hlz*Q2;
-  dReal A3 = radius *           Q3/factor;
-
-  pos[0]=p[0];
-  pos[1]=p[1];
-  pos[2]=p[2];
-
-  pos[0]-= A1*R[0];
-  pos[1]-= A1*R[4];
-  pos[2]-= A1*R[8];
-
-  pos[0]-= A3*R[2];
-  pos[1]-= A3*R[6];
-  pos[2]-= A3*R[10];
-
-  pos[0]-= A2>0 ? hlz*R[1]:-hlz*R[1];
-  pos[1]-= A2>0 ? hlz*R[5]:-hlz*R[5];
-  pos[2]-= A2>0 ? hlz*R[9]:-hlz*R[9];
-  
- 
-
-  contact->pos[0] = pos[0];
-  contact->pos[1] = pos[1];
-  contact->pos[2] = pos[2];
-   contact->depth = outDepth;
-  ret=1;
- 
-if(dFabs(Q2)>M_SQRT1_2){
-
-  CONTACT(contact,ret*skip)->pos[0]=pos[0]+2.f*A1*R[0];
-  CONTACT(contact,ret*skip)->pos[1]=pos[1]+2.f*A1*R[4];
-  CONTACT(contact,ret*skip)->pos[2]=pos[2]+2.f*A1*R[8];
-  CONTACT(contact,ret*skip)->depth=outDepth-dFabs(Q1*2.f*A1);
-
-  if(CONTACT(contact,ret*skip)->depth>0.f)
-  ret++;
-  
-  
-  CONTACT(contact,ret*skip)->pos[0]=pos[0]+2.f*A3*R[2];
-  CONTACT(contact,ret*skip)->pos[1]=pos[1]+2.f*A3*R[6];
-  CONTACT(contact,ret*skip)->pos[2]=pos[2]+2.f*A3*R[10];
-  CONTACT(contact,ret*skip)->depth=outDepth-dFabs(Q3*2.f*A3);
-
-  if(CONTACT(contact,ret*skip)->depth>0.f) ret++;
-} else {
-
-  CONTACT(contact,ret*skip)->pos[0]=pos[0]+2.f*(A2>0 ? hlz*R[1]:-hlz*R[1]);
-  CONTACT(contact,ret*skip)->pos[1]=pos[1]+2.f*(A2>0 ? hlz*R[5]:-hlz*R[5]);
-  CONTACT(contact,ret*skip)->pos[2]=pos[2]+2.f*(A2>0 ? hlz*R[9]:-hlz*R[9]);
-  CONTACT(contact,ret*skip)->depth=outDepth-dFabs(Q2*2.f*A2);
-
-  if(CONTACT(contact,ret*skip)->depth>0.f) ret++;
-}
-
-
-
- for (unsigned int i=0; i<ret; i++) {
-    CONTACT(contact,i*skip)->g1 = const_cast<dxGeom*> (o1);
-    CONTACT(contact,i*skip)->g2 = const_cast<dxGeom*> (o2);
-        CONTACT(contact,i*skip)->normal[0] =n[0];
-        CONTACT(contact,i*skip)->normal[1] =n[1];
-        CONTACT(contact,i*skip)->normal[2] =n[2];
-  }
-  return ret;  
-}
-
-int dCollideCylRay(dxGeom *o1, dxGeom *o2, int flags,
-                   dContactGeom *contact, int skip) {
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (dGeomGetClass(o1) == dCylinderClassUser);
-  dIASSERT (dGeomGetClass(o2) == dRayClass);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  dReal radius;
-  dReal lz;
-  dGeomCylinderGetParams(o1,&radius,&lz);
-  dReal lz2=lz*REAL(0.5);
-  const dReal *R = dGeomGetRotation(o1); // rotation of the cylinder
-  const dReal *p = dGeomGetPosition(o1); // position of the cylinder
-  dVector3 start,dir;
-  dGeomRayGet(o2,start,dir); // position and orientation of the ray
-  dReal length = dGeomRayGetLength(o2);
-
-  // compute some useful info
-  dVector3 cs,q,r;
-  dReal C,k;
-  cs[0] = start[0] - p[0];
-  cs[1] = start[1] - p[1];
-  cs[2] = start[2] - p[2];
-  k = dDOT41(R+1,cs);   // position of ray start along cyl axis (Y)
-  q[0] = k*R[0*4+1] - cs[0];
-  q[1] = k*R[1*4+1] - cs[1];
-  q[2] = k*R[2*4+1] - cs[2];
-  C = dDOT(q,q) - radius*radius;
-  // if C < 0 then ray start position within infinite extension of cylinder
-  // if ray start position is inside the cylinder
-  int inside_cyl=0;
-  if (C<0 && !(k<-lz2 || k>lz2)) inside_cyl=1;
-  // compute ray collision with infinite cylinder, except for the case where
-  // the ray is outside the cylinder but within the infinite cylinder
-  // (it that case the ray can only hit endcaps)
-  if (!inside_cyl && C < 0) {
-    // set k to cap position to check
-    if (k < 0) k = -lz2; else k = lz2;
-  }
-  else {
-    dReal uv = dDOT41(R+1,dir);
-    r[0] = uv*R[0*4+1] - dir[0];
-    r[1] = uv*R[1*4+1] - dir[1];
-    r[2] = uv*R[2*4+1] - dir[2];
-    dReal A = dDOT(r,r);
-    dReal B = 2*dDOT(q,r);
-    k = B*B-4*A*C;
-    if (k < 0) {
-      // the ray does not intersect the infinite cylinder, but if the ray is
-      // inside and parallel to the cylinder axis it may intersect the end
-      // caps. set k to cap position to check.
-      if (!inside_cyl) return 0;
-      if (uv < 0) k = -lz2; else k = lz2;
-    }
-    else {
-      k = dSqrt(k);
-      A = dRecip (2*A);
-      dReal alpha = (-B-k)*A;
-      if (alpha < 0) {
-        alpha = (-B+k)*A;
-        if (alpha<0) return 0;
-      }
-      if (alpha>length) return 0;
-      // the ray intersects the infinite cylinder. check to see if the
-      // intersection point is between the caps
-      contact->pos[0] = start[0] + alpha*dir[0];
-      contact->pos[1] = start[1] + alpha*dir[1];
-      contact->pos[2] = start[2] + alpha*dir[2];
-      q[0] = contact->pos[0] - p[0];
-      q[1] = contact->pos[1] - p[1];
-      q[2] = contact->pos[2] - p[2];
-      k = dDOT14(q,R+1);
-      dReal nsign = inside_cyl ? -1 : 1;
-      if (k >= -lz2 && k <= lz2) {
-        contact->normal[0] = nsign * (contact->pos[0] -
-                                      (p[0] + k*R[0*4+1]));
-        contact->normal[1] = nsign * (contact->pos[1] -
-                                      (p[1] + k*R[1*4+1]));
-        contact->normal[2] = nsign * (contact->pos[2] -
-                                      (p[2] + k*R[2*4+1]));
-        dNormalize3 (contact->normal);
-        contact->depth = alpha;
-        return 1;
-      }
-      // the infinite cylinder intersection point is not between the caps.
-      // set k to cap position to check.
-      if (k < 0) k = -lz2; else k = lz2;
-    }
-  }
-  // check for ray intersection with the caps. k must indicate the cap
-  // position to check
-  // perform a ray plan interesection
-  // R+1 is the plan normal
-  q[0] = start[0] - (p[0] + k*R[0*4+1]);
-  q[1] = start[1] - (p[1] + k*R[1*4+1]);
-  q[2] = start[2] - (p[2] + k*R[2*4+1]);
-  dReal alpha = -dDOT14(q,R+1);
-  dReal k2 = dDOT14(dir,R+1);
-  if (k2==0) return 0; // ray parallel to the plane
-  alpha/=k2;
-  if (alpha<0 || alpha>length) return 0; // too short
-  contact->pos[0]=start[0]+alpha*dir[0];
-  contact->pos[1]=start[1]+alpha*dir[1];
-  contact->pos[2]=start[2]+alpha*dir[2];
-  dReal nsign = (k<0)?-1:1;
-  contact->normal[0]=nsign*R[0*4+1];
-  contact->normal[1]=nsign*R[1*4+1];
-  contact->normal[2]=nsign*R[2*4+1];
-  contact->depth=alpha;
-  return 1;
-}
-
-static  dColliderFn * dCylinderColliderFn (int num)
-{
-  if (num == dBoxClass) return (dColliderFn *) &dCollideCylB;
-  else if (num == dSphereClass) return (dColliderFn *) &dCollideCylS;
-  else if (num == dCylinderClassUser) return (dColliderFn *) &dCollideCylCyl;
-  else if (num == dPlaneClass) return (dColliderFn *) &dCollideCylPlane;
-  else if (num == dRayClass) return (dColliderFn *) &dCollideCylRay;
-  return 0;
-}
-
-
-static  void dCylinderAABB (dxGeom *geom, dReal aabb[6])
-{
-  dReal radius,lz;
-  dGeomCylinderGetParams(geom,&radius,&lz);
-const dReal* R= dGeomGetRotation(geom);
-const dReal* pos= dGeomGetPosition(geom);
-  dReal xrange =  dFabs (R[0] *radius) +
-    REAL(0.5) *dFabs (R[1] * lz) + dFabs (R[2] * radius);
-
-  dReal yrange = dFabs (R[4] *radius) +
-    REAL(0.5) * dFabs (R[5] * lz) + dFabs (R[6] * radius);
-
-  dReal zrange =  dFabs (R[8] * radius) +
-    REAL(0.5) *dFabs (R[9] * lz) + dFabs (R[10] * radius);
-
-  aabb[0] = pos[0] - xrange;
-  aabb[1] = pos[0] + xrange;
-  aabb[2] = pos[1] - yrange;
-  aabb[3] = pos[1] + yrange;
-  aabb[4] = pos[2] - zrange;
-  aabb[5] = pos[2] + zrange;
-}
-
-dxGeom *dCreateCylinder (dSpaceID space, dReal r, dReal lz)
-{
- dAASSERT (r > 0 && lz > 0);
- if (dCylinderClassUser == -1)
-  {
-    dGeomClass c;
-    c.bytes = sizeof (dxCylinder);
-    c.collider = &dCylinderColliderFn;
-    c.aabb = &dCylinderAABB;
-    c.aabb_test = 0;
-    c.dtor = 0;
-    dCylinderClassUser=dCreateGeomClass (&c);
-
-  }
-
-  dGeomID g = dCreateGeom (dCylinderClassUser);
-  if (space) dSpaceAdd (space,g);
-  dxCylinder *c = (dxCylinder*) dGeomGetClassData(g);
-
-  c->radius = r;
-  c->lz = lz;
-  return g;
-}
-
-
-
-void dGeomCylinderSetParams (dGeomID g, dReal radius, dReal length)
-{
-  dUASSERT (g && dGeomGetClass(g) == dCylinderClassUser,"argument not a cylinder");
-  dAASSERT (radius > 0 && length > 0);
-  dxCylinder *c = (dxCylinder*) dGeomGetClassData(g);
-  c->radius = radius;
-  c->lz = length;
-}
-
-
-
-void dGeomCylinderGetParams (dGeomID g, dReal *radius, dReal *length)
-{
-  dUASSERT (g && dGeomGetClass(g) == dCylinderClassUser ,"argument not a cylinder");
-  dxCylinder *c = (dxCylinder*) dGeomGetClassData(g);
-  *radius = c->radius;
-  *length = c->lz;
-}
-
-/*
-void dMassSetCylinder (dMass *m, dReal density,
-                  dReal radius, dReal length)
-{
-  dAASSERT (m);
-  dMassSetZero (m);
-  dReal M = length*M_PI*radius*radius*density;
-  m->mass = M;
-  m->_I(0,0) = M/REAL(4.0) * (ly*ly + lz*lz);
-  m->_I(1,1) = M/REAL(12.0) * (lx*lx + lz*lz);
-  m->_I(2,2) = M/REAL(4.0) * (lx*lx + ly*ly);
-
-# ifndef dNODEBUG
-  checkMass (m);
-# endif
-}
-*/
diff --git a/libraries/ode-0.9/contrib/dCylinder/dCylinder.h b/libraries/ode-0.9/contrib/dCylinder/dCylinder.h
deleted file mode 100644
index 06e3a0b..0000000
--- a/libraries/ode-0.9/contrib/dCylinder/dCylinder.h
+++ /dev/null
@@ -1,14 +0,0 @@
-
-#ifndef dCylinder_h
-#define dCylinder_h
-
-struct dxCylinder;
-extern int dCylinderClassUser;
-
-
-dxGeom *dCreateCylinder (dSpaceID space, dReal r, dReal lz);
-void dGeomCylinderSetParams (dGeomID g, dReal radius, dReal length);
-
-void dGeomCylinderGetParams (dGeomID g, dReal *radius, dReal *length);
-#endif //dCylinder_h
-
diff --git a/libraries/ode-0.9/contrib/dCylinder/readme.txt b/libraries/ode-0.9/contrib/dCylinder/readme.txt
deleted file mode 100644
index facd13e..0000000
--- a/libraries/ode-0.9/contrib/dCylinder/readme.txt
+++ /dev/null
@@ -1,62 +0,0 @@
-readme.txt
-
-WARNING: THIS IS NOT VERY RELIABLE CODE.  IT HAS BUGS.  YOUR
-         SUCCESS MAY VARY.  CONTRIBUTIONS OF FIXES/REWRITES ARE
-         WELCOME.
-
-///////////////////////////////////////////////////////////////////////
-
-Cylinder geometry class.
-
-New in this version:
-
-Cylinder class implemented as User Geometry Class so it now can be
-used with old and new ODE collision detection.
-
-Cylinder - Ray has been contributed by Olivier Michel.
-
-THE IDENTIFIER dCylinderClass HAS BEEN REPLACED BY dCylinderClassUser
-
-to avoid conflict with dCylinderClass in the enum definite in collision.h
-
-///////////////////////////////////////////////////////////////////////
-The dCylinder class includes the following collisions:
-
-Cylinder - Box
-Cylinder - Cylinder
-Cylinder - Sphere
-Cylinder - Plane
-Cylinder - Ray (contributed by Olivier Michel)
-
-Cylinder aligned along axis - Y when created. (Not like Capped
-Cylinder which aligned along axis - Z).
-
-Interface is just the same as  Capped Cylinder has.
-
-Use functions which have one "C" instead of double "C".
-
-to create:
-dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
-
-to set params:
-void dGeomCylinderSetParams (dGeomID cylinder,
-                              dReal radius, dReal length);
-
-
-to get params:
-void dGeomCylinderGetParams (dGeomID cylinder,
-                              dReal *radius, dReal *length);
-
-Return in radius and length the parameters of the given cylinder.
-
-Identification number of the class:
- dCylinderClassUser
-
- I do not include a function that sets inertia tensor for cylinder.
- One may use existing ODE functions dMassSetCappedCylinder or dMassSetBox.
- To set exact tensor for cylinder use dMassSetParameters.
- Remember cylinder aligned along axis - Y.
- 
- ///////////////////////////////////////////////////////////////////////////
- Konstantin Slipchenko
- February 5, 2002
diff --git a/libraries/ode-0.9/contrib/dRay/Include/dRay.h b/libraries/ode-0.9/contrib/dRay/Include/dRay.h
deleted file mode 100644
index f6caea8..0000000
--- a/libraries/ode-0.9/contrib/dRay/Include/dRay.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "ode\ode.h"
-
-/* Class ID */
-extern int dRayClass;
-
-/* Creates a ray */
-dxGeom* dGeomCreateRay(dSpaceID space, dReal Length);
-
-/* Set/Get length */
-void dGeomRaySetLength(dxGeom* g, dReal Length);
-dReal dGeomRayGetLength(dxGeom* g);
-
-/* Utility function to override the ray's pos + rot */
-void dGeomRaySet(dxGeom* g, dVector3 Origin, dVector3 Direction);
-void dGeomRayGet(dxGeom* g, dVector3 Origin, dVector3 Direction);
diff --git a/libraries/ode-0.9/contrib/dRay/README.txt b/libraries/ode-0.9/contrib/dRay/README.txt
deleted file mode 100644
index 8997208..0000000
--- a/libraries/ode-0.9/contrib/dRay/README.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-From: "Erwin de Vries" <erwin@vo.com>
-To: <ode@q12.org>
-Subject: [ODE] dRay class
-Date: Thu, 25 Jul 2002 13:05:28 +0200
-
-Yesterday and today i've written a dRay class. It interacts with dPlane,
-dSphere, dBox and dCCylinder. It does not generate full contact information.
-It only generates the pos member. I dont think its useful to anyone to go
-through hoops and find a reasonable normal and penetration depth, as i dont
-think anyone will want to use it for dynamics. Just for CD.
-
-It should compile in single and double precision mode, and should be
-platform independant. I hope.
-
-The next Tri-Collider release using Opcode 1.1 will also implement a ray
-collision function along with some other not too interesting improvements.
diff --git a/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp b/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp
deleted file mode 100644
index faa8b14..0000000
--- a/libraries/ode-0.9/contrib/dRay/Test/test_ray.cpp
+++ /dev/null
@@ -1,1372 +0,0 @@
-/*************************************************************************
-
-
- *                                                                       *
-
-
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
-
-
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
-
-
- *                                                                       *
-
-
- * This library is free software; you can redistribute it and/or         *
-
-
- * modify it under the terms of EITHER:                                  *
-
-
- *   (1) The GNU Lesser General Public License as published by the Free  *
-
-
- *       Software Foundation; either version 2.1 of the License, or (at  *
-
-
- *       your option) any later version. The text of the GNU Lesser      *
-
-
- *       General Public License is included with this library in the     *
-
-
- *       file LICENSE.TXT.                                               *
-
-
- *   (2) The BSD-style license that is included with this library in     *
-
-
- *       the file LICENSE-BSD.TXT.                                       *
-
-
- *                                                                       *
-
-
- * This library is distributed in the hope that it will be useful,       *
-
-
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-
-
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
-
-
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
-
-
- *                                                                       *
-
-
- *************************************************************************/
-
-
-
-
-
-#include <ode/ode.h>
-
-
-#include <dRay.h>
-
-
-#include <drawstuff/drawstuff.h>
-
-
-
-
-
-#ifdef _MSC_VER
-
-
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-
-
-#endif
-
-
-
-
-
-// select correct drawing functions
-
-
-
-
-
-#ifdef dDOUBLE
-
-
-#define dsDrawBox dsDrawBoxD
-
-
-#define dsDrawSphere dsDrawSphereD
-
-
-#define dsDrawCylinder dsDrawCylinderD
-
-
-#define dsDrawCappedCylinder dsDrawCappedCylinderD
-
-
-#endif
-
-
-
-
-
-
-
-
-// some constants
-
-
-
-
-
-#define NUM 20                  // max number of objects
-
-
-#define DENSITY (5.0)           // density of all objects
-
-
-#define GPB 3                   // maximum number of geometries per body
-
-
-
-
-
-
-
-
-// dynamics and collision objects
-
-
-
-
-
-struct MyObject {
-
-
-  dBodyID body;                 // the body
-
-
-  dGeomID geom[GPB];            // geometries representing this body
-
-
-};
-
-
-
-
-
-static int num=0;               // number of objects in simulation
-
-
-static int nextobj=0;           // next object to recycle if num==NUM
-
-
-static dWorldID world;
-
-
-static dSpaceID space;
-
-
-static MyObject obj[NUM];
-
-
-static dJointGroupID contactgroup;
-
-
-static int selected = -1;       // selected object
-
-
-
-
-
-static dGeomID* Rays;
-
-
-static int RayCount;
-
-
-
-
-
-// this is called by dSpaceCollide when two objects in space are
-
-
-// potentially colliding.
-
-
-
-
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-
-
-{
-
-
-  int i;
-
-
-  // if (o1->body && o2->body) return;
-
-
-
-
-
-  // exit without doing anything if the two bodies are connected by a joint
-
-
-  dBodyID b1 = dGeomGetBody(o1);
-
-
-  dBodyID b2 = dGeomGetBody(o2);
-
-
-  if (b1 && b2 && dAreConnected (b1,b2)) return;
-
-
-
-
-
-  dContact contact[32];                 // up to 3 contacts per box
-
-
-  for (i=0; i<32; i++) {
-
-
-    contact[i].surface.mode = dContactBounce; //dContactMu2;
-
-
-    contact[i].surface.mu = dInfinity;
-
-
-    contact[i].surface.mu2 = 0;
-
-
-    contact[i].surface.bounce = 0.5;
-
-
-    contact[i].surface.bounce_vel = 0.1;
-
-
-  }
-
-
-  if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) {
-
-
-     dMatrix3 RI;
-
-
-     dRSetIdentity (RI);
-
-
-     const dReal ss[3] = {0.02,0.02,0.02};
-
-
-    for (i=0; i<numc; i++) {
-
-
-                if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
-
-
-                        dMatrix3 Rotation;
-
-
-                        dRSetIdentity(Rotation);
-
-
-                        dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
-
-
-                        continue;
-
-
-                }
-
-
-
-
-
-      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
-
-
-      dJointAttach (c,b1,b2);
-
-
-       //dsDrawBox (contact[i].geom.pos,RI,ss);
-
-
-
-
-
-          
-
-
-    }
-
-
-  }
-
-
-}
-
-
-
-
-
-// start simulation - set viewpoint
-
-
-
-
-
-static void start()
-
-
-{
-
-
-  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
-
-
-  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
-
-
-  dsSetViewpoint (xyz,hpr);
-
-
-  printf ("To drop another object, press:\n");
-
-
-  printf ("   b for box.\n");
-
-
-  printf ("   s for sphere.\n");
-
-
-  printf ("   c for cylinder.\n");
-
-
-  printf ("   x for a composite object.\n");
-
-
-  printf ("To select an object, press space.\n");
-
-
-  printf ("To disable the selected object, press d.\n");
-
-
-  printf ("To enable the selected object, press e.\n");
-
-
-}
-
-
-
-
-
-
-
-
-char locase (char c)
-
-
-{
-
-
-  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
-
-
-  else return c;
-
-
-}
-
-
-
-
-
-
-
-
-// called when a key pressed
-
-
-
-
-
-static void command (int cmd)
-
-
-{
-
-
-  int i,j,k;
-
-
-  dReal sides[3];
-
-
-  dMass m;
-
-
-
-
-
-  cmd = locase (cmd);
-
-
-  if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x') {
-
-
-    if (num < NUM) {
-
-
-      i = num;
-
-
-      num++;
-
-
-    }
-
-
-    else {
-
-
-      i = nextobj;
-
-
-      nextobj++;
-
-
-      if (nextobj >= num) nextobj = 0;
-
-
-
-
-
-      // destroy the body and geoms for slot i
-
-
-      dBodyDestroy (obj[i].body);
-
-
-      for (k=0; k < GPB; k++) {
-
-
-        if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
-
-
-      }
-
-
-      memset (&obj[i],0,sizeof(obj[i]));
-
-
-    }
-
-
-
-
-
-    obj[i].body = dBodyCreate (world);
-
-
-    for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
-
-
-
-
-
-    dBodySetPosition (obj[i].body,
-
-
-                      dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1);
-
-
-    dMatrix3 R;
-
-
-    dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-
-
-                        dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-
-
-    dBodySetRotation (obj[i].body,R);
-
-
-    dBodySetData (obj[i].body,(void*) i);
-
-
-
-
-
-    if (cmd == 'b') {
-
-
-      dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
-
-
-      obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
-
-
-    }
-
-
-    else if (cmd == 'c') {
-
-
-      sides[0] *= 0.5;
-
-
-      dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
-
-
-      obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
-
-
-    }
-
-
-    else if (cmd == 's') {
-
-
-      sides[0] *= 0.5;
-
-
-      dMassSetSphere (&m,DENSITY,sides[0]);
-
-
-      obj[i].geom[0] = dCreateSphere (space,sides[0]);
-
-
-    }
-
-
-    else if (cmd == 'x') {
-
-
-      dGeomID g2[GPB];          // encapsulated geometries
-
-
-      dReal dpos[GPB][3];       // delta-positions for encapsulated geometries
-
-
-
-
-
-      // start accumulating masses for the encapsulated geometries
-
-
-      dMass m2;
-
-
-      dMassSetZero (&m);
-
-
-
-
-
-      // set random delta positions
-
-
-      for (j=0; j<GPB; j++) {
-
-
-        for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
-
-
-      }
-
-
-
-
-
-      for (k=0; k<3; k++) {
-
-
-        obj[i].geom[k] = dCreateGeomTransform (space);
-
-
-        dGeomTransformSetCleanup (obj[i].geom[k],1);
-
-
-        if (k==0) {
-
-
-          dReal radius = dRandReal()*0.25+0.05;
-
-
-          g2[k] = dCreateSphere (0,radius);
-
-
-          dMassSetSphere (&m2,DENSITY,radius);
-
-
-        }
-
-
-        else if (k==1) {
-
-
-          g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
-
-
-          dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
-
-
-        }
-
-
-        else {
-
-
-          dReal radius = dRandReal()*0.1+0.05;
-
-
-          dReal length = dRandReal()*1.0+0.1;
-
-
-          g2[k] = dCreateCCylinder (0,radius,length);
-
-
-          dMassSetCappedCylinder (&m2,DENSITY,3,radius,length);
-
-
-        }
-
-
-        dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
-
-
-
-
-
-        // set the transformation (adjust the mass too)
-
-
-        dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
-
-
-        dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
-
-
-        dMatrix3 Rtx;
-
-
-        dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-
-
-                            dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-
-
-        dGeomSetRotation (g2[k],Rtx);
-
-
-        dMassRotate (&m2,Rtx);
-
-
-
-
-
-        // add to the total mass
-
-
-        dMassAdd (&m,&m2);
-
-
-      }
-
-
-
-
-
-      // move all encapsulated objects so that the center of mass is (0,0,0)
-
-
-      for (k=0; k<2; k++) {
-
-
-        dGeomSetPosition (g2[k],
-
-
-                          dpos[k][0]-m.c[0],
-
-
-                          dpos[k][1]-m.c[1],
-
-
-                          dpos[k][2]-m.c[2]);
-
-
-      }
-
-
-      dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
-
-
-    }
-
-
-
-
-
-    for (k=0; k < GPB; k++) {
-
-
-      if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
-
-
-    }
-
-
-
-
-
-    dBodySetMass (obj[i].body,&m);
-
-
-  }
-
-
-
-
-
-  if (cmd == ' ') {
-
-
-    selected++;
-
-
-    if (selected >= num) selected = 0;
-
-
-    if (selected < 0) selected = 0;
-
-
-  }
-
-
-  else if (cmd == 'd' && selected >= 0 && selected < num) {
-
-
-    dBodyDisable (obj[selected].body);
-
-
-  }
-
-
-  else if (cmd == 'e' && selected >= 0 && selected < num) {
-
-
-    dBodyEnable (obj[selected].body);
-
-
-  }
-
-
-}
-
-
-
-
-
-
-
-
-// draw a geom
-
-
-
-
-
-void drawGeom (dGeomID g, const dReal *pos, const dReal *R)
-
-
-{
-
-
-  if (!g) return;
-
-
-  if (!pos) pos = dGeomGetPosition (g);
-
-
-  if (!R) R = dGeomGetRotation (g);
-
-
-
-
-
-  int type = dGeomGetClass (g);
-
-
-  if (type == dBoxClass) {
-
-
-    dVector3 sides;
-
-
-    dGeomBoxGetLengths (g,sides);
-
-
-    dsDrawBox (pos,R,sides);
-
-
-  }
-
-
-  else if (type == dSphereClass) {
-
-
-    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
-
-
-  }
-
-
-  else if (type == dCCylinderClass) {
-
-
-    dReal radius,length;
-
-
-    dGeomCCylinderGetParams (g,&radius,&length);
-
-
-    dsDrawCappedCylinder (pos,R,length,radius);
-
-
-  }
-
-
-  else if (type == dGeomTransformClass) {
-
-
-    dGeomID g2 = dGeomTransformGetGeom (g);
-
-
-    const dReal *pos2 = dGeomGetPosition (g2);
-
-
-    const dReal *R2 = dGeomGetRotation (g2);
-
-
-    dVector3 actual_pos;
-
-
-    dMatrix3 actual_R;
-
-
-    dMULTIPLY0_331 (actual_pos,R,pos2);
-
-
-    actual_pos[0] += pos[0];
-
-
-    actual_pos[1] += pos[1];
-
-
-    actual_pos[2] += pos[2];
-
-
-    dMULTIPLY0_333 (actual_R,R,R2);
-
-
-    drawGeom (g2,actual_pos,actual_R);
-
-
-  }
-
-
-}
-
-
-
-
-
-
-
-
-// simulation loop
-
-
-
-
-
-static void simLoop (int pause)
-
-
-{
-
-
-  dsSetColor (0,0,2);
-
-
-  dSpaceCollide (space,0,&nearCallback);
-
-
-  if (!pause) dWorldStep (world,0.05);
-
-
-
-
-
-  // remove all contact joints
-
-
-  dJointGroupEmpty (contactgroup);
-
-
-
-
-
-  dsSetColor (1,1,0);
-
-
-  dsSetTexture (DS_WOOD);
-
-
-  for (int i=0; i<num; i++) {
-
-
-    int color_changed = 0;
-
-
-    if (i==selected) {
-
-
-      dsSetColor (0,0.7,1);
-
-
-      color_changed = 1;
-
-
-    }
-
-
-    else if (! dBodyIsEnabled (obj[i].body)) {
-
-
-      dsSetColor (1,0,0);
-
-
-      color_changed = 1;
-
-
-    }
-
-
-    for (int j=0; j < GPB; j++) drawGeom (obj[i].geom[j],0,0);
-
-
-    if (color_changed) dsSetColor (1,1,0);
-
-
-  }
-
-
-
-
-
-  {for (int i = 0; i < RayCount; i++){
-
-
-          dVector3 Origin, Direction;
-
-
-          dGeomRayGet(Rays[i], Origin, Direction);
-
-
-  
-
-
-          dReal Length = dGeomRayGetLength(Rays[i]);
-
-
-
-
-
-          dVector3 End;
-
-
-          End[0] = Origin[0] + (Direction[0] * Length);
-
-
-          End[1] = Origin[1] + (Direction[1] * Length);
-
-
-          End[2] = Origin[2] + (Direction[2] * Length);
-
-
-          End[3] = Origin[3] + (Direction[3] * Length);
-
-
-  
-
-
-          dsDrawLine(Origin, End);
-
-
-  }}
-
-
-}
-
-
-
-
-
-
-
-
-int main (int argc, char **argv)
-
-
-{
-
-
-  // setup pointers to drawstuff callback functions
-
-
-  dsFunctions fn;
-
-
-  fn.version = DS_VERSION;
-
-
-  fn.start = &start;
-
-
-  fn.step = &simLoop;
-
-
-  fn.command = &command;
-
-
-  fn.stop = 0;
-
-
-  fn.path_to_textures = "../../drawstuff/textures";
-
-
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-
-
-  // create world
-
-
-
-
-
-  world = dWorldCreate();
-
-
-  space = dHashSpaceCreate();
-
-
-  contactgroup = dJointGroupCreate (0);
-
-
-  dWorldSetGravity (world,0,0,-0.5);
-
-
-  dWorldSetCFM (world,1e-5);
-
-
-  dCreatePlane (space,0,0,1,0);
-
-
-  memset (obj,0,sizeof(obj));
-
-
-
-
-
-  dVector3 Origin, Direction;
-
-
-  
-
-
-  RayCount = 5;
-
-
-  Rays = new dGeomID[RayCount];
-
-
-
-
-
-  /* Ray 0 */
-
-
-  Origin[0] = 1;
-
-
-  Origin[1] = 1;
-
-
-  Origin[2] = 1.5;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 0.0f;
-
-
-  Direction[1] = 0.0f;
-
-
-  Direction[2] = -1;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  dNormalize3(Direction);
-
-
-
-
-
-  Rays[0] = dGeomCreateRay(space, 5.0f);
-
-
-  dGeomRaySet(Rays[0], Origin, Direction);
-
-
-
-
-
-  /* Ray 1 */
-
-
-  Origin[0] = 0;
-
-
-  Origin[1] = 10;
-
-
-  Origin[2] = 0.25;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 0.0f;
-
-
-  Direction[1] = -1.0f;
-
-
-  Direction[2] = 0.0f;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  dNormalize3(Direction);
-
-
-
-
-
-  Rays[1] = dGeomCreateRay(space, 20.0f);
-
-
-  dGeomRaySet(Rays[1], Origin, Direction);
-
-
-
-
-
-  /* Ray 2 */
-
-
-  Origin[0] = -10;
-
-
-  Origin[1] = 0;
-
-
-  Origin[2] = 0.20;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 1.0f;
-
-
-  Direction[1] = 0.0f;
-
-
-  Direction[2] = 0.0f;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  dNormalize3(Direction);
-
-
-
-
-
-  Rays[2] = dGeomCreateRay(space, 20.0f);
-
-
-  dGeomRaySet(Rays[2], Origin, Direction);
-
-
-
-
-
-  /* Ray 3 */
-
-
-  Origin[0] = -9;
-
-
-  Origin[1] = 11;
-
-
-  Origin[2] = 0.15;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 1.0f;
-
-
-  Direction[1] = -1.0f;
-
-
-  Direction[2] = 0.0f;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  dNormalize3(Direction);
-
-
-
-
-
-  Rays[3] = dGeomCreateRay(space, 20.0f);
-
-
-  dGeomRaySet(Rays[3], Origin, Direction);
-
-
-
-
-
-  /* Ray 4 */
-
-
-  Origin[0] = -0.1;
-
-
-  Origin[1] = 0.3;
-
-
-  Origin[2] = 0.30;
-
-
-  Origin[3] = 0;
-
-
-
-
-
-  Direction[0] = 0.3f;
-
-
-  Direction[1] = 0.5f;
-
-
-  Direction[2] = 1.0f;
-
-
-  Direction[3] = 0;
-
-
-
-
-
-  Rays[4] = dGeomCreateRay(space, 5.0f);
-
-
-  dGeomRaySet(Rays[4], Origin, Direction);
-
-
-
-
-
-  // run simulation
-
-
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-
-
-
-
-  dJointGroupDestroy (contactgroup);
-
-
-  dSpaceDestroy (space);
-
-
-  dWorldDestroy (world);
-
-
-
-
-
-  return 0;
-
-
-}
-
-
diff --git a/libraries/ode-0.9/contrib/dRay/dRay.cpp b/libraries/ode-0.9/contrib/dRay/dRay.cpp
deleted file mode 100644
index e3a426e..0000000
--- a/libraries/ode-0.9/contrib/dRay/dRay.cpp
+++ /dev/null
@@ -1,119 +0,0 @@
-#include "Include\dRay.h"
-#include "dxRay.h"
-
-int dRayClass = -1;
-
-void dAABBRay(dxGeom* Ray, dReal AABB[6]){
-        dVector3 Start, End;
-        dGeomRayGet(Ray, Start, End);
-        dReal Length = dGeomRayGetLength(Ray);
-
-        End[0] = Start[0] + End[0] * Length;
-        End[1] = Start[1] + End[1] * Length;
-        End[2] = Start[2] + End[2] * Length;
-        End[3] = Start[3] + End[3] * Length;
-
-        if (Start[0] < End[0]){
-                AABB[0] = Start[0];
-                AABB[1] = End[0];
-        }
-        else{
-                AABB[0] = End[0];
-                AABB[1] = Start[0];
-        }
-
-        if (Start[1] < End[1]){
-                AABB[2] = Start[1];
-                AABB[3] = End[1];
-        }
-        else{
-                AABB[2] = End[1];
-                AABB[3] = Start[1];
-        }
-
-        if (Start[2] < End[2]){
-                AABB[4] = Start[2];
-                AABB[5] = End[2];
-        }
-        else{
-                AABB[4] = End[2];
-                AABB[5] = Start[2];
-        }
-        // Should we tweak the box to have a minimum size for axis aligned lines? How small should it be?
-}
-
-dColliderFn* dRayColliderFn(int num){
-        if (num == dPlaneClass) return (dColliderFn*)&dCollidePR;
-        if (num == dSphereClass) return (dColliderFn*)&dCollideSR;
-        if (num == dBoxClass) return (dColliderFn*)&dCollideBR;
-        if (num == dCCylinderClass) return (dColliderFn*)&dCollideCCR;
-        return 0;
-}
-
-dxGeom* dGeomCreateRay(dSpaceID space, dReal Length){
-        if (dRayClass == -1){
-                dGeomClass c;
-                c.bytes = sizeof(dxRay);
-                c.collider = &dRayColliderFn;
-                c.aabb = &dAABBRay;
-                c.aabb_test = 0;
-                c.dtor = 0;
-
-                dRayClass = dCreateGeomClass(&c);
-        }
-
-        dxGeom* g = dCreateGeom(dRayClass);
-        if (space) dSpaceAdd(space, g);
-
-        dGeomRaySetLength(g, Length);
-        return g;
-}
-
-void dGeomRaySetLength(dxGeom* g, dReal Length){
-        ((dxRay*)dGeomGetClassData(g))->Length = Length;
-}
-
-dReal dGeomRayGetLength(dxGeom* g){
-        return ((dxRay*)dGeomGetClassData(g))->Length;
-}
-
-void dGeomRaySet(dxGeom* g, dVector3 Origin, dVector3 Direction){
-        dGeomSetPosition(g, Origin[0], Origin[1], Origin[2]);
-
-        dVector3 Up, Right;
-        dPlaneSpace(Direction, Up, Right);
-
-        Origin[3] = Up[3] = Right[3] = REAL(0.0);
-
-        dMatrix3 Rotation;
-        Rotation[0 * 4 + 0] = Right[0];
-        Rotation[1 * 4 + 0] = Right[1];
-        Rotation[2 * 4 + 0] = Right[2];
-        Rotation[3 * 4 + 0] = Right[3];
-
-        Rotation[0 * 4 + 1] = Up[0];
-        Rotation[1 * 4 + 1] = Up[1];
-        Rotation[2 * 4 + 1] = Up[2];
-        Rotation[3 * 4 + 1] = Up[3];
-
-        Rotation[0 * 4 + 2] = Direction[0];
-        Rotation[1 * 4 + 2] = Direction[1];
-        Rotation[2 * 4 + 2] = Direction[2];
-        Rotation[3 * 4 + 2] = Direction[3];
-
-        dGeomSetRotation(g, Rotation);
-}
-
-void dGeomRayGet(dxGeom* g, dVector3 Origin, dVector3 Direction){
-        const dReal* Position = dGeomGetPosition(g);
-        Origin[0] = Position[0];
-        Origin[1] = Position[1];
-        Origin[2] = Position[2];
-        Origin[3] = Position[3];
-
-        const dReal* Rotation = dGeomGetRotation(g);
-        Direction[0] = Rotation[0 * 4 + 2];
-        Direction[1] = Rotation[1 * 4 + 2];
-        Direction[2] = Rotation[2 * 4 + 2];
-        Direction[3] = Rotation[3 * 4 + 2];
-}
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/dRay/dRay_Box.cpp b/libraries/ode-0.9/contrib/dRay/dRay_Box.cpp
deleted file mode 100644
index d2a0d9c..0000000
--- a/libraries/ode-0.9/contrib/dRay/dRay_Box.cpp
+++ /dev/null
@@ -1,134 +0,0 @@
-// Ripped from Magic Software
-
-#include "Include\dRay.h"
-#include "dxRay.h"
-
-bool Clip(dReal Denom, dReal Numer, dReal& T0, dReal& T1){
-    // Return value is 'true' if line segment intersects the current test
-    // plane.  Otherwise 'false' is returned in which case the line segment
-    // is entirely clipped.
-        
-    if (Denom > REAL(0.0)){
-                if (Numer > Denom * T1){
-            return false;
-                }
-
-        if (Numer > Denom * T0){
-            T0 = Numer / Denom;
-                }
-        return true;
-    }
-    else if (Denom < REAL(0.0)){
-        if (Numer > Denom * T0){
-            return false;
-                }
-
-        if (Numer > Denom * T1){
-            T1 = Numer / Denom;
-                }
-        return true;
-    }
-    else return Numer <= REAL(0.0);
-}
-
-bool FindIntersection(const dVector3 Origin, const dVector3 Direction, const dVector3 Extents, dReal& T0, dReal& T1){
-    dReal SaveT0 = T0;
-        dReal SaveT1 = T1;
-
-    bool NotEntirelyClipped =
-        Clip(+Direction[0], -Origin[0] - Extents[0], T0, T1) &&
-        Clip(-Direction[0], +Origin[0] - Extents[0], T0, T1) &&
-        Clip(+Direction[1], -Origin[1] - Extents[1], T0, T1) &&
-        Clip(-Direction[1], +Origin[1] - Extents[1], T0, T1) &&
-        Clip(+Direction[2], -Origin[2] - Extents[2], T0, T1) &&
-        Clip(-Direction[2], +Origin[2] - Extents[2], T0, T1);
-
-    return NotEntirelyClipped && (T0 != SaveT0 || T1 != SaveT1);
-}
-
-int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride){
-        const dVector3& Position = *(const dVector3*)dGeomGetPosition(BoxGeom);
-        const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(BoxGeom);
-        dVector3 Extents;
-        dGeomBoxGetLengths(BoxGeom, Extents);
-        Extents[0] /= 2;
-        Extents[1] /= 2;
-        Extents[2] /= 2;
-        Extents[3] /= 2;
-
-        dVector3 Origin, Direction;
-        dGeomRayGet(RayGeom, Origin, Direction);
-        dReal Length = dGeomRayGetLength(RayGeom);
-
-        dVector3 Diff;
-        Diff[0] = Origin[0] - Position[0];
-        Diff[1] = Origin[1] - Position[1];
-        Diff[2] = Origin[2] - Position[2];
-        Diff[3] = Origin[3] - Position[3];
-
-        Direction[0] *= Length;
-        Direction[1] *= Length;
-        Direction[2] *= Length;
-        Direction[3] *= Length;
-
-        dVector3 Rot[3];
-        Decompose(Rotation, Rot);
-
-        dVector3 TransOrigin;
-        TransOrigin[0] = dDOT(Diff, Rot[0]);
-        TransOrigin[1] = dDOT(Diff, Rot[1]);
-        TransOrigin[2] = dDOT(Diff, Rot[2]);
-        TransOrigin[3] = REAL(0.0);
-
-        dVector3 TransDirection;
-        TransDirection[0] = dDOT(Direction, Rot[0]);
-        TransDirection[1] = dDOT(Direction, Rot[1]);
-        TransDirection[2] = dDOT(Direction, Rot[2]);
-        TransDirection[3] = REAL(0.0);
-
-        dReal T[2];
-        T[0] = 0.0f;
-        T[1] = dInfinity;
-
-        bool Intersect = FindIntersection(TransOrigin, TransDirection, Extents, T[0], T[1]);
-
-        if (Intersect){
-                if (T[0] > REAL(0.0)){
-                        dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride);
-                        Contact0->pos[0] = Origin[0] + T[0] * Direction[0];
-                        Contact0->pos[1] = Origin[1] + T[0] * Direction[1];
-                        Contact0->pos[2] = Origin[2] + T[0] * Direction[2];
-                        Contact0->pos[3] = Origin[3] + T[0] * Direction[3];
-                        //Contact0->normal = 0;
-                        Contact0->depth = 0.0f;
-                        Contact0->g1 = RayGeom;
-                        Contact0->g2 = BoxGeom;
-
-                        dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride);
-                        Contact1->pos[0] = Origin[0] + T[1] * Direction[0];
-                        Contact1->pos[1] = Origin[1] + T[1] * Direction[1];
-                        Contact1->pos[2] = Origin[2] + T[1] * Direction[2];
-                        Contact1->pos[3] = Origin[3] + T[1] * Direction[3];
-                        //Contact1->normal = 0;
-                        Contact1->depth = 0.0f;
-                        Contact1->g1 = RayGeom;
-                        Contact1->g2 = BoxGeom;
-
-                        return 2;
-                }
-                else{
-                        dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride);
-                        Contact->pos[0] = Origin[0] + T[1] * Direction[0];
-                        Contact->pos[1] = Origin[1] + T[1] * Direction[1];
-                        Contact->pos[2] = Origin[2] + T[1] * Direction[2];
-                        Contact->pos[3] = Origin[3] + T[1] * Direction[3];
-                        //Contact->normal = 0;
-                        Contact->depth = 0.0f;
-                        Contact->g1 = RayGeom;
-                        Contact->g2 = BoxGeom;
-
-                        return 1;
-                }
-        }
-        else return 0;
-}
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/dRay/dRay_CCylinder.cpp b/libraries/ode-0.9/contrib/dRay/dRay_CCylinder.cpp
deleted file mode 100644
index b9ea0c0..0000000
--- a/libraries/ode-0.9/contrib/dRay/dRay_CCylinder.cpp
+++ /dev/null
@@ -1,199 +0,0 @@
-// Ripped from Magic Software
-
-#include "Include\dRay.h"
-#include "dxRay.h"
-
-int Find(const dVector3 Origin, dVector3 Direction, dReal Length, const dVector3 CCPos, const dMatrix3 CCRot, dReal CCRadius, dReal CCLength, dReal T[2]){
-        dVector3 U, V, W;
-        Decompose(CCRot, U, V, W);
-
-        dVector3 CCOrigin;
-        CCOrigin[0] = CCPos[0] - (W[0] * CCLength / 2);
-        CCOrigin[1] = CCPos[1] - (W[1] * CCLength / 2);
-        CCOrigin[2] = CCPos[2] - (W[2] * CCLength / 2);
-        CCOrigin[3] = CCPos[3] - (W[3] * CCLength / 2);
-        
-        dVector3 D;
-        D[0] = dDOT(U, Direction);
-        D[1] = dDOT(V, Direction);
-        D[2] = dDOT(W, Direction);
-
-        dReal DMag = Length;
-        dReal InvDMag = REAL(1.0) / DMag;
-
-        dVector3 Diff;
-        Diff[0] = Origin[0] - CCOrigin[0];
-        Diff[1] = Origin[1] - CCOrigin[1];
-        Diff[2] = Origin[2] - CCOrigin[2];
-        Diff[3] = Origin[3] - CCOrigin[3];
-
-        dVector3 P;
-        P[0] = dDOT(U, Diff);
-        P[1] = dDOT(V, Diff);
-        P[2] = dDOT(W, Diff);
-
-        dReal CCRadiusSq = CCRadius * CCRadius;
-
-        dReal Epsilon = 1e-12f;
-
-        if (dFabs(D[2]) >= REAL(1.0) - Epsilon){        // line is parallel to capsule axis
-                dReal Discr =  CCRadiusSq - P[0] * P[0] - P[1] * P[1];
-
-                if (Discr >= REAL(0.0)){
-            dReal Root = dSqrt(Discr);
-            T[0] = (-P[2] + Root) * InvDMag;
-            T[1] = (CCLength - P[2] + Root) * InvDMag;
-            return 2;
-        }
-        else return 0;
-        }
-
-        // test intersection with infinite cylinder
-    dReal A = D[0] * D[0] + D[1] * D[1];
-    dReal B = P[0] * D[0] + P[1] * D[1];
-    dReal C = P[0] * P[0] + P[1] * P[1] - CCRadiusSq;
-    dReal Discr = B * B - A * C;
-    if (Discr < REAL(0.0)){     // line does not intersect infinite cylinder
-        return 0;
-    }
-
-        int Count = 0;
-
-    if (Discr > REAL(0.0)){     // line intersects infinite cylinder in two places
-        dReal Root = dSqrt(Discr);
-        dReal Inv = REAL(1.0) / A;
-
-                dReal TTemp = (-B - Root) * Inv;
-
-        dReal Tmp = P[2] + TTemp * D[2];
-        if (REAL(0.0) <= Tmp && Tmp <= CCLength){
-                        T[Count++] = TTemp * InvDMag;
-                }
-                
-                
-        TTemp = (-B + Root) * Inv;
-        Tmp = P[2] + TTemp * D[2];
-        if (REAL(0.0) <= Tmp && Tmp <= CCLength){
-                        T[Count++] = TTemp * InvDMag;
-                }
-
-        if (Count == 2){        // line intersects capsule wall in two places
-            return 2;
-        }
-    }
-        else{   // line is tangent to infinite cylinder
-        dReal TTemp = -B / A;
-        dReal Tmp = P[2] + TTemp * D[2];
-        if (REAL(0.0) <= Tmp && Tmp <= CCLength){
-            T[0] = TTemp * InvDMag;
-            return 1;
-        }
-    }
-
-        // test intersection with bottom hemisphere
-    // fA = 1
-    B += P[2] * D[2];
-    C += P[2] * P[2];
-    Discr = B * B - C;
-    if (Discr > REAL(0.0)){
-        dReal Root = dSqrt(Discr);
-        dReal TTemp = -B - Root;
-        dReal Tmp = P[2] + TTemp * D[2];
-        if (Tmp <= REAL(0.0)){
-            T[Count++] = TTemp * InvDMag;
-            if (Count == 2){
-                return 2;
-                        }
-        }
-
-        TTemp = -B + Root;
-        Tmp = P[2] + TTemp * D[2];
-        if (Tmp <= REAL(0.0)){
-            T[Count++] = TTemp * InvDMag;
-            if (Count == 2){
-                return 2;
-                        }
-        }
-    }
-    else if (Discr == REAL(0.0)){
-        dReal TTemp = -B;
-        dReal Tmp = P[2] + TTemp * D[2];
-        if (Tmp <= REAL(0.0)){
-            T[Count++] = TTemp * InvDMag;
-            if (Count == 2){
-                return 2;
-                        }
-        }
-    }
-
-        // test intersection with top hemisphere
-    // fA = 1
-    B -= D[2] * CCLength;
-    C += CCLength * (CCLength - REAL(2.0) * P[2]);
-
-    Discr = B * B - C;
-    if (Discr > REAL(0.0)){
-        dReal Root = dSqrt(Discr);
-        dReal TTemp = -B - Root;
-        dReal Tmp = P[2] + TTemp * D[2];
-        if (Tmp >= CCLength){
-
-            T[Count++] = TTemp * InvDMag;
-            if (Count == 2){
-                return 2;
-                        }
-        }
-
-        TTemp = -B + Root;
-        Tmp = P[2] + TTemp * D[2];
-        if (Tmp >= CCLength){
-            T[Count++] = TTemp * InvDMag;
-            if (Count == 2){
-                return 2;
-                        }
-        }
-    }
-    else if (Discr == REAL(0.0)){
-        dReal TTemp = -B;
-        dReal Tmp = P[2] + TTemp * D[2];
-        if (Tmp >= CCLength){
-            T[Count++] = TTemp * InvDMag;
-            if (Count == 2){
-                return 2;
-                        }
-        }
-    }
-        return Count;
-}
-
-int dCollideCCR(dxGeom* RayGeom, dxGeom* CCGeom, int Flags, dContactGeom* Contacts, int Stride){
-        const dVector3& CCPos = *(const dVector3*)dGeomGetPosition(CCGeom);
-        const dMatrix3& CCRot = *(const dMatrix3*)dGeomGetRotation(CCGeom);
-
-        dReal CCRadius, CCLength;
-        dGeomCCylinderGetParams(CCGeom, &CCRadius, &CCLength);
-
-        dVector3 Origin, Direction;
-        dGeomRayGet(RayGeom, Origin, Direction);
-        dReal Length = dGeomRayGetLength(RayGeom);
-
-        dReal T[2];
-    int Count = Find(Origin, Direction, Length, CCPos, CCRot, CCRadius, CCLength, T);
-        int ContactCount = 0;
-        for (int i = 0; i < Count; i++){
-                if (T[i] >= 0.0){
-                        dContactGeom* Contact = CONTACT(Flags, Contacts, ContactCount, Stride);
-                        Contact->pos[0] = Origin[0] + T[i] * Direction[0] * Length;
-                        Contact->pos[1] = Origin[1] + T[i] * Direction[1] * Length;
-                        Contact->pos[2] = Origin[2] + T[i] * Direction[2] * Length;
-                        Contact->pos[3] = Origin[3] + T[i] * Direction[3] * Length;
-                        //Contact->normal = 0;
-                        Contact->depth = 0.0f;
-                        Contact->g1 = RayGeom;
-                        Contact->g2 = CCGeom;
-
-                        ContactCount++;
-                }
-        }
-    return ContactCount;
-}
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/dRay/dRay_Plane.cpp b/libraries/ode-0.9/contrib/dRay/dRay_Plane.cpp
deleted file mode 100644
index cf03c5b..0000000
--- a/libraries/ode-0.9/contrib/dRay/dRay_Plane.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-// Ripped from Paul Bourke
-
-#include "Include\dRay.h"
-#include "dxRay.h"
-
-int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contact, int Stride){
-        dVector3 Plane;
-        dGeomPlaneGetParams(PlaneGeom, Plane);
-
-        dVector3 Origin, Direction;
-        dGeomRayGet(RayGeom, Origin, Direction);
-
-        dReal Length = dGeomRayGetLength(RayGeom);
-
-        dReal Denom = Plane[0] * Direction[0] + Plane[1] * Direction[1] + Plane[2] * Direction[2];
-        if (dFabs(Denom) < 0.00001f){
-                return 0;       // Ray never hits
-        }
-        
-        float T = -(Plane[3] + Plane[0] * Origin[0] + Plane[1] * Origin[1] + Plane[2] * Origin[2]) / Denom;
-        
-        if (T < 0 || T > Length){
-                return 0;       // Ray hits but not within boundaries
-        }
-
-        Contact->pos[0] = Origin[0] + T * Direction[0];
-        Contact->pos[1] = Origin[1] + T * Direction[1];
-        Contact->pos[2] = Origin[2] + T * Direction[2];
-        Contact->pos[3] = REAL(0.0);
-        //Contact->normal = 0;
-        Contact->depth = 0.0f;
-        Contact->g1 = RayGeom;
-        Contact->g2 = PlaneGeom;
-        return 1;
-}
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/dRay/dRay_Sphere.cpp b/libraries/ode-0.9/contrib/dRay/dRay_Sphere.cpp
deleted file mode 100644
index 8e1ac39..0000000
--- a/libraries/ode-0.9/contrib/dRay/dRay_Sphere.cpp
+++ /dev/null
@@ -1,95 +0,0 @@
-// Ripped from Magic Software
-
-#include "Include\dRay.h"
-#include "dxRay.h"
-
-int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){
-        const dVector3& Position = *(const dVector3*)dGeomGetPosition(SphereGeom);
-        dReal Radius = dGeomSphereGetRadius(SphereGeom);
-
-        dVector3 Origin, Direction;
-        dGeomRayGet(RayGeom, Origin, Direction);
-        dReal Length = dGeomRayGetLength(RayGeom);
-
-        dVector3 Diff;
-        Diff[0] = Origin[0] - Position[0];
-        Diff[1] = Origin[1] - Position[1];
-        Diff[2] = Origin[2] - Position[2];
-        Diff[3] = Origin[3] - Position[3];
-
-        Direction[0] *= Length;
-        Direction[1] *= Length;
-        Direction[2] *= Length;
-        Direction[3] *= Length;
-
-        dReal A = Length * Length;
-        dReal B = dDOT(Diff, Direction);
-        dReal C = dDOT(Diff, Diff) - (Radius * Radius);
-
-        dReal Discr = B * B - A * C;
-        if (Discr < REAL(0.0)){
-                return 0;
-        }
-        else if (Discr > REAL(0.0)){
-                dReal T[2];
-                dReal Root = dSqrt(Discr);
-                dReal InvA = REAL(1.0) / A;
-                T[0] = (-B - Root) * InvA;
-                T[1] = (-B + Root) * InvA;
-
-                if (T[0] >= REAL(0.0)){
-                        dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride);
-                        Contact0->pos[0] = Origin[0] + T[0] * Direction[0];
-                        Contact0->pos[1] = Origin[1] + T[0] * Direction[1];
-                        Contact0->pos[2] = Origin[2] + T[0] * Direction[2];
-                        Contact0->pos[3] = Origin[3] + T[0] * Direction[3];
-                        //Contact0->normal = 0;
-                        Contact0->depth = 0.0f;
-                        Contact0->g1 = RayGeom;
-                        Contact0->g2 = SphereGeom;
-
-                        dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride);
-                        Contact1->pos[0] = Origin[0] + T[1] * Direction[0];
-                        Contact1->pos[1] = Origin[1] + T[1] * Direction[1];
-                        Contact1->pos[2] = Origin[2] + T[1] * Direction[2];
-                        Contact1->pos[3] = Origin[3] + T[1] * Direction[3];
-                        //Contact1->normal = 0;
-                        Contact1->depth = 0.0f;
-                        Contact1->g1 = RayGeom;
-                        Contact1->g2 = SphereGeom;
-
-                        return 2;
-                }
-                else if (T[1] >= REAL(0.0)){
-                        dContactGeom* Contact = CONTACT(Flags, Contacts, 1, Stride);
-                        Contact->pos[0] = Origin[0] + T[1] * Direction[0];
-                        Contact->pos[1] = Origin[1] + T[1] * Direction[1];
-                        Contact->pos[2] = Origin[2] + T[1] * Direction[2];
-                        Contact->pos[3] = Origin[3] + T[1] * Direction[3];
-                        //Contact->normal = 0;
-                        Contact->depth = 0.0f;
-                        Contact->g1 = RayGeom;
-                        Contact->g2 = SphereGeom;
-
-            return 1;
-                }
-                else return 0;
-        }
-        else{
-                dReal T;
-                T = -B / A;
-                if (T >= REAL(0.0)){
-                        dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride);
-                        Contact->pos[0] = Origin[0] + T * Direction[0];
-                        Contact->pos[1] = Origin[1] + T * Direction[1];
-                        Contact->pos[2] = Origin[2] + T * Direction[2];
-                        Contact->pos[3] = Origin[3] + T * Direction[3];
-                        //Contact->normal = 0;
-                        Contact->depth = 0.0f;
-                        Contact->g1 = RayGeom;
-                        Contact->g2 = SphereGeom;
-            return 1;
-                }
-                else return 0;
-        }
-}
\ No newline at end of file
diff --git a/libraries/ode-0.9/contrib/dRay/dxRay.h b/libraries/ode-0.9/contrib/dRay/dxRay.h
deleted file mode 100644
index 0fd1d2d..0000000
--- a/libraries/ode-0.9/contrib/dRay/dxRay.h
+++ /dev/null
@@ -1,32 +0,0 @@
-struct dxRay{
-        dReal Length;
-};
-
-inline void Decompose(const dMatrix3 Matrix, dVector3 Right, dVector3 Up, dVector3 Direction){
-        Right[0] = Matrix[0 * 4 + 0];
-        Right[1] = Matrix[1 * 4 + 0];
-        Right[2] = Matrix[2 * 4 + 0];
-        Right[3] = Matrix[3 * 4 + 0];
-        Up[0] = Matrix[0 * 4 + 1];
-        Up[1] = Matrix[1 * 4 + 1];
-        Up[2] = Matrix[2 * 4 + 1];
-        Up[3] = Matrix[3 * 4 + 1];
-        Direction[0] = Matrix[0 * 4 + 2];
-        Direction[1] = Matrix[1 * 4 + 2];
-        Direction[2] = Matrix[2 * 4 + 2];
-        Direction[3] = Matrix[3 * 4 + 2];
-}
-
-inline void Decompose(const dMatrix3 Matrix, dVector3 Vectors[3]){
-        Decompose(Matrix, Vectors[0], Vectors[1], Vectors[2]);
-}
-
-inline dContactGeom* CONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
-        dIASSERT(Index >= 0 && Index < (Flags & 0x0ffff));
-        return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
-}
-
-int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contacts, int Stride);
-int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride);
-int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride);
-int dCollideCCR(dxGeom* RayGeom, dxGeom* CCylinderGeom, int Flags, dContactGeom* Contacts, int Stride);
\ No newline at end of file