dont ask

122 files changed, 0 insertions, 60972 deletions

diff --git a/libraries/ode-0.9/ode/Makefile.am b/libraries/ode-0.9/ode/Makefile.am
deleted file mode 100644
index 5c9708e..0000000
--- a/libraries/ode-0.9/ode/Makefile.am
+++ /dev/null
@@ -1,4 +0,0 @@
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diff --git a/libraries/ode-0.9/ode/Makefile.in b/libraries/ode-0.9/ode/Makefile.in
deleted file mode 100644
index d89db18..0000000
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+++ /dev/null
@@ -1,489 +0,0 @@
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diff --git a/libraries/ode-0.9/ode/README b/libraries/ode-0.9/ode/README
deleted file mode 100644
index dd4596f..0000000
--- a/libraries/ode-0.9/ode/README
+++ /dev/null
@@ -1,158 +0,0 @@
-Dynamics Library.
-=================
-
-CONVENTIONS
------------
-
-matrix storage
---------------
-
-matrix operations like factorization are expensive, so we must store the data
-in a way that is most useful to the matrix code. we want the ability to update
-the dynamics library without recompiling applications, e.g. so users can take
-advantage of new floating point hardware. so we must settle on a single
-format. because of the prevalence of 4-way SIMD, the format is this: store
-the matrix by rows or columns, and each column is rounded up to a multiple of
-4 elements. the extra "padding" elements at the end of each row/column are set
-to 0. this is called the "standard format". to indicate if the data is stored
-by rows or columns, we will say "standard row format" or "standard column
-format". hopefully this decision will remain good in the future, as more and
-more processors have 4-way SIMD, and 3D graphics always needs fast 4x4
-matrices.
-
-exception: matrices that have only one column or row (vectors), are always
-stored as consecutive elements in standard row format, i.e. there is no
-interior padding, only padding at the end.
-
-thus: all 3x1 floating point vectors are stored as 4x1 vectors: (x,x,x,0).
-also: all 6x1 spatial velocities and accelerations are split into 3x1 position
-  and angular components, which are stored as contiguous 4x1 vectors.
-
-ALL matrices are stored by in standard row format.
-
-
-arguments
----------
-
-3x1 vector arguments to set() functions are supplied as x,y,z.
-3x1 vector result arguments to get() function are pointers to arrays.
-larger vectors are always supplied and returned as pointers.
-all coordinates are in the global frame except where otherwise specified.
-output-only arguments are usually supplied at the end.
-
-
-memory allocation
------------------
-
-with many C/C++ libraries memory allocation is a difficult problem to solve.
-who allocates the memory? who frees it? must objects go on the heap or can
-they go on the stack or in static storage? to provide the maximum flexibility,
-the dynamics and collision libraries do not do their own memory allocation.
-you must pass in pointers to externally allocated chunks of the right sizes.
-the body, joint and colllision object structures are all exported, so you
-can make instances of those structure and pass pointers to them.
-
-there are helper functions which allocate objects out of areans, in case you
-need loots of dynamic creation and deletion.
-
-BUT!!! this ties us down to the body/joint/collision representation.
-
-a better approach is to supply custom memory allocation functions
-(e.g. dlAlloc() etc).
-
-
-C versus C++ ... ?
-------------------
-
-everything should be C linkable, and there should be C header files for
-everything. but we want to develop in C++. so do this:
-  * all comments are "//". automatically convert to /**/ for distribution.
-  * structures derived from other structures --> automatically convert?
-
-
-WORLDS
-------
-
-might want better terminology here.
-
-the dynamics world (DWorld) is a list of systems. each system corresponds to
-one or more bodies, or perhaps some other kinds of physical object.
-each system corresponds to one or more objects in the collision world
-(there does not have to be a one-to-one correspondence between bodies and
-collision objects).
-
-systems are simulated separately, perhaps using completely different
-techniques. we must do something special when systems collide.
-systems collide when collision objects belonging to system A touch
-collision objects belonging to system B.
-
-for each collision point, the system must provide matrix equation data
-that is used to compute collision forces. once those forces are computed,
-the system must incorporate the forces into its timestep.
-PROBLEM: what if we intertwine the LCP problems of the two systems - then
-this simple approach wont work.
-
-the dynamics world contains two kinds of objects: bodies and joints.
-joints connect two bodies together.
-
-the world contains one of more partitions. each partition is a collection of
-bodies and joints such that each body is attached (through one or more joints)
-to every other body.
-
-Joints
-------
-
-a joint can be connected to one or two bodies.
-if the joint is only connected to one body, joint.node[1].body == 0.
-joint.node[0].body is always valid.
-
-
-Linkage
--------
-
-this library will always be statically linked with the app, for these reasons:
-  * collision space is selected at compile time, it adds data to the geom
-    objects.
-
-
-Optimization
-------------
-
-doubles must be aligned on 8 byte boundaries!
-
-
-MinGW on Windows issues
------------------------
-
-* the .rc file for drawstuff needs a different include, try winresrc.h.
-
-* it seems we can't have both main() and WinMain() without the entry point
-  defaulting to main() and having resource loading problems. this screws up
-  what i was trying to do in the drawstuff library. perhaps main2() ?
-
-* remember to compile resources to COFF format RES files.
-
-
-
-Collision
----------
-
-to plug in your own collision handling, replace (some of?) these functions
-with your own. collision should be a separate library that you can link in
-or not. your own library can call components in this collision library, e.g.
-if you want polymorphic spaces instead of a single statically called space.
-
-creating an object will automatically register the appropriate
-class (if necessary). how can we ensure that the minimum amount of code is
-linked in? e.g. only one space handler, and sphere-sphere and sphere-box and
-box-box collision code (if spheres and boxes instanced).
-
-the user creates a collision space, and for each dynamics object that is
-created a collision object is inserted into the space. the collision
-object's pos and R pointers are set to the corresponding dynamics
-variables.
-
-there should be utility functions which create the dynamics and collision
-objects at the same time, e.g. dMakeSphere().
-
-collision objects and dynamics objects keep pointers to each other.
diff --git a/libraries/ode-0.9/ode/TODO b/libraries/ode-0.9/ode/TODO
deleted file mode 100644
index cf6cdaa..0000000
--- a/libraries/ode-0.9/ode/TODO
+++ /dev/null
@@ -1,698 +0,0 @@
-
-@@@'s
-
-
-TODO for COLLISION
-------------------
-
-box-box collision: adjust generated face-face contact points by depth/2 to
-be more fair.
-
-what happens when a GeomTransform's encapsulated object is manipulated,
-e.g. position changed. should this be disallowed? should a GeomTransform
-behave like a space and propagate dirtyness upwards?
-
-make sure that when we are using a large space for static environmental geoms,
-that there is not excessive AABB computation when geoms are added/removed from
-the space. the space AABB is pretty much guaranteed to cover everything, so
-there's no need to compute/test the AABB in this case.
-
-hash space: implement collide2() efficiently instead of the current
-simple-space-like brute-force approach.
-
-hash space: incremental scheme, so we dont have to rebuild the data structures
-for geoms that don't move.
-
-disabled geoms (remove from all collision considerations) ... isn't this the
-same as just taking it out of its enclosing group/space?
-
-integrate:
-        dRay
-        triangle collider - get latest tri collider code from erwin
-        erwin's quadtree space
-
-tests:
-        all aspects of collision API
-
-        dGeomSetBody(0) maintains body-geom linked list properly.
-
-        simple space: instantiate lots of non-moving geoms (i.e. environmental
-        geoms and make sure that we're still able to collide efficiently.
-        make sure AABB computation is efficient, or can be made efficient
-        through proper use of the API.
-
-        test C interface support for making new classes.
-        make sure the dxGeom::aabbTest() function behaves as advertised.
-
-        testing for contact point consistency: test for things that
-        would cause the dynamics to fail or become unstable
-
-        test for: small adjustment in geom position causes a big jump in the
-        contact point set (bad for dynamics).
-
-        test for: if contact constraints observed then it's impossible
-        (or hard) to move the objects so that the penetration is
-        increased. relax this when only a subset of the contact points are
-        returned.
-
-        test for consistency, e.g. the boundary of geoms X and Y can
-        be defined by intersecting with a point, so test the intersection of X
-        and Y by comparing with the point tests.
-
-        check that contact points are in the collision volume
-
-        all existing space tests, and more.
-
-demos:
-        test_buggy: make a terrain out of non-moving geoms. use heirarchical
-        groups to get efficient collision, even with the simple space.
-
-go though the new collision docs and make sure the behavior that is described
-there is actually implemented.
-
-multi-resolution hash table:
-        the current implementation rebuilds a new hash table each time
-        collide() is called. we don't keep any state between calls. this is
-        wasteful if there are unmoving objects in the space.
-
-        make sure we prevent multiple collision callbacks for the same pair
-
-        better virtual address function.
-
-        the collision search can perhaps be optimized - as we search
-        chains we can come across other candidate intersections at
-        other levels, perhaps we should do the intersection check
-        straight away? --> save on list searching time only, which is
-        not too significant.
-
-collision docs:
-        optimization guide: whenever a single geom changes in a simple space,
-        the space AABB has to be recomputed by examining EVERY geom.
-        document this, or find a better behavior.
-
-
-
-TODO BEFORE NEXT RELEASE
-------------------------
-
-g++ needed for compiling tests using gcc 3.2 ? what is the problem?
-
-add joint feedback info from lambda, so that we can get motor forces etc.
-need a way to map constraint indexes to what they mean.
-
-track down and fix the occasional popping/jumping problem in test_boxstack,
-especially when boxes are piled on top of each other. find out if this is
-caused by a configuration singularity or whether there is a bug in LCP.
-i need to add some kind of diagnostic tool to help resolve these kinds of
-problems.
-
-fixup ground plane jitter and shadow jumping in drawstuff.
-
-the inertias/COMs don't appear to be totally correct for the boxstack demo.
-fix up, and add a mode that shows the effective mass box (for a given density).
-
-Improve box-box collision, especially for face-face contact (3 contact points).
-Improve cylinder-box collision (2 contact points).
-
-windows DLL building and unix shared libs. libtool?
-also MSVC project files.
-
-dBodyGetPointVel()
-
-contrib directory - all stuff in ~/3/ode
-
-functions to allow systems to be copied/cloned
-        dBodyTransplant (b, world)
-        dTransplantIsland (b, world)
-        dBodyCopy (bdest, bsrc)
-        dJointCopy (jdest, jsrc)  -- what about body connections?
-        dCloneBody()
-        dCloneJoint()
-        dCloseBodyAndJointList()
-        dCloneIsland()
-
-this collision rule:
-    // no contacts if both geoms on the same body, and the body is not 0
-    if (g1->body == g2->body && g1->body) return 0;
-needs to be replaced. sometimes we want no collision when both bodies are 0,
-but this wont work for geomgroup-to-environment. avoid stupid stuff like
-    dGeomSetBody (geom_group, (dBodyID) 1);
-this also causes "failed-to-report" errors in the space test.
-
-Expose type-specific collision functions?
-
-Automatic code optimization process.
-
-joint limit spongyness: interacts with powered joints badly, because when the
-limit is reached full power is applied. fix or doc.
-
-various hinge2 functions may not function correctly if axis1 and axis2 are not
-perpendicular. in particular the getAngle() and getAngleRate() functions
-probably will give bogus answers.
-
-slow step function will not respect the joint getinfo2 functions calling
-addTorque() because it reads the force/torque accumulators before the
-getinfo2 functions are called.
-
-spaces need multiple lists of objects that can never overlap. objects in these
-lists are never tested against each other.
-
-deleting a body a joint is attached to should adjust the joint to only have
-one body attached. currently the connected joints have *both* their body
-attachments removed. BUT, dont do this if the dJOINT_TWOBODIES flag is set
-on the joint.
-
-document error, mem and math functions.
-
-Web pages
-        credits section
-        projects using ODE
-
-update C++ interface? use SWIG?
-
-collision exclusion groups - exclude if obj1.n == obj2.n ?
-
-make sure the amotor joint can be used with just one body. at the moment it
-only allows two-body attachments.
-
-implement dJointGetAMotorAngleRate()
-
-erwin says: Should the GeomGroup have a cleanupmode as the GeomTransform has?
-
-erwin says: http://q12.org/pipermail/ode/2002-January/000766.html
-        and http://q12.org/pipermail/ode/2001-December/000753.html
-
-rename duplicate filenames (object.h?) - some environments can't handle this.
-
-naming inconsistency: dCreateSphere() should be dSphereCreate() (etc...) to
-match the rest of the API.
-
-
-TODO
-----
-
-joint allocation in joint groups. allocation size should be rounded up using
-dEFFICIENT_SIZE, to properly align all the data members.
-
-all dAlloc() allocations should be aligned using dEFFICIENT_SIZE() ???
-
-automatic body & joint disabling / enabling.
-
-sometimes getting LCP infinite loops.
-
-function to get the entire island of bodies/joints
-
-joints:
-        hinge2 joint - implement trail, i.e. non-convergent steering and wheel
-        axes.
-
-        erp individually settable for each joint?
-
-        more joints:
-                angular3 (constrian full angle not position)
-                fixed path 1 (point must follow fixed path, etc etc)
-                  - other fixed path joints.
-                linear a (point in 1 body fixed to plane of other)
-                linear b (point in 1 body fixed to line on other)
-                linear c (line in 1 body fixed to plane on other)
-                linear d (line in 1 body fixed to line on other) - like
-                        prismatic but orientation along line can change
-                Relative-Path-Relative-Oriention Joint (set all dofs of 2
-                        bodies relative to each other)
-                spring (with natural length)
-                universal (2 kinds)
-                various angular relationships
-
-        when attaching joints to static env, provision to move attachment
-        point (e.g. give it a linear/angular velocity). this can be used
-        instead of a FPFO joint on a body in many cases.
-        also do this with contacts to static env, to allow for contacts to
-        *moving* objects in the static env.
-
-        interpretation of erp: is it (1) the error reduction per timestep,
-        (2) or a time constant independent of timestep?? if it's (2) then
-        perhaps this should be universal - this is already the meaning for
-        the suspension.
-
-        hinge2 suspension:
-                suspension limits
-                suspension limit restitution and spongyness??
-
-use autoconf? set paths in makefile?
-
-no-arg init functions, for andy
-
-explore: do joint parameters need to be set for the joint to be setup
-correctly, or should set some proper body-dependent params when it is
-attached? this is only really an issue for joints that have no parameters to
-set, such as the fixed joint.
-
-dAlloc() should take an arena parameters which is stored in dWorld.
-
-debugging mode should use dASSERT2 that prints a descriptive error message
-on error, not just the file:line or function. use dASSERT for internal
-consistency checking.
-
-when vectors and matrices are initialized, we must ensure that the padding
-elements are set to 0. this is going to be a problem everywhere!
-
-don't use 3-vectors anywhere. use SIMD friendly 4-vectors.
-
-make sure all data in body/joint etc objects is aligned well for single
-precision SIMD (i.e. all vectors start on a 16 byte boundary).
-
-think about more complicated uses of collision, e.g. a single geom representing
-an articulated structure.
-
-bodyGroup? (like joint group but for bodies). systemGroup?
-
-check the overhead of resizing Array<>s as elements are pushed on to them.
-
-replace alloca() with dPushFrame(), dPopFrame(), and dAlloca() ? allow for
-the possibility of allocating in non-stack memory ?
-
-make sure that we can set mass parameters with non-zero center of mass.
-if this is done after the body position is set, the position is adjusted.
-if this is done before the body position is set, what do we do when the
-pos is set? does the pos always refer to the center of mass from the user's
-point of view?
-
-consider splitting solver into functions, which can be optimized separately.
-might make things go faster.
-
-faster code for islands with a single body? faster code for dynamically
-symmetric bodies?
-
-rotation.cpp functions that set matrices should also set padding elements.
-
-lcp solver must return (L,d) and some other information, so we can re-solve
-for other right hand sides later on, but using the same complimentarity
-solution so there are no integrator discontinuities.
-
-dSetZero() - make fast inline functions for fixed n e.g. (1-4).
-
-need proper `sticky' friction, i.e. compensation for numerical slip.
-
-on windows, make sure gcc-compiles libs can be linked with VC++ apps. need
-to make sure some C++ runtime bits are present?
-
-kill all references to dArray<> (in geom.cpp).
-
-need testing code to test all joints with body-to-static-env
-
-copy stack.cpp, memory.cpp stuff to reuse
-
-dFactorLDLT() is not so efficient for matrix sizes < block size, e.g.
-redundant calls, zero loads, adds etc
-
-contacts: cheaper friction: viscous friction? one step delay friction force.
-
-in geom.cpp, for objects that are never meant to collide, dCollide() will
-always try to find the collider functions, which wastes a bit of time.
-
-geom.cpp:dCollideG() - handle special case of colliding 2 groups more
-efficiently.
-
-timer reporting function:
-        void timerReport (void (*printFunction)(char *, ...));
-
-disabled bodies stored in a separate list, so they are never traversed at all,
-for speed when there are many disabled bodies.
-
-
-MAYBE
------
-
-new implementation for joint groups that is not so system dependent.
-maybe individual contacts are reusable? in this case contact information
-should be settable in the contact joints. max_size arg is really annoying.
-
-consider making anchor,axis, (everything) into a joint parameter and setting
-them with a consistent interface. also consider overload the joint functions
-so they are not distinguished by joint type??
-
-collision memory optimizations?
-
-collision: support for persistent contact information?
-
-multiply reference tri list data so that it can be cloned
-        if the tri-list geoms could support rot/pos
-        transformations then we could have several tri-lists pointing to the
-        same vertex information.
-
-height fields
-
-pre-converted collision data -- Creating a hash space and associated
-opcode tree structures may take significant amounts of time for a
-large world with many 10s of thousands of triangles.  Any chance of
-pre-building that off-line and passing a memory block pointer to the
-collision system?
-
-putting objects in multiple spaces -- If it was possible to add
-objects to more than one space, you could do collision queries other
-than 1vsN and NvsN.  That flexibility might be useful when you want to
-only collide against a subset of the space.  For example, a camera
-system may want to collide some rays with occlusion walls but the
-occlusion walls may also need to be in the game-level space to bounce
-against.
-
-
-ALWAYS
-------
-
-make sure functions check their arguments in debug mode (e.g. using dASSERT).
-make sure joint/geom functions check for the specific object type.
-
-vectors alloca()ed on the stack must have the correct alignment, use ALLOCA16.
-
-library should have no global constructors, as it might be used with C linkage.
-
-use `const' in function arguments. blah.
-
-
-
-DON'T BOTHER
-------------
-
-warning if user tries to set mass params with nonzero center of mass.
-
-
-
-DONE
-----
-
-check: when contact attached with (body1,0) and (0,body1), check that polarity
-on depth and error info is okay for the two cases.
-
-set a better convention for which is the 1st and 2nd body in a joint, because
-sometimes we get things swapped (because of the way the joint nodes are used).
-
-hinge and prismatic, attachment to static environment.
-
-turn macros into C++ inline functions? what about C users?
-
-remove `space' argument to geom creation functions? make user add it?
-or just remove it from dCreateGeom() ?  <-- did this one.
-
-test_chain should be in C, not C++. but first must remove global constructors.
-
-add more functionality to C++ interface - dMass, dSpace, dGeom
-
-there should be functions to delete groups of bodies/joints in one go - this
-will be more efficient than deleting them one at a time, because less
-partitioning tests will be needed.
-
-should we expose body and joint object structures so that the user can
-explicitly allocate them locally, or e.g. on the stack? makes allocating
-temporary contact constraints easier. NO --> helps data hiding and therefore
-library binary compatability.
-
-joints:
-        hinge & slider - DONE
-                measure angle, rate - DONE
-                power - DONE
-                joint limits - DONE
-                mixed powered+limited joints, powering away from limit - DONE
-
-        hinge2 - DONE
-                steering angle and rate measurement - DONE
-                steering limits - DONE
-                steering motor - DONE
-                wheel motor - DONE
-                wheel angle rate measurement - DONE
-
-        optional hinge2 suspension: - DONE
-                alignment of B&S part to given axis - DONE
-                global framework for giving epsilon and gamma - DONE
-
-        toss away r-motor, make power & stuff specific to joint - DONE
-                it's just easier that way
-
-        joint code reuse: - DONE
-                use standard functions to set velocity (c), limits (lo,hi),
-                spongyness (epsilon) etc, this prevents these functions from
-                proliferating
-
-        implicit spring framework - actually allow joints to return a value `k'
-                such that J*vnew = c + k*f, where f = force needed to achieve
-                vnew - DONE
-
-        contact slip - DONE
-        contact erp & cfm parameters (not just "softness") - DONE
-
-        hinge2: when we lock back wheels along the steering axis, there is no
-        error correction if they get out of alignment - DONE, just use high
-        and low limits.
-
-        joint limit spongyness: erp and cfm for joint set from world (global)
-        values when joint created. - DONE
-
-        joint limit restitution - DONE
-
-check inertia transformations, e.g. by applying steering torque to a thin
-wheel --> actually, i made test_I
-
-more comprehensive random number comparisons between slow and fast methods.
-        - random PD inertia (not just diagonal).
-        - random velocity
-        - random joint error (make joints then move bodies a bit)
-
-check that J*vnew=c (slow step already does this, but it doesn't equal zero
-for some reason! - actually, when LCP constraint limits are reached, it wont!)
-
-tons of things in lcp.cpp (@@@), especially speed optimizations. also, we
-wanted to do index block switching and index block updates to take advantage
-of the outer product trick ... but this is not worth the effort i think.
-
-lcp.cpp: if lo=hi=0, check operation. can we switch from NL <-> NH without
-going through C? --> done.
-
-andy says: still having trouble with those resource files..
-drawstuff.res doesn't seem to build or be found under cygwin gcc.
-
-DOC how bodies and geoms associated then resolved in contact callback ... not
-really necessary.
-
-fix the "memory leak" in geom.cpp
-
-library should have no global constructors, as it might be used with C linkage.
-        --> as long as test_chain1 works, there are none.
-
-DOC cfm, the derivation and what it means.
-        --> partially done, could be better
-
-joint "get type" function
-
-andy says: in ode/src/error.cpp _snprintf() and _vsnprintf() are missing
-in testode: finite and isnan are missing. copysign is missing
-        russ: okay here's the problem: i have Makefile.platform files for
-        VC++, MinGW, but not Cygwin. Cygwin uses the unix-like functions
-        for everything, but the VC++/MinGW configs assumes the MS C-runtime
-        functions. this is easy to fix, except i need to install Cygwin
-        which is a pain to do over MinGW. argh.
-
-build on linux - assumptions made about location of X11 lib, opengl etc.
-
-implement: dBodyAddForceAtPos,dBodyAddRelForceAtPos,dBodyAddRelForceAtRelPos,
-        dBodyGetPointPos,dBodyGetPointVel,dBodyGetPointRelVel
-
-dJointAttach(), allow both bodies to be 0 to put the joint into limbo.
-
-space near-callback should be given potentially intersecting objects 100 at a
-time instead of 1 at a time, to save on calling costs ... which are trivial,
-so we don't bother to do this.
-
-doccer: @func{} also refs second etc function in function *list*.
-
-make sure joints can return 0 from GetInfo1, i.e. no constraints or "inactive"
-joint, and the step functions will handle it.
-
-when attaching contact with (0,body), instead of setting the reverse flag
-on the joint and checking it in getInfo2(), we should just reverse the normal
-straight away ... ?
-        --> trouble is, dJointAttach() knows nothing about what kind of joint
-            it is attaching.
-
-hinge2 needs to be attached to two bodies for it to work, make sure this is
-always the case. --> assertion added in dJointAttach().
-
-if two joints connect to the same two bodies, check that the fast solver
-works! -> it should.
-
-functions to get all the joints/bodies a body/joint is connected to.
-
-If I don't have the GCC libraries installed, HUGE_VALF is undefined.
-
-fix capped cylinder - capped cylinder collision so that two contacts can
-be generated.
-
-transformation geometry object.
-
-joint groups should also be destroyed by destroying the world --> naaahhh.
-
-DONT DO THIS: body/joint creators with world = 0 --> not inserted into any
-world. allow bodies/joints to be detached from a world (this is what happens
-to grouped joints when a world is destroyed).
-        can bodies and joints be linked together when not attached to world??
-        what happens when we have an island of b/j, some of which are not in
-        world? soln: dont keep lists of b/j in the world, just infer it from
-        the islands?
-
-body & joint disabling / enabling
-
-start a change log.
-
-collision flags - 0xffff mask.
-
-dBodyGetFiniteRotationMode() / ...Axis()
-
-dBodyAddForceAtRelPos()
-
-ball & socket joint limits and motors.
-
-auto-build env on windows: 3 compilers, debug/release, short/double =
-12 combinations --> auto logs.
-
-handle infinities better: HUGE_VALF is not commanly defined, it seems.
-get rid of the __USE_ISOC9X macro in common.h
-perhaps just use a "big" number instead of the actual IEEE infinity, it's
-more portable anyway.
-        --> new config system
-
-dCloseODE() - tidy up *all* allocated memory, esp in geom.cpp. used to keep
-leak detectors happy.
-
-extra API to get lambda and J'*lambda from last timestep.
-
-better stack implementation that is not so system dependent. but how will
-we do dynamic page allocation? do we even need to?
-
-
-all collision files will now be collision_*, not geom_*
-
-check exported global symbols - no C++ mangling.
-
-rename dSphere etc to dxSphere etc.
-
-C interface support for making new classes.
-
-make sure DLL-ized stuff preserved ... but class numbers should no longer be
-exported.
-
-point geom ( = sphere of radius 0 )
-
-geoms stored in doubly linked lists in space (fast removal).
-
-bodies need to keep geoms pointers and call dGeomMoved() in dBodySetPosition()
-etc and world step. PROBLEM: links dynamics and collision together too much,
-makes it hard to extract ODE collision ... unless we say: dGeomMoved() and
-dGeomID must be supplied by the new collision library!
-
-dCollide() should take spaces as arguments - it should call dSpaceCollide2()
-with its own callback that puts all found contacts in the array, stopping
-when there is no more space left in the array.
-
-dxSpace::getGeom() - the geom numbers will change as geoms are dirtied - find
-some other numbering scheme, or document this behavior.
-
-the 'placeable' property - objects that should not ever be attached to bodies
-should flag an error when setBody etc are called.
-
-dGeomSetBody(0) - DOC: the position and orientation of the body will be
-preserved. in this case the geom should NOT be dirtied (dGeomMoved() should
-not be called).
-
-DOC: dGeomGetBodyNext() as part of dynamics/collision interface
-
-groups/spaces are subclasses of geom.
-
-groups/spaces can contain other groups/spaces. geom can be owned by a
-group/space. collision handling:
-        geom-geom : standard collision function
-        geom-group : special space code
-        group-group : n^2 tests (or n space tests) - hard to optimize because
-                of disjoint space representations.
-        group internal : normal space internal-collision code
-
-groups/spaces can be told that some objects never move, i.e. that the objects
-are locked. should we lock the whole space?
-        locking: the AABB for the object is not recalculated
-
-groups/spaces can be told that the internal contents self-intersect or not.
-actually an old ODE group is the equivalent of an old ODE simple space.
-        - just call dCollide() or not.
-
-the group doesn't get passed to the space callback any more ... only the
-intersecting geoms get passed? maybe the callback can initiate the extra
-intersection tests itself? (because we want programmable flexibility to
-determine what gets intersected and what doesn't)
-        - NO
-
-infrastructure to indicate when an object has moved (and thus its AABB needs
-to be recalculated)
-
-space enumeration functions. make sure that there are no additions or deletions
-while enumeration is taking place.
-        - documented the behavior, didn't disallow it
-
-cache the AABB in the dxGeom? (for non-moving objects) - perhaps keep a
-pointer to separately allocated space? ... no
-
-DOC: dGeomGetClass() is a first-class geom function, not in the "User
-defined classes" section. it returns a constant that can be checked
-against dSphereClass etc.
-
-remove dxGeom dependence on dBodyID? ... not yet
-
-dBase -> dxBase
-
-allow a geom to be inserted into multiple spaces? need this to optimize some
-kinds of tests ... no
-
-update docs.
-
-make CHECK_NOT_LOCKED an assert.
-
-DOC: "Calling these functions on a non-placeable geom results in a
-runtime error." ...in the debug build only?
-
-non-placeable geoms should not allocate dxPosR. perhaps pass a dGeom
-constructor arg that says 'placeable' or not - this also sets the
-GEOM_PLACEABLE flag.
-
-GeomTransform:
-        final_pos and final_R valid if no GEOM_AABB_BAD flag!!!
-        fix up this code, esp use of ComputeTX().
-
-Space incompatibilities: no dSpaceDestroy(), dGeomDestroy() does not
-take a dSpaceID ... dSpaceDestroy() added.
-
-GeomGroup incompatibilities:
-        dCollide() used to take a GeomGroup and would return all the contact
-        points for all the intersecting objects. now you have to call
-        dSpaceCollide2() and get a callback for each one.
-        need to provide old behavior.
-
-simple space optimization: we should keep the precomputed AABB for the
-non-moving geoms around, so that when the other geoms move we can just
-compute the AABBs for those geoms and then combine it with the non-moving AABB.
-  --> too hard!
-
-collision build options: old and new
-
-tidyups for collision:
-        * rationalize what stuff goes in what source files, and file names
-        * minimize set of header files that all collision* sources use - after
-          all changes.
-        * update ode-cpp stuff (C++ interface header files).
-
-porting guide:
-        ODE list email
-
-        dGeomGetSpaceAABB() deleted
-
-        dGeomGetClass (geom_group); used to return a unique type for
-        GeomGroups, but now it returns dSimpleSpaceID.
-
-tidyups: update DLL declarations.
-
diff --git a/libraries/ode-0.9/ode/demo/Makefile.am b/libraries/ode-0.9/ode/demo/Makefile.am
deleted file mode 100644
index 361ad53..0000000
--- a/libraries/ode-0.9/ode/demo/Makefile.am
+++ /dev/null
@@ -1,254 +0,0 @@
-AM_CXXFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include
-AM_CFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include
-
-noinst_PROGRAMS=demo_collision \
-                demo_slider \
-                demo_feedback \
-                demo_crash \
-                demo_space \
-                demo_I \
-                demo_friction \
-                demo_space_stress \
-                demo_boxstack demo_hinge \
-                demo_step \
-                demo_buggy \
-                demo_joints \
-                demo_motor \
-                demo_chain1 \
-                demo_chain2 \
-                demo_cylvssphere \
-                demo_ode \
-                demo_plane2d \
-                demo_heightfield \
-                demo_convex_cd \
-                demo_jointPR
-if TRIMESH
-noinst_PROGRAMS+= demo_trimesh demo_moving_trimesh demo_basket demo_cyl
-endif
-demo_collision_SOURCES= demo_collision.cpp
-demo_slider_SOURCES= demo_slider.cpp 
-demo_feedback_SOURCES= demo_feedback.cpp 
-demo_crash_SOURCES= demo_crash.cpp
-demo_space_SOURCES= demo_space.cpp
-demo_I_SOURCES= demo_I.cpp
-demo_friction_SOURCES= demo_friction.cpp
-demo_space_stress_SOURCES= demo_space_stress.cpp
-demo_boxstack_SOURCES= demo_boxstack.cpp
-demo_hinge_SOURCES= demo_hinge.cpp
-demo_step_SOURCES= demo_step.cpp
-demo_buggy_SOURCES= demo_buggy.cpp
-demo_cyl_SOURCES= demo_cyl.cpp world_geom3.h
-demo_cylvssphere_SOURCES= demo_cylvssphere.cpp
-demo_joints_SOURCES= demo_joints.cpp
-demo_jointPR_SOURCES= demo_jointPR.cpp
-demo_motor_SOURCES= demo_motor.cpp
-demo_chain1_SOURCES= demo_chain1.c
-demo_chain2_SOURCES= demo_chain2.cpp
-demo_ode_SOURCES= demo_ode.cpp
-demo_plane2d_SOURCES= demo_plane2d.cpp
-demo_heightfield_SOURCES= demo_heightfield.cpp
-demo_convex_cd_SOURCES= demo_convex_cd.cpp
-demo_collision_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_slider_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@  
-demo_feedback_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@  
-demo_crash_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_space_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_I_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_friction_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_space_stress_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_boxstack_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_hinge_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_step_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_buggy_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_cyl_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_cylvssphere_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_joints_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_jointPR_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_motor_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_chain1_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_chain2_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_ode_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_plane2d_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_heightfield_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-demo_convex_cd_LDFLAGS= -L$(top_builddir)/drawstuff/src \
-                -L$(top_builddir)/ode/src @LDFLAGS@ 
-
-demo_collision_DEPENDENCIES=    $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_slider_DEPENDENCIES=       $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_feedback_DEPENDENCIES=     $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_crash_DEPENDENCIES=        $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_space_DEPENDENCIES=        $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_I_DEPENDENCIES=            $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_friction_DEPENDENCIES=     $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_space_stress_DEPENDENCIES= $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_boxstack_DEPENDENCIES=     $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_hinge_DEPENDENCIES=        $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_step_DEPENDENCIES=         $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_buggy_DEPENDENCIES=        $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_cyl_DEPENDENCIES=          $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_cylvssphere_DEPENDENCIES=  $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_joints_DEPENDENCIES=       $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_jointPR_DEPENDENCIES=      $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_motor_DEPENDENCIES=        $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_chain1_DEPENDENCIES=       $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_chain2_DEPENDENCIES=       $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_ode_DEPENDENCIES=          $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_plane2d_DEPENDENCIES=      $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_heightfield_DEPENDENCIES=  $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_convex_cd_DEPENDENCIES=    $(top_builddir)/ode/src/libode.a \
-                                $(top_builddir)/drawstuff/src/libdrawstuff.a
-
-if TRIMESH
-demo_trimesh_SOURCES=                   demo_trimesh.cpp
-demo_moving_trimesh_SOURCES=            demo_moving_trimesh.cpp
-demo_basket_SOURCES=                    demo_basket.cpp
-demo_trimesh_LDFLAGS=                   -L$(top_builddir)/drawstuff/src \
-                                        -L$(top_builddir)/ode/src @LDFLAGS@ \
-                                        @GL_LIBS@ @LIBS@
-demo_moving_trimesh_LDFLAGS=            -L$(top_builddir)/drawstuff/src \
-                                        -L$(top_builddir)/ode/src @LDFLAGS@ \
-                                        @GL_LIBS@ @LIBS@
-demo_basket_LDFLAGS=                    -L$(top_builddir)/drawstuff/src \
-                                        -L$(top_builddir)/ode/src @LDFLAGS@ \
-                                        @GL_LIBS@ @LIBS@
-demo_trimesh_DEPENDENCIES=              $(top_builddir)/ode/src/libode.a \
-                                        $(top_builddir)/drawstuff/src/libdrawstuff.a
-demo_moving_trimesh_DEPENDENCIES=       $(top_builddir)/ode/src/libode.a \
-                                        $(top_builddir)/drawstuff/src/libdrawstuff.a
-
-demo_basket_DEPENDENCIES=               $(top_builddir)/ode/src/libode.a \
-                                        $(top_builddir)/drawstuff/src/libdrawstuff.a
-
-endif
-
-demo_ode_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_plane2d_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_heightfield_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_chain2_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_chain1_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_joints_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_jointPR_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_motor_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_buggy_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_cyl_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_cylvssphere_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_step_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_hinge_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_boxstack_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_space_stress_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_friction_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_I_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_space_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_crash_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_slider_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_feedback_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_collision_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_convex_cd_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-
-
-if TRIMESH
-demo_trimesh_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_moving_trimesh_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-demo_basket_LDADD= -ldrawstuff $(top_builddir)/ode/src/libode.a @GL_LIBS@ @LIBS@
-endif
-
-
-if WIN32
-resources.o: ../../drawstuff/src/resources.rc ../../drawstuff/src/resource.h
-        @WINDRES@ ../../drawstuff/src/resources.rc -o resources.o
-demo_ode_LDADD+= resources.o
-demo_heightfield_LDADD+= resources.o
-demo_chain2_LDADD+= resources.o
-demo_chain1_LDADD+= resources.o
-demo_joints_LDADD+= resources.o
-demo_jointPR_LDADD+= resources.o
-demo_motor_LDADD+= resources.o
-demo_buggy_LDADD+= resources.o
-demo_cyl_LDADD+= resources.o
-demo_cylvssphere_LDADD+= resources.o
-demo_step_LDADD+= resources.o
-demo_hinge_LDADD+= resources.o
-demo_boxstack_LDADD+= resources.o
-demo_space_stress_LDADD+= resources.o
-demo_friction_LDADD+= resources.o
-demo_I_LDADD+= resources.o
-demo_space_LDADD+= resources.o
-demo_crash_LDADD+= resources.o
-demo_slider_LDADD+= resources.o
-demo_feedback_LDADD+= resources.o
-demo_collision_LDADD+= resources.o
-demo_convex_cd_LDADD+= resources.o
-demo_ode_DEPENDENCIES+= resources.o
-demo_chain2_DEPENDENCIES+= resources.o
-demo_chain1_DEPENDENCIES+= resources.o
-demo_joints_DEPENDENCIES+= resources.o
-demo_jointPR_DEPENDENCIES+= resources.o
-demo_motor_DEPENDENCIES+= resources.o
-demo_buggy_DEPENDENCIES+= resources.o
-demo_cyl_DEPENDENCIES+= resources.o
-demo_cylvssphere_DEPENDENCIES+= resources.o
-demo_step_DEPENDENCIES+= resources.o
-demo_hinge_DEPENDENCIES+= resources.o
-demo_boxstack_DEPENDENCIES+= resources.o
-demo_space_stress_DEPENDENCIES+= resources.o
-demo_friction_DEPENDENCIES+= resources.o
-demo_I_DEPENDENCIES+= resources.o
-demo_space_DEPENDENCIES+= resources.o
-demo_crash_DEPENDENCIES+= resources.o
-demo_slider_DEPENDENCIES+= resources.o
-demo_feedback_DEPENDENCIES+= resources.o
-demo_collision_DEPENDENCIES+= resources.o
-demo_convex_cd_DEPENDENCIES+= resources.o
-
-if TRIMESH
-demo_trimesh_LDADD+= resources.o
-demo_moving_trimesh_LDADD+= resources.o
-demo_trimesh_DEPENDENCIES+= resources.o
-demo_moving_trimesh_DEPENDENCIES+= resources.o
-demo_basket_DEPENDENCIES+= resources.o
-endif
-endif
diff --git a/libraries/ode-0.9/ode/demo/Makefile.in b/libraries/ode-0.9/ode/demo/Makefile.in
deleted file mode 100644
index 8e73f18..0000000
--- a/libraries/ode-0.9/ode/demo/Makefile.in
+++ /dev/null
@@ -1,953 +0,0 @@
-# Makefile.in generated by automake 1.10 from Makefile.am.
-# @configure_input@
-
-# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002,
-# 2003, 2004, 2005, 2006  Free Software Foundation, Inc.
-# This Makefile.in is free software; the Free Software Foundation
-# gives unlimited permission to copy and/or distribute it,
-# with or without modifications, as long as this notice is preserved.
-
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
-# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
-# PARTICULAR PURPOSE.
-
-@SET_MAKE@
-
-VPATH = @srcdir@
-pkgdatadir = $(datadir)/@PACKAGE@
-pkglibdir = $(libdir)/@PACKAGE@
-pkgincludedir = $(includedir)/@PACKAGE@
-am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
-install_sh_DATA = $(install_sh) -c -m 644
-install_sh_PROGRAM = $(install_sh) -c
-install_sh_SCRIPT = $(install_sh) -c
-INSTALL_HEADER = $(INSTALL_DATA)
-transform = $(program_transform_name)
-NORMAL_INSTALL = :
-PRE_INSTALL = :
-POST_INSTALL = :
-NORMAL_UNINSTALL = :
-PRE_UNINSTALL = :
-POST_UNINSTALL = :
-build_triplet = @build@
-host_triplet = @host@
-target_triplet = @target@
-noinst_PROGRAMS = demo_collision$(EXEEXT) demo_slider$(EXEEXT) \
-        demo_feedback$(EXEEXT) demo_crash$(EXEEXT) demo_space$(EXEEXT) \
-        demo_I$(EXEEXT) demo_friction$(EXEEXT) \
-        demo_space_stress$(EXEEXT) demo_boxstack$(EXEEXT) \
-        demo_hinge$(EXEEXT) demo_step$(EXEEXT) demo_buggy$(EXEEXT) \
-        demo_joints$(EXEEXT) demo_motor$(EXEEXT) demo_chain1$(EXEEXT) \
-        demo_chain2$(EXEEXT) demo_cylvssphere$(EXEEXT) \
-        demo_ode$(EXEEXT) demo_plane2d$(EXEEXT) \
-        demo_heightfield$(EXEEXT) demo_convex_cd$(EXEEXT) \
-        demo_jointPR$(EXEEXT) $(am__EXEEXT_1)
-@TRIMESH_TRUE@am__append_1 = demo_trimesh demo_moving_trimesh demo_basket demo_cyl
-@WIN32_TRUE@am__append_2 = resources.o
-@WIN32_TRUE@am__append_3 = resources.o
-@WIN32_TRUE@am__append_4 = resources.o
-@WIN32_TRUE@am__append_5 = resources.o
-@WIN32_TRUE@am__append_6 = resources.o
-@WIN32_TRUE@am__append_7 = resources.o
-@WIN32_TRUE@am__append_8 = resources.o
-@WIN32_TRUE@am__append_9 = resources.o
-@WIN32_TRUE@am__append_10 = resources.o
-@WIN32_TRUE@am__append_11 = resources.o
-@WIN32_TRUE@am__append_12 = resources.o
-@WIN32_TRUE@am__append_13 = resources.o
-@WIN32_TRUE@am__append_14 = resources.o
-@WIN32_TRUE@am__append_15 = resources.o
-@WIN32_TRUE@am__append_16 = resources.o
-@WIN32_TRUE@am__append_17 = resources.o
-@WIN32_TRUE@am__append_18 = resources.o
-@WIN32_TRUE@am__append_19 = resources.o
-@WIN32_TRUE@am__append_20 = resources.o
-@WIN32_TRUE@am__append_21 = resources.o
-@WIN32_TRUE@am__append_22 = resources.o
-@WIN32_TRUE@am__append_23 = resources.o
-@WIN32_TRUE@am__append_24 = resources.o
-@WIN32_TRUE@am__append_25 = resources.o
-@WIN32_TRUE@am__append_26 = resources.o
-@WIN32_TRUE@am__append_27 = resources.o
-@WIN32_TRUE@am__append_28 = resources.o
-@WIN32_TRUE@am__append_29 = resources.o
-@WIN32_TRUE@am__append_30 = resources.o
-@WIN32_TRUE@am__append_31 = resources.o
-@WIN32_TRUE@am__append_32 = resources.o
-@WIN32_TRUE@am__append_33 = resources.o
-@WIN32_TRUE@am__append_34 = resources.o
-@WIN32_TRUE@am__append_35 = resources.o
-@WIN32_TRUE@am__append_36 = resources.o
-@WIN32_TRUE@am__append_37 = resources.o
-@WIN32_TRUE@am__append_38 = resources.o
-@WIN32_TRUE@am__append_39 = resources.o
-@WIN32_TRUE@am__append_40 = resources.o
-@WIN32_TRUE@am__append_41 = resources.o
-@WIN32_TRUE@am__append_42 = resources.o
-@WIN32_TRUE@am__append_43 = resources.o
-@WIN32_TRUE@am__append_44 = resources.o
-@TRIMESH_TRUE@@WIN32_TRUE@am__append_45 = resources.o
-@TRIMESH_TRUE@@WIN32_TRUE@am__append_46 = resources.o
-@TRIMESH_TRUE@@WIN32_TRUE@am__append_47 = resources.o
-@TRIMESH_TRUE@@WIN32_TRUE@am__append_48 = resources.o
-@TRIMESH_TRUE@@WIN32_TRUE@am__append_49 = resources.o
-subdir = ode/demo
-DIST_COMMON = $(srcdir)/Makefile.am $(srcdir)/Makefile.in
-ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
-am__aclocal_m4_deps = $(top_srcdir)/configure.in
-am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
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-mkinstalldirs = $(install_sh) -d
-CONFIG_HEADER = $(top_builddir)/include/ode/config.h
-CONFIG_CLEAN_FILES =
-@TRIMESH_TRUE@am__EXEEXT_1 = demo_trimesh$(EXEEXT) \
-@TRIMESH_TRUE@  demo_moving_trimesh$(EXEEXT) \
-@TRIMESH_TRUE@  demo_basket$(EXEEXT) demo_cyl$(EXEEXT)
-PROGRAMS = $(noinst_PROGRAMS)
-am_demo_I_OBJECTS = demo_I.$(OBJEXT)
-demo_I_OBJECTS = $(am_demo_I_OBJECTS)
-demo_I_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) $(demo_I_LDFLAGS) \
-        $(LDFLAGS) -o $@
-am__demo_basket_SOURCES_DIST = demo_basket.cpp
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-demo_basket_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \
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diff --git a/libraries/ode-0.9/ode/demo/basket_geom.h b/libraries/ode-0.9/ode/demo/basket_geom.h
deleted file mode 100644
index 7796ca8..0000000
--- a/libraries/ode-0.9/ode/demo/basket_geom.h
+++ /dev/null
@@ -1,13 +0,0 @@
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-};
-
-static float world_vertices[] = {
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-};
-
-static int world_indices[] = {
-0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229,230,231,232,233,234,235,236,237,238,239,240,241,242,243,244,245,246,247,248,249,250,251,252,253,254,255,256,257,258,259,260,261,262,263,264,265,266,267,268,269,270,271,272,273,274,275,276,277,278,279,280,281,282,283,284,285,286,287,288,289,290,291,292,293,294,295,296,297,298,299,300,301,302,303,304,305,306,307,308,309,310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326,327,328,329,330,331,332,333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351,352,353,354,355,356,357,358,359,360,361,362,363,364,365,366,367,368,369,370,371,372,373,374,375,376,377,378,379,380,381,382,383,384,385,386,387,388,389,390,391,392,393,394,395,396,397,398,399,400,401,402,403,404,405,406,407,408,409,410,411,412,413,414,415,416,417,418,419,420,421,422,423,424,425,426,427,428,429,430,431,432,433,434,435,436,437,438,439,440,441,442,443,444,445,446,447,448,449,450,451,452,453,454,455,456,457,458,459,460,461,462,463,464,465,466,467,468,469,470,471,472,473,474,475,476,477,478,479,480,481,482,483,484,485,
-};
-
diff --git a/libraries/ode-0.9/ode/demo/demo_I.cpp b/libraries/ode-0.9/ode/demo/demo_I.cpp
deleted file mode 100644
index b4f8d6e..0000000
--- a/libraries/ode-0.9/ode/demo/demo_I.cpp
+++ /dev/null
@@ -1,254 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-test that the rotational physics is correct.
-
-an "anchor body" has a number of other randomly positioned bodies
-("particles") attached to it by ball-and-socket joints, giving it some
-random effective inertia tensor. the effective inertia matrix is calculated,
-and then this inertia is assigned to another "test" body. a random torque is
-applied to both bodies and the difference in angular velocity and orientation
-is observed after a number of iterations.
-
-typical errors for each test cycle are about 1e-5 ... 1e-4.
-
-*/
-
-
-#include <time.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 dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// some constants
-
-#define NUM 10                  // number of particles
-#define SIDE 0.1                // visual size of the particles
-
-
-// dynamics objects an globals
-
-static dWorldID world=0;
-static dBodyID anchor_body,particle[NUM],test_body;
-static dJointID particle_joint[NUM];
-static dReal torque[3];
-static int iteration;
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.5572f,-1.8886f,1.5700f};
-  static float hpr[3] = {118.5000f,-17.0000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// compute the mass parameters of a particle set. q = particle positions,
-// pm = particle masses
-
-#define _I(i,j) I[(i)*4+(j)]
-
-void computeMassParams (dMass *m, dReal q[NUM][3], dReal pm[NUM])
-{
-  int i,j;
-  dMassSetZero (m);
-  for (i=0; i<NUM; i++) {
-    m->mass += pm[i];
-    for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j];
-    m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]);
-    m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]);
-    m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]);
-    m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]);
-    m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]);
-    m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]);
-  }
-  for (j=0; j<3; j++) m->c[j] /= m->mass;
-  m->_I(1,0) = m->_I(0,1);
-  m->_I(2,0) = m->_I(0,2);
-  m->_I(2,1) = m->_I(1,2);
-}
-
-
-void reset_test()
-{
-  int i;
-  dMass m,anchor_m;
-  dReal q[NUM][3], pm[NUM];     // particle positions and masses
-  dReal pos1[3] = {1,0,1};      // point of reference (POR)
-  dReal pos2[3] = {-1,0,1};     // point of reference (POR)
-
-  // make random particle positions (relative to POR) and masses
-  for (i=0; i<NUM; i++) {
-    pm[i] = dRandReal()+0.1;
-    q[i][0] = dRandReal()-0.5;
-    q[i][1] = dRandReal()-0.5;
-    q[i][2] = dRandReal()-0.5;
-  }
-
-  // adjust particle positions so centor of mass = POR
-  computeMassParams (&m,q,pm);
-  for (i=0; i<NUM; i++) {
-    q[i][0] -= m.c[0];
-    q[i][1] -= m.c[1];
-    q[i][2] -= m.c[2];
-  }
-
-  if (world) dWorldDestroy (world);
-  world = dWorldCreate();
-
-  anchor_body = dBodyCreate (world);
-  dBodySetPosition (anchor_body,pos1[0],pos1[1],pos1[2]);
-  dMassSetBox (&anchor_m,1,SIDE,SIDE,SIDE);
-  dMassAdjust (&anchor_m,0.1);
-  dBodySetMass (anchor_body,&anchor_m);
-
-  for (i=0; i<NUM; i++) {
-    particle[i] = dBodyCreate (world);
-    dBodySetPosition (particle[i],
-                      pos1[0]+q[i][0],pos1[1]+q[i][1],pos1[2]+q[i][2]);
-    dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-    dMassAdjust (&m,pm[i]);
-    dBodySetMass (particle[i],&m);
-  }
-
-  for (i=0; i < NUM; i++) {
-    particle_joint[i] = dJointCreateBall (world,0);
-    dJointAttach (particle_joint[i],anchor_body,particle[i]);
-    const dReal *p = dBodyGetPosition (particle[i]);
-    dJointSetBallAnchor (particle_joint[i],p[0],p[1],p[2]);
-  }
-
-  // make test_body with the same mass and inertia of the anchor_body plus
-  // all the particles
-
-  test_body = dBodyCreate (world);
-  dBodySetPosition (test_body,pos2[0],pos2[1],pos2[2]);
-  computeMassParams (&m,q,pm);
-  m.mass += anchor_m.mass;
-  for (i=0; i<12; i++) m.I[i] = m.I[i] + anchor_m.I[i];
-  dBodySetMass (test_body,&m);
-
-  // rotate the test and anchor bodies by a random amount
-  dQuaternion qrot;
-  for (i=0; i<4; i++) qrot[i] = dRandReal()-0.5;
-  dNormalize4 (qrot);
-  dBodySetQuaternion (anchor_body,qrot);
-  dBodySetQuaternion (test_body,qrot);
-  dMatrix3 R;
-  dQtoR (qrot,R);
-  for (i=0; i<NUM; i++) {
-    dVector3 v;
-    dMultiply0 (v,R,&q[i][0],3,3,1);
-    dBodySetPosition (particle[i],pos1[0]+v[0],pos1[1]+v[1],pos1[2]+v[2]);
-  }
-
-  // set random torque
-  for (i=0; i<3; i++) torque[i] = (dRandReal()-0.5) * 0.1;
-
-
-  iteration=0;
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  if (!pause) {
-    dBodyAddTorque (anchor_body,torque[0],torque[1],torque[2]);
-    dBodyAddTorque (test_body,torque[0],torque[1],torque[2]);
-    dWorldStep (world,0.03);
-
-    iteration++;
-    if (iteration >= 100) {
-      // measure the difference between the anchor and test bodies
-      const dReal *w1 = dBodyGetAngularVel (anchor_body);
-      const dReal *w2 = dBodyGetAngularVel (test_body);
-      const dReal *q1 = dBodyGetQuaternion (anchor_body);
-      const dReal *q2 = dBodyGetQuaternion (test_body);
-      dReal maxdiff = dMaxDifference (w1,w2,1,3);
-      printf ("w-error = %.4e  (%.2f,%.2f,%.2f) and (%.2f,%.2f,%.2f)\n",
-              maxdiff,w1[0],w1[1],w1[2],w2[0],w2[1],w2[2]);
-      maxdiff = dMaxDifference (q1,q2,1,4);
-      printf ("q-error = %.4e\n",maxdiff);
-      reset_test();
-    }
-  }
-
-  dReal sides[3] = {SIDE,SIDE,SIDE};
-  dReal sides2[3] = {6*SIDE,6*SIDE,6*SIDE};
-  dReal sides3[3] = {3*SIDE,3*SIDE,3*SIDE};
-  dsSetColor (1,1,1);
-  dsDrawBox (dBodyGetPosition(anchor_body), dBodyGetRotation(anchor_body),
-             sides3);
-  dsSetColor (1,0,0);
-  dsDrawBox (dBodyGetPosition(test_body), dBodyGetRotation(test_body), sides2);
-  dsSetColor (1,1,0);
-  for (int i=0; i<NUM; i++)
-    dsDrawBox (dBodyGetPosition (particle[i]),
-               dBodyGetRotation (particle[i]), sides);
-}
-
-
-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 = 0;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  dInitODE();
-  dRandSetSeed (time(0));
-  reset_test();
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_basket.cpp b/libraries/ode-0.9/ode/demo/demo_basket.cpp
deleted file mode 100644
index 35fb49a..0000000
--- a/libraries/ode-0.9/ode/demo/demo_basket.cpp
+++ /dev/null
@@ -1,278 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-// Basket ball demo.
-// Serves as a test for the sphere vs trimesh collider
-// By Bram Stolk.
-// Press the spacebar to reset the position of the ball.
-
-#include <ode/config.h>
-#include <assert.h>
-#ifdef HAVE_UNISTD_H
-#include <unistd.h>
-#endif
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#include "basket_geom.h" // this is our world mesh
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-// some constants
-
-#define RADIUS 0.14
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-
-static dBodyID sphbody;
-static dGeomID sphgeom;
-
-static dJointGroupID contactgroup;
-static dGeomID world_mesh;
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  assert(o1);
-  assert(o2);
-
-  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
-  {
-    fprintf(stderr,"testing space %p %p\n", o1,o2);
-    // colliding a space with something
-    dSpaceCollide2(o1,o2,data,&nearCallback);
-    // Note we do not want to test intersections within a space,
-    // only between spaces.
-    return;
-  }
-
-//  fprintf(stderr,"testing geoms %p %p\n", o1, o2);
-
-  const int N = 32;
-  dContact contact[N];
-  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
-  if (n > 0) 
-  {
-    for (int i=0; i<n; i++) 
-    {
-          // Paranoia  <-- not working for some people, temporarily removed for 0.6
-      //dIASSERT(dVALIDVEC3(contact[i].geom.pos));
-      //dIASSERT(dVALIDVEC3(contact[i].geom.normal));
-      //dIASSERT(!dIsNan(contact[i].geom.depth));
-      contact[i].surface.slip1 = 0.7;
-      contact[i].surface.slip2 = 0.7;
-      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
-      contact[i].surface.mu = 50.0; // was: dInfinity
-      contact[i].surface.soft_erp = 0.96;
-      contact[i].surface.soft_cfm = 0.04;
-      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] = {-8,0,5};
-  static float hpr[3] = {0.0f,-29.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-
-static void reset_ball(void)
-{
-  float sx=0.0f, sy=3.40f, sz=7.05;
-
-#if defined(_MSC_VER) && defined(dDOUBLE)
-  sy -= 0.01; // Cheat, to make it score under win32/double
-#endif
-
-  dQuaternion q;
-  dQSetIdentity(q);
-  dBodySetPosition (sphbody, sx, sy, sz);

-  dBodySetQuaternion(sphbody, q);

-  dBodySetLinearVel (sphbody, 0,0,0);

-  dBodySetAngularVel (sphbody, 0,0,0);
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  switch (cmd) 
-  {
-    case ' ':
-          reset_ball();
-      break;
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  double simstep = 0.001; // 1ms simulation steps
-  double dt = dsElapsedTime();
-
-  int nrofsteps = (int) ceilf(dt/simstep);
-//  fprintf(stderr, "dt=%f, nr of steps = %d\n", dt, nrofsteps);
-
-  for (int i=0; i<nrofsteps && !pause; i++)
-  {
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldQuickStep (world, simstep);
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (1,1,1);
-  const dReal *SPos = dBodyGetPosition(sphbody);
-  const dReal *SRot = dBodyGetRotation(sphbody);
-  float spos[3] = {SPos[0], SPos[1], SPos[2]};
-  float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
-  dsDrawSphere
-  (
-    spos, 
-    srot, 
-    RADIUS
-  );
-
-  // draw world trimesh
-  dsSetColor(0.4,0.7,0.9);
-  dsSetTexture (DS_NONE);
-
-  const dReal* Pos = dGeomGetPosition(world_mesh);
-  //dIASSERT(dVALIDVEC3(Pos));
-  float pos[3] = { Pos[0], Pos[1], Pos[2] };
-
-  const dReal* Rot = dGeomGetRotation(world_mesh);
-  //dIASSERT(dVALIDMAT3(Rot));
-  float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
-
-  int numi = sizeof(world_indices)  / sizeof(int);
-
-  for (int i=0; i<numi/3; i++)
-  {
-    int i0 = world_indices[i*3+0];
-    int i1 = world_indices[i*3+1];
-    int i2 = world_indices[i*3+2];
-    float *v0 = world_vertices+i0*3;
-    float *v1 = world_vertices+i1*3;
-    float *v2 = world_vertices+i2*3;
-    dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
-  }
-}
-
-
-int main (int argc, char **argv)
-{
-  dMass m;
-  dMatrix3 R;
-
-  // 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
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-9.8);
-  dWorldSetQuickStepNumIterations (world, 64);
-
-  // Create a static world using a triangle mesh that we can collide with.
-  int numv = sizeof(world_vertices)/(3*sizeof(float));
-  int numi = sizeof(world_indices)/ sizeof(int);
-  printf("numv=%d, numi=%d\n", numv, numi);
-  dTriMeshDataID Data = dGeomTriMeshDataCreate();
-
-//  fprintf(stderr,"Building Single Precision Mesh\n");
-
-  dGeomTriMeshDataBuildSingle
-  (
-    Data, 
-    world_vertices, 
-    3 * sizeof(float), 
-    numv, 
-    world_indices, 
-    numi, 
-    3 * sizeof(int)
-  );
-
-  world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
-  dGeomTriMeshEnableTC(world_mesh, dSphereClass, false);
-  dGeomTriMeshEnableTC(world_mesh, dBoxClass, false);
-  dGeomSetPosition(world_mesh, 0, 0, 0.5);
-  dRSetIdentity(R);
-  //dIASSERT(dVALIDMAT3(R));
-
-  dGeomSetRotation (world_mesh, R);
-
-  float sx=0.0, sy=3.40, sz=6.80;
-  sphbody = dBodyCreate (world);
-  dMassSetSphere (&m,1,RADIUS);
-  dBodySetMass (sphbody,&m);
-  sphgeom = dCreateSphere(0, RADIUS);
-  dGeomSetBody (sphgeom,sphbody);
-  reset_ball();
-  dSpaceAdd (space, sphgeom);
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  // Causes segm violation? Why?
-  // (because dWorldDestroy() destroys body connected to geom; must call first!)
-  dGeomDestroy(sphgeom);
-  dGeomDestroy (world_mesh);
-
-  dJointGroupEmpty (contactgroup);
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
-
diff --git a/libraries/ode-0.9/ode/demo/demo_boxstack.cpp b/libraries/ode-0.9/ode/demo/demo_boxstack.cpp
deleted file mode 100644
index 8d237b2..0000000
--- a/libraries/ode-0.9/ode/demo/demo_boxstack.cpp
+++ /dev/null
@@ -1,577 +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
-
-
-//<---- Convex Object
-dReal planes[]= // planes for a cube, these should coincide with the face array
-  {
-    1.0f ,0.0f ,0.0f ,0.25f,
-    0.0f ,1.0f ,0.0f ,0.25f,
-    0.0f ,0.0f ,1.0f ,0.25f,
-    -1.0f,0.0f ,0.0f ,0.25f,
-    0.0f ,-1.0f,0.0f ,0.25f,
-    0.0f ,0.0f ,-1.0f,0.25f
-    /*
-    1.0f ,0.0f ,0.0f ,2.0f,
-    0.0f ,1.0f ,0.0f ,1.0f,
-    0.0f ,0.0f ,1.0f ,1.0f,
-    0.0f ,0.0f ,-1.0f,1.0f,
-    0.0f ,-1.0f,0.0f ,1.0f,
-    -1.0f,0.0f ,0.0f ,0.0f
-    */
-  };
-const unsigned int planecount=6;
-
-dReal points[]= // points for a cube
-  {
-    0.25f,0.25f,0.25f,  //  point 0
-    -0.25f,0.25f,0.25f, //  point 1
-
-    0.25f,-0.25f,0.25f, //  point 2
-    -0.25f,-0.25f,0.25f,//  point 3
-
-    0.25f,0.25f,-0.25f, //  point 4
-    -0.25f,0.25f,-0.25f,//  point 5
-
-    0.25f,-0.25f,-0.25f,//  point 6
-    -0.25f,-0.25f,-0.25f,// point 7 
-  };
-const unsigned int pointcount=8;
-unsigned int polygons[] = //Polygons for a cube (6 squares)
-  {
-    4,0,2,6,4, // positive X
-    4,1,0,4,5, // positive Y
-    4,0,1,3,2, // positive Z
-    4,3,1,5,7, // negative X 
-    4,2,3,7,6, // negative Y
-    4,5,4,6,7, // negative Z
-  };
-//----> Convex Object
-
-// select correct drawing functions
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawSphere dsDrawSphereD
-#define dsDrawCylinder dsDrawCylinderD
-#define dsDrawCapsule dsDrawCapsuleD
-#define dsDrawConvex dsDrawConvexD
-#endif
-
-
-// some constants
-
-#define NUM 100                 // max number of objects
-#define DENSITY (5.0)           // density of all objects
-#define GPB 3                   // maximum number of geometries per body
-#define MAX_CONTACTS 8          // maximum number of contact points per body
-#define USE_GEOM_OFFSET 1
-
-// 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?
-static int write_world = 0;
-static int show_body = 1;
-
-// 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 | 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 capsule.\n");
-  printf ("   y for cylinder.\n");
-  printf ("   v for a convex object.\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");
-  printf ("To save the current state to 'state.dif', press 1.\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)
-{
-  size_t i;
-  int j,k;
-  dReal sides[3];
-  dMass m;
-  int setBody;
-  
-  cmd = locase (cmd);
-  if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v')
-  {
-    setBody = 0;
-    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()+2);
-        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, 0,0,maxheight+1);
-        dRSetIdentity (R);
-        //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/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;
-      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
-      obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
-    }
-    //<---- Convex Object    
-    else if (cmd == 'v') 
-      {
-        dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
-        obj[i].geom[0] = dCreateConvex (space,
-                                        planes,
-                                        planecount,
-                                        points,
-                                        pointcount,
-                                        polygons);
-      }
-    //----> Convex Object
-    else if (cmd == 'y') {
-      dMassSetCylinder (&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' && USE_GEOM_OFFSET) {
-      setBody = 1;
-      // start accumulating masses for the encapsulated geometries
-      dMass m2;
-      dMassSetZero (&m);
-
-      dReal dpos[GPB][3];       // delta-positions for encapsulated geometries
-      dMatrix3 drot[GPB];
-      
-      // 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++) {
-                if (k==0) {
-                  dReal radius = dRandReal()*0.25+0.05;
-                  obj[i].geom[k] = dCreateSphere (space,radius);
-                  dMassSetSphere (&m2,DENSITY,radius);
-                }
-                else if (k==1) {
-                  obj[i].geom[k] = dCreateBox (space,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;
-                  obj[i].geom[k] = dCreateCapsule (space,radius,length);
-                  dMassSetCapsule (&m2,DENSITY,3,radius,length);
-                }
-
-                dRFromAxisAndAngle (drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-                                        dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-                dMassRotate (&m2,drot[k]);
-                
-                dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
-
-                // add to the total mass
-                dMassAdd (&m,&m2);
-                
-        }
-      for (k=0; k<GPB; k++) {
-                dGeomSetBody (obj[i].geom[k],obj[i].body);
-                dGeomSetOffsetPosition (obj[i].geom[k],
-                          dpos[k][0]-m.c[0],
-                          dpos[k][1]-m.c[1],
-                          dpos[k][2]-m.c[2]);
-                dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
-      }
-      dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
-          dBodySetMass (obj[i].body,&m);
-                
-    }
-    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] = dCreateCapsule (0,radius,length);
-          dMassSetCapsule (&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]);
-        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);
-
-        // Translation *after* rotation
-        dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
-
-        // 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<GPB; 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]);
-    }
-
-    if (!setBody)
-     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;
-  }
-  else if (cmd == '1') {
-    write_world = 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 == dCapsuleClass) {
-    dReal radius,length;
-    dGeomCapsuleGetParams (g,&radius,&length);
-    dsDrawCapsule (pos,R,length,radius);
-  }
-  //<---- Convex Object
-  else if (type == dConvexClass) 
-    {
-      //dVector3 sides={0.50,0.50,0.50};
-      dsDrawConvex(pos,R,planes,
-                   planecount,
-                   points,
-                   pointcount,
-                   polygons);
-    }
-  //----> Convex Object
-  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_body) {
-    dBodyID body = dGeomGetBody(g);
-    if (body) {
-      const dReal *bodypos = dBodyGetPosition (body); 
-      const dReal *bodyr = dBodyGetRotation (body); 
-      dReal bodySides[3] = { 0.1, 0.1, 0.1 };
-      dsSetColorAlpha(0,1,0,1);
-      dsDrawBox(bodypos,bodyr,bodySides); 
-    }
-  }
-  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) dWorldQuickStep (world,0.02);
-
-  if (write_world) {
-    FILE *f = fopen ("state.dif","wt");
-    if (f) {
-      dWorldExportDIF (world,f,"X");
-      fclose (f);
-    }
-    write_world = 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 (1,0.8,0);
-      }
-      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
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  dWorldSetCFM (world,1e-5);
-  dWorldSetAutoDisableFlag (world,1);
-
-#if 1
-
-  dWorldSetAutoDisableAverageSamplesCount( world, 10 );
-
-#endif
-
-
-  dWorldSetContactMaxCorrectingVel (world,0.1);
-  dWorldSetContactSurfaceLayer (world,0.001);
-  dCreatePlane (space,0,0,1,0);
-  memset (obj,0,sizeof(obj));
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_buggy.cpp b/libraries/ode-0.9/ode/demo/demo_buggy.cpp
deleted file mode 100644
index a482e02..0000000
--- a/libraries/ode-0.9/ode/demo/demo_buggy.cpp
+++ /dev/null
@@ -1,325 +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 dsDrawCapsule dsDrawCapsuleD
-#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"
-          "\t'1' to save the current state to 'state.dif'.\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;
-  case '1': {
-      FILE *f = fopen ("state.dif","wt");
-      if (f) {
-        dWorldExportDIF (world,f,"");
-        fclose (f);
-      }
-    }
-  }
-}
-
-
-// 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
-  dInitODE();
-  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);
-  }
-
-  // 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);
-
-  dGeomDestroy (box[0]);
-  dGeomDestroy (sphere[0]);
-  dGeomDestroy (sphere[1]);
-  dGeomDestroy (sphere[2]);
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_chain1.c b/libraries/ode-0.9/ode/demo/demo_chain1.c
deleted file mode 100644
index e20c5dc..0000000
--- a/libraries/ode-0.9/ode/demo/demo_chain1.c
+++ /dev/null
@@ -1,171 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/* exercise the C interface */
-
-#include <stdio.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 dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-/* some constants */
-
-#define NUM 10                  /* number of boxes */
-#define SIDE (0.2)              /* side length of a box */
-#define MASS (1.0)              /* mass of a box */
-#define RADIUS (0.1732f)        /* sphere radius */
-
-
-/* dynamics and collision objects */
-
-static dWorldID world;
-static dSpaceID space;
-static dBodyID body[NUM];
-static dJointID joint[NUM-1];
-static dJointGroupID contactgroup;
-static dGeomID sphere[NUM];
-
-
-/* this is called by dSpaceCollide when two objects in space are
- * potentially colliding.
- */
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  /* exit without doing anything if the two bodies are connected by a joint */
-  dBodyID b1,b2;
-  dContact contact;
-
-  b1 = dGeomGetBody(o1);
-  b2 = dGeomGetBody(o2);
-  if (b1 && b2 && dAreConnected (b1,b2)) return;
-
-  contact.surface.mode = 0;
-  contact.surface.mu = 0.1;
-  contact.surface.mu2 = 0;
-  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
-    dJointID c = dJointCreateContact (world,contactgroup,&contact);
-    dJointAttach (c,b1,b2);
-  }
-}
-
-
-/* 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);
-}
-
-
-/* simulation loop */
-
-static void simLoop (int pause)
-{
-  int i;
-  if (!pause) {
-    static double angle = 0;
-    angle += 0.05;
-    dBodyAddForce (body[NUM-1],0,0,1.5*(sin(angle)+1.0));
-
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldStep (world,0.05);
-
-    /* remove all contact joints */
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (1,1,0);
-  dsSetTexture (DS_WOOD);
-  for (i=0; i<NUM; i++) dsDrawSphere (dBodyGetPosition(body[i]),
-                                      dBodyGetRotation(body[i]),RADIUS);
-}
-
-
-int main (int argc, char **argv)
-{
-  int i;
-  dReal k;
-  dMass m;
-
-  /* setup pointers to drawstuff callback functions */
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = 0;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  /* create world */
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (1000000);
-  dWorldSetGravity (world,0,0,-0.5);
-  dCreatePlane (space,0,0,1,0);
-
-  for (i=0; i<NUM; i++) {
-    body[i] = dBodyCreate (world);
-    k = i*SIDE;
-    dBodySetPosition (body[i],k,k,k+0.4);
-    dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-    dMassAdjust (&m,MASS);
-    dBodySetMass (body[i],&m);
-    sphere[i] = dCreateSphere (space,RADIUS);
-    dGeomSetBody (sphere[i],body[i]);
-  }
-  for (i=0; i<(NUM-1); i++) {
-    joint[i] = dJointCreateBall (world,0);
-    dJointAttach (joint[i],body[i],body[i+1]);
-    k = (i+0.5)*SIDE;
-    dJointSetBallAnchor (joint[i],k,k,k+0.4);
-  }
-
-  /* run simulation */
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_chain2.cpp b/libraries/ode-0.9/ode/demo/demo_chain2.cpp
deleted file mode 100644
index cf35971..0000000
--- a/libraries/ode-0.9/ode/demo/demo_chain2.cpp
+++ /dev/null
@@ -1,165 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/* exercise the C++ interface */
-
-#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 dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// some constants
-
-#define NUM 10                  // number of boxes
-#define SIDE (0.2)              // side length of a box
-#define MASS (1.0)              // mass of a box
-#define RADIUS (0.1732f)        // sphere radius
-
-
-// dynamics and collision objects
-
-static dWorld world;
-static dSimpleSpace space (0);
-static dBody body[NUM];
-static dBallJoint joint[NUM-1];
-static dJointGroup contactgroup;
-static dBox box[NUM];
-
-
-// this is called by space.collide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  // 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;
-
-  // @@@ it's still more convenient to use the C interface here.
-
-  dContact contact;
-  contact.surface.mode = 0;
-  contact.surface.mu = dInfinity;
-  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
-    dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact);
-    dJointAttach (c,b1,b2);
-  }
-}
-
-
-// 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);
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  if (!pause) {
-    static double angle = 0;
-    angle += 0.05;
-    body[NUM-1].addForce (0,0,1.5*(sin(angle)+1.0));
-
-    space.collide (0,&nearCallback);
-    world.step (0.05);
-
-    // remove all contact joints
-    contactgroup.empty();
-  }
-
-  dReal sides[3] = {SIDE,SIDE,SIDE};
-  dsSetColor (1,1,0);
-  dsSetTexture (DS_WOOD);
-  for (int i=0; i<NUM; i++)
-    dsDrawBox (body[i].getPosition(),body[i].getRotation(),sides);
-}
-
-
-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 = 0;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  // create world
-  dInitODE();
-
-  int i;
-  contactgroup.create (0);
-  world.setGravity (0,0,-0.5);
-  dWorldSetCFM (world.id(),1e-5);
-  dPlane plane (space,0,0,1,0);
-
-  for (i=0; i<NUM; i++) {
-    body[i].create (world);
-    dReal k = i*SIDE;
-    body[i].setPosition (k,k,k+0.4);
-    dMass m;
-    m.setBox (1,SIDE,SIDE,SIDE);
-    m.adjust (MASS);
-    body[i].setMass (&m);
-    body[i].setData ((void*)(size_t)i);
-
-    box[i].create (space,SIDE,SIDE,SIDE);
-    box[i].setBody (body[i]);
-  }
-  for (i=0; i<(NUM-1); i++) {
-    joint[i].create (world);
-    joint[i].attach (body[i],body[i+1]);
-    dReal k = (i+0.5)*SIDE;
-    joint[i].setAnchor (k,k,k+0.4);
-  }
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_collision.cpp b/libraries/ode-0.9/ode/demo/demo_collision.cpp
deleted file mode 100644
index 8f591e9..0000000
--- a/libraries/ode-0.9/ode/demo/demo_collision.cpp
+++ /dev/null
@@ -1,1371 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-collision tests. if this program is run without any arguments it will
-perform all the tests multiple times, with different random data for each
-test. if this program is given a test number it will run that test
-graphically/interactively, in which case the space bar can be used to
-change the random test conditions.
-
-*/
-
-
-#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 dsDrawSphere dsDrawSphereD
-#define dsDrawBox dsDrawBoxD
-#define dsDrawLine dsDrawLineD
-#define dsDrawCapsule dsDrawCapsuleD
-#endif
-
-//****************************************************************************
-// test infrastructure, including constants and macros
-
-#define TEST_REPS1 1000         // run each test this many times (first batch)
-#define TEST_REPS2 10000        // run each test this many times (second batch)
-const dReal tol = 1e-8;         // tolerance used for numerical checks
-#define MAX_TESTS 1000          // maximum number of test slots
-#define Z_OFFSET 2              // z offset for drawing (to get above ground)
-
-
-// test function. returns 1 if the test passed or 0 if it failed
-typedef int test_function_t();
-
-struct TestSlot {
-  int number;                   // number of test
-  char *name;                   // name of test
-  int failcount;
-  test_function_t *test_fn;
-  int last_failed_line;
-};
-TestSlot testslot[MAX_TESTS];
-
-
-// globals used by the test functions
-int graphical_test=0;           // show graphical results of this test, 0=none
-int current_test;               // currently execiting test
-int draw_all_objects_called;
-
-
-#define MAKE_TEST(number,function) \
-  if (testslot[number].name) dDebug (0,"test number already used"); \
-  if (number <= 0 || number >= MAX_TESTS) dDebug (0,"bad test number"); \
-  testslot[number].name = # function; \
-  testslot[number].test_fn = function;
-
-#define FAILED() { if (graphical_test==0) { \
-  testslot[current_test].last_failed_line=__LINE__; return 0; } }
-#define PASSED() { return 1; }
-
-//****************************************************************************
-// globals
-
-/* int dBoxBox (const dVector3 p1, const dMatrix3 R1,
-             const dVector3 side1, const dVector3 p2,
-             const dMatrix3 R2, const dVector3 side2,
-             dVector3 normal, dReal *depth, int *code,
-             int maxc, dContactGeom *contact, int skip); */
-
-void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
-                           const dVector3 pb, const dVector3 ub,
-                           dReal *alpha, dReal *beta);
-
-//****************************************************************************
-// draw all objects in a space, and draw all the collision contact points
-
-void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  int i,j,n;
-  const int N = 100;
-  dContactGeom contact[N];
-
-  if (dGeomGetClass (o2) == dRayClass) {
-    n = dCollide (o2,o1,N,&contact[0],sizeof(dContactGeom));
-  }
-  else {
-    n = dCollide (o1,o2,N,&contact[0],sizeof(dContactGeom));
-  }
-  if (n > 0) {
-    dMatrix3 RI;
-    dRSetIdentity (RI);
-    const dReal ss[3] = {0.01,0.01,0.01};
-    for (i=0; i<n; i++) {
-      contact[i].pos[2] += Z_OFFSET;
-      dsDrawBox (contact[i].pos,RI,ss);
-      dVector3 n;
-      for (j=0; j<3; j++) n[j] = contact[i].pos[j] + 0.1*contact[i].normal[j];
-      dsDrawLine (contact[i].pos,n);
-    }
-  }
-}
-
-
-void draw_all_objects (dSpaceID space)
-{
-  int i, j;
-
-  draw_all_objects_called = 1;
-  if (!graphical_test) return;
-  int n = dSpaceGetNumGeoms (space);
-
-  // draw all contact points
-  dsSetColor (0,1,1);
-  dSpaceCollide (space,0,&nearCallback);
-
-  // draw all rays
-  for (i=0; i<n; i++) {
-    dGeomID g = dSpaceGetGeom (space,i);
-    if (dGeomGetClass (g) == dRayClass) {
-      dsSetColor (1,1,1);
-      dVector3 origin,dir;
-      dGeomRayGet (g,origin,dir);
-      origin[2] += Z_OFFSET;
-      dReal length = dGeomRayGetLength (g);
-      for (j=0; j<3; j++) dir[j] = dir[j]*length + origin[j];
-      dsDrawLine (origin,dir);
-      dsSetColor (0,0,1);
-      dsDrawSphere (origin,dGeomGetRotation(g),0.01);
-    }
-  }
-
-  // draw all other objects
-  for (i=0; i<n; i++) {
-    dGeomID g = dSpaceGetGeom (space,i);
-    dVector3 pos;
-    if (dGeomGetClass (g) != dPlaneClass) {
-      memcpy (pos,dGeomGetPosition(g),sizeof(pos));
-      pos[2] += Z_OFFSET;
-    }
-
-    switch (dGeomGetClass (g)) {
-
-    case dSphereClass: {
-      dsSetColorAlpha (1,0,0,0.8);
-      dReal radius = dGeomSphereGetRadius (g);
-      dsDrawSphere (pos,dGeomGetRotation(g),radius);
-      break;
-    }
-
-    case dBoxClass: {
-      dsSetColorAlpha (1,1,0,0.8);
-      dVector3 sides;
-      dGeomBoxGetLengths (g,sides);
-      dsDrawBox (pos,dGeomGetRotation(g),sides);
-      break;
-    }
-
-    case dCapsuleClass: {
-      dsSetColorAlpha (0,1,0,0.8);
-      dReal radius,length;
-      dGeomCapsuleGetParams (g,&radius,&length);
-      dsDrawCapsule (pos,dGeomGetRotation(g),length,radius);
-      break;
-    }
-
-    case dPlaneClass: {
-      dVector4 n;
-      dMatrix3 R,sides;
-      dVector3 pos2;
-      dGeomPlaneGetParams (g,n);
-      dRFromZAxis (R,n[0],n[1],n[2]);
-      for (j=0; j<3; j++) pos[j] = n[j]*n[3];
-      pos[2] += Z_OFFSET;
-      sides[0] = 2;
-      sides[1] = 2;
-      sides[2] = 0.001;
-      dsSetColor (1,0,1);
-      for (j=0; j<3; j++) pos2[j] = pos[j] + 0.1*n[j];
-      dsDrawLine (pos,pos2);
-      dsSetColorAlpha (1,0,1,0.8);
-      dsDrawBox (pos,R,sides);
-      break;
-    }
-
-    }
-  }
-}
-
-//****************************************************************************
-// point depth tests
-
-int test_sphere_point_depth()
-{
-  int j;
-  dVector3 p,q;
-  dMatrix3 R;
-  dReal r,d;
-
-  dSimpleSpace space(0);
-  dGeomID sphere = dCreateSphere (0,1);
-  dSpaceAdd (space,sphere);
-
-  // ********** make a random sphere of radius r at position p
-
-  r = dRandReal()+0.1;
-  dGeomSphereSetRadius (sphere,r);
-  dMakeRandomVector (p,3,1.0);
-  dGeomSetPosition (sphere,p[0],p[1],p[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (sphere,R);
-
-  // ********** test center point has depth r
-
-  if (dFabs(dGeomSpherePointDepth (sphere,p[0],p[1],p[2]) - r) > tol) FAILED();
-
-  // ********** test point on surface has depth 0
-
-  for (j=0; j<3; j++) q[j] = dRandReal()-0.5;
-  dNormalize3 (q);
-  for (j=0; j<3; j++) q[j] = q[j]*r + p[j];
-  if (dFabs(dGeomSpherePointDepth (sphere,q[0],q[1],q[2])) > tol) FAILED();
-
-  // ********** test point at random depth
-
-  d = (dRandReal()*2-1) * r;
-  for (j=0; j<3; j++) q[j] = dRandReal()-0.5;
-  dNormalize3 (q);
-  for (j=0; j<3; j++) q[j] = q[j]*(r-d) + p[j];
-  if (dFabs(dGeomSpherePointDepth (sphere,q[0],q[1],q[2])-d) > tol) FAILED();
-
-  PASSED();
-}
-
-
-int test_box_point_depth()
-{
-  int i,j;
-  dVector3 s,p,q,q2;    // s = box sides
-  dMatrix3 R;
-  dReal ss,d;           // ss = smallest side
-
-  dSimpleSpace space(0);
-  dGeomID box = dCreateBox (0,1,1,1);
-  dSpaceAdd (space,box);
-
-  // ********** make a random box
-
-  for (j=0; j<3; j++) s[j] = dRandReal() + 0.1;
-  dGeomBoxSetLengths (box,s[0],s[1],s[2]);
-  dMakeRandomVector (p,3,1.0);
-  dGeomSetPosition (box,p[0],p[1],p[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (box,R);
-
-  // ********** test center point has depth of smallest side
-
-  ss = 1e9;
-  for (j=0; j<3; j++) if (s[j] < ss) ss = s[j];
-  if (dFabs(dGeomBoxPointDepth (box,p[0],p[1],p[2]) - 0.5*ss) > tol)
-    FAILED();
-
-  // ********** test point on surface has depth 0
-
-  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
-  i = dRandInt (3);
-  if (dRandReal() > 0.5) q[i] = 0.5*s[i]; else q[i] = -0.5*s[i];
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q2[j] += p[j];
-  if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2])) > tol) FAILED();
-
-  // ********** test points outside box have -ve depth
-
-  for (j=0; j<3; j++) {
-    q[j] = 0.5*s[j] + dRandReal() + 0.01;
-    if (dRandReal() > 0.5) q[j] = -q[j];
-  }
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q2[j] += p[j];
-  if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) >= 0) FAILED();
-
-  // ********** test points inside box have +ve depth
-
-  for (j=0; j<3; j++) q[j] = s[j] * 0.99 * (dRandReal()-0.5);
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q2[j] += p[j];
-  if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) <= 0) FAILED();
-
-  // ********** test random depth of point aligned along axis (up to ss deep)
-
-  i = dRandInt (3);
-  for (j=0; j<3; j++) q[j] = 0;
-  d = (dRandReal()*(ss*0.5+1)-1);
-  q[i] = s[i]*0.5 - d;
-  if (dRandReal() > 0.5) q[i] = -q[i];
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q2[j] += p[j];
-  if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) - d) >= tol) FAILED();
-
-  PASSED();
-}
-
-
-int test_ccylinder_point_depth()
-{
-  int j;
-  dVector3 p,a;
-  dMatrix3 R;
-  dReal r,l,beta,x,y,d;
-
-  dSimpleSpace space(0);
-  dGeomID ccyl = dCreateCapsule (0,1,1);
-  dSpaceAdd (space,ccyl);
-
-  // ********** make a random ccyl
-
-  r = dRandReal()*0.5 + 0.01;
-  l = dRandReal()*1 + 0.01;
-  dGeomCapsuleSetParams (ccyl,r,l);
-  dMakeRandomVector (p,3,1.0);
-  dGeomSetPosition (ccyl,p[0],p[1],p[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (ccyl,R);
-
-  // ********** test point on axis has depth of 'radius'
-
-  beta = dRandReal()-0.5;
-  for (j=0; j<3; j++) a[j] = p[j] + l*beta*R[j*4+2];
-  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - r) >= tol)
-    FAILED();
-
-  // ********** test point on surface (excluding caps) has depth 0
-
-  beta = dRandReal()*2*M_PI;
-  x = r*sin(beta);
-  y = r*cos(beta);
-  beta = dRandReal()-0.5;
-  for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2];
-  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED();
-
-  // ********** test point on surface of caps has depth 0
-
-  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
-  dNormalize3 (a);
-  if (dDOT14(a,R+2) > 0) {
-    for (j=0; j<3; j++) a[j] = p[j] + a[j]*r + l*0.5*R[j*4+2];
-  }
-  else {
-    for (j=0; j<3; j++) a[j] = p[j] + a[j]*r - l*0.5*R[j*4+2];
-  }
-  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED();
-
-  // ********** test point inside ccyl has positive depth
-
-  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
-  dNormalize3 (a);
-  beta = dRandReal()-0.5;
-  for (j=0; j<3; j++) a[j] = p[j] + a[j]*r*0.99 + l*beta*R[j*4+2];
-  if (dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) < 0) FAILED();
-
-  // ********** test point depth (1)
-
-  d = (dRandReal()*2-1) * r;
-  beta = dRandReal()*2*M_PI;
-  x = (r-d)*sin(beta);
-  y = (r-d)*cos(beta);
-  beta = dRandReal()-0.5;
-  for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2];
-  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol)
-    FAILED();
-
-  // ********** test point depth (2)
-
-  d = (dRandReal()*2-1) * r;
-  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
-  dNormalize3 (a);
-  if (dDOT14(a,R+2) > 0) {
-    for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) + l*0.5*R[j*4+2];
-  }
-  else {
-    for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) - l*0.5*R[j*4+2];
-  }
-  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol)
-    FAILED();
-
-  PASSED();
-}
-
-
-int test_plane_point_depth()
-{
-  int j;
-  dVector3 n,p,q,a,b;   // n = plane normal
-  dReal d;
-
-  dSimpleSpace space(0);
-  dGeomID plane = dCreatePlane (0,0,0,1,0);
-  dSpaceAdd (space,plane);
-
-  // ********** make a random plane
-
-  for (j=0; j<3; j++) n[j] = dRandReal() - 0.5;
-  dNormalize3 (n);
-  d = dRandReal() - 0.5;
-  dGeomPlaneSetParams (plane,n[0],n[1],n[2],d);
-  dPlaneSpace (n,p,q);
-
-  // ********** test point on plane has depth 0
-
-  a[0] = dRandReal() - 0.5;
-  a[1] = dRandReal() - 0.5;
-  a[2] = 0;
-  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
-  if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2])) >= tol) FAILED();
-
-  // ********** test arbitrary depth point
-
-  a[0] = dRandReal() - 0.5;
-  a[1] = dRandReal() - 0.5;
-  a[2] = dRandReal() - 0.5;
-  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
-  if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) + a[2]) >= tol)
-    FAILED();
-
-  // ********** test depth-1 point
-
-  a[0] = dRandReal() - 0.5;
-  a[1] = dRandReal() - 0.5;
-  a[2] = -1;
-  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
-  if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) - 1) >= tol) FAILED();
-
-  PASSED();
-}
-
-//****************************************************************************
-// ray tests
-
-int test_ray_and_sphere()
-{
-  int j;
-  dContactGeom contact;
-  dVector3 p,q,q2,n,v1;
-  dMatrix3 R;
-  dReal r,k;
-
-  dSimpleSpace space(0);
-  dGeomID ray = dCreateRay (0,0);
-  dGeomID sphere = dCreateSphere (0,1);
-  dSpaceAdd (space,ray);
-  dSpaceAdd (space,sphere);
-
-  // ********** make a random sphere of radius r at position p
-
-  r = dRandReal()+0.1;
-  dGeomSphereSetRadius (sphere,r);
-  dMakeRandomVector (p,3,1.0);
-  dGeomSetPosition (sphere,p[0],p[1],p[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (sphere,R);
-
-  // ********** test zero length ray just inside sphere
-
-  dGeomRaySetLength (ray,0);
-  dMakeRandomVector (q,3,1.0);
-  dNormalize3 (q);
-  for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j];
-  dGeomSetPosition (ray,q[0],q[1],q[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (ray,R);
-  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test zero length ray just outside that sphere
-
-  dGeomRaySetLength (ray,0);
-  dMakeRandomVector (q,3,1.0);
-  dNormalize3 (q);
-  for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j];
-  dGeomSetPosition (ray,q[0],q[1],q[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (ray,R);
-  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test finite length ray totally contained inside the sphere
-
-  dMakeRandomVector (q,3,1.0);
-  dNormalize3 (q);
-  k = dRandReal();
-  for (j=0; j<3; j++) q[j] = k*r*0.99 * q[j] + p[j];
-  dMakeRandomVector (q2,3,1.0);
-  dNormalize3 (q2);
-  k = dRandReal();
-  for (j=0; j<3; j++) q2[j] = k*r*0.99 * q2[j] + p[j];
-  for (j=0; j<3; j++) n[j] = q2[j] - q[j];
-  dNormalize3 (n);
-  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
-  dGeomRaySetLength (ray,dDISTANCE (q,q2));
-  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test finite length ray totally outside the sphere
-
-  dMakeRandomVector (q,3,1.0);
-  dNormalize3 (q);
-  do {
-    dMakeRandomVector (n,3,1.0);
-    dNormalize3 (n);
-  }
-  while (dDOT(n,q) < 0);        // make sure normal goes away from sphere
-  for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j];
-  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
-  dGeomRaySetLength (ray,100);
-  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test ray from outside to just above surface
-
-  dMakeRandomVector (q,3,1.0);
-  dNormalize3 (q);
-  for (j=0; j<3; j++) n[j] = -q[j];
-  for (j=0; j<3; j++) q2[j] = 2*r * q[j] + p[j];
-  dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]);
-  dGeomRaySetLength (ray,0.99*r);
-  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test ray from outside to just below surface
-
-  dGeomRaySetLength (ray,1.01*r);
-  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
-  for (j=0; j<3; j++) q2[j] = r * q[j] + p[j];
-  if (dDISTANCE (contact.pos,q2) > tol) FAILED();
-
-  // ********** test contact point distance for random rays
-
-  dMakeRandomVector (q,3,1.0);
-  dNormalize3 (q);
-  k = dRandReal()+0.5;
-  for (j=0; j<3; j++) q[j] = k*r * q[j] + p[j];
-  dMakeRandomVector (n,3,1.0);
-  dNormalize3 (n);
-  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
-  dGeomRaySetLength (ray,100);
-  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom))) {
-    k = dDISTANCE (contact.pos,dGeomGetPosition(sphere));
-    if (dFabs(k - r) > tol) FAILED();
-    // also check normal signs
-    if (dDOT (n,contact.normal) > 0) FAILED();
-    // also check depth of contact point
-    if (dFabs (dGeomSpherePointDepth
-               (sphere,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
-      FAILED();
-
-    draw_all_objects (space);
-  }
-
-  // ********** test tangential grazing - miss
-
-  dMakeRandomVector (q,3,1.0);
-  dNormalize3 (q);
-  dPlaneSpace (q,n,v1);
-  for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j];
-  for (j=0; j<3; j++) q[j] -= n[j];
-  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
-  dGeomRaySetLength (ray,2);
-  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test tangential grazing - hit
-
-  dMakeRandomVector (q,3,1.0);
-  dNormalize3 (q);
-  dPlaneSpace (q,n,v1);
-  for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j];
-  for (j=0; j<3; j++) q[j] -= n[j];
-  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
-  dGeomRaySetLength (ray,2);
-  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
-
-  PASSED();
-}
-
-
-int test_ray_and_box()
-{
-  int i,j;
-  dContactGeom contact;
-  dVector3 s,p,q,n,q2,q3,q4;            // s = box sides
-  dMatrix3 R;
-  dReal k;
-
-  dSimpleSpace space(0);
-  dGeomID ray = dCreateRay (0,0);
-  dGeomID box = dCreateBox (0,1,1,1);
-  dSpaceAdd (space,ray);
-  dSpaceAdd (space,box);
-
-  // ********** make a random box
-
-  for (j=0; j<3; j++) s[j] = dRandReal() + 0.1;
-  dGeomBoxSetLengths (box,s[0],s[1],s[2]);
-  dMakeRandomVector (p,3,1.0);
-  dGeomSetPosition (box,p[0],p[1],p[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (box,R);
-
-  // ********** test zero length ray just inside box
-
-  dGeomRaySetLength (ray,0);
-  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
-  i = dRandInt (3);
-  if (dRandReal() > 0.5) q[i] = 0.99*0.5*s[i]; else q[i] = -0.99*0.5*s[i];
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q2[j] += p[j];
-  dGeomSetPosition (ray,q2[0],q2[1],q2[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (ray,R);
-  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test zero length ray just outside box
-
-  dGeomRaySetLength (ray,0);
-  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
-  i = dRandInt (3);
-  if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q2[j] += p[j];
-  dGeomSetPosition (ray,q2[0],q2[1],q2[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (ray,R);
-  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test finite length ray totally contained inside the box
-
-  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*0.99*s[j];
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q2[j] += p[j];
-  for (j=0; j<3; j++) q3[j] = (dRandReal()-0.5)*0.99*s[j];
-  dMultiply0 (q4,dGeomGetRotation(box),q3,3,3,1);
-  for (j=0; j<3; j++) q4[j] += p[j];
-  for (j=0; j<3; j++) n[j] = q4[j] - q2[j];
-  dNormalize3 (n);
-  dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]);
-  dGeomRaySetLength (ray,dDISTANCE(q2,q4));
-  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test finite length ray totally outside the box
-
-  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
-  i = dRandInt (3);
-  if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q3[j] = q2[j] + p[j];
-  dNormalize3 (q2);
-  dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]);
-  dGeomRaySetLength (ray,10);
-  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test ray from outside to just above surface
-
-  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
-  i = dRandInt (3);
-  if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q3[j] = 2*q2[j] + p[j];
-  k = dSqrt(q2[0]*q2[0] + q2[1]*q2[1] + q2[2]*q2[2]);
-  for (j=0; j<3; j++) q2[j] = -q2[j];
-  dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]);
-  dGeomRaySetLength (ray,k*0.99);
-  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test ray from outside to just below surface
-
-  dGeomRaySetLength (ray,k*1.01);
-  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
-
-  // ********** test contact point position for random rays
-
-  for (j=0; j<3; j++) q[j] = dRandReal()*s[j];
-  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
-  for (j=0; j<3; j++) q2[j] += p[j];
-  for (j=0; j<3; j++) q3[j] = dRandReal()-0.5;
-  dNormalize3 (q3);
-  dGeomRaySet (ray,q2[0],q2[1],q2[2],q3[0],q3[1],q3[2]);
-  dGeomRaySetLength (ray,10);
-  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom))) {
-    // check depth of contact point
-    if (dFabs (dGeomBoxPointDepth
-               (box,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
-      FAILED();
-    // check position of contact point
-    for (j=0; j<3; j++) contact.pos[j] -= p[j];
-    dMultiply1 (q,dGeomGetRotation(box),contact.pos,3,3,1);
-    if ( dFabs(dFabs (q[0]) - 0.5*s[0]) > tol &&
-         dFabs(dFabs (q[1]) - 0.5*s[1]) > tol &&
-         dFabs(dFabs (q[2]) - 0.5*s[2]) > tol) {
-      FAILED();
-    }
-    // also check normal signs
-    if (dDOT (q3,contact.normal) > 0) FAILED();
-
-    draw_all_objects (space);
-  }
-
-  PASSED();
-}
-
-
-int test_ray_and_ccylinder()
-{
-  int j;
-  dContactGeom contact;
-  dVector3 p,a,b,n;
-  dMatrix3 R;
-  dReal r,l,k,x,y;
-
-  dSimpleSpace space(0);
-  dGeomID ray = dCreateRay (0,0);
-  dGeomID ccyl = dCreateCapsule (0,1,1);
-  dSpaceAdd (space,ray);
-  dSpaceAdd (space,ccyl);
-
-  // ********** make a random capped cylinder
-
-  r = dRandReal()*0.5 + 0.01;
-  l = dRandReal()*1 + 0.01;
-  dGeomCapsuleSetParams (ccyl,r,l);
-  dMakeRandomVector (p,3,1.0);
-  dGeomSetPosition (ccyl,p[0],p[1],p[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (ccyl,R);
-
-  // ********** test ray completely within ccyl
-
-  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
-  dNormalize3 (a);
-  k = (dRandReal()-0.5)*l;
-  for (j=0; j<3; j++) a[j] = p[j] + r*0.99*a[j] + k*0.99*R[j*4+2];
-  for (j=0; j<3; j++) b[j] = dRandReal()-0.5;
-  dNormalize3 (b);
-  k = (dRandReal()-0.5)*l;
-  for (j=0; j<3; j++) b[j] = p[j] + r*0.99*b[j] + k*0.99*R[j*4+2];
-  dGeomRaySetLength (ray,dDISTANCE(a,b));
-  for (j=0; j<3; j++) b[j] -= a[j];
-  dNormalize3 (b);
-  dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
-  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test ray outside ccyl that just misses (between caps)
-
-  k = dRandReal()*2*M_PI;
-  x = sin(k);
-  y = cos(k);
-  for (j=0; j<3; j++) a[j] = x*R[j*4+0] + y*R[j*4+1];
-  k = (dRandReal()-0.5)*l;
-  for (j=0; j<3; j++) b[j] = -a[j]*r*2 + k*R[j*4+2] + p[j];
-  dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]);
-  dGeomRaySetLength (ray,r*0.99);
-  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test ray outside ccyl that just hits (between caps)
-
-  dGeomRaySetLength (ray,r*1.01);
-  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
-  // check depth of contact point
-  if (dFabs (dGeomCapsulePointDepth
-             (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
-    FAILED();
-
-  // ********** test ray outside ccyl that just misses (caps)
-
-  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
-  dNormalize3 (a);
-  if (dDOT14(a,R+2) < 0) {
-    for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r + l*0.5*R[j*4+2];
-  }
-  else {
-    for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r - l*0.5*R[j*4+2];
-  }
-  dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]);
-  dGeomRaySetLength (ray,r*0.99);
-  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test ray outside ccyl that just hits (caps)
-
-  dGeomRaySetLength (ray,r*1.01);
-  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
-  // check depth of contact point
-  if (dFabs (dGeomCapsulePointDepth
-             (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
-    FAILED();
-
-  // ********** test random rays
-
-  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
-  for (j=0; j<3; j++) n[j] = dRandReal()-0.5;
-  dNormalize3 (n);
-  dGeomRaySet (ray,a[0],a[1],a[2],n[0],n[1],n[2]);
-  dGeomRaySetLength (ray,10);
-
-  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom))) {
-    // check depth of contact point
-    if (dFabs (dGeomCapsulePointDepth
-               (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
-      FAILED();
-
-    // check normal signs
-    if (dDOT (n,contact.normal) > 0) FAILED();
-
-    draw_all_objects (space);
-  }
-
-  PASSED();
-}
-
-
-int test_ray_and_plane()
-{
-  int j;
-  dContactGeom contact;
-  dVector3 n,p,q,a,b,g,h;               // n,d = plane parameters
-  dMatrix3 R;
-  dReal d;
-
-  dSimpleSpace space(0);
-  dGeomID ray = dCreateRay (0,0);
-  dGeomID plane = dCreatePlane (0,0,0,1,0);
-  dSpaceAdd (space,ray);
-  dSpaceAdd (space,plane);
-
-  // ********** make a random plane
-
-  for (j=0; j<3; j++) n[j] = dRandReal() - 0.5;
-  dNormalize3 (n);
-  d = dRandReal() - 0.5;
-  dGeomPlaneSetParams (plane,n[0],n[1],n[2],d);
-  dPlaneSpace (n,p,q);
-
-  // ********** test finite length ray below plane
-
-  dGeomRaySetLength (ray,0.09);
-  a[0] = dRandReal()-0.5;
-  a[1] = dRandReal()-0.5;
-  a[2] = -dRandReal()*0.5 - 0.1;
-  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
-  dGeomSetPosition (ray,b[0],b[1],b[2]);
-  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2-1,dRandReal()*10-5);
-  dGeomSetRotation (ray,R);
-  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test finite length ray above plane
-
-  a[0] = dRandReal()-0.5;
-  a[1] = dRandReal()-0.5;
-  a[2] = dRandReal()*0.5 + 0.01;
-  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
-  g[0] = dRandReal()-0.5;
-  g[1] = dRandReal()-0.5;
-  g[2] = dRandReal() + 0.01;
-  for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j];
-  dNormalize3 (h);
-  dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]);
-  dGeomRaySetLength (ray,10);
-  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test finite length ray that intersects plane
-
-  a[0] = dRandReal()-0.5;
-  a[1] = dRandReal()-0.5;
-  a[2] = dRandReal()-0.5;
-  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
-  g[0] = dRandReal()-0.5;
-  g[1] = dRandReal()-0.5;
-  g[2] = dRandReal()-0.5;
-  for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j];
-  dNormalize3 (h);
-  dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]);
-  dGeomRaySetLength (ray,10);
-  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom))) {
-    // test that contact is on plane surface
-    if (dFabs (dDOT(contact.pos,n) - d) > tol) FAILED();
-    // also check normal signs
-    if (dDOT (h,contact.normal) > 0) FAILED();
-    // also check contact point depth
-    if (dFabs (dGeomPlanePointDepth
-               (plane,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
-      FAILED();
-
-    draw_all_objects (space);
-  }
-
-  // ********** test ray that just misses
-
-  for (j=0; j<3; j++) b[j] = (1+d)*n[j];
-  for (j=0; j<3; j++) h[j] = -n[j];
-  dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]);
-  dGeomRaySetLength (ray,0.99);
-  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
-
-  // ********** test ray that just hits
-
-  dGeomRaySetLength (ray,1.01);
-  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
-
-  // ********** test polarity with typical ground plane
-
-  dGeomPlaneSetParams (plane,0,0,1,0);
-  for (j=0; j<3; j++) a[j] = 0.1;
-  for (j=0; j<3; j++) b[j] = 0;
-  a[2] = 1;
-  b[2] = -1;
-  dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
-  dGeomRaySetLength (ray,2);
-  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
-  if (dFabs (contact.depth - 1) > tol) FAILED();
-  a[2] = -1;
-  b[2] = 1;
-  dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
-  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
-  if (dFabs (contact.depth - 1) > tol) FAILED();
-
-  PASSED();
-}
-
-//****************************************************************************
-// a really inefficient, but hopefully correct implementation of
-// dBoxTouchesBox(), that does 144 edge-face tests.
-
-// return 1 if edge v1 -> v2 hits the rectangle described by p1,p2,p3
-
-static int edgeIntersectsRect (dVector3 v1, dVector3 v2,
-                               dVector3 p1, dVector3 p2, dVector3 p3)
-{
-  int k;
-  dVector3 u1,u2,n,tmp;
-  for (k=0; k<3; k++) u1[k] = p3[k]-p1[k];
-  for (k=0; k<3; k++) u2[k] = p2[k]-p1[k];
-  dReal d1 = dSqrt(dDOT(u1,u1));
-  dReal d2 = dSqrt(dDOT(u2,u2));
-  dNormalize3 (u1);
-  dNormalize3 (u2);
-  if (dFabs(dDOT(u1,u2)) > 1e-6) dDebug (0,"bad u1/u2");
-  dCROSS (n,=,u1,u2);
-  for (k=0; k<3; k++) tmp[k] = v2[k]-v1[k];
-  dReal d = -dDOT(n,p1);
-  if (dFabs(dDOT(n,p1)+d) > 1e-8) dDebug (0,"bad n wrt p1");
-  if (dFabs(dDOT(n,p2)+d) > 1e-8) dDebug (0,"bad n wrt p2");
-  if (dFabs(dDOT(n,p3)+d) > 1e-8) dDebug (0,"bad n wrt p3");
-  dReal alpha = -(d+dDOT(n,v1))/dDOT(n,tmp);
-  for (k=0; k<3; k++) tmp[k] = v1[k]+alpha*(v2[k]-v1[k]);
-  if (dFabs(dDOT(n,tmp)+d) > 1e-6) dDebug (0,"bad tmp");
-  if (alpha < 0) return 0;
-  if (alpha > 1) return 0;
-  for (k=0; k<3; k++) tmp[k] -= p1[k];
-  dReal a1 = dDOT(u1,tmp);
-  dReal a2 = dDOT(u2,tmp);
-  if (a1<0 || a2<0 || a1>d1 || a2>d2) return 0;
-  return 1;
-}
-
-
-// return 1 if box 1 is completely inside box 2
-
-static int box1inside2 (const dVector3 p1, const dMatrix3 R1,
-                        const dVector3 side1, const dVector3 p2,
-                        const dMatrix3 R2, const dVector3 side2)
-{
-  for (int i=-1; i<=1; i+=2) {
-    for (int j=-1; j<=1; j+=2) {
-      for (int k=-1; k<=1; k+=2) {
-        dVector3 v,vv;
-        v[0] = i*0.5*side1[0];
-        v[1] = j*0.5*side1[1];
-        v[2] = k*0.5*side1[2];
-        dMULTIPLY0_331 (vv,R1,v);
-        vv[0] += p1[0] - p2[0];
-        vv[1] += p1[1] - p2[1];
-        vv[2] += p1[2] - p2[2];
-        for (int axis=0; axis < 3; axis++) {
-          dReal z = dDOT14(vv,R2+axis);
-          if (z < (-side2[axis]*0.5) || z > (side2[axis]*0.5)) return 0;
-        }
-      }
-    }
-  }
-  return 1;
-}
-
-
-// test if any edge from box 1 hits a face from box 2
-
-static int testBoxesTouch2 (const dVector3 p1, const dMatrix3 R1,
-                            const dVector3 side1, const dVector3 p2,
-                            const dMatrix3 R2, const dVector3 side2)
-{
-  int j,k,j1,j2;
-
-  // for 6 faces from box 2
-  for (int fd=0; fd<3; fd++) {          // direction for face
-
-    for (int fo=0; fo<2; fo++) {        // offset of face
-      // get four points on the face. first get 2 indexes that are not fd
-      int k1=0,k2=0;
-      if (fd==0) { k1 = 1; k2 = 2; }
-      if (fd==1) { k1 = 0; k2 = 2; }
-      if (fd==2) { k1 = 0; k2 = 1; }
-      dVector3 fp[4],tmp;
-      k=0;
-      for (j1=-1; j1<=1; j1+=2) {
-        for (j2=-1; j2<=1; j2+=2) {
-          fp[k][k1] = j1;
-          fp[k][k2] = j2;
-          fp[k][fd] = fo*2-1;
-          k++;
-        }
-      }
-      for (j=0; j<4; j++) {
-        for (k=0; k<3; k++) fp[j][k] *= 0.5*side2[k];
-        dMULTIPLY0_331 (tmp,R2,fp[j]);
-        for (k=0; k<3; k++) fp[j][k] = tmp[k] + p2[k];
-      }
-
-      // for 8 vertices
-      dReal v1[3];
-      for (v1[0]=-1; v1[0] <= 1; v1[0] += 2) {
-        for (v1[1]=-1; v1[1] <= 1; v1[1] += 2) {
-          for (v1[2]=-1; v1[2] <= 1; v1[2] += 2) {
-            // for all possible +ve leading edges from those vertices
-            for (int ei=0; ei < 3; ei ++) {
-              if (v1[ei] < 0) {
-                // get vertex1 -> vertex2 = an edge from box 1
-                dVector3 vv1,vv2;
-                for (k=0; k<3; k++) vv1[k] = v1[k] * 0.5*side1[k];
-                for (k=0; k<3; k++) vv2[k] = (v1[k] + (k==ei)*2)*0.5*side1[k];
-                dVector3 vertex1,vertex2;
-                dMULTIPLY0_331 (vertex1,R1,vv1);
-                dMULTIPLY0_331 (vertex2,R1,vv2);
-                for (k=0; k<3; k++) vertex1[k] += p1[k];
-                for (k=0; k<3; k++) vertex2[k] += p1[k];
-
-                // see if vertex1 -> vertex2 interesects face
-                if (edgeIntersectsRect (vertex1,vertex2,fp[0],fp[1],fp[2]))
-                  return 1;
-              }
-            }
-          }
-        }
-      }
-    }
-  }
-
-  if (box1inside2 (p1,R1,side1,p2,R2,side2)) return 1;
-  if (box1inside2 (p2,R2,side2,p1,R1,side1)) return 1;
-
-  return 0;
-}
-
-//****************************************************************************
-// dBoxTouchesBox() test
-
-int test_dBoxTouchesBox()
-{
-  int k,bt1,bt2;
-  dVector3 p1,p2,side1,side2;
-  dMatrix3 R1,R2;
-
-  dSimpleSpace space(0);
-  dGeomID box1 = dCreateBox (0,1,1,1);
-  dSpaceAdd (space,box1);
-  dGeomID box2 = dCreateBox (0,1,1,1);
-  dSpaceAdd (space,box2);
-
-  dMakeRandomVector (p1,3,0.5);
-  dMakeRandomVector (p2,3,0.5);
-  for (k=0; k<3; k++) side1[k] = dRandReal() + 0.01;
-  for (k=0; k<3; k++) side2[k] = dRandReal() + 0.01;
-  dRFromAxisAndAngle (R1,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-                      dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-  dRFromAxisAndAngle (R2,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-                      dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-
-  dGeomBoxSetLengths (box1,side1[0],side1[1],side1[2]);
-  dGeomBoxSetLengths (box2,side2[0],side2[1],side2[2]);
-  dGeomSetPosition (box1,p1[0],p1[1],p1[2]);
-  dGeomSetRotation (box1,R1);
-  dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
-  dGeomSetRotation (box2,R2);
-  draw_all_objects (space);
-
-  int t1 = testBoxesTouch2 (p1,R1,side1,p2,R2,side2);
-  int t2 = testBoxesTouch2 (p2,R2,side2,p1,R1,side1);
-  bt1 = t1 || t2;
-  bt2 = dBoxTouchesBox (p1,R1,side1,p2,R2,side2);
-
-  if (bt1 != bt2) FAILED();
-
-  /*
-    // some more debugging info if necessary
-    if (bt1 && bt2) printf ("agree - boxes touch\n");
-    if (!bt1 && !bt2) printf ("agree - boxes don't touch\n");
-    if (bt1 && !bt2) printf ("disagree - boxes touch but dBoxTouchesBox "
-                             "says no\n");
-    if (!bt1 && bt2) printf ("disagree - boxes don't touch but dBoxTouchesBox "
-                             "says yes\n");
-  */
-
-  PASSED();
-}
-
-//****************************************************************************
-// test box-box collision
-
-int test_dBoxBox()
-{
-  int k,bt;
-  dVector3 p1,p2,side1,side2,normal,normal2;
-  dMatrix3 R1,R2;
-  dReal depth,depth2;
-  int code;
-  dContactGeom contact[48];
-
-  dSimpleSpace space(0);
-  dGeomID box1 = dCreateBox (0,1,1,1);
-  dSpaceAdd (space,box1);
-  dGeomID box2 = dCreateBox (0,1,1,1);
-  dSpaceAdd (space,box2);
-
-  dMakeRandomVector (p1,3,0.5);
-  dMakeRandomVector (p2,3,0.5);
-  for (k=0; k<3; k++) side1[k] = dRandReal() + 0.01;
-  for (k=0; k<3; k++) side2[k] = dRandReal() + 0.01;
-
-  dRFromAxisAndAngle (R1,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-                      dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-  dRFromAxisAndAngle (R2,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
-                      dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
-
-  // dRSetIdentity (R1);        // we can also try this
-  // dRSetIdentity (R2);
-
-  dGeomBoxSetLengths (box1,side1[0],side1[1],side1[2]);
-  dGeomBoxSetLengths (box2,side2[0],side2[1],side2[2]);
-  dGeomSetPosition (box1,p1[0],p1[1],p1[2]);
-  dGeomSetRotation (box1,R1);
-  dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
-  dGeomSetRotation (box2,R2);
-
-  code = 0;
-  depth = 0;
-  bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal,&depth,&code,8,contact,
-                sizeof(dContactGeom));
-  if (bt==1) {
-    p2[0] += normal[0] * 0.96 * depth;
-    p2[1] += normal[1] * 0.96 * depth;
-    p2[2] += normal[2] * 0.96 * depth;
-    bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal2,&depth2,&code,8,contact,
-                  sizeof(dContactGeom));
-
-    /*
-    dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
-    draw_all_objects (space);
-    */
-
-    if (bt != 1) {
-      FAILED();
-      dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
-      draw_all_objects (space);
-    }
-
-    p2[0] += normal[0] * 0.08 * depth;
-    p2[1] += normal[1] * 0.08 * depth;
-    p2[2] += normal[2] * 0.08 * depth;
-    bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal2,&depth2,&code,8,contact,
-                  sizeof(dContactGeom));
-    if (bt != 0) FAILED();
-
-    // dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
-    // draw_all_objects (space);
-  }
-
-  // printf ("code=%2d  depth=%.4f  ",code,depth);
-
-  PASSED();
-}
-
-//****************************************************************************
-// graphics
-
-int space_pressed = 0;
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {2.4807,-1.8023,2.7600};
-  static float hpr[3] = {141.5000,-18.5000,0.0000};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  if (cmd == ' ') space_pressed = 1;
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  do {
-    draw_all_objects_called = 0;
-    unsigned long seed = dRandGetSeed();
-    testslot[graphical_test].test_fn();
-    if (draw_all_objects_called) {
-      if (space_pressed) space_pressed = 0; else dRandSetSeed (seed);
-    }
-  }
-  while (!draw_all_objects_called);
-}
-
-//****************************************************************************
-// do all the tests
-
-void do_tests (int argc, char **argv)
-{
-  int i,j;
-
-  // process command line arguments
-  if (argc >= 2) {
-    graphical_test = atoi (argv[1]);
-  }
-
-  if (graphical_test) {
-    // do one test gaphically and interactively
-
-    if (graphical_test < 1 || graphical_test >= MAX_TESTS ||
-        !testslot[graphical_test].name) {
-      dError (0,"invalid test number");
-    }
-
-    printf ("performing test: %s\n",testslot[graphical_test].name);
-
-    // 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";
-
-    dsSetSphereQuality (3);
-    dsSetCapsuleQuality (8);
-    dsSimulationLoop (argc,argv,1280,900,&fn);
-  }
-  else {
-    // do all tests noninteractively
-
-    for (i=0; i<MAX_TESTS; i++) testslot[i].number = i;
-
-    // first put the active tests into a separate array
-    int n=0;
-    for (i=0; i<MAX_TESTS; i++) if (testslot[i].name) n++;
-    TestSlot **ts = (TestSlot**) alloca (n * sizeof(TestSlot*));
-    j = 0;
-    for (i=0; i<MAX_TESTS; i++) if (testslot[i].name) ts[j++] = testslot+i;
-    if (j != n) dDebug (0,"internal");
-
-    // do two test batches. the first test batch has far fewer reps and will
-    // catch problems quickly. if all tests in the first batch passes, the
-    // second batch is run.
-
-    for (i=0; i<n; i++) ts[i]->failcount = 0;
-    int total_reps=0;
-    for (int batch=0; batch<2; batch++) {
-      int reps = (batch==0) ? TEST_REPS1 : TEST_REPS2;
-      total_reps += reps;
-      printf ("testing batch %d (%d reps)...\n",batch+1,reps);
-
-      // run tests
-      for (j=0; j<reps; j++) {
-        for (i=0; i<n; i++) {
-          current_test = ts[i]->number;
-          if (ts[i]->test_fn() != 1) ts[i]->failcount++;
-        }
-      }
-
-      // check for failures
-      int total_fail_count=0;
-      for (i=0; i<n; i++) total_fail_count += ts[i]->failcount;
-      if (total_fail_count) break;
-    }
-
-    // print results
-    for (i=0; i<n; i++) {
-      printf ("%3d: %-30s: ",ts[i]->number,ts[i]->name);
-      if (ts[i]->failcount) {
-        printf ("FAILED (%.2f%%) at line %d\n",
-                double(ts[i]->failcount)/double(total_reps)*100.0,
-                ts[i]->last_failed_line);
-      }
-      else {
-        printf ("ok\n");
-      }
-    }
-  }
-}
-
-//****************************************************************************
-
-int main (int argc, char **argv)
-{
-  // setup all tests
-
-  memset (testslot,0,sizeof(testslot));
-  dInitODE();
-
-  MAKE_TEST(1,test_sphere_point_depth);
-  MAKE_TEST(2,test_box_point_depth);
-  MAKE_TEST(3,test_ccylinder_point_depth);
-  MAKE_TEST(4,test_plane_point_depth);
-
-  MAKE_TEST(10,test_ray_and_sphere);
-  MAKE_TEST(11,test_ray_and_box);
-  MAKE_TEST(12,test_ray_and_ccylinder);
-  MAKE_TEST(13,test_ray_and_plane);
-
-  MAKE_TEST(100,test_dBoxTouchesBox);
-  MAKE_TEST(101,test_dBoxBox);
-
-  do_tests (argc,argv);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_convex_cd.cpp b/libraries/ode-0.9/ode/demo/demo_convex_cd.cpp
deleted file mode 100644
index e1764f3..0000000
--- a/libraries/ode-0.9/ode/demo/demo_convex_cd.cpp
+++ /dev/null
@@ -1,195 +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 <stdio.h>
-#include <math.h>
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-
-#ifndef M_PI
-#define M_PI (3.14159265358979323846)
-#endif
-
-//<---- Convex Object
-dReal planes[]= // planes for a cube
-  {
-    1.0f ,0.0f ,0.0f ,0.25f,
-    0.0f ,1.0f ,0.0f ,0.25f,
-    0.0f ,0.0f ,1.0f ,0.25f,
-    -1.0f,0.0f ,0.0f ,0.25f,
-    0.0f ,-1.0f,0.0f ,0.25f,
-    0.0f ,0.0f ,-1.0f,0.25f
-    /*
-    1.0f ,0.0f ,0.0f ,2.0f,
-    0.0f ,1.0f ,0.0f ,1.0f,
-    0.0f ,0.0f ,1.0f ,1.0f,
-    0.0f ,0.0f ,-1.0f,1.0f,
-    0.0f ,-1.0f,0.0f ,1.0f,
-    -1.0f,0.0f ,0.0f ,0.0f
-    */
-  };
-const unsigned int planecount=6;
-
-dReal points[]= // points for a cube
-  {
-    0.25f,0.25f,0.25f,  //  point 0
-    -0.25f,0.25f,0.25f, //  point 1
-
-    0.25f,-0.25f,0.25f, //  point 2
-    -0.25f,-0.25f,0.25f,//  point 3
-
-    0.25f,0.25f,-0.25f, //  point 4
-    -0.25f,0.25f,-0.25f,//  point 5
-
-    0.25f,-0.25f,-0.25f,//  point 6
-    -0.25f,-0.25f,-0.25f,// point 7 
-  };
-const unsigned int pointcount=8;
-unsigned int polygons[] = //Polygons for a cube (6 squares)
-  {
-    4,0,2,6,4, // positive X
-    4,1,0,4,5, // positive Y
-    4,0,1,3,2, // positive Z
-    4,3,1,5,7, // negative X 
-    4,2,3,7,6, // negative Y
-    4,5,4,6,7, // negative Z
-  };
-//----> Convex Object
-
-#ifdef dDOUBLE
-#define dsDrawConvex dsDrawConvexD
-#define dsDrawBox dsDrawBoxD
-#endif
-
-dGeomID geoms[2];
-dSpaceID space;
-dWorldID world;
-dJointGroupID contactgroup;
-
-void start()
-{
-  // adjust the starting viewpoint a bit
-  float xyz[3],hpr[3];
-  dsGetViewpoint (xyz,hpr);
-  hpr[0] += 7;
-  dsSetViewpoint (xyz,hpr);
-  geoms[0]=dCreateConvex (space,
-                          planes,
-                          planecount,
-                          points,
-                          pointcount,
-                          polygons);
-  dGeomSetPosition (geoms[0],0,0,0.25);
-  geoms[1]=dCreateConvex (space,
-                          planes,
-                          planecount,
-                          points,
-                          pointcount,
-                          polygons);
-  dGeomSetPosition (geoms[1],0.25,0.25,0.70);
-  
-}
-
-int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags,
-                          dContactGeom *contact, int skip);
-void simLoop (int pause)
-{
-  static bool DumpInfo=true;
-  const dReal ss[3] = {0.02,0.02,0.02};
-  dContactGeom contacts[8];
-  int contactcount = dCollideConvexConvex(geoms[0],geoms[1],8,contacts,sizeof(dContactGeom));
-  //fprintf(stdout,"Contact Count %d\n",contactcount);
-  const dReal* pos;
-  const dReal* R;
-  dsSetTexture (DS_WOOD);
-  pos = dGeomGetPosition (geoms[0]);
-  R = dGeomGetRotation (geoms[0]);
-  dsSetColor (0.6f,0.6f,1);
-  dsDrawConvex(pos,R,planes,
-               planecount,
-               points,
-               pointcount,
-               polygons);
-  pos = dGeomGetPosition (geoms[1]);
-  R = dGeomGetRotation (geoms[1]);
-  dsSetColor (0.4f,1,1);
-  dsDrawConvex(pos,R,planes,
-               planecount,
-               points,
-               pointcount,
-               polygons);
-  /*if (show_contacts) */
-  dMatrix3 RI;
-  dRSetIdentity (RI);
-  dsSetColor (1.0f,0,0);
-  for(int i=0;i<contactcount;++i)
-    {
-      if(DumpInfo)
-        {
-          //DumpInfo=false;
-          fprintf(stdout,"Contact %d Normal %f,%f,%f Depth %f\n",
-                  i,
-                  contacts[i].normal[0],
-                  contacts[i].normal[1],
-                  contacts[i].normal[2],
-                  contacts[i].depth);
-        }
-      dsDrawBox (contacts[i].pos,RI,ss);
-    }
-  if(DumpInfo)
-    DumpInfo=false;
-
-}
-
-
-void command (int cmd)
-{
-  dsPrint ("received command %d (`%c')\n",cmd,cmd);
-}
-
-
-int main (int argc, char **argv)
-{
-  // setup pointers to 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";     // uses default
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-
-  // run simulation
-  dsSimulationLoop (argc,argv,400,400,&fn);
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_crash.cpp b/libraries/ode-0.9/ode/demo/demo_crash.cpp
deleted file mode 100644
index 29ec01f..0000000
--- a/libraries/ode-0.9/ode/demo/demo_crash.cpp
+++ /dev/null
@@ -1,635 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-// This is a demo of the QuickStep and StepFast methods,
-// originally by David Whittaker.
-
-#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 dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// select the method you want to test here (only uncomment *one* line)
-#define QUICKSTEP 1
-//#define STEPFAST 1
-
-// some constants
-
-#define LENGTH 3.5              // chassis length
-#define WIDTH 2.5               // chassis width
-#define HEIGHT 1.0              // chassis height
-#define RADIUS 0.5              // wheel radius
-#define STARTZ 1.0              // starting height of chassis
-#define CMASS 1                 // chassis mass
-#define WMASS 1                 // wheel mass
-#define COMOFFSET -5            // center of mass offset
-#define WALLMASS 1              // wall box mass
-#define BALLMASS 1              // ball mass
-#define FMAX 25                 // car engine fmax
-#define ROWS 1                  // rows of cars
-#define COLS 1                  // columns of cars
-#define ITERS 20                // number of iterations
-#define WBOXSIZE 1.0            // size of wall boxes
-#define WALLWIDTH 12            // width of wall
-#define WALLHEIGHT 10           // height of wall
-#define DISABLE_THRESHOLD 0.008 // maximum velocity (squared) a body can have and be disabled
-#define DISABLE_STEPS 10        // number of steps a box has to have been disable-able before it will be disabled
-#define CANNON_X -10            // x position of cannon
-#define CANNON_Y 5              // y position of cannon
-#define CANNON_BALL_MASS 10     // mass of the cannon ball
-#define CANNON_BALL_RADIUS 0.5
-
-//#define BOX
-#define CARS
-#define WALL
-//#define BALLS
-//#define BALLSTACK
-//#define ONEBALL
-//#define CENTIPEDE
-#define CANNON
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-static dBodyID body[10000];
-static int bodies;
-static dJointID joint[100000];
-static int joints;
-static dJointGroupID contactgroup;
-static dGeomID ground;
-static dGeomID box[10000];
-static int boxes;
-static dGeomID sphere[10000];
-static int spheres;
-static dGeomID wall_boxes[10000];
-static dBodyID wall_bodies[10000];
-static dGeomID cannon_ball_geom;
-static dBodyID cannon_ball_body;
-static int wb_stepsdis[10000];
-static int wb;
-static bool doFast;
-static dBodyID b;
-static dMass m;
-
-
-// things that the user controls
-
-static dReal turn = 0, speed = 0;       // user commands
-static dReal cannon_angle=0,cannon_elevation=-1.2;
-
-
-
-// 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;
-        
-        dBodyID b1 = dGeomGetBody(o1);
-        dBodyID b2 = dGeomGetBody(o2);
-        if (b1 && b2 && dAreConnected(b1, b2))
-                return;
-        
-        const int N = 4;
-        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;
-                        if (dGeomGetClass(o1) == dSphereClass || dGeomGetClass(o2) == dSphereClass)
-                                contact[i].surface.mu = 20;
-                        else
-                                contact[i].surface.mu = 0.5;
-                        contact[i].surface.slip1 = 0.0;
-                        contact[i].surface.slip2 = 0.0;
-                        contact[i].surface.soft_erp = 0.8;
-                        contact[i].surface.soft_cfm = 0.01;
-                        dJointID c = dJointCreateContact (world,contactgroup,contact+i);
-                        dJointAttach (c,dGeomGetBody(o1),dGeomGetBody(o2));
-                }
-        }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-        static float xyz[3] = {3.8548f,9.0843f,7.5900f};
-        static float hpr[3] = {-145.5f,-22.5f,0.25f};
-        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"
-                        "\t'[' to turn the cannon left.\n"
-                        "\t']' to turn the cannon right.\n"
-                        "\t'1' to raise the cannon.\n"
-                        "\t'2' to lower the cannon.\n"
-                        "\t'x' to shoot from the cannon.\n"
-                        "\t'f' to toggle fast step mode.\n"
-                        "\t'+' to increase AutoEnableDepth.\n"
-                        "\t'-' to decrease AutoEnableDepth.\n"
-                        "\t'r' to reset simulation.\n");
-}
-
-
-void makeCar(dReal x, dReal y, int &bodyI, int &jointI, int &boxI, int &sphereI)
-{
-        int i;
-        dMass m;
-        
-        // chassis body
-        body[bodyI] = dBodyCreate (world);
-        dBodySetPosition (body[bodyI],x,y,STARTZ);
-        dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
-        dMassAdjust (&m,CMASS/2.0);
-        dBodySetMass (body[bodyI],&m);
-        box[boxI] = dCreateBox (space,LENGTH,WIDTH,HEIGHT);
-        dGeomSetBody (box[boxI],body[bodyI]);
-        
-        // wheel bodies
-        for (i=1; i<=4; i++) {
-                body[bodyI+i] = dBodyCreate (world);
-                dQuaternion q;
-                dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
-                dBodySetQuaternion (body[bodyI+i],q);
-                dMassSetSphere (&m,1,RADIUS);
-                dMassAdjust (&m,WMASS);
-                dBodySetMass (body[bodyI+i],&m);
-                sphere[sphereI+i-1] = dCreateSphere (space,RADIUS);
-                dGeomSetBody (sphere[sphereI+i-1],body[bodyI+i]);
-        }
-        dBodySetPosition (body[bodyI+1],x+0.4*LENGTH-0.5*RADIUS,y+WIDTH*0.5,STARTZ-HEIGHT*0.5);
-        dBodySetPosition (body[bodyI+2],x+0.4*LENGTH-0.5*RADIUS,y-WIDTH*0.5,STARTZ-HEIGHT*0.5);
-        dBodySetPosition (body[bodyI+3],x-0.4*LENGTH+0.5*RADIUS,y+WIDTH*0.5,STARTZ-HEIGHT*0.5);
-        dBodySetPosition (body[bodyI+4],x-0.4*LENGTH+0.5*RADIUS,y-WIDTH*0.5,STARTZ-HEIGHT*0.5);
-        
-        // front and back wheel hinges
-        for (i=0; i<4; i++) {
-                joint[jointI+i] = dJointCreateHinge2 (world,0);
-                dJointAttach (joint[jointI+i],body[bodyI],body[bodyI+i+1]);
-                const dReal *a = dBodyGetPosition (body[bodyI+i+1]);
-                dJointSetHinge2Anchor (joint[jointI+i],a[0],a[1],a[2]);
-                dJointSetHinge2Axis1 (joint[jointI+i],0,0,(i<2 ? 1 : -1));
-                dJointSetHinge2Axis2 (joint[jointI+i],0,1,0);
-                dJointSetHinge2Param (joint[jointI+i],dParamSuspensionERP,0.8);
-                dJointSetHinge2Param (joint[jointI+i],dParamSuspensionCFM,1e-5);
-                dJointSetHinge2Param (joint[jointI+i],dParamVel2,0);
-                dJointSetHinge2Param (joint[jointI+i],dParamFMax2,FMAX);
-        }
-        
-        //center of mass offset body. (hang another copy of the body COMOFFSET units below it by a fixed joint)
-        dBodyID b = dBodyCreate (world);
-        dBodySetPosition (b,x,y,STARTZ+COMOFFSET);
-        dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
-        dMassAdjust (&m,CMASS/2.0);
-        dBodySetMass (b,&m);
-        dJointID j = dJointCreateFixed(world, 0);
-        dJointAttach(j, body[bodyI], b);
-        dJointSetFixed(j);
-        //box[boxI+1] = dCreateBox(space,LENGTH,WIDTH,HEIGHT);
-        //dGeomSetBody (box[boxI+1],b);
-        
-        bodyI   += 5;
-        jointI  += 4;
-        boxI    += 1;
-        sphereI += 4;
-}
-
-
-void resetSimulation()
-{
-        int i;
-        i = 0;
-        // destroy world if it exists
-        if (bodies)
-        {
-                dJointGroupDestroy (contactgroup);
-                dSpaceDestroy (space);
-                dWorldDestroy (world);
-        }
-        
-        for (i = 0; i < 1000; i++)
-                wb_stepsdis[i] = 0;
-
-        // recreate world
-        
-        world = dWorldCreate();
-        space = dHashSpaceCreate (0);
-        contactgroup = dJointGroupCreate (0);
-        dWorldSetGravity (world,0,0,-1.5);
-        dWorldSetCFM (world, 1e-5);
-        dWorldSetERP (world, 0.8);
-        dWorldSetQuickStepNumIterations (world,ITERS);
-        ground = dCreatePlane (space,0,0,1,0);
-        
-        bodies = 0;
-        joints = 0;
-        boxes = 0;
-        spheres = 0;
-        wb = 0;
-        
-#ifdef CARS
-        for (dReal x = 0.0; x < COLS*(LENGTH+RADIUS); x += LENGTH+RADIUS)
-                for (dReal y = -((ROWS-1)*(WIDTH/2+RADIUS)); y <= ((ROWS-1)*(WIDTH/2+RADIUS)); y += WIDTH+RADIUS*2)
-                        makeCar(x, y, bodies, joints, boxes, spheres);
-#endif
-#ifdef WALL
-        bool offset = false;
-        for (dReal z = WBOXSIZE/2.0; z <= WALLHEIGHT; z+=WBOXSIZE)
-        {
-                offset = !offset;
-                for (dReal y = (-WALLWIDTH+z)/2; y <= (WALLWIDTH-z)/2; y+=WBOXSIZE)
-                {
-                        wall_bodies[wb] = dBodyCreate (world);
-                        dBodySetPosition (wall_bodies[wb],-20,y,z);
-                        dMassSetBox (&m,1,WBOXSIZE,WBOXSIZE,WBOXSIZE);
-                        dMassAdjust (&m, WALLMASS);
-                        dBodySetMass (wall_bodies[wb],&m);
-                        wall_boxes[wb] = dCreateBox (space,WBOXSIZE,WBOXSIZE,WBOXSIZE);
-                        dGeomSetBody (wall_boxes[wb],wall_bodies[wb]);
-                        //dBodyDisable(wall_bodies[wb++]);
-                        wb++;
-                }
-        }
-        dMessage(0,"wall boxes: %i", wb);
-#endif
-#ifdef BALLS
-        for (dReal x = -7; x <= -4; x+=1)
-                for (dReal y = -1.5; y <= 1.5; y+=1)
-                        for (dReal z = 1; z <= 4; z+=1)
-                        {
-                                b = dBodyCreate (world);
-                                dBodySetPosition (b,x*RADIUS*2,y*RADIUS*2,z*RADIUS*2);
-                                dMassSetSphere (&m,1,RADIUS);
-                                dMassAdjust (&m, BALLMASS);
-                                dBodySetMass (b,&m);
-                                sphere[spheres] = dCreateSphere (space,RADIUS);
-                                dGeomSetBody (sphere[spheres++],b);
-                        }
-#endif
-#ifdef ONEBALL
-        b = dBodyCreate (world);
-        dBodySetPosition (b,0,0,2);
-        dMassSetSphere (&m,1,RADIUS);
-        dMassAdjust (&m, 1);
-        dBodySetMass (b,&m);
-        sphere[spheres] = dCreateSphere (space,RADIUS);
-        dGeomSetBody (sphere[spheres++],b);
-#endif
-#ifdef BALLSTACK
-        for (dReal z = 1; z <= 6; z+=1)
-        {
-                b = dBodyCreate (world);
-                dBodySetPosition (b,0,0,z*RADIUS*2);
-                dMassSetSphere (&m,1,RADIUS);
-                dMassAdjust (&m, 0.1);
-                dBodySetMass (b,&m);
-                sphere[spheres] = dCreateSphere (space,RADIUS);
-                dGeomSetBody (sphere[spheres++],b);
-        }
-#endif
-#ifdef CENTIPEDE
-        dBodyID lastb = 0;
-        for (dReal y = 0; y < 10*LENGTH; y+=LENGTH+0.1)
-        {
-                // chassis body
-                
-                b = body[bodies] = dBodyCreate (world);
-                dBodySetPosition (body[bodies],-15,y,STARTZ);
-                dMassSetBox (&m,1,WIDTH,LENGTH,HEIGHT);
-                dMassAdjust (&m,CMASS);
-                dBodySetMass (body[bodies],&m);
-                box[boxes] = dCreateBox (space,WIDTH,LENGTH,HEIGHT);
-                dGeomSetBody (box[boxes++],body[bodies++]);
-                
-                for (dReal x = -17; x > -20; x-=RADIUS*2)
-                {
-                        body[bodies] = dBodyCreate (world);
-                        dBodySetPosition(body[bodies], x, y, STARTZ);
-                        dMassSetSphere(&m, 1, RADIUS);
-                        dMassAdjust(&m, WMASS);
-                        dBodySetMass(body[bodies], &m);
-                        sphere[spheres] = dCreateSphere (space, RADIUS);
-                        dGeomSetBody (sphere[spheres++], body[bodies]);
-                        
-                        joint[joints] = dJointCreateHinge2 (world,0);
-                        if (x == -17)
-                                dJointAttach (joint[joints],b,body[bodies]);
-                        else
-                                dJointAttach (joint[joints],body[bodies-2],body[bodies]);
-                        const dReal *a = dBodyGetPosition (body[bodies++]);
-                        dJointSetHinge2Anchor (joint[joints],a[0],a[1],a[2]);
-                        dJointSetHinge2Axis1 (joint[joints],0,0,1);
-                        dJointSetHinge2Axis2 (joint[joints],1,0,0);
-                        dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0);
-                        dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5);
-                        dJointSetHinge2Param (joint[joints],dParamLoStop,0);
-                        dJointSetHinge2Param (joint[joints],dParamHiStop,0);
-                        dJointSetHinge2Param (joint[joints],dParamVel2,-10.0);
-                        dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX);
-
-                        body[bodies] = dBodyCreate (world);
-                        dBodySetPosition(body[bodies], -30 - x, y, STARTZ);
-                        dMassSetSphere(&m, 1, RADIUS);
-                        dMassAdjust(&m, WMASS);
-                        dBodySetMass(body[bodies], &m);
-                        sphere[spheres] = dCreateSphere (space, RADIUS);
-                        dGeomSetBody (sphere[spheres++], body[bodies]);
-                        
-                        joint[joints] = dJointCreateHinge2 (world,0);
-                        if (x == -17)
-                                dJointAttach (joint[joints],b,body[bodies]);
-                        else
-                                dJointAttach (joint[joints],body[bodies-2],body[bodies]);
-                        const dReal *b = dBodyGetPosition (body[bodies++]);
-                        dJointSetHinge2Anchor (joint[joints],b[0],b[1],b[2]);
-                        dJointSetHinge2Axis1 (joint[joints],0,0,1);
-                        dJointSetHinge2Axis2 (joint[joints],1,0,0);
-                        dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0);
-                        dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5);
-                        dJointSetHinge2Param (joint[joints],dParamLoStop,0);
-                        dJointSetHinge2Param (joint[joints],dParamHiStop,0);
-                        dJointSetHinge2Param (joint[joints],dParamVel2,10.0);
-                        dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX);
-                }
-                if (lastb)
-                {
-                        dJointID j = dJointCreateFixed(world,0);
-                        dJointAttach (j, b, lastb);
-                        dJointSetFixed(j);
-                }
-                lastb = b;
-        }
-#endif
-#ifdef BOX
-        body[bodies] = dBodyCreate (world);
-        dBodySetPosition (body[bodies],0,0,HEIGHT/2);
-        dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
-        dMassAdjust (&m, 1);
-        dBodySetMass (body[bodies],&m);
-        box[boxes] = dCreateBox (space,LENGTH,WIDTH,HEIGHT);
-        dGeomSetBody (box[boxes++],body[bodies++]);     
-#endif
-#ifdef CANNON
-        cannon_ball_body = dBodyCreate (world);
-        cannon_ball_geom = dCreateSphere (space,CANNON_BALL_RADIUS);
-        dMassSetSphereTotal (&m,CANNON_BALL_MASS,CANNON_BALL_RADIUS);
-        dBodySetMass (cannon_ball_body,&m);
-        dGeomSetBody (cannon_ball_geom,cannon_ball_body);
-        dBodySetPosition (cannon_ball_body,CANNON_X,CANNON_Y,CANNON_BALL_RADIUS);
-#endif
-}
-
-// 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 ',':
-                turn += 0.1;
-                if (turn > 0.3)
-                        turn = 0.3;
-                break;
-        case '.':
-                turn -= 0.1;
-                if (turn < -0.3)
-                        turn = -0.3;
-                break;
-        case ' ':
-                speed = 0;
-                turn = 0;
-                break;
-        case 'f': case 'F':
-                doFast = !doFast;
-                break;
-        case '+':
-                dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) + 1);
-                break;
-        case '-':
-                dWorldSetAutoEnableDepthSF1 (world, dWorldGetAutoEnableDepthSF1 (world) - 1);
-                break;
-        case 'r': case 'R':
-                resetSimulation();
-                break;
-        case '[':
-                cannon_angle += 0.1;
-                break;
-        case ']':
-                cannon_angle -= 0.1;
-                break;
-        case '1':
-                cannon_elevation += 0.1;
-                break;
-        case '2':
-                cannon_elevation -= 0.1;
-                break;
-        case 'x': case 'X': {
-                dMatrix3 R2,R3,R4;
-                dRFromAxisAndAngle (R2,0,0,1,cannon_angle);
-                dRFromAxisAndAngle (R3,0,1,0,cannon_elevation);
-                dMultiply0 (R4,R2,R3,3,3,3);
-                dReal cpos[3] = {CANNON_X,CANNON_Y,1};
-                for (int i=0; i<3; i++) cpos[i] += 3*R4[i*4+2];
-                dBodySetPosition (cannon_ball_body,cpos[0],cpos[1],cpos[2]);
-                dReal force = 10;
-                dBodySetLinearVel (cannon_ball_body,force*R4[2],force*R4[6],force*R4[10]);
-                dBodySetAngularVel (cannon_ball_body,0,0,0);
-                break;
-        }
-        }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-        int i, j;
-                
-        dsSetTexture (DS_WOOD);
-
-        if (!pause) {
-#ifdef BOX
-                dBodyAddForce(body[bodies-1],lspeed,0,0);
-#endif
-                for (j = 0; j < joints; j++)
-                {
-                        dReal curturn = dJointGetHinge2Angle1 (joint[j]);
-                        //dMessage (0,"curturn %e, turn %e, vel %e", curturn, turn, (turn-curturn)*1.0);
-                        dJointSetHinge2Param(joint[j],dParamVel,(turn-curturn)*1.0);
-                        dJointSetHinge2Param(joint[j],dParamFMax,dInfinity);
-                        dJointSetHinge2Param(joint[j],dParamVel2,speed);
-                        dJointSetHinge2Param(joint[j],dParamFMax2,FMAX);
-                        dBodyEnable(dJointGetBody(joint[j],0));
-                        dBodyEnable(dJointGetBody(joint[j],1));
-                }               
-                if (doFast)
-                {
-                        dSpaceCollide (space,0,&nearCallback);
-#if defined(QUICKSTEP)
-                        dWorldQuickStep (world,0.05);
-#elif defined(STEPFAST)
-                        dWorldStepFast1 (world,0.05,ITERS);
-#endif
-                        dJointGroupEmpty (contactgroup);
-                }
-                else
-                {
-                        dSpaceCollide (space,0,&nearCallback);
-                        dWorldStep (world,0.05);
-                        dJointGroupEmpty (contactgroup);
-                }
-                
-                for (i = 0; i < wb; i++)
-                {
-                        b = dGeomGetBody(wall_boxes[i]);
-                        if (dBodyIsEnabled(b)) 
-                        {
-                                bool disable = true;
-                                const dReal *lvel = dBodyGetLinearVel(b);
-                                dReal lspeed = lvel[0]*lvel[0]+lvel[1]*lvel[1]+lvel[2]*lvel[2];
-                                if (lspeed > DISABLE_THRESHOLD)
-                                        disable = false;
-                                const dReal *avel = dBodyGetAngularVel(b);
-                                dReal aspeed = avel[0]*avel[0]+avel[1]*avel[1]+avel[2]*avel[2];
-                                if (aspeed > DISABLE_THRESHOLD)
-                                        disable = false;
-                                
-                                if (disable)
-                                        wb_stepsdis[i]++;
-                                else
-                                        wb_stepsdis[i] = 0;
-                                
-                                if (wb_stepsdis[i] > DISABLE_STEPS)
-                                {
-                                        dBodyDisable(b);
-                                        dsSetColor(0.5,0.5,1);
-                                }
-                                else
-                                        dsSetColor(1,1,1);
-
-                        }
-                        else
-                                dsSetColor(0.4,0.4,0.4);
-                        dVector3 ss;
-                        dGeomBoxGetLengths (wall_boxes[i], ss);
-                        dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss);
-                }
-        }
-        else
-        {
-                for (i = 0; i < wb; i++)
-                {
-                        b = dGeomGetBody(wall_boxes[i]);
-                        if (dBodyIsEnabled(b))
-                                dsSetColor(1,1,1);
-                        else
-                                dsSetColor(0.4,0.4,0.4);
-                        dVector3 ss;
-                        dGeomBoxGetLengths (wall_boxes[i], ss);
-                        dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss);
-                }
-        }
-        
-        dsSetColor (0,1,1);
-        dReal sides[3] = {LENGTH,WIDTH,HEIGHT};
-        for (i = 0; i < boxes; i++)
-                dsDrawBox (dGeomGetPosition(box[i]),dGeomGetRotation(box[i]),sides);
-        dsSetColor (1,1,1);
-        for (i=0; i< spheres; i++) dsDrawSphere (dGeomGetPosition(sphere[i]),
-                                   dGeomGetRotation(sphere[i]),RADIUS);
-        
-        // draw the cannon
-        dsSetColor (1,1,0);
-        dMatrix3 R2,R3,R4;
-        dRFromAxisAndAngle (R2,0,0,1,cannon_angle);
-        dRFromAxisAndAngle (R3,0,1,0,cannon_elevation);
-        dMultiply0 (R4,R2,R3,3,3,3);
-        dReal cpos[3] = {CANNON_X,CANNON_Y,1};
-        dReal csides[3] = {2,2,2};
-        dsDrawBox (cpos,R2,csides);
-        for (i=0; i<3; i++) cpos[i] += 1.5*R4[i*4+2];
-        dsDrawCylinder (cpos,R4,3,0.5);
-        
-        // draw the cannon ball
-        dsDrawSphere (dBodyGetPosition(cannon_ball_body),dBodyGetRotation(cannon_ball_body),
-                      CANNON_BALL_RADIUS);
-}
-
-int main (int argc, char **argv)
-{
-        doFast = true;
-        
-        // 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];
-    }
-        
-        dInitODE();
-
-        bodies = 0;
-        joints = 0;
-        boxes = 0;
-        spheres = 0;
-        
-        resetSimulation();
-        
-        // run simulation
-        dsSimulationLoop (argc,argv,352,288,&fn);
-        
-        dJointGroupDestroy (contactgroup);
-        dSpaceDestroy (space);
-        dWorldDestroy (world);
-        dCloseODE();
-        return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_cyl.cpp b/libraries/ode-0.9/ode/demo/demo_cyl.cpp
deleted file mode 100644
index 3692234..0000000
--- a/libraries/ode-0.9/ode/demo/demo_cyl.cpp
+++ /dev/null
@@ -1,318 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-// Test for non-capped cylinder, by Bram Stolk
-#include <ode/config.h>
-#include <assert.h>
-#ifdef HAVE_UNISTD_H
-#include <unistd.h>
-#endif
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#include "world_geom3.h" // this is our world mesh
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-#define BOX
-#define CYL
-
-// some constants
-
-#define RADIUS 0.22     // wheel radius
-#define WMASS 0.2       // wheel mass
-#define WHEELW 0.2      // wheel width
-#define BOXSZ 0.4       // box size
-//#define CYL_GEOM_OFFSET // rotate cylinder using geom offset
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-#ifdef BOX
-static dBodyID boxbody;
-static dGeomID boxgeom;
-#endif
-#ifdef CYL
-static dBodyID cylbody;
-static dGeomID cylgeom;
-#endif
-static dJointGroupID contactgroup;
-static dGeomID world_mesh;
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  assert(o1);
-  assert(o2);
-
-  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
-  {
-    fprintf(stderr,"testing space %p %p\n", o1,o2);
-    // colliding a space with something
-    dSpaceCollide2(o1,o2,data,&nearCallback);
-    // Note we do not want to test intersections within a space,
-    // only between spaces.
-    return;
-  }
-
-//  fprintf(stderr,"testing geoms %p %p\n", o1, o2);
-
-  const int N = 32;
-  dContact contact[N];
-  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
-  if (n > 0) 
-  {
-    for (int i=0; i<n; i++) 
-    {
-      contact[i].surface.slip1 = 0.7;
-      contact[i].surface.slip2 = 0.7;
-      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
-      contact[i].surface.mu = 50.0; // was: dInfinity
-      contact[i].surface.soft_erp = 0.96;
-      contact[i].surface.soft_cfm = 0.04;
-      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] = {-8,-9,3};
-  static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-
-static void reset_state(void)
-{
-  float sx=-4, sy=-4, sz=2;
-  dQuaternion q;
-  dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
-#ifdef BOX
-  dBodySetPosition (boxbody, sx, sy+1, sz);
-  dBodySetLinearVel (boxbody, 0,0,0);
-  dBodySetAngularVel (boxbody, 0,0,0);
-  dBodySetQuaternion (boxbody, q);
-#endif
-#ifdef CYL
-  dBodySetPosition (cylbody, sx, sy, sz);
-  dBodySetLinearVel (cylbody, 0,0,0);
-  dBodySetAngularVel (cylbody, 0,0,0);
-  dBodySetQuaternion (cylbody, q);
-#endif
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  switch (cmd) 
-  {
-    case ' ':
-          reset_state();
-      break;
-  }
-}
-
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  double simstep = 0.005; // 5ms simulation steps
-  double dt = dsElapsedTime();
-  int nrofsteps = (int) ceilf(dt/simstep);
-  for (int i=0; i<nrofsteps && !pause; i++)
-  {
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldQuickStep (world, simstep);
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (1,1,1);
-#ifdef BOX
-  const dReal *BPos = dBodyGetPosition(boxbody);
-  const dReal *BRot = dBodyGetRotation(boxbody);
-  float bpos[3] = {BPos[0], BPos[1], BPos[2]};
-  float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] };
-  float sides[3] = {BOXSZ, BOXSZ, BOXSZ};
-  dsDrawBox
-  (
-    bpos, 
-    brot, 
-    sides
-  ); // single precision
-#endif
-#ifdef CYL
-  const dReal *CPos = dGeomGetPosition(cylgeom);
-  const dReal *CRot = dGeomGetRotation(cylgeom);
-  float cpos[3] = {CPos[0], CPos[1], CPos[2]};
-  float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
-  dsDrawCylinder
-  ( 
-//    dBodyGetPosition(cylbody),
-//    dBodyGetRotation(cylbody),
-    cpos,
-    crot,
-    WHEELW,
-    RADIUS
-  ); // single precision
-#endif
-
-  // draw world trimesh
-  dsSetColor(0.7,0.7,0.4);
-  dsSetTexture (DS_NONE);
-
-  const dReal* Pos = dGeomGetPosition(world_mesh);
-  float pos[3] = { Pos[0], Pos[1], Pos[2] };
-
-  const dReal* Rot = dGeomGetRotation(world_mesh);
-  float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
-
-  int numi = sizeof(world_indices)  / sizeof(int);
-
-  for (int i=0; i<numi/3; i++)
-  {
-    int i0 = world_indices[i*3+0];
-    int i1 = world_indices[i*3+1];
-    int i2 = world_indices[i*3+2];
-    float *v0 = world_vertices+i0*3;
-    float *v1 = world_vertices+i1*3;
-    float *v2 = world_vertices+i2*3;
-    dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
-  }
-}
-
-
-int main (int argc, char **argv)
-{
-  dMass m;
-  dMatrix3 R;
-
-  // 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
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-9.8);
-  dWorldSetQuickStepNumIterations (world, 12);
-
-
-  // Create a static world using a triangle mesh that we can collide with.
-  int numv = sizeof(world_vertices)/(3*sizeof(float));
-  int numi = sizeof(world_indices)/ sizeof(int);
-  printf("numv=%d, numi=%d\n", numv, numi);
-  dTriMeshDataID Data = dGeomTriMeshDataCreate();
-
-  dGeomTriMeshDataBuildSingle
-  (
-    Data, 
-    world_vertices, 
-    3 * sizeof(float), 
-    numv, 
-    world_indices, 
-    numi, 
-    3 * sizeof(int)
-  );
-
-  world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
-  dGeomSetPosition(world_mesh, 0, 0, 0.5);
-  dRFromAxisAndAngle (R, 0,1,0, 0.0);
-  dGeomSetRotation (world_mesh, R);
-
-
-#ifdef BOX
-  boxbody = dBodyCreate (world);
-  dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ);
-  dMassAdjust (&m, 1);
-  dBodySetMass (boxbody,&m);
-  boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ);
-  dGeomSetBody (boxgeom,boxbody);
-  dSpaceAdd (space, boxgeom);
-#endif
-#ifdef CYL
-  cylbody = dBodyCreate (world);
-  dMassSetSphere (&m,1,RADIUS);
-  dMassAdjust (&m,WMASS);
-  dBodySetMass (cylbody,&m);
-  cylgeom = dCreateCylinder(0, RADIUS, WHEELW);
-  dGeomSetBody (cylgeom,cylbody);
-  
-  #if defined(CYL_GEOM_OFFSET)
-  dMatrix3 mat;
-  dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0);
-  dGeomSetOffsetRotation(cylgeom,mat);
-  #endif
-    
-  dSpaceAdd (space, cylgeom);
-#endif
-  reset_state();
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupEmpty (contactgroup);
-  dJointGroupDestroy (contactgroup);
-
-  // First destroy geoms, then space, then the world.
-#ifdef CYL
-  dGeomDestroy (cylgeom);
-#endif
-#ifdef BOX
-  dGeomDestroy (boxgeom);
-#endif
-  dGeomDestroy (world_mesh);
-
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
-
diff --git a/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp b/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp
deleted file mode 100644
index 1fb98ad..0000000
--- a/libraries/ode-0.9/ode/demo/demo_cylvssphere.cpp
+++ /dev/null
@@ -1,238 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-// Test for cylinder vs sphere, by Bram Stolk
-
-#include <ode/config.h>
-#include <assert.h>
-#ifdef HAVE_UNISTD_H
-#include <unistd.h>
-#endif
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-
-static dBodyID cylbody;
-static dGeomID cylgeom;
-
-static dBodyID sphbody;
-static dGeomID sphgeom;
-
-static dJointGroupID contactgroup;
-static dGeomID world_mesh;
-
-static bool show_contacts = true;
-
-#define CYLRADIUS    0.6
-#define CYLLENGTH    2.0
-#define SPHERERADIUS 0.5
-
-    
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawLine dsDrawLineD
-#endif
-
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  assert(o1);
-  assert(o2);
-
-  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
-  {
-    fprintf(stderr,"testing space %p %p\n", o1,o2);
-    // colliding a space with something
-    dSpaceCollide2(o1,o2,data,&nearCallback);
-    // Note we do not want to test intersections within a space,
-    // only between spaces.
-    return;
-  }
-
-  const int N = 32;
-  dContact contact[N];
-  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
-  if (n > 0) 
-  {
-    for (int i=0; i<n; i++) 
-    {
-      contact[i].surface.mode = 0;
-      contact[i].surface.mu = 50.0; // was: dInfinity
-      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
-      dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
-      if (show_contacts) 
-      {
-        dMatrix3 RI;
-        dRSetIdentity (RI);
-        const dReal ss[3] = {0.12,0.12,0.12};
-        dsSetColorAlpha (0,0,1,0.5);
-        dsDrawBox (contact[i].geom.pos,RI,ss);
-        dReal *pos  = contact[i].geom.pos;
-        dReal depth = contact[i].geom.depth;
-        dReal *norm = contact[i].geom.normal;
-        dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]};
-        dsSetColorAlpha (1,1,1,1);
-        dsDrawLine (contact[i].geom.pos, endp);
-      }
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {-8,-9,3};
-  static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  switch (cmd) 
-  {
-    case ' ':
-      break;
-  }
-}
-
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  dSpaceCollide (space,0,&nearCallback);
-  if (!pause)
-  {
-    dWorldQuickStep (world, 0.01); // 100 Hz
-  }
-  dJointGroupEmpty (contactgroup);
-
-  dsSetColorAlpha (1,1,0,0.5);
-
-  const dReal *CPos = dBodyGetPosition(cylbody);
-  const dReal *CRot = dBodyGetRotation(cylbody);
-  float cpos[3] = {CPos[0], CPos[1], CPos[2]};
-  float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
-  dsDrawCylinder
-  (
-    cpos,
-    crot,
-    CYLLENGTH,
-    CYLRADIUS
-  ); // single precision
-
-  const dReal *SPos = dBodyGetPosition(sphbody);
-  const dReal *SRot = dBodyGetRotation(sphbody);
-  float spos[3] = {SPos[0], SPos[1], SPos[2]};
-  float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
-  dsDrawSphere
-  (
-    spos,
-    srot,
-    SPHERERADIUS
-  ); // single precision
-}
-
-
-int main (int argc, char **argv)
-{
-  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
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-9.8);
-  dWorldSetQuickStepNumIterations (world, 32);
-
-  dCreatePlane (space,0,0,1, 0.0);
-
-  cylbody = dBodyCreate (world);
-  dQuaternion q;
-#if 0
-  dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
-#else
-//  dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0);
-  dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77);
-#endif
-  dBodySetQuaternion (cylbody,q);
-  dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH);
-  dBodySetMass (cylbody,&m);
-  cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH);
-  dGeomSetBody (cylgeom,cylbody);
-  dBodySetPosition (cylbody, 0, 0, 3);
-  dSpaceAdd (space, cylgeom);
-
-  sphbody = dBodyCreate (world);
-  dMassSetSphere (&m,1,SPHERERADIUS);
-  dBodySetMass (sphbody,&m);
-  sphgeom = dCreateSphere(0, SPHERERADIUS);
-  dGeomSetBody (sphgeom,sphbody);
-  dBodySetPosition (sphbody, 0, 0, 5.5);
-  dSpaceAdd (space, sphgeom);
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupEmpty (contactgroup);
-  dJointGroupDestroy (contactgroup);
-
-  dGeomDestroy(sphgeom);
-  dGeomDestroy (cylgeom);
-
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
-
diff --git a/libraries/ode-0.9/ode/demo/demo_feedback.cpp b/libraries/ode-0.9/ode/demo/demo_feedback.cpp
deleted file mode 100644
index fd49278..0000000
--- a/libraries/ode-0.9/ode/demo/demo_feedback.cpp
+++ /dev/null
@@ -1,314 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-// Test for breaking joints, by Bram Stolk
-
-#include <ode/config.h>
-#include <assert.h>
-#ifdef HAVE_UNISTD_H
-#include <unistd.h>
-#endif
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawCylinder dsDrawCylinderD
-#endif
-
-
-// dynamics and collision objects (chassis, 3 wheels, environment)
-
-static dWorldID world;
-static dSpaceID space;
-
-static const int   STACKCNT=10; // nr of weights on bridge
-static const int   SEGMCNT=16;  // nr of segments in bridge
-static const float SEGMDIM[3] = { 0.9, 4, 0.1 };
-
-static dGeomID  groundgeom;
-static dBodyID  segbodies[SEGMCNT];
-static dGeomID  seggeoms[SEGMCNT];
-static dBodyID  stackbodies[STACKCNT];
-static dGeomID  stackgeoms[STACKCNT];
-static dJointID hinges[SEGMCNT-1];
-static dJointID sliders[2];
-static dJointFeedback jfeedbacks[SEGMCNT-1];
-static dReal colours[SEGMCNT];
-static int stress[SEGMCNT-1];
-
-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)
-{
-  assert(o1);
-  assert(o2);
-
-  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
-  {
-    fprintf(stderr,"testing space %p %p\n", o1,o2);
-    // colliding a space with something
-    dSpaceCollide2(o1,o2,data,&nearCallback);
-    // Note we do not want to test intersections within a space,
-    // only between spaces.
-    return;
-  }
-
-  const int N = 32;
-  dContact contact[N];
-  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
-  if (n > 0) 
-  {
-    for (int i=0; i<n; i++) 
-    {
-      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1;
-      contact[i].surface.mu = 100.0;
-      contact[i].surface.soft_erp = 0.96;
-      contact[i].surface.soft_cfm = 0.02;
-      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] = { -6, 8, 6};
-  static float hpr[3] = { -65.0f, -27.0f, 0.0f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-}
-
-
-
-void drawGeom (dGeomID g)
-{
-  const dReal *pos = dGeomGetPosition(g);
-  const dReal *R   = dGeomGetRotation(g);
-
-  int type = dGeomGetClass (g);
-  if (type == dBoxClass)
-  {
-    dVector3 sides;
-    dGeomBoxGetLengths (g, sides);
-    dsDrawBox (pos,R,sides);
-  }
-  if (type == dCylinderClass)
-  {
-    dReal r,l;
-    dGeomCylinderGetParams(g, &r, &l);
-    dsDrawCylinder (pos, R, l, r);
-  }
-}
-
-
-static void inspectJoints(void)
-{
-  const dReal forcelimit = 2000.0;
-  int i;
-  for (i=0; i<SEGMCNT-1; i++)
-  {
-    if (dJointGetBody(hinges[i], 0))
-    {
-      // This joint has not snapped already... inspect it.
-      dReal l0 = dLENGTH(jfeedbacks[i].f1);
-      dReal l1 = dLENGTH(jfeedbacks[i].f2);
-      colours[i+0] = 0.95*colours[i+0] + 0.05 * l0/forcelimit;
-      colours[i+1] = 0.95*colours[i+1] + 0.05 * l1/forcelimit;
-      if (l0 > forcelimit || l1 > forcelimit)
-        stress[i]++;
-      else
-        stress[i]=0;
-      if (stress[i]>4)
-      {
-        // Low-pass filter the noisy feedback data.
-        // Only after 4 consecutive timesteps with excessive load, snap.
-        fprintf(stderr,"SNAP! (that was the sound of joint %d breaking)\n", i);
-        dJointAttach (hinges[i], 0, 0);
-      }
-    }
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  int i;
-
-  double simstep = 0.005; // 5ms simulation steps
-  double dt = dsElapsedTime();
-  int nrofsteps = (int) ceilf(dt/simstep);
-  for (i=0; i<nrofsteps && !pause; i++)
-  {
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldQuickStep (world, simstep);
-    dJointGroupEmpty (contactgroup);
-    inspectJoints();
-  }
-
-  for (i=0; i<SEGMCNT; i++)
-  {
-    float r=0,g=0,b=0.2;
-    float v = colours[i];
-    if (v>1.0) v=1.0;
-    if (v<0.5) 
-    {
-      r=2*v;
-      g=1.0;
-    }
-    else
-    {
-      r=1.0;
-      g=2*(1.0-v);
-    }
-    dsSetColor (r,g,b);
-    drawGeom(seggeoms[i]);
-  }
-  dsSetColor (1,1,1);
-  for (i=0; i<STACKCNT; i++)
-    drawGeom(stackgeoms[i]);
-}
-
-
-
-int main (int argc, char **argv)
-{
-  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
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-9.8);
-  dWorldSetQuickStepNumIterations (world, 20);
-
-  int i;
-  for (i=0; i<SEGMCNT; i++)
-  {
-    segbodies[i] = dBodyCreate (world);
-    dBodySetPosition(segbodies[i], i - SEGMCNT/2.0, 0, 5);
-    dMassSetBox (&m, 1, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]);
-    dBodySetMass (segbodies[i], &m);
-    seggeoms[i] = dCreateBox (0, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]);
-    dGeomSetBody (seggeoms[i], segbodies[i]);
-    dSpaceAdd (space, seggeoms[i]);
-  }
-
-  for (i=0; i<SEGMCNT-1; i++)
-  {
-    hinges[i] = dJointCreateHinge (world,0);
-    dJointAttach (hinges[i], segbodies[i],segbodies[i+1]);
-    dJointSetHingeAnchor (hinges[i], i + 0.5 - SEGMCNT/2.0, 0, 5);
-    dJointSetHingeAxis (hinges[i], 0,1,0);
-    dJointSetHingeParam (hinges[i],dParamFMax,  8000.0);
-    // NOTE:
-    // Here we tell ODE where to put the feedback on the forces for this hinge
-    dJointSetFeedback (hinges[i], jfeedbacks+i);
-    stress[i]=0;
-  }
-
-  for (i=0; i<STACKCNT; i++)
-  {
-    stackbodies[i] = dBodyCreate(world);
-    dMassSetBox (&m, 2.0, 2, 2, 0.6);
-    dBodySetMass(stackbodies[i],&m);
-
-    stackgeoms[i] = dCreateBox(0, 2, 2, 0.6);
-    dGeomSetBody(stackgeoms[i], stackbodies[i]);
-    dBodySetPosition(stackbodies[i], 0,0,8+2*i);
-    dSpaceAdd(space, stackgeoms[i]);
-  }
-
-  sliders[0] = dJointCreateSlider (world,0);
-  dJointAttach(sliders[0], segbodies[0], 0);
-  dJointSetSliderAxis (sliders[0], 1,0,0);
-  dJointSetSliderParam (sliders[0],dParamFMax,  4000.0);
-  dJointSetSliderParam (sliders[0],dParamLoStop,   0.0);
-  dJointSetSliderParam (sliders[0],dParamHiStop,   0.2);
-
-  sliders[1] = dJointCreateSlider (world,0);
-  dJointAttach(sliders[1], segbodies[SEGMCNT-1], 0);
-  dJointSetSliderAxis (sliders[1], 1,0,0);
-  dJointSetSliderParam (sliders[1],dParamFMax,  4000.0);
-  dJointSetSliderParam (sliders[1],dParamLoStop,   0.0);
-  dJointSetSliderParam (sliders[1],dParamHiStop,  -0.2);
-
-  groundgeom = dCreatePlane(space, 0,0,1,0);
-
-  for (i=0; i<SEGMCNT; i++)
-    colours[i]=0.0;
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupEmpty (contactgroup);
-  dJointGroupDestroy (contactgroup);
-
-  // First destroy seggeoms, then space, then the world.
-  for (i=0; i<SEGMCNT; i++)
-    dGeomDestroy (seggeoms[i]);
-  for (i=0; i<STACKCNT; i++)
-    dGeomDestroy (stackgeoms[i]);
-
-  dSpaceDestroy(space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
-
diff --git a/libraries/ode-0.9/ode/demo/demo_friction.cpp b/libraries/ode-0.9/ode/demo/demo_friction.cpp
deleted file mode 100644
index 36ba2d4..0000000
--- a/libraries/ode-0.9/ode/demo/demo_friction.cpp
+++ /dev/null
@@ -1,206 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-test the Coulomb friction approximation.
-
-a 10x10 array of boxes is made, each of which rests on the ground.
-a horizantal force is applied to each box to try and get it to slide.
-box[i][j] has a mass (i+1)*MASS and a force (j+1)*FORCE. by the Coloumb
-friction model, the box should only slide if the force is greater than MU
-times the contact normal force, i.e.
-
-  f > MU * body_mass * GRAVITY
-  (j+1)*FORCE > MU * (i+1)*MASS * GRAVITY
-  (j+1) > (i+1) * (MU*MASS*GRAVITY/FORCE)
-  (j+1) > (i+1) * k
-
-this should be independent of the number of contact points, as N contact
-points will each have 1/N'th the normal force but the pushing force will
-have to overcome N contacts. the constants are chosen so that k=1.
-thus you should see a triangle made of half the bodies in the array start to
-slide.
-
-*/
-
-
-#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 dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// some constants
-
-#define LENGTH 0.2      // box length & width
-#define HEIGHT 0.05     // box height
-#define MASS 0.2        // mass of box[i][j] = (i+1) * MASS
-#define FORCE 0.05      // force applied to box[i][j] = (j+1) * FORCE
-#define MU 0.5          // the global mu to use
-#define GRAVITY 0.5     // the global gravity to use
-#define N1 10           // number of different forces to try
-#define N2 10           // number of different masses to try
-
-
-// dynamics and collision objects
-
-static dWorldID world;
-static dSpaceID space;
-static dBodyID body[N1][N2];
-static dJointGroupID contactgroup;
-static dGeomID ground;
-static dGeomID box[N1][N2];
-
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  int i;
-
-  // only collide things with the ground
-  int g1 = (o1 == ground);
-  int g2 = (o2 == ground);
-  if (!(g1 ^ g2)) return;
-
-  dBodyID b1 = dGeomGetBody(o1);
-  dBodyID b2 = dGeomGetBody(o2);
-
-  dContact contact[3];          // up to 3 contacts per box
-  for (i=0; i<3; i++) {
-    contact[i].surface.mode = dContactSoftCFM | dContactApprox1;
-    contact[i].surface.mu = MU;
-    contact[i].surface.soft_cfm = 0.01;
-  }
-  if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) {
-    for (i=0; i<numc; i++) {
-      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
-      dJointAttach (c,b1,b2);
-    }
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.7772,-0.7924,2.7600};
-  static float hpr[3] = {90.0000,-54.0000,0.0000};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  int i;
-  if (!pause) {
-    // apply forces to all bodies
-    for (i=0; i<N1; i++) {
-      for (int j=0; j<N2; j++) {
-        dBodyAddForce (body[i][j],FORCE*(i+1),0,0);
-      }
-    }
-
-    dSpaceCollide (space,0,&nearCallback);
-    dWorldStep (world,0.05);
-
-    // remove all contact joints
-    dJointGroupEmpty (contactgroup);
-  }
-
-  dsSetColor (1,0,1);
-  dReal sides[3] = {LENGTH,LENGTH,HEIGHT};
-  for (i=0; i<N1; i++) {
-    for (int j=0; j<N2; j++) {
-      dsDrawBox (dGeomGetPosition(box[i][j]),dGeomGetRotation(box[i][j]),
-                 sides);
-    }
-  }
-}
-
-
-int main (int argc, char **argv)
-{
-  int i,j;
-  dMass m;
-
-  // setup pointers to drawstuff callback functions
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = 0;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  // create world
-  dInitODE();
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-GRAVITY);
-  ground = dCreatePlane (space,0,0,1,0);
-
-  // bodies
-  for (i=0; i<N1; i++) {
-    for (j=0; j<N2; j++) {
-      body[i][j] = dBodyCreate (world);
-      dMassSetBox (&m,1,LENGTH,LENGTH,HEIGHT);
-      dMassAdjust (&m,MASS*(j+1));
-      dBodySetMass (body[i][j],&m);
-      dBodySetPosition (body[i][j],i*2*LENGTH,j*2*LENGTH,HEIGHT*0.5);
-
-      box[i][j] = dCreateBox (space,LENGTH,LENGTH,HEIGHT);
-      dGeomSetBody (box[i][j],body[i][j]);
-    }
-  }
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_heightfield.cpp b/libraries/ode-0.9/ode/demo/demo_heightfield.cpp
deleted file mode 100644
index 83156ab..0000000
--- a/libraries/ode-0.9/ode/demo/demo_heightfield.cpp
+++ /dev/null
@@ -1,2132 +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
-
-#define DEGTORAD                        0.01745329251994329577f                         //!< PI / 180.0, convert degrees to radians
-
-
-// Our heightfield geom
-dGeomID gheight;
-
-
-
-// Heightfield dimensions
-
-#define HFIELD_WSTEP                    15                      // Vertex count along edge >= 2
-#define HFIELD_DSTEP                    31
-
-#define HFIELD_WIDTH                    REAL( 4.0 )
-#define HFIELD_DEPTH                    REAL( 8.0 )
-
-#define HFIELD_WSAMP                    ( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) )
-#define HFIELD_DSAMP                    ( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) )
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawSphere dsDrawSphereD
-#define dsDrawCylinder dsDrawCylinderD
-#define dsDrawCapsule dsDrawCapsuleD
-#define dsDrawConvex dsDrawConvexD
-#define dsDrawTriangle dsDrawTriangleD
-#endif
-
-
-
-//<---- Convex Object
-dReal planes[]= // planes for a cube
-  {
-    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
-    /*
-    1.0f ,0.0f ,0.0f ,2.0f,
-    0.0f ,1.0f ,0.0f ,1.0f,
-    0.0f ,0.0f ,1.0f ,1.0f,
-    0.0f ,0.0f ,-1.0f,1.0f,
-    0.0f ,-1.0f,0.0f ,1.0f,
-    -1.0f,0.0f ,0.0f ,0.0f
-    */
-  };
-const unsigned int planecount=6;
-
-dReal points[]= // points for a cube
-  {
-    0.25f,0.25f,0.25f,  //  point 0
-    -0.25f,0.25f,0.25f, //  point 1
-
-    0.25f,-0.25f,0.25f, //  point 2
-    -0.25f,-0.25f,0.25f,//  point 3
-
-    0.25f,0.25f,-0.25f, //  point 4
-    -0.25f,0.25f,-0.25f,//  point 5
-
-    0.25f,-0.25f,-0.25f,//  point 6
-    -0.25f,-0.25f,-0.25f,// point 7
-  };
-const unsigned int pointcount=8;
-unsigned int polygons[] = //Polygons for a cube (6 squares)
-  {
-    4,0,2,6,4, // positive X
-    4,1,0,4,5, // positive Y
-    4,0,1,3,2, // positive Z
-    4,3,1,5,7, // negative X
-    4,2,3,7,6, // negative Y
-    4,5,4,6,7, // negative Z
-  };
-//----> Convex Object
-
-// select correct drawing functions
-
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#define dsDrawSphere dsDrawSphereD
-#define dsDrawCylinder dsDrawCylinderD
-#define dsDrawCapsule dsDrawCapsuleD
-#define dsDrawConvex dsDrawConvexD
-#endif
-
-
-// some constants
-
-#define NUM 100                 // max number of objects
-#define DENSITY (5.0)           // density of all objects
-#define GPB 3                   // maximum number of geometries per body
-#define MAX_CONTACTS 64         // maximum number of contact points per body
-
-
-// dynamics and collision objects
-
-struct MyObject {
-  dBodyID body;                 // the body
-  dGeomID geom[GPB];            // geometries representing this body
-
-  // Trimesh only - double buffered matrices for 'last transform' setup
-  dReal matrix_dblbuff[ 16 * 2 ];
-  int last_matrix_index;
-};
-
-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?
-static int write_world = 0;
-
-
-
-
-//============================
-
-// Bunny mesh ripped from Opcode
-const int VertexCount = 453;
-const int IndexCount = 902 * 3;
-
-typedef dReal dVector3R[3];
-
-dGeomID TriMesh1;
-dGeomID TriMesh2;
-static dTriMeshDataID TriData1, TriData2;  // reusable static trimesh data
-
-static float Vertices[VertexCount * 3] = {
-        REAL(-0.334392), REAL(0.133007), REAL(0.062259),
-        REAL(-0.350189), REAL(0.150354), REAL(-0.147769),
-        REAL(-0.234201), REAL(0.343811), REAL(-0.174307),
-        REAL(-0.200259), REAL(0.285207), REAL(0.093749),
-        REAL(0.003520), REAL(0.475208), REAL(-0.159365),
-        REAL(0.001856), REAL(0.419203), REAL(0.098582),
-        REAL(-0.252802), REAL(0.093666), REAL(0.237538),
-        REAL(-0.162901), REAL(0.237984), REAL(0.206905),
-        REAL(0.000865), REAL(0.318141), REAL(0.235370),
-        REAL(-0.414624), REAL(0.164083), REAL(-0.278254),
-        REAL(-0.262213), REAL(0.357334), REAL(-0.293246),
-        REAL(0.004628), REAL(0.482694), REAL(-0.338626),
-        REAL(-0.402162), REAL(0.133528), REAL(-0.443247),
-        REAL(-0.243781), REAL(0.324275), REAL(-0.436763),
-        REAL(0.005293), REAL(0.437592), REAL(-0.458332),
-        REAL(-0.339884), REAL(-0.041150), REAL(-0.668211),
-        REAL(-0.248382), REAL(0.255825), REAL(-0.627493),
-        REAL(0.006261), REAL(0.376103), REAL(-0.631506),
-        REAL(-0.216201), REAL(-0.126776), REAL(-0.886936),
-        REAL(-0.171075), REAL(0.011544), REAL(-0.881386),
-        REAL(-0.181074), REAL(0.098223), REAL(-0.814779),
-        REAL(-0.119891), REAL(0.218786), REAL(-0.760153),
-        REAL(-0.078895), REAL(0.276780), REAL(-0.739281),
-        REAL(0.006801), REAL(0.310959), REAL(-0.735661),
-        REAL(-0.168842), REAL(0.102387), REAL(-0.920381),
-        REAL(-0.104072), REAL(0.177278), REAL(-0.952530),
-        REAL(-0.129704), REAL(0.211848), REAL(-0.836678),
-        REAL(-0.099875), REAL(0.310931), REAL(-0.799381),
-        REAL(0.007237), REAL(0.361687), REAL(-0.794439),
-        REAL(-0.077913), REAL(0.258753), REAL(-0.921640),
-        REAL(0.007957), REAL(0.282241), REAL(-0.931680),
-        REAL(-0.252222), REAL(-0.550401), REAL(-0.557810),
-        REAL(-0.267633), REAL(-0.603419), REAL(-0.655209),
-        REAL(-0.446838), REAL(-0.118517), REAL(-0.466159),
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-        REAL(0.166070), REAL(0.035644), REAL(0.818261),
-        REAL(0.154361), REAL(0.056943), REAL(0.857042),
-        REAL(0.168542), REAL(0.109489), REAL(0.862725),
-        REAL(0.187387), REAL(0.166131), REAL(0.784599),
-        REAL(0.180428), REAL(0.160135), REAL(0.819438),
-        REAL(0.201823), REAL(0.163991), REAL(0.695756),
-        REAL(0.194206), REAL(0.206635), REAL(0.782275),
-        REAL(0.155438), REAL(0.291260), REAL(0.734412),
-        REAL(0.177696), REAL(0.196424), REAL(0.846693),
-        REAL(0.152305), REAL(0.125256), REAL(0.890786),
-        REAL(0.119546), REAL(0.249876), REAL(0.859104),
-        REAL(0.118369), REAL(0.139643), REAL(0.919173),
-        REAL(0.079410), REAL(0.132973), REAL(0.948652),
-        REAL(0.062419), REAL(0.036648), REAL(0.976547),
-        REAL(0.127847), REAL(-0.035919), REAL(0.947070),
-        REAL(0.143624), REAL(0.032206), REAL(0.885913),
-        REAL(0.074888), REAL(-0.085173), REAL(0.980577),
-        REAL(0.130184), REAL(-0.104656), REAL(0.947620),
-        REAL(0.156201), REAL(-0.094653), REAL(0.899074),
-        REAL(0.077366), REAL(-0.171194), REAL(0.926545),
-        REAL(0.127722), REAL(-0.164729), REAL(0.879810),
-        REAL(0.052670), REAL(-0.184618), REAL(0.842019),
-        REAL(0.023477), REAL(-0.184638), REAL(0.889811),
-        REAL(0.022626), REAL(-0.210587), REAL(0.827500),
-        REAL(0.223089), REAL(0.211976), REAL(0.620493),
-        REAL(0.251444), REAL(0.113067), REAL(0.666494),
-        REAL(0.251419), REAL(0.089540), REAL(0.673887),
-        REAL(0.214360), REAL(0.019258), REAL(0.771595),
-        REAL(0.158999), REAL(0.001490), REAL(0.835374),
-        REAL(0.176696), REAL(-0.059249), REAL(0.849218),
-        REAL(0.148696), REAL(-0.130091), REAL(0.793599),
-        REAL(0.108290), REAL(-0.166528), REAL(0.772088),
-        REAL(0.049820), REAL(-0.201382), REAL(0.764454),
-        REAL(0.071341), REAL(-0.215195), REAL(0.697209),
-        REAL(0.073148), REAL(-0.214475), REAL(0.623510),
-        REAL(0.140502), REAL(-0.169461), REAL(0.699354),
-        REAL(0.163374), REAL(-0.157073), REAL(0.611416),
-        REAL(0.189466), REAL(-0.138550), REAL(0.730366),
-        REAL(0.247593), REAL(-0.082554), REAL(0.759610),
-        REAL(0.227468), REAL(-0.121982), REAL(0.590197),
-        REAL(0.284702), REAL(-0.006586), REAL(0.535347),
-        REAL(0.275741), REAL(0.125287), REAL(0.446676),
-        REAL(0.266650), REAL(0.192594), REAL(0.506044),
-        REAL(0.300086), REAL(0.053287), REAL(0.629620),
-        REAL(0.055450), REAL(-0.663935), REAL(0.375065),
-        REAL(0.122854), REAL(-0.664138), REAL(0.482323),
-        REAL(0.046520), REAL(-0.531571), REAL(0.391918),
-        REAL(0.024824), REAL(-0.568450), REAL(0.275106),
-        REAL(0.053855), REAL(-0.663931), REAL(0.328224),
-        REAL(0.112829), REAL(-0.453549), REAL(0.305788),
-        REAL(0.131265), REAL(-0.510617), REAL(0.080746),
-        REAL(0.061174), REAL(-0.430716), REAL(-0.042710),
-        REAL(0.341019), REAL(-0.532887), REAL(-0.208150),
-        REAL(0.347705), REAL(-0.623533), REAL(-0.081139),
-        REAL(0.238040), REAL(-0.610732), REAL(-0.038037),
-        REAL(0.211764), REAL(-0.514274), REAL(-0.132078),
-        REAL(0.120605), REAL(-0.600219), REAL(-0.186856),
-        REAL(0.096985), REAL(-0.584476), REAL(-0.293357),
-        REAL(0.127621), REAL(-0.581941), REAL(-0.437170),
-        REAL(0.165902), REAL(-0.477425), REAL(-0.291453),
-        REAL(0.077720), REAL(-0.417975), REAL(-0.220519),
-        REAL(0.320892), REAL(-0.506363), REAL(-0.320874),
-        REAL(0.248214), REAL(-0.465684), REAL(-0.239842),
-        REAL(0.118764), REAL(-0.383338), REAL(-0.187114),
-        REAL(0.118816), REAL(-0.430106), REAL(-0.123307),
-        REAL(0.094131), REAL(-0.419464), REAL(-0.044777),
-        REAL(0.274526), REAL(-0.261706), REAL(0.005110),
-        REAL(0.259842), REAL(-0.283292), REAL(-0.003185),
-        REAL(0.222861), REAL(-0.340431), REAL(-0.038210),
-        REAL(0.204445), REAL(-0.664380), REAL(0.513353),
-        REAL(0.259286), REAL(-0.664547), REAL(0.471281),
-        REAL(0.185402), REAL(-0.476020), REAL(0.421718),
-        REAL(0.279163), REAL(-0.664604), REAL(0.417328),
-        REAL(0.277157), REAL(-0.528122), REAL(0.400208),
-        REAL(0.183069), REAL(-0.509812), REAL(0.329995),
-        REAL(0.282599), REAL(-0.429210), REAL(0.059242),
-        REAL(0.254816), REAL(-0.664541), REAL(0.290687),
-        REAL(0.271436), REAL(-0.567707), REAL(0.263966),
-        REAL(0.386561), REAL(-0.625221), REAL(-0.216870),
-        REAL(0.387086), REAL(-0.630883), REAL(-0.346073),
-        REAL(0.380021), REAL(-0.596021), REAL(-0.318679),
-        REAL(0.291269), REAL(-0.619007), REAL(-0.585707),
-        REAL(0.339280), REAL(-0.571198), REAL(-0.461946),
-        REAL(0.400045), REAL(-0.489778), REAL(-0.422640),
-        REAL(0.406817), REAL(-0.314349), REAL(-0.371230),
-        REAL(0.300588), REAL(-0.281718), REAL(-0.170549),
-        REAL(0.290866), REAL(-0.277304), REAL(-0.061905),
-        REAL(0.187735), REAL(-0.241545), REAL(0.509437),
-        REAL(0.188032), REAL(-0.287569), REAL(0.424234),
-        REAL(0.227520), REAL(-0.373262), REAL(0.293102),
-        REAL(0.266526), REAL(-0.273650), REAL(0.039597),
-        REAL(0.291592), REAL(-0.291676), REAL(0.111386),
-        REAL(0.291914), REAL(-0.122741), REAL(0.422683),
-        REAL(0.297574), REAL(-0.156119), REAL(0.373368),
-        REAL(0.286603), REAL(-0.232731), REAL(0.027162),
-        REAL(0.364663), REAL(-0.201399), REAL(0.206850),
-        REAL(0.353855), REAL(-0.132408), REAL(0.149228),
-        REAL(0.282208), REAL(-0.019715), REAL(0.314960),
-        REAL(0.331187), REAL(-0.099266), REAL(0.092701),
-        REAL(0.375463), REAL(-0.093120), REAL(-0.006467),
-        REAL(0.375917), REAL(-0.101236), REAL(-0.154882),
-        REAL(0.466635), REAL(-0.094416), REAL(-0.305669),
-        REAL(0.455805), REAL(-0.119881), REAL(-0.460632),
-        REAL(0.277465), REAL(-0.604242), REAL(-0.651871),
-        REAL(0.261022), REAL(-0.551176), REAL(-0.554667),
-        REAL(0.093627), REAL(0.258494), REAL(-0.920589),
-        REAL(0.114248), REAL(0.310608), REAL(-0.798070),
-        REAL(0.144232), REAL(0.211434), REAL(-0.835001),
-        REAL(0.119916), REAL(0.176940), REAL(-0.951159),
-        REAL(0.184061), REAL(0.101854), REAL(-0.918220),
-        REAL(0.092431), REAL(0.276521), REAL(-0.738231),
-        REAL(0.133504), REAL(0.218403), REAL(-0.758602),
-        REAL(0.194987), REAL(0.097655), REAL(-0.812476),
-        REAL(0.185542), REAL(0.011005), REAL(-0.879202),
-        REAL(0.230315), REAL(-0.127450), REAL(-0.884202),
-        REAL(0.260471), REAL(0.255056), REAL(-0.624378),
-        REAL(0.351567), REAL(-0.042194), REAL(-0.663976),
-        REAL(0.253742), REAL(0.323524), REAL(-0.433716),
-        REAL(0.411612), REAL(0.132299), REAL(-0.438264),
-        REAL(0.270513), REAL(0.356530), REAL(-0.289984),
-        REAL(0.422146), REAL(0.162819), REAL(-0.273130),
-        REAL(0.164724), REAL(0.237490), REAL(0.208912),
-        REAL(0.253806), REAL(0.092900), REAL(0.240640),
-        REAL(0.203608), REAL(0.284597), REAL(0.096223),
-        REAL(0.241006), REAL(0.343093), REAL(-0.171396),
-        REAL(0.356076), REAL(0.149288), REAL(-0.143443),
-        REAL(0.337656), REAL(0.131992), REAL(0.066374)
-};
-
-int Indices[IndexCount / 3][3] = {
-        {126,134,133},
-        {342,138,134},
-        {133,134,138},
-        {126,342,134},
-        {312,316,317},
-        {169,163,162},
-        {312,317,319},
-        {312,319,318},
-        {169,162,164},
-        {169,168,163},
-        {312,314,315},
-        {169,164,165},
-        {169,167,168},
-        {312,315,316},
-        {312,313,314},
-        {169,165,166},
-        {169,166,167},
-        {312,318,313},
-        {308,304,305},
-        {308,305,306},
-        {179,181,188},
-        {177,173,175},
-        {177,175,176},
-        {302,293,300},
-        {322,294,304},
-        {188,176,175},
-        {188,175,179},
-        {158,177,187},
-        {305,293,302},
-        {305,302,306},
-        {322,304,308},
-        {188,181,183},
-        {158,173,177},
-        {293,298,300},
-        {304,294,296},
-        {304,296,305},
-        {185,176,188},
-        {185,188,183},
-        {187,177,176},
-        {187,176,185},
-        {305,296,298},
-        {305,298,293},
-        {436,432, 28},
-        {436, 28, 23},
-        {434,278,431},
-        { 30,208,209},
-        { 30,209, 29},
-        { 19, 20, 24},
-        {208,207,211},
-        {208,211,209},
-        { 19,210,212},
-        {433,434,431},
-        {433,431,432},
-        {433,432,436},
-        {436,437,433},
-        {277,275,276},
-        {277,276,278},
-        {209,210, 25},
-        { 21, 26, 24},
-        { 21, 24, 20},
-        { 25, 26, 27},
-        { 25, 27, 29},
-        {435,439,277},
-        {439,275,277},
-        {432,431, 30},
-        {432, 30, 28},
-        {433,437,438},
-        {433,438,435},
-        {434,277,278},
-        { 24, 25,210},
-        { 24, 26, 25},
-        { 29, 27, 28},
-        { 29, 28, 30},
-        { 19, 24,210},
-        {208, 30,431},
-        {208,431,278},
-        {435,434,433},
-        {435,277,434},
-        { 25, 29,209},
-        { 27, 22, 23},
-        { 27, 23, 28},
-        { 26, 22, 27},
-        { 26, 21, 22},
-        {212,210,209},
-        {212,209,211},
-        {207,208,278},
-        {207,278,276},
-        {439,435,438},
-        { 12,  9, 10},
-        { 12, 10, 13},
-        {  2,  3,  5},
-        {  2,  5,  4},
-        { 16, 13, 14},
-        { 16, 14, 17},
-        { 22, 21, 16},
-        { 13, 10, 11},
-        { 13, 11, 14},
-        {  1,  0,  3},
-        {  1,  3,  2},
-        { 15, 12, 16},
-        { 19, 18, 15},
-        { 19, 15, 16},
-        { 19, 16, 20},
-        {  9,  1,  2},
-        {  9,  2, 10},
-        {  3,  7,  8},
-        {  3,  8,  5},
-        { 16, 17, 23},
-        { 16, 23, 22},
-        { 21, 20, 16},
-        { 10,  2,  4},
-        { 10,  4, 11},
-        {  0,  6,  7},
-        {  0,  7,  3},
-        { 12, 13, 16},
-        {451,446,445},
-        {451,445,450},
-        {442,440,439},
-        {442,439,438},
-        {442,438,441},
-        {421,420,422},
-        {412,411,426},
-        {412,426,425},
-        {408,405,407},
-        {413, 67, 68},
-        {413, 68,414},
-        {391,390,412},
-        { 80,384,386},
-        {404,406,378},
-        {390,391,377},
-        {390,377, 88},
-        {400,415,375},
-        {398,396,395},
-        {398,395,371},
-        {398,371,370},
-        {112,359,358},
-        {112,358,113},
-        {351,352,369},
-        {125,349,348},
-        {345,343,342},
-        {342,340,339},
-        {341,335,337},
-        {328,341,327},
-        {331,323,333},
-        {331,322,323},
-        {327,318,319},
-        {327,319,328},
-        {315,314,324},
-        {302,300,301},
-        {302,301,303},
-        {320,311,292},
-        {285,284,289},
-        {310,307,288},
-        {310,288,290},
-        {321,350,281},
-        {321,281,282},
-        {423,448,367},
-        {272,273,384},
-        {272,384,274},
-        {264,265,382},
-        {264,382,383},
-        {440,442,261},
-        {440,261,263},
-        {252,253,254},
-        {252,254,251},
-        {262,256,249},
-        {262,249,248},
-        {228,243,242},
-        {228, 31,243},
-        {213,215,238},
-        {213,238,237},
-        { 19,212,230},
-        {224,225,233},
-        {224,233,231},
-        {217,218, 56},
-        {217, 56, 54},
-        {217,216,239},
-        {217,239,238},
-        {217,238,215},
-        {218,217,215},
-        {218,215,214},
-        {  6,102,206},
-        {186,199,200},
-        {197,182,180},
-        {170,171,157},
-        {201,200,189},
-        {170,190,191},
-        {170,191,192},
-        {175,174,178},
-        {175,178,179},
-        {168,167,155},
-        {122,149,158},
-        {122,158,159},
-        {135,153,154},
-        {135,154,118},
-        {143,140,141},
-        {143,141,144},
-        {132,133,136},
-        {130,126,133},
-        {124,125,127},
-        {122,101,100},
-        {122,100,121},
-        {110,108,107},
-        {110,107,109},
-        { 98, 99, 97},
-        { 98, 97, 64},
-        { 98, 64, 66},
-        { 87, 55, 57},
-        { 83, 82, 79},
-        { 83, 79, 84},
-        { 78, 74, 50},
-        { 49, 71, 41},
-        { 49, 41, 37},
-        { 49, 37, 36},
-        { 58, 44, 60},
-        { 60, 59, 58},
-        { 51, 34, 33},
-        { 39, 40, 42},
-        { 39, 42, 38},
-        {243,240, 33},
-        {243, 33,229},
-        { 39, 38,  6},
-        { 44, 46, 40},
-        { 55, 56, 57},
-        { 64, 62, 65},
-        { 64, 65, 66},
-        { 41, 71, 45},
-        { 75, 50, 51},
-        { 81, 79, 82},
-        { 77, 88, 73},
-        { 93, 92, 94},
-        { 68, 47, 46},
-        { 96, 97, 99},
-        { 96, 99, 95},
-        {110,109,111},
-        {111,112,110},
-        {114,113,123},
-        {114,123,124},
-        {132,131,129},
-        {133,137,136},
-        {135,142,145},
-        {145,152,135},
-        {149,147,157},
-        {157,158,149},
-        {164,150,151},
-        {153,163,168},
-        {153,168,154},
-        {185,183,182},
-        {185,182,184},
-        {161,189,190},
-        {200,199,191},
-        {200,191,190},
-        {180,178,195},
-        {180,195,196},
-        {102,101,204},
-        {102,204,206},
-        { 43, 48,104},
-        { 43,104,103},
-        {216,217, 54},
-        {216, 54, 32},
-        {207,224,231},
-        {230,212,211},
-        {230,211,231},
-        {227,232,241},
-        {227,241,242},
-        {235,234,241},
-        {235,241,244},
-        {430,248,247},
-        {272,274,253},
-        {272,253,252},
-        {439,260,275},
-        {225,224,259},
-        {225,259,257},
-        {269,270,407},
-        {269,407,405},
-        {270,269,273},
-        {270,273,272},
-        {273,269,268},
-        {273,268,267},
-        {273,267,266},
-        {273,266,265},
-        {273,265,264},
-        {448,279,367},
-        {281,350,368},
-        {285,286,301},
-        {290,323,310},
-        {290,311,323},
-        {282,281,189},
-        {292,311,290},
-        {292,290,291},
-        {307,306,302},
-        {307,302,303},
-        {316,315,324},
-        {316,324,329},
-        {331,351,350},
-        {330,334,335},
-        {330,335,328},
-        {341,337,338},
-        {344,355,354},
-        {346,345,348},
-        {346,348,347},
-        {364,369,352},
-        {364,352,353},
-        {365,363,361},
-        {365,361,362},
-        {376,401,402},
-        {373,372,397},
-        {373,397,400},
-        {376, 92,377},
-        {381,378,387},
-        {381,387,385},
-        {386, 77, 80},
-        {390,389,412},
-        {416,417,401},
-        {403,417,415},
-        {408,429,430},
-        {419,423,418},
-        {427,428,444},
-        {427,444,446},
-        {437,436,441},
-        {450,445, 11},
-        {450, 11,  4},
-        {447,449,  5},
-        {447,  5,  8},
-        {441,438,437},
-        {425,426,451},
-        {425,451,452},
-        {417,421,415},
-        {408,407,429},
-        {399,403,400},
-        {399,400,397},
-        {394,393,416},
-        {389,411,412},
-        {386,383,385},
-        {408,387,378},
-        {408,378,406},
-        {377,391,376},
-        { 94,375,415},
-        {372,373,374},
-        {372,374,370},
-        {359,111,360},
-        {359,112,111},
-        {113,358,349},
-        {113,349,123},
-        {346,343,345},
-        {343,340,342},
-        {338,336,144},
-        {338,144,141},
-        {327,341,354},
-        {327,354,326},
-        {331,350,321},
-        {331,321,322},
-        {314,313,326},
-        {314,326,325},
-        {300,298,299},
-        {300,299,301},
-        {288,287,289},
-        {189,292,282},
-        {287,288,303},
-        {284,285,297},
-        {368,280,281},
-        {448,447,279},
-        {274,226,255},
-        {267,268,404},
-        {267,404,379},
-        {429,262,430},
-        {439,440,260},
-        {257,258,249},
-        {257,249,246},
-        {430,262,248},
-        {234,228,242},
-        {234,242,241},
-        {237,238,239},
-        {237,239,236},
-        { 15, 18,227},
-        { 15,227,229},
-        {222,223, 82},
-        {222, 82, 83},
-        {214,215,213},
-        {214,213, 81},
-        { 38,102,  6},
-        {122,159,200},
-        {122,200,201},
-        {174,171,192},
-        {174,192,194},
-        {197,193,198},
-        {190,170,161},
-        {181,179,178},
-        {181,178,180},
-        {166,156,155},
-        {163,153,152},
-        {163,152,162},
-        {120,156,149},
-        {120,149,121},
-        {152,153,135},
-        {140,143,142},
-        {135,131,132},
-        {135,132,136},
-        {130,129,128},
-        {130,128,127},
-        {100,105,119},
-        {100,119,120},
-        {106,104,107},
-        {106,107,108},
-        { 91, 95, 59},
-        { 93, 94, 68},
-        { 91, 89, 92},
-        { 76, 53, 55},
-        { 76, 55, 87},
-        { 81, 78, 79},
-        { 74, 73, 49},
-        { 69, 60, 45},
-        { 58, 62, 64},
-        { 58, 64, 61},
-        { 53, 31, 32},
-        { 32, 54, 53},
-        { 42, 43, 38},
-        { 35, 36,  0},
-        { 35,  0,  1},
-        { 34, 35,  1},
-        { 34,  1,  9},
-        { 44, 40, 41},
-        { 44, 41, 45},
-        { 33,240, 51},
-        { 63, 62, 58},
-        { 63, 58, 59},
-        { 45, 71, 70},
-        { 76, 75, 51},
-        { 76, 51, 52},
-        { 86, 85, 84},
-        { 86, 84, 87},
-        { 89, 72, 73},
-        { 89, 73, 88},
-        { 91, 92, 96},
-        { 91, 96, 95},
-        { 72, 91, 60},
-        { 72, 60, 69},
-        {104,106,105},
-        {119,105,117},
-        {119,117,118},
-        {124,127,128},
-        {117,116,129},
-        {117,129,131},
-        {118,117,131},
-        {135,140,142},
-        {146,150,152},
-        {146,152,145},
-        {149,122,121},
-        {166,165,151},
-        {166,151,156},
-        {158,172,173},
-        {161,160,189},
-        {199,198,193},
-        {199,193,191},
-        {204,201,202},
-        {178,174,194},
-        {200,159,186},
-        {109, 48, 67},
-        { 48,107,104},
-        {216, 32,236},
-        {216,236,239},
-        {223,214, 81},
-        {223, 81, 82},
-        { 33, 12, 15},
-        { 32,228,234},
-        { 32,234,236},
-        {240, 31, 52},
-        {256,255,246},
-        {256,246,249},
-        {258,263,248},
-        {258,248,249},
-        {275,260,259},
-        {275,259,276},
-        {207,276,259},
-        {270,271,429},
-        {270,429,407},
-        {413,418,366},
-        {413,366,365},
-        {368,367,279},
-        {368,279,280},
-        {303,301,286},
-        {303,286,287},
-        {283,282,292},
-        {283,292,291},
-        {320,292,189},
-        {298,296,297},
-        {298,297,299},
-        {318,327,326},
-        {318,326,313},
-        {329,330,317},
-        {336,333,320},
-        {326,354,353},
-        {334,332,333},
-        {334,333,336},
-        {342,339,139},
-        {342,139,138},
-        {345,342,126},
-        {347,357,356},
-        {369,368,351},
-        {363,356,357},
-        {363,357,361},
-        {366,367,368},
-        {366,368,369},
-        {375,373,400},
-        { 92, 90,377},
-        {409,387,408},
-        {386,385,387},
-        {386,387,388},
-        {412,394,391},
-        {396,398,399},
-        {408,406,405},
-        {415,421,419},
-        {415,419,414},
-        {425,452,448},
-        {425,448,424},
-        {444,441,443},
-        {448,452,449},
-        {448,449,447},
-        {446,444,443},
-        {446,443,445},
-        {250,247,261},
-        {250,261,428},
-        {421,422,423},
-        {421,423,419},
-        {427,410,250},
-        {417,403,401},
-        {403,402,401},
-        {420,392,412},
-        {420,412,425},
-        {420,425,424},
-        {386,411,389},
-        {383,382,381},
-        {383,381,385},
-        {378,379,404},
-        {372,371,395},
-        {372,395,397},
-        {371,372,370},
-        {361,359,360},
-        {361,360,362},
-        {368,350,351},
-        {349,347,348},
-        {356,355,344},
-        {356,344,346},
-        {344,341,340},
-        {344,340,343},
-        {338,337,336},
-        {328,335,341},
-        {324,352,351},
-        {324,351,331},
-        {320,144,336},
-        {314,325,324},
-        {322,308,309},
-        {310,309,307},
-        {287,286,289},
-        {203,280,279},
-        {203,279,205},
-        {297,295,283},
-        {297,283,284},
-        {447,205,279},
-        {274,384, 80},
-        {274, 80,226},
-        {266,267,379},
-        {266,379,380},
-        {225,257,246},
-        {225,246,245},
-        {256,254,253},
-        {256,253,255},
-        {430,247,250},
-        {226,235,244},
-        {226,244,245},
-        {232,233,244},
-        {232,244,241},
-        {230, 18, 19},
-        { 32, 31,228},
-        {219,220, 86},
-        {219, 86, 57},
-        {226,213,235},
-        {206,  7,  6},
-        {122,201,101},
-        {201,204,101},
-        {180,196,197},
-        {170,192,171},
-        {200,190,189},
-        {194,193,195},
-        {183,181,180},
-        {183,180,182},
-        {155,154,168},
-        {149,156,151},
-        {149,151,148},
-        {155,156,120},
-        {145,142,143},
-        {145,143,146},
-        {136,137,140},
-        {133,132,130},
-        {128,129,116},
-        {100,120,121},
-        {110,112,113},
-        {110,113,114},
-        { 66, 65, 63},
-        { 66, 63, 99},
-        { 66, 99, 98},
-        { 96, 46, 61},
-        { 89, 88, 90},
-        { 86, 87, 57},
-        { 80, 78, 81},
-        { 72, 69, 49},
-        { 67, 48, 47},
-        { 67, 47, 68},
-        { 56, 55, 53},
-        { 50, 49, 36},
-        { 50, 36, 35},
-        { 40, 39, 41},
-        {242,243,229},
-        {242,229,227},
-        {  6, 37, 39},
-        { 42, 47, 48},
-        { 42, 48, 43},
-        { 61, 46, 44},
-        { 45, 70, 69},
-        { 69, 70, 71},
-        { 69, 71, 49},
-        { 74, 78, 77},
-        { 83, 84, 85},
-        { 73, 74, 77},
-        { 93, 96, 92},
-        { 68, 46, 93},
-        { 95, 99, 63},
-        { 95, 63, 59},
-        {115,108,110},
-        {115,110,114},
-        {125,126,127},
-        {129,130,132},
-        {137,133,138},
-        {137,138,139},
-        {148,146,143},
-        {148,143,147},
-        {119,118,154},
-        {161,147,143},
-        {165,164,151},
-        {158,157,171},
-        {158,171,172},
-        {159,158,187},
-        {159,187,186},
-        {194,192,191},
-        {194,191,193},
-        {189,202,201},
-        {182,197,184},
-        {205,  8,  7},
-        { 48,109,107},
-        {218,219, 57},
-        {218, 57, 56},
-        {207,231,211},
-        {232,230,231},
-        {232,231,233},
-        { 53, 52, 31},
-        {388,411,386},
-        {409,430,250},
-        {262,429,254},
-        {262,254,256},
-        {442,444,428},
-        {273,264,383},
-        {273,383,384},
-        {429,271,251},
-        {429,251,254},
-        {413,365,362},
-        { 67,413,360},
-        {282,283,295},
-        {285,301,299},
-        {202,281,280},
-        {284,283,291},
-        {284,291,289},
-        {320,189,160},
-        {308,306,307},
-        {307,309,308},
-        {319,317,330},
-        {319,330,328},
-        {353,352,324},
-        {332,331,333},
-        {340,341,338},
-        {354,341,344},
-        {349,358,357},
-        {349,357,347},
-        {364,355,356},
-        {364,356,363},
-        {364,365,366},
-        {364,366,369},
-        {374,376,402},
-        {375, 92,373},
-        { 77,389,390},
-        {382,380,381},
-        {389, 77,386},
-        {393,394,412},
-        {393,412,392},
-        {401,394,416},
-        {415,400,403},
-        {411,410,427},
-        {411,427,426},
-        {422,420,424},
-        {247,248,263},
-        {247,263,261},
-        {445,443, 14},
-        {445, 14, 11},
-        {449,450,  4},
-        {449,  4,  5},
-        {443,441, 17},
-        {443, 17, 14},
-        {436, 23, 17},
-        {436, 17,441},
-        {424,448,422},
-        {448,423,422},
-        {414,419,418},
-        {414,418,413},
-        {406,404,405},
-        {399,397,395},
-        {399,395,396},
-        {420,416,392},
-        {388,410,411},
-        {386,384,383},
-        {390, 88, 77},
-        {375, 94, 92},
-        {415,414, 68},
-        {415, 68, 94},
-        {370,374,402},
-        {370,402,398},
-        {361,357,358},
-        {361,358,359},
-        {125,348,126},
-        {346,344,343},
-        {340,338,339},
-        {337,335,334},
-        {337,334,336},
-        {325,353,324},
-        {324,331,332},
-        {324,332,329},
-        {323,322,309},
-        {323,309,310},
-        {294,295,297},
-        {294,297,296},
-        {289,286,285},
-        {202,280,203},
-        {288,307,303},
-        {282,295,321},
-        { 67,360,111},
-        {418,423,367},
-        {418,367,366},
-        {272,252,251},
-        {272,251,271},
-        {272,271,270},
-        {255,253,274},
-        {265,266,380},
-        {265,380,382},
-        {442,428,261},
-        {440,263,258},
-        {440,258,260},
-        {409,250,410},
-        {255,226,245},
-        {255,245,246},
-        { 31,240,243},
-        {236,234,235},
-        {236,235,237},
-        {233,225,245},
-        {233,245,244},
-        {220,221, 85},
-        {220, 85, 86},
-        { 81,213,226},
-        { 81,226, 80},
-        {  7,206,205},
-        {186,184,198},
-        {186,198,199},
-        {204,203,205},
-        {204,205,206},
-        {195,193,196},
-        {171,174,172},
-        {173,174,175},
-        {173,172,174},
-        {155,167,166},
-        {160,161,143},
-        {160,143,144},
-        {119,154,155},
-        {148,151,150},
-        {148,150,146},
-        {140,137,139},
-        {140,139,141},
-        {127,126,130},
-        {114,124,128},
-        {114,128,115},
-        {117,105,106},
-        {117,106,116},
-        {104,105,100},
-        {104,100,103},
-        { 59, 60, 91},
-        { 97, 96, 61},
-        { 97, 61, 64},
-        { 91, 72, 89},
-        { 87, 84, 79},
-        { 87, 79, 76},
-        { 78, 80, 77},
-        { 49, 50, 74},
-        { 60, 44, 45},
-        { 61, 44, 58},
-        { 51, 50, 35},
-        { 51, 35, 34},
-        { 39, 37, 41},
-        { 33, 34,  9},
-        { 33,  9, 12},
-        {  0, 36, 37},
-        {  0, 37,  6},
-        { 40, 46, 47},
-        { 40, 47, 42},
-        { 53, 54, 56},
-        { 65, 62, 63},
-        { 72, 49, 73},
-        { 79, 78, 75},
-        { 79, 75, 76},
-        { 52, 53, 76},
-        { 92, 89, 90},
-        { 96, 93, 46},
-        {102,103,100},
-        {102,100,101},
-        {116,106,108},
-        {116,108,115},
-        {123,125,124},
-        {116,115,128},
-        {118,131,135},
-        {140,135,136},
-        {148,147,149},
-        {120,119,155},
-        {164,162,152},
-        {164,152,150},
-        {157,147,161},
-        {157,161,170},
-        {186,187,185},
-        {186,185,184},
-        {193,197,196},
-        {202,203,204},
-        {194,195,178},
-        {198,184,197},
-        { 67,111,109},
-        { 38, 43,103},
-        { 38,103,102},
-        {214,223,222},
-        {214,222,221},
-        {214,221,220},
-        {214,220,219},
-        {214,219,218},
-        {213,237,235},
-        {221,222, 83},
-        {221, 83, 85},
-        { 15,229, 33},
-        {227, 18,230},
-        {227,230,232},
-        { 52, 51,240},
-        { 75, 78, 50},
-        {408,430,409},
-        {260,258,257},
-        {260,257,259},
-        {224,207,259},
-        {268,269,405},
-        {268,405,404},
-        {413,362,360},
-        {447,  8,205},
-        {299,297,285},
-        {189,281,202},
-        {290,288,289},
-        {290,289,291},
-        {322,321,295},
-        {322,295,294},
-        {333,323,311},
-        {333,311,320},
-        {317,316,329},
-        {320,160,144},
-        {353,325,326},
-        {329,332,334},
-        {329,334,330},
-        {339,338,141},
-        {339,141,139},
-        {348,345,126},
-        {347,356,346},
-        {123,349,125},
-        {364,353,354},
-        {364,354,355},
-        {365,364,363},
-        {376,391,394},
-        {376,394,401},
-        { 92,376,374},
-        { 92,374,373},
-        {377, 90, 88},
-        {380,379,378},
-        {380,378,381},
-        {388,387,409},
-        {388,409,410},
-        {416,393,392},
-        {399,398,402},
-        {399,402,403},
-        {250,428,427},
-        {421,417,416},
-        {421,416,420},
-        {426,427,446},
-        {426,446,451},
-        {444,442,441},
-        {452,451,450},
-        {452,450,449}
-};
-
-//============================
-
-
-dReal heightfield_callback( void* pUserData, int x, int z )
-{
-        dIASSERT( x < HFIELD_WSTEP );
-        dIASSERT( z < HFIELD_DSTEP );
-
-        dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 );
-        dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 );
-
-        // Create an interesting 'hump' shape
-        dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) );
-
-        return h;
-}
-
-
-
-
-
-// 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 | 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 capsule.\n");
-  printf ("   y for cylinder.\n");
-  printf ("   v for a convex object.\n");
-  printf ("   x for a composite object.\n");
-  printf ("   m for a trimesh.\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");
-  printf ("To save the current state to 'state.dif', press 1.\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)
-{
-        size_t i;
-        int j,k;
-        dReal sides[3];
-        dMass m;
-
-        cmd = locase (cmd);
-
-
-        //
-        // Geom Creation
-        //
-
-        if ( cmd == 'b' || cmd == 's' || cmd == 'c' || 
-                 cmd == 'x' || cmd == 'y' || cmd == 'm' || cmd == 'v' )
-        {
-                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()-0.5)*HFIELD_WIDTH*0.75,
-                                (dRandReal()-0.5)*HFIELD_DEPTH*0.75,
-                                dRandReal() + 2 );
-                        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+1,0);
-                        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;
-                        dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
-                        obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
-                }
-                //<---- Convex Object
-                else if (cmd == 'v')
-                {
-                        dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
-                        obj[i].geom[0] = dCreateConvex (space,
-                                planes,
-                                planecount,
-                                points,
-                                pointcount,
-                                polygons);
-                }
-                //----> Convex Object
-                else if (cmd == 'y')
-                {
-                        dMassSetCylinder (&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]);
-                }
-#ifdef dTRIMESH_ENABLED
-                else if (cmd == 'm')
-                {
-                        dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();

-                        dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));

-

-                        obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0);

-

-                        // remember the mesh's dTriMeshDataID on its userdata for convenience.

-                        dGeomSetData(obj[i].geom[0], new_tmdata);

-

-                        dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] );

-                }
-#endif
-                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] = dCreateCapsule (0,radius,length);
-                                        dMassSetCapsule (&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);
-        }
-
-
-        //
-        // Control Commands
-        //
-
-        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;
-        }
-        else if (cmd == '1') {
-                write_world = 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 == dCapsuleClass) {
-    dReal radius,length;
-    dGeomCapsuleGetParams (g,&radius,&length);
-    dsDrawCapsule (pos,R,length,radius);
-  }
-  //<---- Convex Object
-  else if (type == dConvexClass)
-    {
-      //dVector3 sides={0.50,0.50,0.50};
-      dsDrawConvex(pos,R,planes,
-                   planecount,
-                   points,
-                   pointcount,
-                   polygons);
-    }
-  //----> Convex Object
-  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)
-{
-  int i,j;
-  
-  dsSetColor (0,0,2);
-  
-  dSpaceCollide (space,0,&nearCallback);
-  

-  //if (!pause) dWorldStep (world,0.05);

-  //if (!pause) dWorldQuickStep (world,0.05);

-  if (!pause) dWorldStepFast1 (world,0.05, 5);

-

-
-  if (write_world) {
-    FILE *f = fopen ("state.dif","wt");
-    if (f) {
-      dWorldExportDIF (world,f,"X");
-      fclose (f);
-    }
-    write_world = 0;
-  }
-
-  // remove all contact joints
-  dJointGroupEmpty (contactgroup);
-
-
-
-        const dReal* pReal = dGeomGetPosition( gheight );
-
-        const dReal* RReal = dGeomGetRotation( gheight );
-
-        //
-        // Draw Heightfield
-        //
-
-        // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode.
-        int ox = (int) ( -HFIELD_WIDTH/2 );
-        int oz = (int) ( -HFIELD_DEPTH/2 );
-
-//      for ( int tx = -1; tx < 2; ++tx )
-//      for ( int tz = -1; tz < 2; ++tz )
-        {
-                dsSetColorAlpha (0.5,1,0.5,0.5);
-                dsSetTexture( DS_WOOD );
-
-                for ( int i = 0; i < HFIELD_WSTEP - 1; ++i )
-                for ( int j = 0; j < HFIELD_DSTEP - 1; ++j )
-                {
-                        dReal a[3], b[3], c[3], d[3];
-
-                        a[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
-                        a[ 1 ] = heightfield_callback( NULL, i, j );
-                        a[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
-
-                        b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
-                        b[ 1 ] = heightfield_callback( NULL, i + 1, j );
-                        b[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
-
-                        c[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
-                        c[ 1 ] = heightfield_callback( NULL, i, j + 1 );
-                        c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
-
-                        d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
-                        d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 );
-                        d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
-
-                        dsDrawTriangle( pReal, RReal, a, c, b, 1 );
-                        dsDrawTriangle( pReal, RReal, b, c, d, 1 );
-                }
-        }
-
-
-
-
-
-        dsSetColor (1,1,0);
-        dsSetTexture (DS_WOOD);
-        for (i=0; i<num; i++)
-        {
-                for (j=0; j < GPB; j++)
-                {
-                        if (i==selected)
-                        {
-                                dsSetColor (0,0.7,1);
-                        }
-                        else if (! dBodyIsEnabled (obj[i].body))
-                        {
-                                dsSetColor (1,0.8,0);
-                        }
-                        else 
-                        {
-                                dsSetColor (1,1,0);
-                        }
-
-
-                        if ( obj[i].geom[j] && dGeomGetClass(obj[i].geom[j]) == dTriMeshClass )
-                        {
-                                int* Indices = (int*)::Indices;
-
-                                // assume all trimeshes are drawn as bunnies
-                                const dReal* Pos = dGeomGetPosition(obj[i].geom[j]);
-                                const dReal* Rot = dGeomGetRotation(obj[i].geom[j]);
-
-                                for (int ii = 0; ii < IndexCount / 3; ii++)
-                                {
-                                        const dReal v[9] = { // explicit conversion from float to dReal
-                                                Vertices[Indices[ii * 3 + 0] * 3 + 0],
-                                                        Vertices[Indices[ii * 3 + 0] * 3 + 1],
-                                                        Vertices[Indices[ii * 3 + 0] * 3 + 2],
-                                                        Vertices[Indices[ii * 3 + 1] * 3 + 0],
-                                                        Vertices[Indices[ii * 3 + 1] * 3 + 1],
-                                                        Vertices[Indices[ii * 3 + 1] * 3 + 2],
-                                                        Vertices[Indices[ii * 3 + 2] * 3 + 0],
-                                                        Vertices[Indices[ii * 3 + 2] * 3 + 1],
-                                                        Vertices[Indices[ii * 3 + 2] * 3 + 2]
-                                        };
-                                        dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
-                                }
-
-                                // tell the tri-tri collider the current transform of the trimesh --
-                                // this is fairly important for good results.
-
-                                // Fill in the (4x4) matrix.
-                                dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 );
-
-                                p_matrix[ 0 ] = Rot[ 0 ];       p_matrix[ 1 ] = Rot[ 1 ];       p_matrix[ 2 ] = Rot[ 2 ];       p_matrix[ 3 ] = 0;
-                                p_matrix[ 4 ] = Rot[ 4 ];       p_matrix[ 5 ] = Rot[ 5 ];       p_matrix[ 6 ] = Rot[ 6 ];       p_matrix[ 7 ] = 0;
-                                p_matrix[ 8 ] = Rot[ 8 ];       p_matrix[ 9 ] = Rot[ 9 ];       p_matrix[10 ] = Rot[10 ];       p_matrix[11 ] = 0;
-                                p_matrix[12 ] = Pos[ 0 ];       p_matrix[13 ] = Pos[ 1 ];       p_matrix[14 ] = Pos[ 2 ];       p_matrix[15 ] = 1;
-
-                                // Flip to other matrix.
-                                obj[i].last_matrix_index = !obj[i].last_matrix_index;
-
-                                // Apply the 'other' matrix which is the oldest.
-#ifdef dTRIMESH_ENABLED
-                                dGeomTriMeshSetLastTransform( obj[i].geom[j], 
-                                        *(dMatrix4*)( obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 ) ) );
-#endif
-                        }
-                        else
-                        {
-                                drawGeom (obj[i].geom[j],0,0,show_aabb);
-                        }
-                }
-        }
-
-        if ( show_aabb )
-        {
-                // draw the bounding box for this geom
-                dReal aabb[6];
-                dGeomGetAABB (gheight,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);
-        }
-}
-
-
-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
-        dInitODE();
-        world = dWorldCreate();
-        space = dHashSpaceCreate (0);
-        contactgroup = dJointGroupCreate (0);
-        dWorldSetGravity (world,0,0,-0.05);
-        dWorldSetCFM (world,1e-5);
-        dWorldSetAutoDisableFlag (world,1);
-        dWorldSetContactMaxCorrectingVel (world,0.1);
-        dWorldSetContactSurfaceLayer (world,0.001);
-        memset (obj,0,sizeof(obj));
-

-#if 1

-

-  dWorldSetAutoDisableAverageSamplesCount( world, 1 );

-

-#endif

-
-        // base plane to catch overspill
-        dCreatePlane( space, 0, 0, 1, 0 );
-
-
-        // our heightfield floor
-
-        dHeightfieldDataID heightid = dGeomHeightfieldDataCreate();
-
-        // Create an finite heightfield.
-        dGeomHeightfieldDataBuildCallback( heightid, NULL, heightfield_callback,
-                HFIELD_WIDTH, HFIELD_DEPTH, HFIELD_WSTEP, HFIELD_DSTEP,
-                REAL( 1.0 ), REAL( 0.0 ), REAL( 0.0 ), 0 );
-
-        // Give some very bounds which, while conservative,
-        // makes AABB computation more accurate than +/-INF.
-        dGeomHeightfieldDataSetBounds( heightid, REAL( -4.0 ), REAL( +6.0 ) );
-
-        gheight = dCreateHeightfield( space, heightid, 1 );
-
-        dVector3 pos;
-        pos[ 0 ] = 0;
-        pos[ 1 ] = 0;
-        pos[ 2 ] = 0;
-
-        // Rotate so Z is up, not Y (which is the default orientation)
-        dMatrix3 R;
-        dRSetIdentity( R );
-        dRFromAxisAndAngle( R, 1, 0, 0, DEGTORAD * 90 );
-
-        // Place it.
-        dGeomSetRotation( gheight, R );
-        dGeomSetPosition( gheight, pos[0], pos[1], pos[2] );
-
-
-
-
-        // run simulation
-        dsSimulationLoop (argc,argv,352,288,&fn);
-
-        dJointGroupDestroy (contactgroup);
-        dSpaceDestroy (space);
-        dWorldDestroy (world);
-        dCloseODE();
-        return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_hinge.cpp b/libraries/ode-0.9/ode/demo/demo_hinge.cpp
deleted file mode 100644
index 58e8f9e..0000000
--- a/libraries/ode-0.9/ode/demo/demo_hinge.cpp
+++ /dev/null
@@ -1,166 +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
-#endif
-
-
-// some constants
-#define SIDE (0.5f)     // side length of a box
-#define MASS (1.0)      // mass of a box
-
-
-// dynamics and collision objects
-static dWorldID world;
-static dBodyID body[2];
-static dJointID hinge;
-
-
-// state set by keyboard commands
-static int occasional_error = 0;
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
-  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("Press 'e' to start/stop occasional error.\n");
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  if (cmd == 'e' || cmd == 'E') {
-    occasional_error ^= 1;
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  const dReal kd = -0.3;        // angular damping constant
-  if (!pause) {
-    // add an oscillating torque to body 0, and also damp its rotational motion
-    static dReal a=0;
-    const dReal *w = dBodyGetAngularVel (body[0]);
-    dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a));
-    dWorldStep (world,0.05);
-    a += 0.01;
-
-    // occasionally re-orient one of the bodies to create a deliberate error.
-    if (occasional_error) {
-      static int count = 0;
-      if ((count % 20)==0) {
-        // randomly adjust orientation of body[0]
-        const dReal *R1;
-        dMatrix3 R2,R3;
-        R1 = dBodyGetRotation (body[0]);
-        dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
-                            dRandReal()-0.5,dRandReal()-0.5);
-        dMultiply0 (R3,R1,R2,3,3,3);
-        dBodySetRotation (body[0],R3);
-
-        // randomly adjust position of body[0]
-        const dReal *pos = dBodyGetPosition (body[0]);
-        dBodySetPosition (body[0],
-                          pos[0]+0.2*(dRandReal()-0.5),
-                          pos[1]+0.2*(dRandReal()-0.5),
-                          pos[2]+0.2*(dRandReal()-0.5));
-      }
-      count++;
-    }
-  }
-
-  dReal sides1[3] = {SIDE,SIDE,SIDE};
-  dReal sides2[3] = {SIDE,SIDE,SIDE*0.8f};
-  dsSetTexture (DS_WOOD);
-  dsSetColor (1,1,0);
-  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
-  dsSetColor (0,1,1);
-  dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
-}
-
-
-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
-  dInitODE();
-  world = dWorldCreate();
-
-  dMass m;
-  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-  dMassAdjust (&m,MASS);
-
-  dQuaternion q;
-  dQFromAxisAndAngle (q,1,1,0,0.25*M_PI);
-
-  body[0] = dBodyCreate (world);
-  dBodySetMass (body[0],&m);
-  dBodySetPosition (body[0],0.5*SIDE,0.5*SIDE,1);
-  dBodySetQuaternion (body[0],q);
-
-  body[1] = dBodyCreate (world);
-  dBodySetMass (body[1],&m);
-  dBodySetPosition (body[1],-0.5*SIDE,-0.5*SIDE,1);
-  dBodySetQuaternion (body[1],q);
-
-  hinge = dJointCreateHinge (world,0);
-  dJointAttach (hinge,body[0],body[1]);
-  dJointSetHingeAnchor (hinge,0,0,1);
-  dJointSetHingeAxis (hinge,1,-1,1.41421356);
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_jointPR.cpp b/libraries/ode-0.9/ode/demo/demo_jointPR.cpp
deleted file mode 100644
index e0d002d..0000000
--- a/libraries/ode-0.9/ode/demo/demo_jointPR.cpp
+++ /dev/null
@@ -1,377 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-This file try to demonstrate how the PR joint is working.
-
-The axisP is draw in red and the axisR is in green
-
-*/
-
-
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-#include <iostream>
-#include <math.h>
-
-
-#define DRAWSTUFF_TEXTURE_PATH "../../drawstuff/textures"
-
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-// select correct drawing functions
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#endif
-
-// physics parameters
-#define BOX1_LENGTH 2    // Size along the X axis 
-#define BOX1_WIDTH 1     // Size along the Y axis
-#define BOX1_HEIGHT 0.4  // Size along the Z axis (up) since gravity is (0,0,-10)
-#define BOX2_LENGTH 0.2
-#define BOX2_WIDTH 0.1
-#define BOX2_HEIGHT 0.4
-#define Mass1 10
-#define Mass2 0.1
-
-
-#define PRISMATIC_ONLY 1
-#define ROTOIDE_ONLY   2
-int flag = 0;
-
-
-//camera view
-static float xyz[3] = {2.0f,-3.5f,2.0000f};
-static float hpr[3] = {90.000f,-25.5000f,0.0000f};
-//world,space,body & geom
-static dWorldID world;
-static dSpaceID space;
-static dSpaceID box1_space;
-static dSpaceID box2_space;
-static dBodyID box1_body[1];
-static dBodyID box2_body[1];
-static dJointID joint[1];
-static dJointGroupID contactgroup;
-static dGeomID ground;
-static dGeomID box1[1];
-static dGeomID box2[1];
-
-
-//collision detection
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-          int i,n;
-
-                  dBodyID b1 = dGeomGetBody(o1);
-                  dBodyID b2 = dGeomGetBody(o2);
-                  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) 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 = 0.1;
-                                 contact[i].surface.slip1 = 0.02;
-                                 contact[i].surface.slip2 = 0.02;
-                                 contact[i].surface.soft_erp = 0.1;
-                                 contact[i].surface.soft_cfm = 0.0001;
-                                 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()
-{
-                dsSetViewpoint (xyz,hpr);
-                printf ("Press 'd' to add force along positive x direction.\nPress 'a' to add force along negative x direction.\n");
-                printf ("Press 'w' to add force along positive y direction.\nPress 's' to add force along negative y direction.\n");
-                printf ("Press 'e' to add torque around positive z direction.\nPress 'q' to add torque around negative z direction.\n");
-                printf ("Press 'o' to add force around positive x direction \n");
-}
-
-// function to update camera position at each step.
-void update()
-{
-//              const dReal *a =(dBodyGetPosition (box1_body[0]));
-//              float dx=a[0];
-//              float dy=a[1];
-//              float dz=a[2];
-//              xyz[0]=dx;
-//              xyz[1]=dy-5;
-//              xyz[2]=dz+2;
-//              hpr[1]=-22.5000f;
-//              dsSetViewpoint (xyz,hpr);
-}
-
-
-// called when a key pressed
-static void command (int cmd)
-{
-    switch(cmd)
-        {
-                case 'w': case 'W':
-                        dBodyAddForce(box2_body[0],0,500,0);
-                        std::cout<<(dBodyGetPosition(box2_body[0])[1]-dBodyGetPosition(box1_body[0])[1])<<'\n';
-                        break;
-                case 's': case 'S':
-                        dBodyAddForce(box2_body[0],0,-500,0);
-                        std::cout<<(dBodyGetPosition(box2_body[0])[1]-dBodyGetPosition(box1_body[0])[1])<<'\n';
-                        break;
-                case 'd': case 'D':
-                        dBodyAddForce(box2_body[0],500,0,0);
-                        std::cout<<(dBodyGetPosition(box2_body[0])[0]-dBodyGetPosition(box1_body[0])[0])<<'\n';
-                        break;
-                case 'a': case 'A':
-                        dBodyAddForce(box2_body[0],-500,0,0);
-                        std::cout<<(dBodyGetPosition(box2_body[0])[0]-dBodyGetPosition(box1_body[0])[0])<<'\n';
-                        break;
-                case 'e': case 'E':
-                        dBodyAddRelTorque(box2_body[0],0,0,200);
-                        break;
-                case 'q': case 'Q':
-                        dBodyAddRelTorque(box2_body[0],0,0,-200);
-                        break;
-                case 'o': case 'O':
-                        dBodyAddForce(box1_body[0],10000,0,0);
-                        break;
-        }
-}
-
-
-// simulation loop
-static void simLoop (int pause)
-{
-        if (!pause)
-        {
-                //draw 2 boxes
-                dVector3 ss;
-                dsSetTexture (DS_WOOD);
-
-                const dReal *posBox2 = dGeomGetPosition(box2[0]);
-                const dReal *rotBox2 = dGeomGetRotation(box2[0]);
-                dsSetColor (1,1,0);
-                dGeomBoxGetLengths (box2[0],ss);
-                dsDrawBox (posBox2, rotBox2, ss);
-
-                const dReal *posBox1 = dGeomGetPosition(box1[0]);
-                const dReal *rotBox1 = dGeomGetRotation(box1[0]);
-                dsSetColor (1,1,2);
-                dGeomBoxGetLengths (box1[0], ss);
-                dsDrawBox (posBox1, rotBox1, ss);
-
-                dVector3 anchorPos;
-                dJointGetPRAnchor (joint[0], anchorPos);
-
-                // Draw the axisP 
-                if (ROTOIDE_ONLY != flag )
-                {
-                  dsSetColor (1,0,0);
-                  dVector3 sizeP = {0, 0.1, 0.1};
-                  for (int i=0; i<3; ++i)
-                    sizeP[0] += (anchorPos[i] - posBox1[i])*(anchorPos[i] - posBox1[i]);
-                  sizeP[0] = sqrt(sizeP[0]);
-                  dVector3 posAxisP;
-                  for (int i=0; i<3; ++i)
-                    posAxisP[i] = posBox1[i] + (anchorPos[i] - posBox1[i])/2.0;
-                  dsDrawBox (posAxisP, rotBox1, sizeP);
-                }
-                
-
-                // Draw the axisR 
-                if (PRISMATIC_ONLY != flag )
-                {
-                  dsSetColor (0,1,0);
-                  dVector3 sizeR = {0, 0.1, 0.1};
-                  for (int i=0; i<3; ++i)
-                    sizeR[0] += (anchorPos[i] - posBox2[i])*(anchorPos[i] - posBox2[i]);
-                  sizeR[0] = sqrt(sizeR[0]);
-                  dVector3 posAxisR;
-                  for (int i=0; i<3; ++i)
-                    posAxisR[i] = posBox2[i] + (anchorPos[i] - posBox2[i])/2.0;
-                  dsDrawBox (posAxisR, rotBox2, sizeR);
-                }
-
-                dSpaceCollide (space,0,&nearCallback);
-                dWorldQuickStep (world,0.0001);
-                update();
-                dJointGroupEmpty (contactgroup);
-          }
-}
-
-
-void Help(char **argv)
-{
-  printf("%s ", argv[0]);
-  printf(" -h | --help : print this help\n");
-  printf(" -b | --both : Display how the complete joint works\n");
-  printf("               Default behavior\n");
-  printf(" -p | --prismatic-only : Display how the prismatic part works\n");
-  printf("                         The anchor pts is set at the center of body 2\n");
-  printf(" -r | --rotoide-only   : Display how the rotoide part works\n");
-  printf("                         The anchor pts is set at the center of body 1\n");
-  printf(" -t | --texture-path path  : Path to the texture.\n");
-  printf("                             Default = %s\n", DRAWSTUFF_TEXTURE_PATH);
-  printf("--------------------------------------------------\n");
-  printf("Hit any key to continue:");
-  getchar();
-
-  exit(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_TEXTURE_PATH;
-  
-  if (argc >= 2 )
-  {
-    for (int i=1; i < argc; ++i)
-    {
-      if(  0 == strcmp("-h", argv[i]) || 0 == strcmp("--help", argv[i]) )
-        Help(argv);
-      
-      if(!flag && (0 == strcmp("-p", argv[i]) ||0 == strcmp("--prismatic-only", argv[i])) )
-        flag = PRISMATIC_ONLY;
-      
-      if(!flag && (0 == strcmp("-r", argv[i]) || 0 == strcmp("--rotoide-only", argv[i])) )
-        flag = ROTOIDE_ONLY;
-      
-      if(0 == strcmp("-t", argv[i]) || 0 == strcmp("--texture-path", argv[i]))
-      {
-        int j = i+1;
-        if ( j+1 > argc      ||  // Check if we have enough arguments
-             argv[j] == '\0' ||  // We should have a path here
-             argv[j][0] == '-' ) // We should have a path not a command line
-          Help(argv);
-        else
-          fn.path_to_textures = argv[++i]; // Increase i since we use this argument
-      }
-    }
-  }
-  
-  // create world
-  world = dWorldCreate();
-  space = dHashSpaceCreate (0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-10);
-  ground = dCreatePlane (space,0,0,1,0);
-  
-  //create two boxes
-  dMass m;
-  box1_body[0] = dBodyCreate (world);
-  dMassSetBox (&m,1,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT);
-  dMassAdjust (&m,Mass1);
-  dBodySetMass (box1_body[0],&m);
-  box1[0] = dCreateBox (0,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT);
-  dGeomSetBody (box1[0],box1_body[0]);
-  
-  box2_body[0] = dBodyCreate (world);
-  dMassSetBox (&m,10,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT);
-  dMassAdjust (&m,Mass2);
-  dBodySetMass (box2_body[0],&m);
-  box2[0] = dCreateBox (0,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT);
-  dGeomSetBody (box2[0],box2_body[0]);
-  
-  //set the initial positions of body1 and body2
-  dMatrix3 R;
-  dRSetIdentity(R);
-  dBodySetPosition (box1_body[0],0,0,BOX1_HEIGHT/2.0);
-  dBodySetRotation (box1_body[0], R);
-  
-  dBodySetPosition (box2_body[0],
-                    2.1, 
-                    0.0,
-                    BOX2_HEIGHT/2.0);
-  dBodySetRotation (box2_body[0], R);
-  
-  
-  //set PR joint
-  joint[0] = dJointCreatePR(world,0);
-  dJointAttach (joint[0],box1_body[0],box2_body[0]);  
-  switch (flag)
-  {
-    case PRISMATIC_ONLY:
-      dJointSetPRAnchor (joint[0], 
-                         2.1, 
-                         0.0,
-                         BOX2_HEIGHT/2.0);
-      dJointSetPRParam (joint[0],dParamLoStop, -0.5);
-      dJointSetPRParam (joint[0],dParamHiStop, 1.5);
-      break;
-      
-    case ROTOIDE_ONLY:
-      dJointSetPRAnchor (joint[0], 
-                         0.0, 
-                         0.0,
-                         BOX2_HEIGHT/2.0);
-      dJointSetPRParam (joint[0],dParamLoStop, 0.0);
-      dJointSetPRParam (joint[0],dParamHiStop, 0.0);
-      break;
-      
-    default:
-      dJointSetPRAnchor (joint[0], 
-                         1.1, 
-                         0.0,
-                         BOX2_HEIGHT/2.0);
-      dJointSetPRParam (joint[0],dParamLoStop, -0.5);
-      dJointSetPRParam (joint[0],dParamHiStop, 1.5);
-      break;
-  }
-  
-  dJointSetPRAxis1(joint[0],1,0,0);
-  dJointSetPRAxis2(joint[0],0,0,1);
-// We position  the 2 body
-// The position of the rotoide joint is on the second body so it can rotate on itself
-// and move along the X axis.
-// With this anchor 
-// - A force in X will move only the body 2 inside the low and hi limit
-//   of the prismatic
-// - A force in Y will make the 2 bodies to rotate around on the plane
-  
-  box1_space = dSimpleSpaceCreate (space);
-  dSpaceSetCleanup (box1_space,0);
-  dSpaceAdd(box1_space,box1[0]);
-  
-  // run simulation
-  dsSimulationLoop (argc,argv,400,300,&fn);
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  return 0;
-}
-
diff --git a/libraries/ode-0.9/ode/demo/demo_joints.cpp b/libraries/ode-0.9/ode/demo/demo_joints.cpp
deleted file mode 100644
index 2a83c2f..0000000
--- a/libraries/ode-0.9/ode/demo/demo_joints.cpp
+++ /dev/null
@@ -1,1092 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
- * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
- *                                                                       *
- * This library is free software; you can redistribute it and/or         *
- * modify it under the terms of EITHER:                                  *
- *   (1) The GNU Lesser General Public License as published by the Free  *
- *       Software Foundation; either version 2.1 of the License, or (at  *
- *       your option) any later version. The text of the GNU Lesser      *
- *       General Public License is included with this library in the     *
- *       file LICENSE.TXT.                                               *
- *   (2) The BSD-style license that is included with this library in     *
- *       the file LICENSE-BSD.TXT.                                       *
- *                                                                       *
- * This library is distributed in the hope that it will be useful,       *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-perform tests on all the joint types.
-this should be done using the double precision version of the library.
-
-usage:
-  test_joints [-nXXX] [-g] [-i] [-e] [path_to_textures]
-
-if a test number is given then that specific test is performed, otherwise
-all the tests are performed. the tests are numbered `xxyy', where xx
-corresponds to the joint type and yy is the sub-test number. not every
-number maps to an actual test.
-
-flags:
-  i: the test is interactive.
-  g: turn off graphical display (can't use this with `i').
-  e: turn on occasional error perturbations
-  n: performe test XXX
-some tests compute and display error values. these values are scaled so
-<1 is good and >1 is bad. other tests just show graphical results which
-you must verify visually.
-
-*/
-
-#include <ctype.h>
-#include <ode/ode.h>
-#include <drawstuff/drawstuff.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-// select correct drawing functions
-#ifdef dDOUBLE
-#define dsDrawBox dsDrawBoxD
-#endif
-
-
-// some constants
-#define NUM_JOINTS 10   // number of joints to test (the `xx' value)
-#define SIDE (0.5f)     // side length of a box - don't change this
-#define MASS (1.0)      // mass of a box
-#define STEPSIZE 0.05
-
-
-// dynamics objects
-static dWorldID world;
-static dBodyID body[2];
-static dJointID joint;
-
-
-// data from the command line arguments
-static int cmd_test_num = -1;
-static int cmd_interactive = 0;
-static int cmd_graphics = 1;
-static char *cmd_path_to_textures = NULL;
-static int cmd_occasional_error = 0;    // perturb occasionally
-
-
-// info about the current test
-struct TestInfo;
-static int test_num = 0;                // number of the current test
-static int iteration = 0;
-static int max_iterations = 0;
-static dReal max_error = 0;
-
-//****************************************************************************
-// utility stuff
-
-static char loCase (char a)
-{
-  if (a >= 'A' && a <= 'Z') return a + ('a'-'A');
-  else return a;
-}
-
-
-static dReal length (dVector3 a)
-{
-  return dSqrt (a[0]*a[0] + a[1]*a[1] + a[2]*a[2]);
-}
-
-
-// get the max difference between a 3x3 matrix and the identity
-
-dReal cmpIdentity (const dMatrix3 A)
-{
-  dMatrix3 I;
-  dSetZero (I,12);
-  I[0] = 1;
-  I[5] = 1;
-  I[10] = 1;
-  return dMaxDifference (A,I,3,3);
-}
-
-//****************************************************************************
-// test world construction and utilities
-
-void constructWorldForTest (dReal gravity, int bodycount,
- /* body 1 pos */           dReal pos1x, dReal pos1y, dReal pos1z,
- /* body 2 pos */           dReal pos2x, dReal pos2y, dReal pos2z,
- /* body 1 rotation axis */ dReal ax1x, dReal ax1y, dReal ax1z,
- /* body 1 rotation axis */ dReal ax2x, dReal ax2y, dReal ax2z,
- /* rotation angles */      dReal a1, dReal a2)
-{
-  // create world
-  world = dWorldCreate();
-  dWorldSetERP (world,0.2);
-  dWorldSetCFM (world,1e-6);
-  dWorldSetGravity (world,0,0,gravity);
-
-  dMass m;
-  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-  dMassAdjust (&m,MASS);
-
-  body[0] = dBodyCreate (world);
-  dBodySetMass (body[0],&m);
-  dBodySetPosition (body[0], pos1x, pos1y, pos1z);
-  dQuaternion q;
-  dQFromAxisAndAngle (q,ax1x,ax1y,ax1z,a1);
-  dBodySetQuaternion (body[0],q);
-
-  if (bodycount==2) {
-    body[1] = dBodyCreate (world);
-    dBodySetMass (body[1],&m);
-    dBodySetPosition (body[1], pos2x, pos2y, pos2z);
-    dQFromAxisAndAngle (q,ax2x,ax2y,ax2z,a2);
-    dBodySetQuaternion (body[1],q);
-  }
-  else body[1] = 0;
-}
-
-
-// add an oscillating torque to body 0
-
-void addOscillatingTorque (dReal tscale)
-{
-  static dReal a=0;
-  dBodyAddTorque (body[0],tscale*cos(2*a),tscale*cos(2.7183*a),
-                  tscale*cos(1.5708*a));
-  a += 0.01;
-}
-
-
-void addOscillatingTorqueAbout(dReal tscale, dReal x, dReal y, dReal z)
-{
-  static dReal a=0;
-  dBodyAddTorque (body[0], tscale*cos(a) * x, tscale*cos(a) * y,
-                  tscale * cos(a) * z);
-  a += 0.02;
-}
-
-
-// damp the rotational motion of body 0 a bit
-
-void dampRotationalMotion (dReal kd)
-{
-  const dReal *w = dBodyGetAngularVel (body[0]);
-  dBodyAddTorque (body[0],-kd*w[0],-kd*w[1],-kd*w[2]);
-}
-
-
-// add a spring force to keep the bodies together, otherwise they may fly
-// apart with some joints.
-
-void addSpringForce (dReal ks)
-{
-  const dReal *p1 = dBodyGetPosition (body[0]);
-  const dReal *p2 = dBodyGetPosition (body[1]);
-  dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),ks*(p2[2]-p1[2]));
-  dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),ks*(p1[2]-p2[2]));
-}
-
-
-// add an oscillating Force to body 0
-
-void addOscillatingForce (dReal fscale)
-{
-  static dReal a=0;
-  dBodyAddForce (body[0],fscale*cos(2*a),fscale*cos(2.7183*a),
-                  fscale*cos(1.5708*a));
-  a += 0.01;
-}
-
-//****************************************************************************
-// stuff specific to the tests
-//
-//   0xx : fixed
-//   1xx : ball and socket
-//   2xx : hinge
-//   3xx : slider
-//   4xx : hinge 2
-//   5xx : contact
-//   6xx : amotor
-//   7xx : universal joint
-//   8xx : PR joint (Prismatic and Rotoide)
-
-// setup for the given test. return 0 if there is no such test
-
-int setupTest (int n)
-{
-  switch (n) {
-
-  // ********** fixed joint
-
-  case 0: {                     // 2 body
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,1,0, 1,1,0,
-                           0.25*M_PI,0.25*M_PI);
-    joint = dJointCreateFixed (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetFixed (joint);
-    return 1;
-  }
-
-  case 1: {                     // 1 body to static env
-    constructWorldForTest (0,1,
-                           0.5*SIDE,0.5*SIDE,1, 0,0,0,
-                           1,0,0, 1,0,0,
-                           0,0);
-    joint = dJointCreateFixed (world,0);
-    dJointAttach (joint,body[0],0);
-    dJointSetFixed (joint);
-    return 1;
-  }
-
-  case 2: {                     // 2 body with relative rotation
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,1,0, 1,1,0,
-                           0.25*M_PI,-0.25*M_PI);
-    joint = dJointCreateFixed (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetFixed (joint);
-    return 1;
-  }
-
-  case 3: {                     // 1 body to static env with relative rotation
-    constructWorldForTest (0,1,
-                           0.5*SIDE,0.5*SIDE,1, 0,0,0,
-                           1,0,0, 1,0,0,
-                           0.25*M_PI,0);
-    joint = dJointCreateFixed (world,0);
-    dJointAttach (joint,body[0],0);
-    dJointSetFixed (joint);
-    return 1;
-  }
-
-  // ********** hinge joint
-
-  case 200:                     // 2 body
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI);
-    joint = dJointCreateHinge (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHingeAnchor (joint,0,0,1);
-    dJointSetHingeAxis (joint,1,-1,1.41421356);
-    return 1;
-
-  case 220:                     // hinge angle polarity test
-  case 221:                     // hinge angle rate test
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHingeAnchor (joint,0,0,1);
-    dJointSetHingeAxis (joint,0,0,1);
-    max_iterations = 50;
-    return 1;
-
-  case 230:                     // hinge motor rate (and polarity) test
-  case 231:                     // ...with stops
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHingeAnchor (joint,0,0,1);
-    dJointSetHingeAxis (joint,0,0,1);
-    dJointSetHingeParam (joint,dParamFMax,1);
-    if (n==231) {
-      dJointSetHingeParam (joint,dParamLoStop,-0.5);
-      dJointSetHingeParam (joint,dParamHiStop,0.5);
-    }
-    return 1;
-
-  case 250:                     // limit bounce test (gravity down)
-  case 251: {                   // ...gravity up
-    constructWorldForTest ((n==251) ? 0.1 : -0.1, 2,
-                           0.5*SIDE,0,1+0.5*SIDE, -0.5*SIDE,0,1-0.5*SIDE,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHingeAnchor (joint,0,0,1);
-    dJointSetHingeAxis (joint,0,1,0);
-    dJointSetHingeParam (joint,dParamLoStop,-0.9);
-    dJointSetHingeParam (joint,dParamHiStop,0.7854);
-    dJointSetHingeParam (joint,dParamBounce,0.5);
-    // anchor 2nd body with a fixed joint
-    dJointID j = dJointCreateFixed (world,0);
-    dJointAttach (j,body[1],0);
-    dJointSetFixed (j);
-    return 1;
-  }
-
-  // ********** slider
-
-  case 300:                     // 2 body
-    constructWorldForTest (0,2,
-                           0,0,1, 0.2,0.2,1.2,
-                           0,0,1, -1,1,0, 0,0.25*M_PI);
-    joint = dJointCreateSlider (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetSliderAxis (joint,1,1,1);
-    return 1;
-
-  case 320:                     // slider angle polarity test
-  case 321:                     // slider angle rate test
-    constructWorldForTest (0,2,
-                           0,0,1, 0,0,1.2,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateSlider (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetSliderAxis (joint,0,0,1);
-    max_iterations = 50;
-    return 1;
-
-  case 330:                     // slider motor rate (and polarity) test
-  case 331:                     // ...with stops
-    constructWorldForTest (0, 2,
-                           0,0,1, 0,0,1.2,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateSlider (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetSliderAxis (joint,0,0,1);
-    dJointSetSliderParam (joint,dParamFMax,100);
-    if (n==331) {
-      dJointSetSliderParam (joint,dParamLoStop,-0.4);
-      dJointSetSliderParam (joint,dParamHiStop,0.4);
-    }
-    return 1;
-
-  case 350:                     // limit bounce tests
-  case 351: {
-    constructWorldForTest ((n==351) ? 0.1 : -0.1, 2,
-                           0,0,1, 0,0,1.2,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateSlider (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetSliderAxis (joint,0,0,1);
-    dJointSetSliderParam (joint,dParamLoStop,-0.5);
-    dJointSetSliderParam (joint,dParamHiStop,0.5);
-    dJointSetSliderParam (joint,dParamBounce,0.5);
-    // anchor 2nd body with a fixed joint
-    dJointID j = dJointCreateFixed (world,0);
-    dJointAttach (j,body[1],0);
-    dJointSetFixed (j);
-    return 1;
-  }
-
-  // ********** hinge-2 joint
-
-  case 420:                     // hinge-2 steering angle polarity test
-  case 421:                     // hinge-2 steering angle rate test
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0,1, -0.5*SIDE,0,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge2 (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1);
-    dJointSetHinge2Axis1 (joint,0,0,1);
-    dJointSetHinge2Axis2 (joint,1,0,0);
-    max_iterations = 50;
-    return 1;
-
-  case 430:                     // hinge 2 steering motor rate (+polarity) test
-  case 431:                     // ...with stops
-  case 432:                     // hinge 2 wheel motor rate (+polarity) test
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0,1, -0.5*SIDE,0,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateHinge2 (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1);
-    dJointSetHinge2Axis1 (joint,0,0,1);
-    dJointSetHinge2Axis2 (joint,1,0,0);
-    dJointSetHinge2Param (joint,dParamFMax,1);
-    dJointSetHinge2Param (joint,dParamFMax2,1);
-    if (n==431) {
-      dJointSetHinge2Param (joint,dParamLoStop,-0.5);
-      dJointSetHinge2Param (joint,dParamHiStop,0.5);
-    }
-    return 1;
-
-  // ********** angular motor joint
-
-  case 600:                     // test euler angle calculations
-    constructWorldForTest (0,2,
-                           -SIDE*0.5,0,1, SIDE*0.5,0,1,
-                           0,0,1, 0,0,1, 0,0);
-    joint = dJointCreateAMotor (world,0);
-    dJointAttach (joint,body[0],body[1]);
-
-    dJointSetAMotorNumAxes (joint,3);
-    dJointSetAMotorAxis (joint,0,1, 0,0,1);
-    dJointSetAMotorAxis (joint,2,2, 1,0,0);
-    dJointSetAMotorMode (joint,dAMotorEuler);
-    max_iterations = 200;
-    return 1;
-
-    // ********** universal joint
-
-  case 700:                     // 2 body
-  case 701:
-  case 702:
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI);
-    joint = dJointCreateUniversal (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetUniversalAnchor (joint,0,0,1);
-    dJointSetUniversalAxis1 (joint, 1, -1, 1.41421356);
-    dJointSetUniversalAxis2 (joint, 1, -1, -1.41421356);
-    return 1;
-
-  case 720:             // universal transmit torque test
-  case 721:
-  case 722:
-  case 730:             // universal torque about axis 1
-  case 731:
-  case 732:
-  case 740:             // universal torque about axis 2
-  case 741:
-  case 742:
-    constructWorldForTest (0,2,
-                           0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
-                           1,0,0, 1,0,0, 0,0);
-    joint = dJointCreateUniversal (world,0);
-    dJointAttach (joint,body[0],body[1]);
-    dJointSetUniversalAnchor (joint,0,0,1);
-    dJointSetUniversalAxis1 (joint,0,0,1);
-    dJointSetUniversalAxis2 (joint, 1, -1,0);
-    max_iterations = 100;
-    return 1;
-
-  // Joint PR (Prismatic and Rotoide)
-  case 800:     // 2 body
-  case 801:     // 2 bodies with spring force and prismatic fixed
-  case 802:     // 2 bodies with torque on body1 and prismatic fixed
-    constructWorldForTest (0, 2,
-                           -1.0, 0.0, 1.0,
-                           1.0, 0.0, 1.0,
-                           1,0,0, 1,0,0,
-                           0, 0);
-    joint = dJointCreatePR (world, 0);
-    dJointAttach (joint, body[0], body[1]);
-    dJointSetPRAnchor (joint,-0.5, 0.0, 1.0);
-    dJointSetPRAxis1 (joint, 0, 1, 0);
-    dJointSetPRAxis2 (joint, 1, 0, 0);
-    dJointSetPRParam (joint,dParamLoStop,-0.5);
-    dJointSetPRParam (joint,dParamHiStop,0.5);
-    dJointSetPRParam (joint,dParamLoStop2,0);
-    dJointSetPRParam (joint,dParamHiStop2,0);
-    return 1;
-  case 803:   // 2 bodies with spring force and prismatic NOT fixed
-  case 804:   // 2 bodies with torque force and prismatic NOT fixed
-  case 805:   // 2 bodies with force only on first body
-    constructWorldForTest (0, 2,
-                           -1.0, 0.0, 1.0,
-                           1.0, 0.0, 1.0,
-                           1,0,0, 1,0,0,
-                           0, 0);
-    joint = dJointCreatePR (world, 0);
-    dJointAttach (joint, body[0], body[1]);
-    dJointSetPRAnchor (joint,-0.5, 0.0, 1.0);
-    dJointSetPRAxis1 (joint, 0, 1, 0);
-    dJointSetPRAxis2 (joint, 1, 0, 0);
-    dJointSetPRParam (joint,dParamLoStop,-0.5);
-    dJointSetPRParam (joint,dParamHiStop,0.5);
-    dJointSetPRParam (joint,dParamLoStop2,-0.5);
-    dJointSetPRParam (joint,dParamHiStop2,0.5);
-    return 1;
-  }
-  return 0;
-}
-
-
-// do stuff specific to this test each iteration. you can check some
-// invariants for the test -- the return value is some scaled error measurement
-// that must be less than 1.
-// return a dInfinity if error is not measured for this n.
-
-dReal doStuffAndGetError (int n)
-{
-  switch (n) {
-
-  // ********** fixed joint
-
-  case 0: {                     // 2 body
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    // check the orientations are the same
-    const dReal *R1 = dBodyGetRotation (body[0]);
-    const dReal *R2 = dBodyGetRotation (body[1]);
-    dReal err1 = dMaxDifference (R1,R2,3,3);
-    // check the body offset is correct
-    dVector3 p,pp;
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    const dReal *p2 = dBodyGetPosition (body[1]);
-    for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
-    dMULTIPLY1_331 (pp,R1,p);
-    pp[0] += 0.5;
-    pp[1] += 0.5;
-    return (err1 + length (pp)) * 300;
-  }
-
-  case 1: {                     // 1 body to static env
-    addOscillatingTorque (0.1);
-
-    // check the orientation is the identity
-    dReal err1 = cmpIdentity (dBodyGetRotation (body[0]));
-
-    // check the body offset is correct
-    dVector3 p;
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    for (int i=0; i<3; i++) p[i] = p1[i];
-    p[0] -= 0.25;
-    p[1] -= 0.25;
-    p[2] -= 1;
-    return (err1 + length (p)) * 1e6;
-  }
-
-  case 2: {                     // 2 body
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    // check the body offset is correct
-    // Should really check body rotation too.  Oh well.
-    const dReal *R1 = dBodyGetRotation (body[0]);
-    dVector3 p,pp;
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    const dReal *p2 = dBodyGetPosition (body[1]);
-    for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
-    dMULTIPLY1_331 (pp,R1,p);
-    pp[0] += 0.5;
-    pp[1] += 0.5;
-    return length(pp) * 300;
-  }
-
-  case 3: {                     // 1 body to static env with relative rotation
-    addOscillatingTorque (0.1);
-
-    // check the body offset is correct
-    dVector3 p;
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    for (int i=0; i<3; i++) p[i] = p1[i];
-    p[0] -= 0.25;
-    p[1] -= 0.25;
-    p[2] -= 1;
-    return  length (p) * 1e6;
-  }
-
-
-  // ********** hinge joint
-
-  case 200:                     // 2 body
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    return dInfinity;
-
-  case 220:                     // hinge angle polarity test
-    dBodyAddTorque (body[0],0,0,0.01);
-    dBodyAddTorque (body[1],0,0,-0.01);
-    if (iteration == 40) {
-      dReal a = dJointGetHingeAngle (joint);
-      if (a > 0.5 && a < 1) return 0; else return 10;
-    }
-    return 0;
-
-  case 221: {                   // hinge angle rate test
-    static dReal last_angle = 0;
-    dBodyAddTorque (body[0],0,0,0.01);
-    dBodyAddTorque (body[1],0,0,-0.01);
-    dReal a = dJointGetHingeAngle (joint);
-    dReal r = dJointGetHingeAngleRate (joint);
-    dReal er = (a-last_angle)/STEPSIZE;         // estimated rate
-    last_angle = a;
-    return fabs(r-er) * 4e4;
-  }
-
-  case 230:                     // hinge motor rate (and polarity) test
-  case 231: {                   // ...with stops
-    static dReal a = 0;
-    dReal r = dJointGetHingeAngleRate (joint);
-    dReal err = fabs (cos(a) - r);
-    if (a==0) err = 0;
-    a += 0.03;
-    dJointSetHingeParam (joint,dParamVel,cos(a));
-    if (n==231) return dInfinity;
-    return err * 1e6;
-  }
-
-  // ********** slider joint
-
-  case 300:                     // 2 body
-    addOscillatingTorque (0.05);
-    dampRotationalMotion (0.1);
-    addSpringForce (0.5);
-    return dInfinity;
-
-  case 320:                     // slider angle polarity test
-    dBodyAddForce (body[0],0,0,0.1);
-    dBodyAddForce (body[1],0,0,-0.1);
-    if (iteration == 40) {
-      dReal a = dJointGetSliderPosition (joint);
-      if (a > 0.2 && a < 0.5) return 0; else return 10;
-      return a;
-    }
-    return 0;
-
-  case 321: {                   // slider angle rate test
-    static dReal last_pos = 0;
-    dBodyAddForce (body[0],0,0,0.1);
-    dBodyAddForce (body[1],0,0,-0.1);
-    dReal p = dJointGetSliderPosition (joint);
-    dReal r = dJointGetSliderPositionRate (joint);
-    dReal er = (p-last_pos)/STEPSIZE;   // estimated rate (almost exact)
-    last_pos = p;
-    return fabs(r-er) * 1e9;
-  }
-
-  case 330:                     // slider motor rate (and polarity) test
-  case 331: {                   // ...with stops
-    static dReal a = 0;
-    dReal r = dJointGetSliderPositionRate (joint);
-    dReal err = fabs (0.7*cos(a) - r);
-    if (a < 0.04) err = 0;
-    a += 0.03;
-    dJointSetSliderParam (joint,dParamVel,0.7*cos(a));
-    if (n==331) return dInfinity;
-    return err * 1e6;
-  }
-
-  // ********** hinge-2 joint
-
-  case 420:                     // hinge-2 steering angle polarity test
-    dBodyAddTorque (body[0],0,0,0.01);
-    dBodyAddTorque (body[1],0,0,-0.01);
-    if (iteration == 40) {
-      dReal a = dJointGetHinge2Angle1 (joint);
-      if (a > 0.5 && a < 0.6) return 0; else return 10;
-    }
-    return 0;
-
-  case 421: {                   // hinge-2 steering angle rate test
-    static dReal last_angle = 0;
-    dBodyAddTorque (body[0],0,0,0.01);
-    dBodyAddTorque (body[1],0,0,-0.01);
-    dReal a = dJointGetHinge2Angle1 (joint);
-    dReal r = dJointGetHinge2Angle1Rate (joint);
-    dReal er = (a-last_angle)/STEPSIZE;         // estimated rate
-    last_angle = a;
-    return fabs(r-er)*2e4;
-  }
-
-  case 430:                     // hinge 2 steering motor rate (+polarity) test
-  case 431: {                   // ...with stops
-    static dReal a = 0;
-    dReal r = dJointGetHinge2Angle1Rate (joint);
-    dReal err = fabs (cos(a) - r);
-    if (a==0) err = 0;
-    a += 0.03;
-    dJointSetHinge2Param (joint,dParamVel,cos(a));
-    if (n==431) return dInfinity;
-    return err * 1e6;
-  }
-
-  case 432: {                   // hinge 2 wheel motor rate (+polarity) test
-    static dReal a = 0;
-    dReal r = dJointGetHinge2Angle2Rate (joint);
-    dReal err = fabs (cos(a) - r);
-    if (a==0) err = 0;
-    a += 0.03;
-    dJointSetHinge2Param (joint,dParamVel2,cos(a));
-    return err * 1e6;
-  }
-
-  // ********** angular motor joint
-
-  case 600: {                   // test euler angle calculations
-    // desired euler angles from last iteration
-    static dReal a1,a2,a3;
-
-    // find actual euler angles
-    dReal aa1 = dJointGetAMotorAngle (joint,0);
-    dReal aa2 = dJointGetAMotorAngle (joint,1);
-    dReal aa3 = dJointGetAMotorAngle (joint,2);
-    // printf ("actual  = %.4f %.4f %.4f\n\n",aa1,aa2,aa3);
-
-    dReal err = dInfinity;
-    if (iteration > 0) {
-      err = dFabs(aa1-a1) + dFabs(aa2-a2) + dFabs(aa3-a3);
-      err *= 1e10;
-    }
-
-    // get random base rotation for both bodies
-    dMatrix3 Rbase;
-    dRFromAxisAndAngle (Rbase, 3*(dRandReal()-0.5), 3*(dRandReal()-0.5),
-                        3*(dRandReal()-0.5), 3*(dRandReal()-0.5));
-    dBodySetRotation (body[0],Rbase);
-
-    // rotate body 2 by random euler angles w.r.t. body 1
-    a1 = 3.14 * 2 * (dRandReal()-0.5);
-    a2 = 1.57 * 2 * (dRandReal()-0.5);
-    a3 = 3.14 * 2 * (dRandReal()-0.5);
-    dMatrix3 R1,R2,R3,Rtmp1,Rtmp2;
-    dRFromAxisAndAngle (R1,0,0,1,-a1);
-    dRFromAxisAndAngle (R2,0,1,0,a2);
-    dRFromAxisAndAngle (R3,1,0,0,-a3);
-    dMultiply0 (Rtmp1,R2,R3,3,3,3);
-    dMultiply0 (Rtmp2,R1,Rtmp1,3,3,3);
-    dMultiply0 (Rtmp1,Rbase,Rtmp2,3,3,3);
-    dBodySetRotation (body[1],Rtmp1);
-    // printf ("desired = %.4f %.4f %.4f\n",a1,a2,a3);
-
-    return err;
-  }
-
-  // ********** universal joint
-
-  case 700: {           // 2 body: joint constraint
-    dVector3 ax1, ax2;
-
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    dJointGetUniversalAxis1(joint, ax1);
-    dJointGetUniversalAxis2(joint, ax2);
-    return fabs(10*dDOT(ax1, ax2));
-  }
-
-  case 701: {           // 2 body: angle 1 rate
-    static dReal last_angle = 0;
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle1(joint);
-    dReal r = dJointGetUniversalAngle1Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    // I'm not sure why the error is so large here.
-    return fabs(r - er) * 1e1;
-  }
-
-  case 702: {           // 2 body: angle 2 rate
-    static dReal last_angle = 0;
-    addOscillatingTorque (0.1);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle2(joint);
-    dReal r = dJointGetUniversalAngle2Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    // I'm not sure why the error is so large here.
-    return fabs(r - er) * 1e1;
-  }
-
-  case 720: {           // universal transmit torque test: constraint error
-    dVector3 ax1, ax2;
-    addOscillatingTorqueAbout (0.1, 1, 1, 0);
-    dampRotationalMotion (0.1);
-    dJointGetUniversalAxis1(joint, ax1);
-    dJointGetUniversalAxis2(joint, ax2);
-    return fabs(10*dDOT(ax1, ax2));
-  }
-
-  case 721: {           // universal transmit torque test: angle1 rate
-    static dReal last_angle = 0;
-    addOscillatingTorqueAbout (0.1, 1, 1, 0);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle1(joint);
-    dReal r = dJointGetUniversalAngle1Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e10;
-  }
-
-  case 722: {           // universal transmit torque test: angle2 rate
-    static dReal last_angle = 0;
-    addOscillatingTorqueAbout (0.1, 1, 1, 0);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle2(joint);
-    dReal r = dJointGetUniversalAngle2Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e10;
-  }
-
-  case 730:{
-    dVector3 ax1, ax2;
-    dJointGetUniversalAxis1(joint, ax1);
-    dJointGetUniversalAxis2(joint, ax2);
-    addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
-    dampRotationalMotion (0.1);
-    return fabs(10*dDOT(ax1, ax2));
-  }
-
-  case 731:{
-    dVector3 ax1;
-    static dReal last_angle = 0;
-    dJointGetUniversalAxis1(joint, ax1);
-    addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle1(joint);
-    dReal r = dJointGetUniversalAngle1Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 2e3;
-  }
-
-  case 732:{
-    dVector3 ax1;
-    static dReal last_angle = 0;
-    dJointGetUniversalAxis1(joint, ax1);
-    addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle2(joint);
-    dReal r = dJointGetUniversalAngle2Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e10;
-  }
-
-  case 740:{
-    dVector3 ax1, ax2;
-    dJointGetUniversalAxis1(joint, ax1);
-    dJointGetUniversalAxis2(joint, ax2);
-    addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
-    dampRotationalMotion (0.1);
-    return fabs(10*dDOT(ax1, ax2));
-  }
-
-  case 741:{
-    dVector3 ax2;
-    static dReal last_angle = 0;
-    dJointGetUniversalAxis2(joint, ax2);
-    addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle1(joint);
-    dReal r = dJointGetUniversalAngle1Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e10;
-  }
-
-  case 742:{
-    dVector3 ax2;
-    static dReal last_angle = 0;
-    dJointGetUniversalAxis2(joint, ax2);
-    addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
-    dampRotationalMotion (0.1);
-    dReal a = dJointGetUniversalAngle2(joint);
-    dReal r = dJointGetUniversalAngle2Rate(joint);
-    dReal diff = a - last_angle;
-    if (diff > M_PI) diff -= 2*M_PI;
-    if (diff < -M_PI) diff += 2*M_PI;
-    dReal er = diff / STEPSIZE;    // estimated rate
-    last_angle = a;
-    return fabs(r - er) * 1e4;
-  }
-
-  // ********** slider joint
-  case 801:
-  case 803:
-    addSpringForce (0.25);
-    return dInfinity;
-
-        case 802:
-        case 804: {
-    static dReal a = 0;
-    dBodyAddTorque (body[0], 0, 0.01*cos(1.5708*a), 0);
-    a += 0.01;
-    return dInfinity;
-        }
-
-  case 805:
-    addOscillatingForce (0.1);
-    return dInfinity;
-        }
-
-
-  return dInfinity;
-}
-
-//****************************************************************************
-// simulation stuff common to all the tests
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
-  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  // stop after a given number of iterations, as long as we are not in
-  // interactive mode
-  if (cmd_graphics && !cmd_interactive &&
-      (iteration >= max_iterations)) {
-    dsStop();
-    return;
-  }
-  iteration++;
-
-  if (!pause) {
-    // do stuff for this test and check to see if the joint is behaving well
-    dReal error = doStuffAndGetError (test_num);
-    if (error > max_error) max_error = error;
-    if (cmd_interactive && error < dInfinity) {
-      printf ("scaled error = %.4e\n",error);
-    }
-
-    // take a step
-    dWorldStep (world,STEPSIZE);
-
-    // occasionally re-orient the first body to create a deliberate error.
-    if (cmd_occasional_error) {
-      static int count = 0;
-      if ((count % 20)==0) {
-        // randomly adjust orientation of body[0]
-        const dReal *R1;
-        dMatrix3 R2,R3;
-        R1 = dBodyGetRotation (body[0]);
-        dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
-                            dRandReal()-0.5,dRandReal()-0.5);
-        dMultiply0 (R3,R1,R2,3,3,3);
-        dBodySetRotation (body[0],R3);
-
-        // randomly adjust position of body[0]
-        const dReal *pos = dBodyGetPosition (body[0]);
-        dBodySetPosition (body[0],
-                          pos[0]+0.2*(dRandReal()-0.5),
-                          pos[1]+0.2*(dRandReal()-0.5),
-                          pos[2]+0.2*(dRandReal()-0.5));
-      }
-      count++;
-    }
-  }
-
-  if (cmd_graphics) {
-    dReal sides1[3] = {SIDE,SIDE,SIDE};
-    dReal sides2[3] = {SIDE*0.99f,SIDE*0.99f,SIDE*0.99f};
-    dsSetTexture (DS_WOOD);
-    dsSetColor (1,1,0);
-    dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
-    if (body[1]) {
-      dsSetColor (0,1,1);
-      dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
-    }
-  }
-}
-
-//****************************************************************************
-// conduct a specific test, and report the results
-
-void doTest (int argc, char **argv, int n, int fatal_if_bad_n)
-{
-  test_num = n;
-  iteration = 0;
-  max_iterations = 300;
-  max_error = 0;
-
-  if (! setupTest (n)) {
-    if (fatal_if_bad_n) dError (0,"bad test number");
-    return;
-  }
-
-  // setup pointers to drawstuff callback functions
-  dsFunctions fn;
-  fn.version = DS_VERSION;
-  fn.start = &start;
-  fn.step = &simLoop;
-  fn.command = 0;
-  fn.stop = 0;
-  if (cmd_path_to_textures)
-    fn.path_to_textures = cmd_path_to_textures;
-  else
-  fn.path_to_textures = "../../drawstuff/textures";
-
-  // run simulation
-  if (cmd_graphics) {
-    dsSimulationLoop (argc,argv,352,288,&fn);
-  }
-  else {
-    for (int i=0; i < max_iterations; i++) simLoop (0);
-  }
-  dWorldDestroy (world);
-  body[0] = 0;
-  body[1] = 0;
-  joint = 0;
-
-  // print results
-  printf ("test %d: ",n);
-  if (max_error == dInfinity) printf ("error not computed\n");
-  else {
-    printf ("max scaled error = %.4e",max_error);
-    if (max_error < 1) printf (" - passed\n");
-    else printf (" - FAILED\n");
-  }
-}
-
-//****************************************************************************
-// main
-
-int main (int argc, char **argv)
-{
-  int i;
-  dInitODE();
-
-  // process the command line args. anything that starts with `-' is assumed
-  // to be a drawstuff argument.
-  for (i=1; i<argc; i++) {
-    if ( argv[i][0]=='-' && argv[i][1]=='i' && argv[i][2]==0) cmd_interactive = 1;
-    else if ( argv[i][0]=='-' && argv[i][1]=='g' && argv[i][2]==0) cmd_graphics = 0;
-    else if ( argv[i][0]=='-' && argv[i][1]=='e' && argv[i][2]==0) cmd_graphics = 0;
-    else if ( argv[i][0]=='-' && argv[i][1]=='n' && isdigit(argv[i][2]) ) {
-      char *endptr;
-      long int n = strtol (&(argv[i][2]),&endptr,10);
-                        if (*endptr == 0) cmd_test_num = n;
-                }
-    else
-      cmd_path_to_textures = argv[i];
-  }
-
-  // do the tests
-  if (cmd_test_num == -1) {
-    for (i=0; i<NUM_JOINTS*100; i++) doTest (argc,argv,i,0);
-  }
-  else {
-    doTest (argc,argv,cmd_test_num,1);
-  }
-
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_motor.cpp b/libraries/ode-0.9/ode/demo/demo_motor.cpp
deleted file mode 100644
index 655da0c..0000000
--- a/libraries/ode-0.9/ode/demo/demo_motor.cpp
+++ /dev/null
@@ -1,210 +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
-#endif
-
-
-// some constants
-#define SIDE (0.5f)     // side length of a box
-#define MASS (1.0)      // mass of a box
-
-
-// dynamics and collision objects
-static dWorldID world;
-static dBodyID body[2];
-static dGeomID geom[2];
-static dJointID lmotor[2];
-static dJointID amotor[2];
-static dSpaceID space;
-static dJointGroupID contactgroup;
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
-  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n");
-  printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n");
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  if (cmd == 'q' || cmd == 'Q') {
-        dJointSetLMotorParam(lmotor[0],dParamVel,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel3,0.1);
-  } else if (cmd == 'a' || cmd == 'A') {
-        dJointSetLMotorParam(lmotor[0],dParamVel,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel3,0);
-  } else if (cmd == 'z' || cmd == 'Z') {
-        dJointSetLMotorParam(lmotor[0],dParamVel,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1);
-  } else if (cmd == 'w' || cmd == 'W') {
-        dJointSetLMotorParam(lmotor[1],dParamVel,0.1);
-        dJointSetLMotorParam(lmotor[1],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[1],dParamVel3,0);
-  } else if (cmd == 'e' || cmd == 'E') {
-        dJointSetLMotorParam(lmotor[1],dParamVel,0);
-        dJointSetLMotorParam(lmotor[1],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[1],dParamVel3,0);
-  } else if (cmd == 'r' || cmd == 'R') {
-        dJointSetLMotorParam(lmotor[1],dParamVel,-0.1);
-        dJointSetLMotorParam(lmotor[1],dParamVel2,0);
-        dJointSetLMotorParam(lmotor[1],dParamVel3,0);
-  }
-  
-}
-
-
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  // exit without doing anything if the two bodies are connected by a joint
-  dBodyID b1 = dGeomGetBody(o1);
-  dBodyID b2 = dGeomGetBody(o2);
-
-  dContact contact;
-  contact.surface.mode = 0;
-  contact.surface.mu = dInfinity;
-  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
-    dJointID c = dJointCreateContact (world,contactgroup,&contact);
-    dJointAttach (c,b1,b2);
-  }
-}
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  if (!pause) {
-    dSpaceCollide(space,0,&nearCallback);
-    dWorldQuickStep (world,0.05);
-        dJointGroupEmpty(contactgroup);
-  }
-
-  dReal sides1[3];
-  dGeomBoxGetLengths(geom[0], sides1);
-  dReal sides2[3];
-  dGeomBoxGetLengths(geom[1], sides2);
-  dsSetTexture (DS_WOOD);
-  dsSetColor (1,1,0);
-  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
-  dsSetColor (0,1,1);
-  dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
-}
-
-
-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
-  dInitODE();
-  contactgroup = dJointGroupCreate(0);
-  world = dWorldCreate();
-  space = dSimpleSpaceCreate(0);
-  dMass m;
-  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-  dMassAdjust (&m,MASS);
-
-  body[0] = dBodyCreate (world);
-  dBodySetMass (body[0],&m);
-  dBodySetPosition (body[0],0,0,1);
-  geom[0] = dCreateBox(space,SIDE,SIDE,SIDE);
-  body[1] = dBodyCreate (world);
-  dBodySetMass (body[1],&m);
-  dBodySetPosition (body[1],0,0,2);
-  geom[1] = dCreateBox(space,SIDE,SIDE,SIDE); 
-
-  dGeomSetBody(geom[0],body[0]);
-  dGeomSetBody(geom[1],body[1]);
-
-  lmotor[0] = dJointCreateLMotor (world,0);
-  dJointAttach (lmotor[0],body[0],body[1]);
-  lmotor[1] = dJointCreateLMotor (world,0);
-  dJointAttach (lmotor[1],body[0],0);
-  amotor[0] = dJointCreateAMotor(world,0);
-  dJointAttach(amotor[0], body[0],body[1]);
-  amotor[1] = dJointCreateAMotor(world,0);
-  dJointAttach(amotor[1], body[0], 0);
-  
-  for (int i=0; i<2; i++) {
-          dJointSetAMotorNumAxes(amotor[i], 3);
-          dJointSetAMotorAxis(amotor[i],0,1,1,0,0);
-          dJointSetAMotorAxis(amotor[i],1,1,0,1,0);
-          dJointSetAMotorAxis(amotor[i],2,1,0,0,1);
-          dJointSetAMotorParam(amotor[i],dParamFMax,0.00001);
-          dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001);
-          dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001);
-
-          dJointSetAMotorParam(amotor[i],dParamVel,0);
-          dJointSetAMotorParam(amotor[i],dParamVel2,0);
-          dJointSetAMotorParam(amotor[i],dParamVel3,0);
-
-          dJointSetLMotorNumAxes(lmotor[i],3);
-          dJointSetLMotorAxis(lmotor[i],0,1,1,0,0);
-          dJointSetLMotorAxis(lmotor[i],1,1,0,1,0);
-          dJointSetLMotorAxis(lmotor[i],2,1,0,0,1);
-         
-          dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001);
-          dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001);
-          dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001);
-  }
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy(contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp b/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp
deleted file mode 100644
index 3d03020..0000000
--- a/libraries/ode-0.9/ode/demo/demo_moving_trimesh.cpp
+++ /dev/null
@@ -1,1944 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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 dsDrawCapsule dsDrawCapsuleD
-#define dsDrawLine dsDrawLineD
-#define dsDrawTriangle dsDrawTriangleD
-#endif
-
-
-// some constants
-
-#define NUM 200                 // max number of objects
-#define DENSITY (5.0)           // density of all objects
-#define GPB 3                   // maximum number of geometries per body
-#define MAX_CONTACTS 64         // maximum number of contact points per body
-
-
-// dynamics and collision objects
-
-struct MyObject {
-  dBodyID body;                 // the body
-  dGeomID geom[GPB];            // geometries representing this body
-
-  // Trimesh only - double buffered matrices for 'last transform' setup
-  dReal matrix_dblbuff[ 16 * 2 ];
-  int last_matrix_index;
-};
-
-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?
-
-// Bunny mesh ripped from Opcode
-const int VertexCount = 453;
-const int IndexCount = 902 * 3;
-
-typedef dReal dVector3R[3];
-
-dGeomID TriMesh1;
-dGeomID TriMesh2;
-static dTriMeshDataID TriData1, TriData2;  // reusable static trimesh data
-
-float Vertices[VertexCount * 3] = {
-        REAL(-0.334392), REAL(0.133007), REAL(0.062259),
-        REAL(-0.350189), REAL(0.150354), REAL(-0.147769),
-        REAL(-0.234201), REAL(0.343811), REAL(-0.174307),
-        REAL(-0.200259), REAL(0.285207), REAL(0.093749),
-        REAL(0.003520), REAL(0.475208), REAL(-0.159365),
-        REAL(0.001856), REAL(0.419203), REAL(0.098582),
-        REAL(-0.252802), REAL(0.093666), REAL(0.237538),
-        REAL(-0.162901), REAL(0.237984), REAL(0.206905),
-        REAL(0.000865), REAL(0.318141), REAL(0.235370),
-        REAL(-0.414624), REAL(0.164083), REAL(-0.278254),
-        REAL(-0.262213), REAL(0.357334), REAL(-0.293246),
-        REAL(0.004628), REAL(0.482694), REAL(-0.338626),
-        REAL(-0.402162), REAL(0.133528), REAL(-0.443247),
-        REAL(-0.243781), REAL(0.324275), REAL(-0.436763),
-        REAL(0.005293), REAL(0.437592), REAL(-0.458332),
-        REAL(-0.339884), REAL(-0.041150), REAL(-0.668211),
-        REAL(-0.248382), REAL(0.255825), REAL(-0.627493),
-        REAL(0.006261), REAL(0.376103), REAL(-0.631506),
-        REAL(-0.216201), REAL(-0.126776), REAL(-0.886936),
-        REAL(-0.171075), REAL(0.011544), REAL(-0.881386),
-        REAL(-0.181074), REAL(0.098223), REAL(-0.814779),
-        REAL(-0.119891), REAL(0.218786), REAL(-0.760153),
-        REAL(-0.078895), REAL(0.276780), REAL(-0.739281),
-        REAL(0.006801), REAL(0.310959), REAL(-0.735661),
-        REAL(-0.168842), REAL(0.102387), REAL(-0.920381),
-        REAL(-0.104072), REAL(0.177278), REAL(-0.952530),
-        REAL(-0.129704), REAL(0.211848), REAL(-0.836678),
-        REAL(-0.099875), REAL(0.310931), REAL(-0.799381),
-        REAL(0.007237), REAL(0.361687), REAL(-0.794439),
-        REAL(-0.077913), REAL(0.258753), REAL(-0.921640),
-        REAL(0.007957), REAL(0.282241), REAL(-0.931680),
-        REAL(-0.252222), REAL(-0.550401), REAL(-0.557810),
-        REAL(-0.267633), REAL(-0.603419), REAL(-0.655209),
-        REAL(-0.446838), REAL(-0.118517), REAL(-0.466159),
-        REAL(-0.459488), REAL(-0.093017), REAL(-0.311341),
-        REAL(-0.370645), REAL(-0.100108), REAL(-0.159454),
-        REAL(-0.371984), REAL(-0.091991), REAL(-0.011044),
-        REAL(-0.328945), REAL(-0.098269), REAL(0.088659),
-        REAL(-0.282452), REAL(-0.018862), REAL(0.311501),
-        REAL(-0.352403), REAL(-0.131341), REAL(0.144902),
-        REAL(-0.364126), REAL(-0.200299), REAL(0.202388),
-        REAL(-0.283965), REAL(-0.231869), REAL(0.023668),
-        REAL(-0.298943), REAL(-0.155218), REAL(0.369716),
-        REAL(-0.293787), REAL(-0.121856), REAL(0.419097),
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-        REAL(0.119546), REAL(0.249876), REAL(0.859104),
-        REAL(0.118369), REAL(0.139643), REAL(0.919173),
-        REAL(0.079410), REAL(0.132973), REAL(0.948652),
-        REAL(0.062419), REAL(0.036648), REAL(0.976547),
-        REAL(0.127847), REAL(-0.035919), REAL(0.947070),
-        REAL(0.143624), REAL(0.032206), REAL(0.885913),
-        REAL(0.074888), REAL(-0.085173), REAL(0.980577),
-        REAL(0.130184), REAL(-0.104656), REAL(0.947620),
-        REAL(0.156201), REAL(-0.094653), REAL(0.899074),
-        REAL(0.077366), REAL(-0.171194), REAL(0.926545),
-        REAL(0.127722), REAL(-0.164729), REAL(0.879810),
-        REAL(0.052670), REAL(-0.184618), REAL(0.842019),
-        REAL(0.023477), REAL(-0.184638), REAL(0.889811),
-        REAL(0.022626), REAL(-0.210587), REAL(0.827500),
-        REAL(0.223089), REAL(0.211976), REAL(0.620493),
-        REAL(0.251444), REAL(0.113067), REAL(0.666494),
-        REAL(0.251419), REAL(0.089540), REAL(0.673887),
-        REAL(0.214360), REAL(0.019258), REAL(0.771595),
-        REAL(0.158999), REAL(0.001490), REAL(0.835374),
-        REAL(0.176696), REAL(-0.059249), REAL(0.849218),
-        REAL(0.148696), REAL(-0.130091), REAL(0.793599),
-        REAL(0.108290), REAL(-0.166528), REAL(0.772088),
-        REAL(0.049820), REAL(-0.201382), REAL(0.764454),
-        REAL(0.071341), REAL(-0.215195), REAL(0.697209),
-        REAL(0.073148), REAL(-0.214475), REAL(0.623510),
-        REAL(0.140502), REAL(-0.169461), REAL(0.699354),
-        REAL(0.163374), REAL(-0.157073), REAL(0.611416),
-        REAL(0.189466), REAL(-0.138550), REAL(0.730366),
-        REAL(0.247593), REAL(-0.082554), REAL(0.759610),
-        REAL(0.227468), REAL(-0.121982), REAL(0.590197),
-        REAL(0.284702), REAL(-0.006586), REAL(0.535347),
-        REAL(0.275741), REAL(0.125287), REAL(0.446676),
-        REAL(0.266650), REAL(0.192594), REAL(0.506044),
-        REAL(0.300086), REAL(0.053287), REAL(0.629620),
-        REAL(0.055450), REAL(-0.663935), REAL(0.375065),
-        REAL(0.122854), REAL(-0.664138), REAL(0.482323),
-        REAL(0.046520), REAL(-0.531571), REAL(0.391918),
-        REAL(0.024824), REAL(-0.568450), REAL(0.275106),
-        REAL(0.053855), REAL(-0.663931), REAL(0.328224),
-        REAL(0.112829), REAL(-0.453549), REAL(0.305788),
-        REAL(0.131265), REAL(-0.510617), REAL(0.080746),
-        REAL(0.061174), REAL(-0.430716), REAL(-0.042710),
-        REAL(0.341019), REAL(-0.532887), REAL(-0.208150),
-        REAL(0.347705), REAL(-0.623533), REAL(-0.081139),
-        REAL(0.238040), REAL(-0.610732), REAL(-0.038037),
-        REAL(0.211764), REAL(-0.514274), REAL(-0.132078),
-        REAL(0.120605), REAL(-0.600219), REAL(-0.186856),
-        REAL(0.096985), REAL(-0.584476), REAL(-0.293357),
-        REAL(0.127621), REAL(-0.581941), REAL(-0.437170),
-        REAL(0.165902), REAL(-0.477425), REAL(-0.291453),
-        REAL(0.077720), REAL(-0.417975), REAL(-0.220519),
-        REAL(0.320892), REAL(-0.506363), REAL(-0.320874),
-        REAL(0.248214), REAL(-0.465684), REAL(-0.239842),
-        REAL(0.118764), REAL(-0.383338), REAL(-0.187114),
-        REAL(0.118816), REAL(-0.430106), REAL(-0.123307),
-        REAL(0.094131), REAL(-0.419464), REAL(-0.044777),
-        REAL(0.274526), REAL(-0.261706), REAL(0.005110),
-        REAL(0.259842), REAL(-0.283292), REAL(-0.003185),
-        REAL(0.222861), REAL(-0.340431), REAL(-0.038210),
-        REAL(0.204445), REAL(-0.664380), REAL(0.513353),
-        REAL(0.259286), REAL(-0.664547), REAL(0.471281),
-        REAL(0.185402), REAL(-0.476020), REAL(0.421718),
-        REAL(0.279163), REAL(-0.664604), REAL(0.417328),
-        REAL(0.277157), REAL(-0.528122), REAL(0.400208),
-        REAL(0.183069), REAL(-0.509812), REAL(0.329995),
-        REAL(0.282599), REAL(-0.429210), REAL(0.059242),
-        REAL(0.254816), REAL(-0.664541), REAL(0.290687),
-        REAL(0.271436), REAL(-0.567707), REAL(0.263966),
-        REAL(0.386561), REAL(-0.625221), REAL(-0.216870),
-        REAL(0.387086), REAL(-0.630883), REAL(-0.346073),
-        REAL(0.380021), REAL(-0.596021), REAL(-0.318679),
-        REAL(0.291269), REAL(-0.619007), REAL(-0.585707),
-        REAL(0.339280), REAL(-0.571198), REAL(-0.461946),
-        REAL(0.400045), REAL(-0.489778), REAL(-0.422640),
-        REAL(0.406817), REAL(-0.314349), REAL(-0.371230),
-        REAL(0.300588), REAL(-0.281718), REAL(-0.170549),
-        REAL(0.290866), REAL(-0.277304), REAL(-0.061905),
-        REAL(0.187735), REAL(-0.241545), REAL(0.509437),
-        REAL(0.188032), REAL(-0.287569), REAL(0.424234),
-        REAL(0.227520), REAL(-0.373262), REAL(0.293102),
-        REAL(0.266526), REAL(-0.273650), REAL(0.039597),
-        REAL(0.291592), REAL(-0.291676), REAL(0.111386),
-        REAL(0.291914), REAL(-0.122741), REAL(0.422683),
-        REAL(0.297574), REAL(-0.156119), REAL(0.373368),
-        REAL(0.286603), REAL(-0.232731), REAL(0.027162),
-        REAL(0.364663), REAL(-0.201399), REAL(0.206850),
-        REAL(0.353855), REAL(-0.132408), REAL(0.149228),
-        REAL(0.282208), REAL(-0.019715), REAL(0.314960),
-        REAL(0.331187), REAL(-0.099266), REAL(0.092701),
-        REAL(0.375463), REAL(-0.093120), REAL(-0.006467),
-        REAL(0.375917), REAL(-0.101236), REAL(-0.154882),
-        REAL(0.466635), REAL(-0.094416), REAL(-0.305669),
-        REAL(0.455805), REAL(-0.119881), REAL(-0.460632),
-        REAL(0.277465), REAL(-0.604242), REAL(-0.651871),
-        REAL(0.261022), REAL(-0.551176), REAL(-0.554667),
-        REAL(0.093627), REAL(0.258494), REAL(-0.920589),
-        REAL(0.114248), REAL(0.310608), REAL(-0.798070),
-        REAL(0.144232), REAL(0.211434), REAL(-0.835001),
-        REAL(0.119916), REAL(0.176940), REAL(-0.951159),
-        REAL(0.184061), REAL(0.101854), REAL(-0.918220),
-        REAL(0.092431), REAL(0.276521), REAL(-0.738231),
-        REAL(0.133504), REAL(0.218403), REAL(-0.758602),
-        REAL(0.194987), REAL(0.097655), REAL(-0.812476),
-        REAL(0.185542), REAL(0.011005), REAL(-0.879202),
-        REAL(0.230315), REAL(-0.127450), REAL(-0.884202),
-        REAL(0.260471), REAL(0.255056), REAL(-0.624378),
-        REAL(0.351567), REAL(-0.042194), REAL(-0.663976),
-        REAL(0.253742), REAL(0.323524), REAL(-0.433716),
-        REAL(0.411612), REAL(0.132299), REAL(-0.438264),
-        REAL(0.270513), REAL(0.356530), REAL(-0.289984),
-        REAL(0.422146), REAL(0.162819), REAL(-0.273130),
-        REAL(0.164724), REAL(0.237490), REAL(0.208912),
-        REAL(0.253806), REAL(0.092900), REAL(0.240640),
-        REAL(0.203608), REAL(0.284597), REAL(0.096223),
-        REAL(0.241006), REAL(0.343093), REAL(-0.171396),
-        REAL(0.356076), REAL(0.149288), REAL(-0.143443),
-        REAL(0.337656), REAL(0.131992), REAL(0.066374)
-};
-
-int Indices[IndexCount / 3][3] = {
-        {126,134,133},
-        {342,138,134},
-        {133,134,138},
-        {126,342,134},
-        {312,316,317},
-        {169,163,162},
-        {312,317,319},
-        {312,319,318},
-        {169,162,164},
-        {169,168,163},
-        {312,314,315},
-        {169,164,165},
-        {169,167,168},
-        {312,315,316},
-        {312,313,314},
-        {169,165,166},
-        {169,166,167},
-        {312,318,313},
-        {308,304,305},
-        {308,305,306},
-        {179,181,188},
-        {177,173,175},
-        {177,175,176},
-        {302,293,300},
-        {322,294,304},
-        {188,176,175},
-        {188,175,179},
-        {158,177,187},
-        {305,293,302},
-        {305,302,306},
-        {322,304,308},
-        {188,181,183},
-        {158,173,177},
-        {293,298,300},
-        {304,294,296},
-        {304,296,305},
-        {185,176,188},
-        {185,188,183},
-        {187,177,176},
-        {187,176,185},
-        {305,296,298},
-        {305,298,293},
-        {436,432, 28},
-        {436, 28, 23},
-        {434,278,431},
-        { 30,208,209},
-        { 30,209, 29},
-        { 19, 20, 24},
-        {208,207,211},
-        {208,211,209},
-        { 19,210,212},
-        {433,434,431},
-        {433,431,432},
-        {433,432,436},
-        {436,437,433},
-        {277,275,276},
-        {277,276,278},
-        {209,210, 25},
-        { 21, 26, 24},
-        { 21, 24, 20},
-        { 25, 26, 27},
-        { 25, 27, 29},
-        {435,439,277},
-        {439,275,277},
-        {432,431, 30},
-        {432, 30, 28},
-        {433,437,438},
-        {433,438,435},
-        {434,277,278},
-        { 24, 25,210},
-        { 24, 26, 25},
-        { 29, 27, 28},
-        { 29, 28, 30},
-        { 19, 24,210},
-        {208, 30,431},
-        {208,431,278},
-        {435,434,433},
-        {435,277,434},
-        { 25, 29,209},
-        { 27, 22, 23},
-        { 27, 23, 28},
-        { 26, 22, 27},
-        { 26, 21, 22},
-        {212,210,209},
-        {212,209,211},
-        {207,208,278},
-        {207,278,276},
-        {439,435,438},
-        { 12,  9, 10},
-        { 12, 10, 13},
-        {  2,  3,  5},
-        {  2,  5,  4},
-        { 16, 13, 14},
-        { 16, 14, 17},
-        { 22, 21, 16},
-        { 13, 10, 11},
-        { 13, 11, 14},
-        {  1,  0,  3},
-        {  1,  3,  2},
-        { 15, 12, 16},
-        { 19, 18, 15},
-        { 19, 15, 16},
-        { 19, 16, 20},
-        {  9,  1,  2},
-        {  9,  2, 10},
-        {  3,  7,  8},
-        {  3,  8,  5},
-        { 16, 17, 23},
-        { 16, 23, 22},
-        { 21, 20, 16},
-        { 10,  2,  4},
-        { 10,  4, 11},
-        {  0,  6,  7},
-        {  0,  7,  3},
-        { 12, 13, 16},
-        {451,446,445},
-        {451,445,450},
-        {442,440,439},
-        {442,439,438},
-        {442,438,441},
-        {421,420,422},
-        {412,411,426},
-        {412,426,425},
-        {408,405,407},
-        {413, 67, 68},
-        {413, 68,414},
-        {391,390,412},
-        { 80,384,386},
-        {404,406,378},
-        {390,391,377},
-        {390,377, 88},
-        {400,415,375},
-        {398,396,395},
-        {398,395,371},
-        {398,371,370},
-        {112,359,358},
-        {112,358,113},
-        {351,352,369},
-        {125,349,348},
-        {345,343,342},
-        {342,340,339},
-        {341,335,337},
-        {328,341,327},
-        {331,323,333},
-        {331,322,323},
-        {327,318,319},
-        {327,319,328},
-        {315,314,324},
-        {302,300,301},
-        {302,301,303},
-        {320,311,292},
-        {285,284,289},
-        {310,307,288},
-        {310,288,290},
-        {321,350,281},
-        {321,281,282},
-        {423,448,367},
-        {272,273,384},
-        {272,384,274},
-        {264,265,382},
-        {264,382,383},
-        {440,442,261},
-        {440,261,263},
-        {252,253,254},
-        {252,254,251},
-        {262,256,249},
-        {262,249,248},
-        {228,243,242},
-        {228, 31,243},
-        {213,215,238},
-        {213,238,237},
-        { 19,212,230},
-        {224,225,233},
-        {224,233,231},
-        {217,218, 56},
-        {217, 56, 54},
-        {217,216,239},
-        {217,239,238},
-        {217,238,215},
-        {218,217,215},
-        {218,215,214},
-        {  6,102,206},
-        {186,199,200},
-        {197,182,180},
-        {170,171,157},
-        {201,200,189},
-        {170,190,191},
-        {170,191,192},
-        {175,174,178},
-        {175,178,179},
-        {168,167,155},
-        {122,149,158},
-        {122,158,159},
-        {135,153,154},
-        {135,154,118},
-        {143,140,141},
-        {143,141,144},
-        {132,133,136},
-        {130,126,133},
-        {124,125,127},
-        {122,101,100},
-        {122,100,121},
-        {110,108,107},
-        {110,107,109},
-        { 98, 99, 97},
-        { 98, 97, 64},
-        { 98, 64, 66},
-        { 87, 55, 57},
-        { 83, 82, 79},
-        { 83, 79, 84},
-        { 78, 74, 50},
-        { 49, 71, 41},
-        { 49, 41, 37},
-        { 49, 37, 36},
-        { 58, 44, 60},
-        { 60, 59, 58},
-        { 51, 34, 33},
-        { 39, 40, 42},
-        { 39, 42, 38},
-        {243,240, 33},
-        {243, 33,229},
-        { 39, 38,  6},
-        { 44, 46, 40},
-        { 55, 56, 57},
-        { 64, 62, 65},
-        { 64, 65, 66},
-        { 41, 71, 45},
-        { 75, 50, 51},
-        { 81, 79, 82},
-        { 77, 88, 73},
-        { 93, 92, 94},
-        { 68, 47, 46},
-        { 96, 97, 99},
-        { 96, 99, 95},
-        {110,109,111},
-        {111,112,110},
-        {114,113,123},
-        {114,123,124},
-        {132,131,129},
-        {133,137,136},
-        {135,142,145},
-        {145,152,135},
-        {149,147,157},
-        {157,158,149},
-        {164,150,151},
-        {153,163,168},
-        {153,168,154},
-        {185,183,182},
-        {185,182,184},
-        {161,189,190},
-        {200,199,191},
-        {200,191,190},
-        {180,178,195},
-        {180,195,196},
-        {102,101,204},
-        {102,204,206},
-        { 43, 48,104},
-        { 43,104,103},
-        {216,217, 54},
-        {216, 54, 32},
-        {207,224,231},
-        {230,212,211},
-        {230,211,231},
-        {227,232,241},
-        {227,241,242},
-        {235,234,241},
-        {235,241,244},
-        {430,248,247},
-        {272,274,253},
-        {272,253,252},
-        {439,260,275},
-        {225,224,259},
-        {225,259,257},
-        {269,270,407},
-        {269,407,405},
-        {270,269,273},
-        {270,273,272},
-        {273,269,268},
-        {273,268,267},
-        {273,267,266},
-        {273,266,265},
-        {273,265,264},
-        {448,279,367},
-        {281,350,368},
-        {285,286,301},
-        {290,323,310},
-        {290,311,323},
-        {282,281,189},
-        {292,311,290},
-        {292,290,291},
-        {307,306,302},
-        {307,302,303},
-        {316,315,324},
-        {316,324,329},
-        {331,351,350},
-        {330,334,335},
-        {330,335,328},
-        {341,337,338},
-        {344,355,354},
-        {346,345,348},
-        {346,348,347},
-        {364,369,352},
-        {364,352,353},
-        {365,363,361},
-        {365,361,362},
-        {376,401,402},
-        {373,372,397},
-        {373,397,400},
-        {376, 92,377},
-        {381,378,387},
-        {381,387,385},
-        {386, 77, 80},
-        {390,389,412},
-        {416,417,401},
-        {403,417,415},
-        {408,429,430},
-        {419,423,418},
-        {427,428,444},
-        {427,444,446},
-        {437,436,441},
-        {450,445, 11},
-        {450, 11,  4},
-        {447,449,  5},
-        {447,  5,  8},
-        {441,438,437},
-        {425,426,451},
-        {425,451,452},
-        {417,421,415},
-        {408,407,429},
-        {399,403,400},
-        {399,400,397},
-        {394,393,416},
-        {389,411,412},
-        {386,383,385},
-        {408,387,378},
-        {408,378,406},
-        {377,391,376},
-        { 94,375,415},
-        {372,373,374},
-        {372,374,370},
-        {359,111,360},
-        {359,112,111},
-        {113,358,349},
-        {113,349,123},
-        {346,343,345},
-        {343,340,342},
-        {338,336,144},
-        {338,144,141},
-        {327,341,354},
-        {327,354,326},
-        {331,350,321},
-        {331,321,322},
-        {314,313,326},
-        {314,326,325},
-        {300,298,299},
-        {300,299,301},
-        {288,287,289},
-        {189,292,282},
-        {287,288,303},
-        {284,285,297},
-        {368,280,281},
-        {448,447,279},
-        {274,226,255},
-        {267,268,404},
-        {267,404,379},
-        {429,262,430},
-        {439,440,260},
-        {257,258,249},
-        {257,249,246},
-        {430,262,248},
-        {234,228,242},
-        {234,242,241},
-        {237,238,239},
-        {237,239,236},
-        { 15, 18,227},
-        { 15,227,229},
-        {222,223, 82},
-        {222, 82, 83},
-        {214,215,213},
-        {214,213, 81},
-        { 38,102,  6},
-        {122,159,200},
-        {122,200,201},
-        {174,171,192},
-        {174,192,194},
-        {197,193,198},
-        {190,170,161},
-        {181,179,178},
-        {181,178,180},
-        {166,156,155},
-        {163,153,152},
-        {163,152,162},
-        {120,156,149},
-        {120,149,121},
-        {152,153,135},
-        {140,143,142},
-        {135,131,132},
-        {135,132,136},
-        {130,129,128},
-        {130,128,127},
-        {100,105,119},
-        {100,119,120},
-        {106,104,107},
-        {106,107,108},
-        { 91, 95, 59},
-        { 93, 94, 68},
-        { 91, 89, 92},
-        { 76, 53, 55},
-        { 76, 55, 87},
-        { 81, 78, 79},
-        { 74, 73, 49},
-        { 69, 60, 45},
-        { 58, 62, 64},
-        { 58, 64, 61},
-        { 53, 31, 32},
-        { 32, 54, 53},
-        { 42, 43, 38},
-        { 35, 36,  0},
-        { 35,  0,  1},
-        { 34, 35,  1},
-        { 34,  1,  9},
-        { 44, 40, 41},
-        { 44, 41, 45},
-        { 33,240, 51},
-        { 63, 62, 58},
-        { 63, 58, 59},
-        { 45, 71, 70},
-        { 76, 75, 51},
-        { 76, 51, 52},
-        { 86, 85, 84},
-        { 86, 84, 87},
-        { 89, 72, 73},
-        { 89, 73, 88},
-        { 91, 92, 96},
-        { 91, 96, 95},
-        { 72, 91, 60},
-        { 72, 60, 69},
-        {104,106,105},
-        {119,105,117},
-        {119,117,118},
-        {124,127,128},
-        {117,116,129},
-        {117,129,131},
-        {118,117,131},
-        {135,140,142},
-        {146,150,152},
-        {146,152,145},
-        {149,122,121},
-        {166,165,151},
-        {166,151,156},
-        {158,172,173},
-        {161,160,189},
-        {199,198,193},
-        {199,193,191},
-        {204,201,202},
-        {178,174,194},
-        {200,159,186},
-        {109, 48, 67},
-        { 48,107,104},
-        {216, 32,236},
-        {216,236,239},
-        {223,214, 81},
-        {223, 81, 82},
-        { 33, 12, 15},
-        { 32,228,234},
-        { 32,234,236},
-        {240, 31, 52},
-        {256,255,246},
-        {256,246,249},
-        {258,263,248},
-        {258,248,249},
-        {275,260,259},
-        {275,259,276},
-        {207,276,259},
-        {270,271,429},
-        {270,429,407},
-        {413,418,366},
-        {413,366,365},
-        {368,367,279},
-        {368,279,280},
-        {303,301,286},
-        {303,286,287},
-        {283,282,292},
-        {283,292,291},
-        {320,292,189},
-        {298,296,297},
-        {298,297,299},
-        {318,327,326},
-        {318,326,313},
-        {329,330,317},
-        {336,333,320},
-        {326,354,353},
-        {334,332,333},
-        {334,333,336},
-        {342,339,139},
-        {342,139,138},
-        {345,342,126},
-        {347,357,356},
-        {369,368,351},
-        {363,356,357},
-        {363,357,361},
-        {366,367,368},
-        {366,368,369},
-        {375,373,400},
-        { 92, 90,377},
-        {409,387,408},
-        {386,385,387},
-        {386,387,388},
-        {412,394,391},
-        {396,398,399},
-        {408,406,405},
-        {415,421,419},
-        {415,419,414},
-        {425,452,448},
-        {425,448,424},
-        {444,441,443},
-        {448,452,449},
-        {448,449,447},
-        {446,444,443},
-        {446,443,445},
-        {250,247,261},
-        {250,261,428},
-        {421,422,423},
-        {421,423,419},
-        {427,410,250},
-        {417,403,401},
-        {403,402,401},
-        {420,392,412},
-        {420,412,425},
-        {420,425,424},
-        {386,411,389},
-        {383,382,381},
-        {383,381,385},
-        {378,379,404},
-        {372,371,395},
-        {372,395,397},
-        {371,372,370},
-        {361,359,360},
-        {361,360,362},
-        {368,350,351},
-        {349,347,348},
-        {356,355,344},
-        {356,344,346},
-        {344,341,340},
-        {344,340,343},
-        {338,337,336},
-        {328,335,341},
-        {324,352,351},
-        {324,351,331},
-        {320,144,336},
-        {314,325,324},
-        {322,308,309},
-        {310,309,307},
-        {287,286,289},
-        {203,280,279},
-        {203,279,205},
-        {297,295,283},
-        {297,283,284},
-        {447,205,279},
-        {274,384, 80},
-        {274, 80,226},
-        {266,267,379},
-        {266,379,380},
-        {225,257,246},
-        {225,246,245},
-        {256,254,253},
-        {256,253,255},
-        {430,247,250},
-        {226,235,244},
-        {226,244,245},
-        {232,233,244},
-        {232,244,241},
-        {230, 18, 19},
-        { 32, 31,228},
-        {219,220, 86},
-        {219, 86, 57},
-        {226,213,235},
-        {206,  7,  6},
-        {122,201,101},
-        {201,204,101},
-        {180,196,197},
-        {170,192,171},
-        {200,190,189},
-        {194,193,195},
-        {183,181,180},
-        {183,180,182},
-        {155,154,168},
-        {149,156,151},
-        {149,151,148},
-        {155,156,120},
-        {145,142,143},
-        {145,143,146},
-        {136,137,140},
-        {133,132,130},
-        {128,129,116},
-        {100,120,121},
-        {110,112,113},
-        {110,113,114},
-        { 66, 65, 63},
-        { 66, 63, 99},
-        { 66, 99, 98},
-        { 96, 46, 61},
-        { 89, 88, 90},
-        { 86, 87, 57},
-        { 80, 78, 81},
-        { 72, 69, 49},
-        { 67, 48, 47},
-        { 67, 47, 68},
-        { 56, 55, 53},
-        { 50, 49, 36},
-        { 50, 36, 35},
-        { 40, 39, 41},
-        {242,243,229},
-        {242,229,227},
-        {  6, 37, 39},
-        { 42, 47, 48},
-        { 42, 48, 43},
-        { 61, 46, 44},
-        { 45, 70, 69},
-        { 69, 70, 71},
-        { 69, 71, 49},
-        { 74, 78, 77},
-        { 83, 84, 85},
-        { 73, 74, 77},
-        { 93, 96, 92},
-        { 68, 46, 93},
-        { 95, 99, 63},
-        { 95, 63, 59},
-        {115,108,110},
-        {115,110,114},
-        {125,126,127},
-        {129,130,132},
-        {137,133,138},
-        {137,138,139},
-        {148,146,143},
-        {148,143,147},
-        {119,118,154},
-        {161,147,143},
-        {165,164,151},
-        {158,157,171},
-        {158,171,172},
-        {159,158,187},
-        {159,187,186},
-        {194,192,191},
-        {194,191,193},
-        {189,202,201},
-        {182,197,184},
-        {205,  8,  7},
-        { 48,109,107},
-        {218,219, 57},
-        {218, 57, 56},
-        {207,231,211},
-        {232,230,231},
-        {232,231,233},
-        { 53, 52, 31},
-        {388,411,386},
-        {409,430,250},
-        {262,429,254},
-        {262,254,256},
-        {442,444,428},
-        {273,264,383},
-        {273,383,384},
-        {429,271,251},
-        {429,251,254},
-        {413,365,362},
-        { 67,413,360},
-        {282,283,295},
-        {285,301,299},
-        {202,281,280},
-        {284,283,291},
-        {284,291,289},
-        {320,189,160},
-        {308,306,307},
-        {307,309,308},
-        {319,317,330},
-        {319,330,328},
-        {353,352,324},
-        {332,331,333},
-        {340,341,338},
-        {354,341,344},
-        {349,358,357},
-        {349,357,347},
-        {364,355,356},
-        {364,356,363},
-        {364,365,366},
-        {364,366,369},
-        {374,376,402},
-        {375, 92,373},
-        { 77,389,390},
-        {382,380,381},
-        {389, 77,386},
-        {393,394,412},
-        {393,412,392},
-        {401,394,416},
-        {415,400,403},
-        {411,410,427},
-        {411,427,426},
-        {422,420,424},
-        {247,248,263},
-        {247,263,261},
-        {445,443, 14},
-        {445, 14, 11},
-        {449,450,  4},
-        {449,  4,  5},
-        {443,441, 17},
-        {443, 17, 14},
-        {436, 23, 17},
-        {436, 17,441},
-        {424,448,422},
-        {448,423,422},
-        {414,419,418},
-        {414,418,413},
-        {406,404,405},
-        {399,397,395},
-        {399,395,396},
-        {420,416,392},
-        {388,410,411},
-        {386,384,383},
-        {390, 88, 77},
-        {375, 94, 92},
-        {415,414, 68},
-        {415, 68, 94},
-        {370,374,402},
-        {370,402,398},
-        {361,357,358},
-        {361,358,359},
-        {125,348,126},
-        {346,344,343},
-        {340,338,339},
-        {337,335,334},
-        {337,334,336},
-        {325,353,324},
-        {324,331,332},
-        {324,332,329},
-        {323,322,309},
-        {323,309,310},
-        {294,295,297},
-        {294,297,296},
-        {289,286,285},
-        {202,280,203},
-        {288,307,303},
-        {282,295,321},
-        { 67,360,111},
-        {418,423,367},
-        {418,367,366},
-        {272,252,251},
-        {272,251,271},
-        {272,271,270},
-        {255,253,274},
-        {265,266,380},
-        {265,380,382},
-        {442,428,261},
-        {440,263,258},
-        {440,258,260},
-        {409,250,410},
-        {255,226,245},
-        {255,245,246},
-        { 31,240,243},
-        {236,234,235},
-        {236,235,237},
-        {233,225,245},
-        {233,245,244},
-        {220,221, 85},
-        {220, 85, 86},
-        { 81,213,226},
-        { 81,226, 80},
-        {  7,206,205},
-        {186,184,198},
-        {186,198,199},
-        {204,203,205},
-        {204,205,206},
-        {195,193,196},
-        {171,174,172},
-        {173,174,175},
-        {173,172,174},
-        {155,167,166},
-        {160,161,143},
-        {160,143,144},
-        {119,154,155},
-        {148,151,150},
-        {148,150,146},
-        {140,137,139},
-        {140,139,141},
-        {127,126,130},
-        {114,124,128},
-        {114,128,115},
-        {117,105,106},
-        {117,106,116},
-        {104,105,100},
-        {104,100,103},
-        { 59, 60, 91},
-        { 97, 96, 61},
-        { 97, 61, 64},
-        { 91, 72, 89},
-        { 87, 84, 79},
-        { 87, 79, 76},
-        { 78, 80, 77},
-        { 49, 50, 74},
-        { 60, 44, 45},
-        { 61, 44, 58},
-        { 51, 50, 35},
-        { 51, 35, 34},
-        { 39, 37, 41},
-        { 33, 34,  9},
-        { 33,  9, 12},
-        {  0, 36, 37},
-        {  0, 37,  6},
-        { 40, 46, 47},
-        { 40, 47, 42},
-        { 53, 54, 56},
-        { 65, 62, 63},
-        { 72, 49, 73},
-        { 79, 78, 75},
-        { 79, 75, 76},
-        { 52, 53, 76},
-        { 92, 89, 90},
-        { 96, 93, 46},
-        {102,103,100},
-        {102,100,101},
-        {116,106,108},
-        {116,108,115},
-        {123,125,124},
-        {116,115,128},
-        {118,131,135},
-        {140,135,136},
-        {148,147,149},
-        {120,119,155},
-        {164,162,152},
-        {164,152,150},
-        {157,147,161},
-        {157,161,170},
-        {186,187,185},
-        {186,185,184},
-        {193,197,196},
-        {202,203,204},
-        {194,195,178},
-        {198,184,197},
-        { 67,111,109},
-        { 38, 43,103},
-        { 38,103,102},
-        {214,223,222},
-        {214,222,221},
-        {214,221,220},
-        {214,220,219},
-        {214,219,218},
-        {213,237,235},
-        {221,222, 83},
-        {221, 83, 85},
-        { 15,229, 33},
-        {227, 18,230},
-        {227,230,232},
-        { 52, 51,240},
-        { 75, 78, 50},
-        {408,430,409},
-        {260,258,257},
-        {260,257,259},
-        {224,207,259},
-        {268,269,405},
-        {268,405,404},
-        {413,362,360},
-        {447,  8,205},
-        {299,297,285},
-        {189,281,202},
-        {290,288,289},
-        {290,289,291},
-        {322,321,295},
-        {322,295,294},
-        {333,323,311},
-        {333,311,320},
-        {317,316,329},
-        {320,160,144},
-        {353,325,326},
-        {329,332,334},
-        {329,334,330},
-        {339,338,141},
-        {339,141,139},
-        {348,345,126},
-        {347,356,346},
-        {123,349,125},
-        {364,353,354},
-        {364,354,355},
-        {365,364,363},
-        {376,391,394},
-        {376,394,401},
-        { 92,376,374},
-        { 92,374,373},
-        {377, 90, 88},
-        {380,379,378},
-        {380,378,381},
-        {388,387,409},
-        {388,409,410},
-        {416,393,392},
-        {399,398,402},
-        {399,402,403},
-        {250,428,427},
-        {421,417,416},
-        {421,416,420},
-        {426,427,446},
-        {426,446,451},
-        {444,442,441},
-        {452,451,450},
-        {452,450,449}
-};
-
-
-// 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 | 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 ("   y for cylinder.\n");
-  printf ("   c for capsule.\n");
-  printf ("   x for a composite object.\n");
-  printf ("   m for a trimesh.\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 == 'm' || cmd == 'y' ) {
-    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, 0,0,maxheight+1);
-      dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
-    }
-    dBodySetRotation (obj[i].body,R);
-    dBodySetData (obj[i].body,(void*)(size_t)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;
-      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
-      obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
-    }
-    else if (cmd == 'y') {
-      sides[1] *= 0.5;
-      dMassSetCylinder (&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 == 'm') {
-      dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
-      dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));
-
-      obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0);
-
-      // remember the mesh's dTriMeshDataID on its userdata for convenience.
-      dGeomSetData(obj[i].geom[0], new_tmdata);
-
-      dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] );
-      printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]);
-      dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]);
-      dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]);
-    }
-    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] = dCreateCapsule (0,radius,length);
-          dMassSetCapsule (&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)
-{
-  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 == dCapsuleClass) {
-    dReal radius,length;
-    dGeomCapsuleGetParams (g,&radius,&length);
-    dsDrawCapsule (pos,R,length,radius);
-  }
-  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 (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
-    dVector3 bbsides;
-    for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2];
-    dMatrix3 RI;
-    dRSetIdentity (RI);
-    dsSetColorAlpha (1,0,0,0.5);
-    dsDrawBox (bbpos,RI,bbsides);
-  }
-}
-
-
-// set previous transformation matrix for trimesh
-void setCurrentTransform(dGeomID geom)
-{
- const dReal* Pos = dGeomGetPosition(geom);
- const dReal* Rot = dGeomGetRotation(geom);
-
- const dReal Transform[16] = 
- {
-   Rot[0], Rot[4], Rot[8],  0,
-   Rot[1], Rot[5], Rot[9],  0,
-   Rot[2], Rot[6], Rot[10], 0,
-   Pos[0], Pos[1], Pos[2],  1
- };
-
- dGeomTriMeshSetLastTransform( geom, *(dMatrix4*)(&Transform) );
-
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  dsSetColor (0,0,2);
-  dSpaceCollide (space,0,&nearCallback);
-
-
-#if 0
-  // What is this for??? - Bram
-  if (!pause) 
-  {
-    for (int i=0; i<num; i++)
-      for (int j=0; j < GPB; j++)
-        if (obj[i].geom[j])
-          if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass)
-            setCurrentTransform(obj[i].geom[j]);
- 
-    setCurrentTransform(TriMesh1);
-    setCurrentTransform(TriMesh2);
-  }
-#endif
-
-  //if (!pause) dWorldStep (world,0.05);
-  if (!pause) dWorldStepFast1 (world,0.05, 5);
-
-  for (int j = 0; j < dSpaceGetNumGeoms(space); j++){
-          dSpaceGetGeom(space, j);
-  }
-
-  // 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 (obj[i].geom[j]) {
-        if (i==selected) {
-          dsSetColor (0,0.7,1);
-        }
-        else if (! dBodyIsEnabled (obj[i].body)) {
-          dsSetColor (1,0,0);
-        }
-        else {
-          dsSetColor (1,1,0);
-        }
-      
-        if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) {
-          int* Indices = (int*)::Indices;
-
-          // assume all trimeshes are drawn as bunnies
-          const dReal* Pos = dGeomGetPosition(obj[i].geom[j]);
-          const dReal* Rot = dGeomGetRotation(obj[i].geom[j]);
-        
-          for (int ii = 0; ii < IndexCount / 3; ii++) {
-            const dReal v[9] = { // explicit conversion from float to dReal
-              Vertices[Indices[ii * 3 + 0] * 3 + 0],
-              Vertices[Indices[ii * 3 + 0] * 3 + 1],
-              Vertices[Indices[ii * 3 + 0] * 3 + 2],
-              Vertices[Indices[ii * 3 + 1] * 3 + 0],
-              Vertices[Indices[ii * 3 + 1] * 3 + 1],
-              Vertices[Indices[ii * 3 + 1] * 3 + 2],
-              Vertices[Indices[ii * 3 + 2] * 3 + 0],
-              Vertices[Indices[ii * 3 + 2] * 3 + 1],
-              Vertices[Indices[ii * 3 + 2] * 3 + 2]
-            };
-            dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
-          }
-
-          // tell the tri-tri collider the current transform of the trimesh --
-          // this is fairly important for good results.
-          
-                  // Fill in the (4x4) matrix.
-                  dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 );
-
-                  p_matrix[ 0 ] = Rot[ 0 ];     p_matrix[ 1 ] = Rot[ 1 ];       p_matrix[ 2 ] = Rot[ 2 ];       p_matrix[ 3 ] = 0;
-                  p_matrix[ 4 ] = Rot[ 4 ];     p_matrix[ 5 ] = Rot[ 5 ];       p_matrix[ 6 ] = Rot[ 6 ];       p_matrix[ 7 ] = 0;
-                  p_matrix[ 8 ] = Rot[ 8 ];     p_matrix[ 9 ] = Rot[ 9 ];       p_matrix[10 ] = Rot[10 ];       p_matrix[11 ] = 0;
-                  p_matrix[12 ] = Pos[ 0 ];     p_matrix[13 ] = Pos[ 1 ];       p_matrix[14 ] = Pos[ 2 ];       p_matrix[15 ] = 1;
-
-                  // Flip to other matrix.
-                  obj[i].last_matrix_index = !obj[i].last_matrix_index;
-
-                  dGeomTriMeshSetLastTransform( obj[i].geom[j], 
-                          *(dMatrix4*)( obj[i].matrix_dblbuff + obj[i].last_matrix_index * 16 ) );
-  
-        } else {
-          drawGeom (obj[i].geom[j],0,0,show_aabb);
-        }
-      }
-    }
-  }
-
-  int* Indices = (int*)::Indices;
-
-  {const dReal* Pos = dGeomGetPosition(TriMesh1);
-  const dReal* Rot = dGeomGetRotation(TriMesh1);
-
-  {for (int i = 0; i < IndexCount / 3; i++){
-    const dReal v[9] = { // explicit conversion from float to dReal
-      Vertices[Indices[i * 3 + 0] * 3 + 0],
-      Vertices[Indices[i * 3 + 0] * 3 + 1],
-      Vertices[Indices[i * 3 + 0] * 3 + 2],
-      Vertices[Indices[i * 3 + 1] * 3 + 0],
-      Vertices[Indices[i * 3 + 1] * 3 + 1],
-      Vertices[Indices[i * 3 + 1] * 3 + 2],
-      Vertices[Indices[i * 3 + 2] * 3 + 0],
-      Vertices[Indices[i * 3 + 2] * 3 + 1],
-      Vertices[Indices[i * 3 + 2] * 3 + 2]
-    };
-    dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 0);
-  }}}
-
-  {const dReal* Pos = dGeomGetPosition(TriMesh2);
-  const dReal* Rot = dGeomGetRotation(TriMesh2);
-
-  {for (int i = 0; i < IndexCount / 3; i++){
-    const dReal v[9] = { // explicit conversion from float to dReal
-      Vertices[Indices[i * 3 + 0] * 3 + 0],
-      Vertices[Indices[i * 3 + 0] * 3 + 1],
-      Vertices[Indices[i * 3 + 0] * 3 + 2],
-      Vertices[Indices[i * 3 + 1] * 3 + 0],
-      Vertices[Indices[i * 3 + 1] * 3 + 1],
-      Vertices[Indices[i * 3 + 1] * 3 + 2],
-      Vertices[Indices[i * 3 + 2] * 3 + 0],
-      Vertices[Indices[i * 3 + 2] * 3 + 1],
-      Vertices[Indices[i * 3 + 2] * 3 + 2]
-    };
-    dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
-  }}}
-}
-
-
-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
-  dInitODE();
-  world = dWorldCreate();
- 
-  space = dSimpleSpaceCreate(0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  dWorldSetCFM (world,1e-5);
-  dCreatePlane (space,0,0,1,0);
-  memset (obj,0,sizeof(obj));
-
-  // note: can't share tridata if intending to trimesh-trimesh collide
-  TriData1 = dGeomTriMeshDataCreate();
-  dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));
-  TriData2 = dGeomTriMeshDataCreate();
-  dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (int*)&Indices[0], IndexCount, 3 * sizeof(int));
-  
-  TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0);
-  TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0);
-  dGeomSetData(TriMesh1, TriData1);
-  dGeomSetData(TriMesh2, TriData2);
-  
-  {dGeomSetPosition(TriMesh1, 0, 0, 0.9);
-  dMatrix3 Rotation;
-  dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
-  dGeomSetRotation(TriMesh1, Rotation);}
-
-  {dGeomSetPosition(TriMesh2, 1, 0, 0.9);
-  dMatrix3 Rotation;
-  dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
-  dGeomSetRotation(TriMesh2, Rotation);}
-  
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_ode.cpp b/libraries/ode-0.9/ode/demo/demo_ode.cpp
deleted file mode 100644
index bd22ac1..0000000
--- a/libraries/ode-0.9/ode/demo/demo_ode.cpp
+++ /dev/null
@@ -1,1128 +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 <setjmp.h>
-#include <ode/ode.h>
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-//****************************************************************************
-// matrix accessors
-
-#define _A(i,j) A[(i)*4+(j)]
-#define _I(i,j) I[(i)*4+(j)]
-#define _R(i,j) R[(i)*4+(j)]
-
-//****************************************************************************
-// tolerances
-
-#ifdef dDOUBLE
-const double tol = 1e-10;
-#endif
-
-#ifdef dSINGLE
-const double tol = 1e-5;
-#endif
-
-//****************************************************************************
-// misc messages and error handling
-
-#ifdef __GNUC__
-#define HEADER printf ("%s()\n", __FUNCTION__);
-#else
-#define HEADER printf ("%s:%d\n",__FILE__,__LINE__);
-#endif
-
-static jmp_buf jump_buffer;
-
-
-void myMessageFunction (int num, const char *msg, va_list ap)
-{
-  printf ("(Message %d: ",num);
-  vprintf (msg,ap);
-  printf (")");
-  dSetMessageHandler (0);
-  longjmp (jump_buffer,1);
-}
-
-
-#define TRAP_MESSAGE(do,ifnomsg,ifmsg) \
-  dSetMessageHandler (&myMessageFunction); \
-  if (setjmp (jump_buffer)) { \
-    dSetMessageHandler (0); \
-    ifmsg ; \
-  } \
-  else { \
-    dSetMessageHandler (&myMessageFunction); \
-    do ; \
-    ifnomsg ; \
-  } \
-  dSetMessageHandler (0);
-
-//****************************************************************************
-// utility stuff
-
-// compare two numbers, within a threshhold, return 1 if approx equal
-
-int cmp (dReal a, dReal b)
-{
-  return (fabs(a-b) < tol);
-}
-
-//****************************************************************************
-// matrix utility stuff
-
-// compare a 3x3 matrix with the identity
-
-int cmpIdentityMat3 (dMatrix3 A)
-{
-  return
-    (cmp(_A(0,0),1.0) && cmp(_A(0,1),0.0) && cmp(_A(0,2),0.0) &&
-     cmp(_A(1,0),0.0) && cmp(_A(1,1),1.0) && cmp(_A(1,2),0.0) &&
-     cmp(_A(2,0),0.0) && cmp(_A(2,1),0.0) && cmp(_A(2,2),1.0));
-}
-
-
-// transpose a 3x3 matrix in-line
-
-void transpose3x3 (dMatrix3 A)
-{
-  dReal tmp;
-  tmp=A[4]; A[4]=A[1]; A[1]=tmp;
-  tmp=A[8]; A[8]=A[2]; A[2]=tmp;
-  tmp=A[9]; A[9]=A[6]; A[6]=tmp;
-}
-
-//****************************************************************************
-// test miscellaneous math functions
-
-void testRandomNumberGenerator()
-{
-  HEADER;
-  if (dTestRand()) printf ("\tpassed\n");
-  else printf ("\tFAILED\n");
-}
-
-
-void testInfinity()
-{
-  HEADER;
-  if (1e10 < dInfinity && -1e10 > -dInfinity && -dInfinity < dInfinity)
-    printf ("\tpassed\n");
-  else printf ("\tFAILED\n");
-}
-
-
-void testPad()
-{
-  HEADER;
-  char s[100];
-  s[0]=0;
-  for (int i=0; i<=16; i++) sprintf (s+strlen(s),"%d ",dPAD(i));
-  printf ("\t%s\n", strcmp(s,"0 1 4 4 4 8 8 8 8 12 12 12 12 16 16 16 16 ") ?
-          "FAILED" : "passed");
-}
-
-
-void testCrossProduct()
-{
-  HEADER;
-
-  dVector3 a1,a2,b,c;
-  dMatrix3 B;
-  dMakeRandomVector (b,3,1.0);
-  dMakeRandomVector (c,3,1.0);
-
-  dCROSS (a1,=,b,c);
-
-  dSetZero (B,12);
-  dCROSSMAT (B,b,4,+,-);
-  dMultiply0 (a2,B,c,3,3,1);
-
-  dReal diff = dMaxDifference(a1,a2,3,1);
-  printf ("\t%s\n", diff > tol ? "FAILED" : "passed");
-}
-
-
-void testSetZero()
-{
-  HEADER;
-  dReal a[100];
-  dMakeRandomVector (a,100,1.0);
-  dSetZero (a,100);
-  for (int i=0; i<100; i++) if (a[i] != 0.0) {
-    printf ("\tFAILED\n");
-    return;
-  }
-  printf ("\tpassed\n");
-}
-
-
-void testNormalize3()
-{
-  HEADER;
-  int i,j,bad=0;
-  dVector3 n1,n2;
-  for (i=0; i<1000; i++) {
-    dMakeRandomVector (n1,3,1.0);
-    for (j=0; j<3; j++) n2[j]=n1[j];
-    dNormalize3 (n2);
-    if (dFabs(dDOT(n2,n2) - 1.0) > tol) bad |= 1;
-    if (dFabs(n2[0]/n1[0] - n2[1]/n1[1]) > tol) bad |= 2;
-    if (dFabs(n2[0]/n1[0] - n2[2]/n1[2]) > tol) bad |= 4;
-    if (dFabs(n2[1]/n1[1] - n2[2]/n1[2]) > tol) bad |= 8;
-    if (dFabs(dDOT(n2,n1) - dSqrt(dDOT(n1,n1))) > tol) bad |= 16;
-    if (bad) {
-      printf ("\tFAILED (code=%x)\n",bad);
-      return;
-    }
-  }
-  printf ("\tpassed\n");
-}
-
-
-/*
-void testReorthonormalize()
-{
-  HEADER;
-  dMatrix3 R,I;
-  dMakeRandomMatrix (R,3,3,1.0);
-  for (int i=0; i<30; i++) dReorthonormalize (R);
-  dMultiply2 (I,R,R,3,3,3);
-  printf ("\t%s\n",cmpIdentityMat3 (I) ? "passed" : "FAILED");
-}
-*/
-
-
-void testPlaneSpace()
-{
-  HEADER;
-  dVector3 n,p,q;
-  int bad = 0;
-  for (int i=0; i<1000; i++) {
-    dMakeRandomVector (n,3,1.0);
-    dNormalize3 (n);
-    dPlaneSpace (n,p,q);
-    if (fabs(dDOT(n,p)) > tol) bad = 1;
-    if (fabs(dDOT(n,q)) > tol) bad = 1;
-    if (fabs(dDOT(p,q)) > tol) bad = 1;
-    if (fabs(dDOT(p,p)-1) > tol) bad = 1;
-    if (fabs(dDOT(q,q)-1) > tol) bad = 1;
-  }
-  printf ("\t%s\n", bad ? "FAILED" : "passed");
-}
-
-//****************************************************************************
-// test matrix functions
-
-#define MSIZE 21
-#define MSIZE4 24       // MSIZE rounded up to 4
-
-
-void testMatrixMultiply()
-{
-  // A is 2x3, B is 3x4, B2 is B except stored columnwise, C is 2x4
-  dReal A[8],B[12],A2[12],B2[16],C[8];
-  int i;
-
-  HEADER;
-  dSetZero (A,8);
-  for (i=0; i<3; i++) A[i] = i+2;
-  for (i=0; i<3; i++) A[i+4] = i+3+2;
-  for (i=0; i<12; i++) B[i] = i+8;
-  dSetZero (A2,12);
-  for (i=0; i<6; i++) A2[i+2*(i/2)] = A[i+i/3];
-  dSetZero (B2,16);
-  for (i=0; i<12; i++) B2[i+i/3] = B[i];
-
-  dMultiply0 (C,A,B,2,3,4);
-  if (C[0] != 116 || C[1] != 125 || C[2] != 134 || C[3] != 143 ||
-      C[4] != 224 || C[5] != 242 || C[6] != 260 || C[7] != 278)
-    printf ("\tFAILED (1)\n"); else printf ("\tpassed (1)\n");
-
-  dMultiply1 (C,A2,B,2,3,4);
-  if (C[0] != 160 || C[1] != 172 || C[2] != 184 || C[3] != 196 ||
-      C[4] != 196 || C[5] != 211 || C[6] != 226 || C[7] != 241)
-    printf ("\tFAILED (2)\n"); else printf ("\tpassed (2)\n");
-
-  dMultiply2 (C,A,B2,2,3,4);
-  if (C[0] != 83 || C[1] != 110 || C[2] != 137 || C[3] != 164 ||
-      C[4] != 164 || C[5] != 218 || C[6] != 272 || C[7] != 326)
-    printf ("\tFAILED (3)\n"); else printf ("\tpassed (3)\n");
-}
-
-
-void testSmallMatrixMultiply()
-{
-  dMatrix3 A,B,C,A2;
-  dVector3 a,a2,x;
-
-  HEADER;
-  dMakeRandomMatrix (A,3,3,1.0);
-  dMakeRandomMatrix (B,3,3,1.0);
-  dMakeRandomMatrix (C,3,3,1.0);
-  dMakeRandomMatrix (x,3,1,1.0);
-
-  // dMULTIPLY0_331()
-  dMULTIPLY0_331 (a,B,x);
-  dMultiply0 (a2,B,x,3,3,1);
-  printf ("\t%s (1)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" :
-          "passed");
-
-  // dMULTIPLY1_331()
-  dMULTIPLY1_331 (a,B,x);
-  dMultiply1 (a2,B,x,3,3,1);
-  printf ("\t%s (2)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" :
-          "passed");
-
-  // dMULTIPLY0_133
-  dMULTIPLY0_133 (a,x,B);
-  dMultiply0 (a2,x,B,1,3,3);
-  printf ("\t%s (3)\n",(dMaxDifference (a,a2,1,3) > tol) ? "FAILED" :
-          "passed");
-
-  // dMULTIPLY0_333()
-  dMULTIPLY0_333 (A,B,C);
-  dMultiply0 (A2,B,C,3,3,3);
-  printf ("\t%s (4)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" :
-          "passed");
-
-  // dMULTIPLY1_333()
-  dMULTIPLY1_333 (A,B,C);
-  dMultiply1 (A2,B,C,3,3,3);
-  printf ("\t%s (5)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" :
-          "passed");
-
-  // dMULTIPLY2_333()
-  dMULTIPLY2_333 (A,B,C);
-  dMultiply2 (A2,B,C,3,3,3);
-  printf ("\t%s (6)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" :
-          "passed");
-}
-
-
-void testCholeskyFactorization()
-{
-  dReal A[MSIZE4*MSIZE], B[MSIZE4*MSIZE], C[MSIZE4*MSIZE], diff;
-  HEADER;
-  dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
-  dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE);
-  memcpy (A,B,MSIZE4*MSIZE*sizeof(dReal));
-  if (dFactorCholesky (B,MSIZE)) printf ("\tpassed (1)\n");
-  else printf ("\tFAILED (1)\n");
-  dClearUpperTriangle (B,MSIZE);
-  dMultiply2 (C,B,B,MSIZE,MSIZE,MSIZE);
-  diff = dMaxDifference(A,C,MSIZE,MSIZE);
-  printf ("\tmaximum difference = %.6e - %s (2)\n",diff,
-          diff > tol ? "FAILED" : "passed");
-}
-
-
-void testCholeskySolve()
-{
-  dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], b[MSIZE],x[MSIZE],btest[MSIZE],diff;
-  HEADER;
-
-  // get A,L = PD matrix
-  dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
-  dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
-  memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
-
-  // get b,x = right hand side
-  dMakeRandomMatrix (b,MSIZE,1,1.0);
-  memcpy (x,b,MSIZE*sizeof(dReal));
-
-  // factor L
-  if (dFactorCholesky (L,MSIZE)) printf ("\tpassed (1)\n");
-  else printf ("\tFAILED (1)\n");
-  dClearUpperTriangle (L,MSIZE);
-
-  // solve A*x = b
-  dSolveCholesky (L,x,MSIZE);
-
-  // compute A*x and compare it with b
-  dMultiply2 (btest,A,x,MSIZE,MSIZE,1);
-  diff = dMaxDifference(b,btest,MSIZE,1);
-  printf ("\tmaximum difference = %.6e - %s (2)\n",diff,
-          diff > tol ? "FAILED" : "passed");
-}
-
-
-void testInvertPDMatrix()
-{
-  int i,j,ok;
-  dReal A[MSIZE4*MSIZE], Ainv[MSIZE4*MSIZE], I[MSIZE4*MSIZE];
-  HEADER;
-
-  dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
-  dMultiply2 (Ainv,A,A,MSIZE,MSIZE,MSIZE);
-  memcpy (A,Ainv,MSIZE4*MSIZE*sizeof(dReal));
-  dSetZero (Ainv,MSIZE4*MSIZE);
-
-  if (dInvertPDMatrix (A,Ainv,MSIZE))
-    printf ("\tpassed (1)\n"); else printf ("\tFAILED (1)\n");
-  dMultiply0 (I,A,Ainv,MSIZE,MSIZE,MSIZE);
-
-  // compare with identity
-  ok = 1;
-  for (i=0; i<MSIZE; i++) {
-    for (j=0; j<MSIZE; j++) {
-      if (i != j) if (cmp (I[i*MSIZE4+j],0.0)==0) ok = 0;
-    }
-  }
-  for (i=0; i<MSIZE; i++) {
-    if (cmp (I[i*MSIZE4+i],1.0)==0) ok = 0;
-  }
-  if (ok) printf ("\tpassed (2)\n"); else printf ("\tFAILED (2)\n");
-}
-
-
-void testIsPositiveDefinite()
-{
-  dReal A[MSIZE4*MSIZE], B[MSIZE4*MSIZE];
-  HEADER;
-  dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
-  dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE);
-  printf ("\t%s\n",dIsPositiveDefinite(A,MSIZE) ? "FAILED (1)":"passed (1)");
-  printf ("\t%s\n",dIsPositiveDefinite(B,MSIZE) ? "passed (2)":"FAILED (2)");
-}
-
-
-void testFastLDLTFactorization()
-{
-  int i,j;
-  dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], DL[MSIZE4*MSIZE],
-    ATEST[MSIZE4*MSIZE], d[MSIZE], diff;
-  HEADER;
-  dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
-  dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
-  memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
-
-  dFactorLDLT (L,d,MSIZE,MSIZE4);
-  dClearUpperTriangle (L,MSIZE);
-  for (i=0; i<MSIZE; i++) L[i*MSIZE4+i] = 1.0;
-
-  dSetZero (DL,MSIZE4*MSIZE);
-  for (i=0; i<MSIZE; i++) {
-    for (j=0; j<MSIZE; j++) DL[i*MSIZE4+j] = L[i*MSIZE4+j] / d[j];
-  }
-
-  dMultiply2 (ATEST,L,DL,MSIZE,MSIZE,MSIZE);
-  diff = dMaxDifference(A,ATEST,MSIZE,MSIZE);
-  printf ("\tmaximum difference = %.6e - %s\n",diff,
-          diff > tol ? "FAILED" : "passed");
-}
-
-
-void testSolveLDLT()
-{
-  dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], x[MSIZE],
-    b[MSIZE], btest[MSIZE], diff;
-  HEADER;
-  dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
-  dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
-  memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
-
-  dMakeRandomMatrix (b,MSIZE,1,1.0);
-  memcpy (x,b,MSIZE*sizeof(dReal));
-
-  dFactorLDLT (L,d,MSIZE,MSIZE4);
-  dSolveLDLT (L,d,x,MSIZE,MSIZE4);
-
-  dMultiply2 (btest,A,x,MSIZE,MSIZE,1);
-  diff = dMaxDifference(b,btest,MSIZE,1);
-  printf ("\tmaximum difference = %.6e - %s\n",diff,
-          diff > tol ? "FAILED" : "passed");
-}
-
-
-void testLDLTAddTL()
-{
-  int i,j;
-  dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE], a[MSIZE],
-    DL[MSIZE4*MSIZE], ATEST[MSIZE4*MSIZE], diff;
-  HEADER;
-
-  dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
-  dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
-  memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
-  dFactorLDLT (L,d,MSIZE,MSIZE4);
-
-  // delete first row and column of factorization
-  for (i=0; i<MSIZE; i++) a[i] = -A[i*MSIZE4];
-  a[0] += 1;
-  dLDLTAddTL (L,d,a,MSIZE,MSIZE4);
-  for (i=1; i<MSIZE; i++) L[i*MSIZE4] = 0;
-  d[0] = 1;
-
-  // get modified L*D*L'
-  dClearUpperTriangle (L,MSIZE);
-  for (i=0; i<MSIZE; i++) L[i*MSIZE4+i] = 1.0;
-  dSetZero (DL,MSIZE4*MSIZE);
-  for (i=0; i<MSIZE; i++) {
-    for (j=0; j<MSIZE; j++) DL[i*MSIZE4+j] = L[i*MSIZE4+j] / d[j];
-  }
-  dMultiply2 (ATEST,L,DL,MSIZE,MSIZE,MSIZE);
-
-  // compare it to A with its first row/column removed
-  for (i=1; i<MSIZE; i++) A[i*MSIZE4] = A[i] = 0;
-  A[0] = 1;
-  diff = dMaxDifference(A,ATEST,MSIZE,MSIZE);
-  printf ("\tmaximum difference = %.6e - %s\n",diff,
-          diff > tol ? "FAILED" : "passed");
-}
-
-
-void testLDLTRemove()
-{
-  int i,j,r,p[MSIZE];
-  dReal A[MSIZE4*MSIZE], L[MSIZE4*MSIZE], d[MSIZE],
-    L2[MSIZE4*MSIZE], d2[MSIZE], DL2[MSIZE4*MSIZE],
-    Atest1[MSIZE4*MSIZE], Atest2[MSIZE4*MSIZE], diff, maxdiff;
-  HEADER;
-
-  // make array of A row pointers
-  dReal *Arows[MSIZE];
-  for (i=0; i<MSIZE; i++) Arows[i] = A+i*MSIZE4;
-
-  // fill permutation vector
-  for (i=0; i<MSIZE; i++) p[i]=i;
-
-  dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
-  dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
-  memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
-  dFactorLDLT (L,d,MSIZE,MSIZE4);
-
-  maxdiff = 1e10;
-  for (r=0; r<MSIZE; r++) {
-    // get Atest1 = A with row/column r removed
-    memcpy (Atest1,A,MSIZE4*MSIZE*sizeof(dReal));
-    dRemoveRowCol (Atest1,MSIZE,MSIZE4,r);
-
-    // test that the row/column removal worked
-    int bad = 0;
-    for (i=0; i<MSIZE; i++) {
-      for (j=0; j<MSIZE; j++) {
-        if (i != r && j != r) {
-          int ii = i;
-          int jj = j;
-          if (ii >= r) ii--;
-          if (jj >= r) jj--;
-          if (A[i*MSIZE4+j] != Atest1[ii*MSIZE4+jj]) bad = 1;
-        }
-      }
-    }
-    if (bad) printf ("\trow/col removal FAILED for row %d\n",r);
-
-    // zero out last row/column of Atest1
-    for (i=0; i<MSIZE; i++) {
-      Atest1[(MSIZE-1)*MSIZE4+i] = 0;
-      Atest1[i*MSIZE4+MSIZE-1] = 0;
-    }    
-
-    // get L2*D2*L2' = adjusted factorization to remove that row
-    memcpy (L2,L,MSIZE4*MSIZE*sizeof(dReal));
-    memcpy (d2,d,MSIZE*sizeof(dReal));
-    dLDLTRemove (/*A*/ Arows,p,L2,d2,MSIZE,MSIZE,r,MSIZE4);
-
-    // get Atest2 = L2*D2*L2'
-    dClearUpperTriangle (L2,MSIZE);
-    for (i=0; i<(MSIZE-1); i++) L2[i*MSIZE4+i] = 1.0;
-    for (i=0; i<MSIZE; i++) L2[(MSIZE-1)*MSIZE4+i] = 0;
-    d2[MSIZE-1] = 1;
-    dSetZero (DL2,MSIZE4*MSIZE);
-    for (i=0; i<(MSIZE-1); i++) {
-      for (j=0; j<MSIZE-1; j++) DL2[i*MSIZE4+j] = L2[i*MSIZE4+j] / d2[j];
-    }
-
-    dMultiply2 (Atest2,L2,DL2,MSIZE,MSIZE,MSIZE);
-
-    diff = dMaxDifference(Atest1,Atest2,MSIZE,MSIZE);
-    if (diff < maxdiff) maxdiff = diff;
-
-    /*
-    dPrintMatrix (Atest1,MSIZE,MSIZE);
-    printf ("\n");
-    dPrintMatrix (Atest2,MSIZE,MSIZE);
-    printf ("\n");
-    */
-  }
-  printf ("\tmaximum difference = %.6e - %s\n",maxdiff,
-          maxdiff > tol ? "FAILED" : "passed");
-}
-
-//****************************************************************************
-// test mass stuff
-
-#define NUMP 10         // number of particles
-
-
-void printMassParams (dMass *m)
-{
-  printf ("mass = %.4f\n",m->mass);
-  printf ("com  = (%.4f,%.4f,%.4f)\n",m->c[0],m->c[1],m->c[2]);
-  printf ("I    = [ %10.4f %10.4f %10.4f ]\n"
-          "       [ %10.4f %10.4f %10.4f ]\n"
-          "       [ %10.4f %10.4f %10.4f ]\n",
-          m->_I(0,0),m->_I(0,1),m->_I(0,2),
-          m->_I(1,0),m->_I(1,1),m->_I(1,2),
-          m->_I(2,0),m->_I(2,1),m->_I(2,2));
-}
-
-
-void compareMassParams (dMass *m1, dMass *m2, char *msg)
-{
-  int i,j,ok = 1;
-  if (!(cmp(m1->mass,m2->mass) && cmp(m1->c[0],m2->c[0]) &&
-        cmp(m1->c[1],m2->c[1]) && cmp(m1->c[2],m2->c[2])))
-    ok = 0;
-  for (i=0; i<3; i++) for (j=0; j<3; j++)
-    if (cmp (m1->_I(i,j),m2->_I(i,j))==0) ok = 0;
-  if (ok) printf ("\tpassed (%s)\n",msg); else printf ("\tFAILED (%s)\n",msg);
-}
-
-
-// compute the mass parameters of a particle set
-
-void computeMassParams (dMass *m, dReal q[NUMP][3], dReal pm[NUMP])
-{
-  int i,j;
-  dMassSetZero (m);
-  for (i=0; i<NUMP; i++) {
-    m->mass += pm[i];
-    for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j];
-    m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]);
-    m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]);
-    m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]);
-    m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]);
-    m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]);
-    m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]);
-  }
-  for (j=0; j<3; j++) m->c[j] /= m->mass;
-  m->_I(1,0) = m->_I(0,1);
-  m->_I(2,0) = m->_I(0,2);
-  m->_I(2,1) = m->_I(1,2);
-}
-
-
-void testMassFunctions()
-{
-  dMass m;
-  int i,j;
-  dReal q[NUMP][3];             // particle positions
-  dReal pm[NUMP];               // particle masses
-  dMass m1,m2;
-  dMatrix3 R;
-
-  HEADER;
-
-  printf ("\t");
-  dMassSetZero (&m);
-  TRAP_MESSAGE (dMassSetParameters (&m,10, 0,0,0, 1,2,3, 4,5,6),
-                printf (" FAILED (1)\n"), printf (" passed (1)\n"));
-
-  printf ("\t");
-  dMassSetZero (&m);
-  TRAP_MESSAGE (dMassSetParameters (&m,10, 0.1,0.2,0.15, 3,5,14, 3.1,3.2,4),
-                printf (" passed (2)\n") , printf (" FAILED (2)\n"));
-  if (m.mass==10 && m.c[0]==REAL(0.1) && m.c[1]==REAL(0.2) &&
-      m.c[2]==REAL(0.15) && m._I(0,0)==3 && m._I(1,1)==5 && m._I(2,2)==14 &&
-      m._I(0,1)==REAL(3.1) && m._I(0,2)==REAL(3.2) && m._I(1,2)==4 &&
-      m._I(1,0)==REAL(3.1) && m._I(2,0)==REAL(3.2) && m._I(2,1)==4)
-    printf ("\tpassed (3)\n"); else printf ("\tFAILED (3)\n");
-
-  dMassSetZero (&m);
-  dMassSetSphere (&m,1.4, 0.86);
-  if (cmp(m.mass,3.73002719949386) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 &&
-      cmp(m._I(0,0),1.10349124669826) &&
-      cmp(m._I(1,1),1.10349124669826) &&
-      cmp(m._I(2,2),1.10349124669826) &&
-      m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 &&
-      m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0)
-    printf ("\tpassed (4)\n"); else printf ("\tFAILED (4)\n");
-
-  dMassSetZero (&m);
-  dMassSetCapsule (&m,1.3,1,0.76,1.53);
-  if (cmp(m.mass,5.99961928996029) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 &&
-      cmp(m._I(0,0),1.59461986077384) &&
-      cmp(m._I(1,1),4.57537403079093) &&
-      cmp(m._I(2,2),4.57537403079093) &&
-      m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 &&
-      m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0)
-    printf ("\tpassed (5)\n"); else printf ("\tFAILED (5)\n");
-
-  dMassSetZero (&m);
-  dMassSetBox (&m,0.27,3,4,5);
-  if (cmp(m.mass,16.2) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 &&
-      cmp(m._I(0,0),55.35) && cmp(m._I(1,1),45.9) && cmp(m._I(2,2),33.75) &&
-      m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 &&
-      m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0)
-    printf ("\tpassed (6)\n"); else printf ("\tFAILED (6)\n");
-
-  // test dMassAdjust?
-
-  // make random particles and compute the mass, COM and inertia, then
-  // translate and repeat.
-  for (i=0; i<NUMP; i++) {
-    pm[i] = dRandReal()+0.5;
-    for (j=0; j<3; j++) {
-      q[i][j] = 2.0*(dRandReal()-0.5);
-    }
-  }
-  computeMassParams (&m1,q,pm);
-  memcpy (&m2,&m1,sizeof(dMass));
-  dMassTranslate (&m2,1,2,-3);
-  for (i=0; i<NUMP; i++) {
-    q[i][0] += 1;
-    q[i][1] += 2;
-    q[i][2] -= 3;
-  }
-  computeMassParams (&m1,q,pm);
-  compareMassParams (&m1,&m2,"7");
-
-  // rotate the masses
-  _R(0,0) = -0.87919618797635;
-  _R(0,1) = 0.15278881840384;
-  _R(0,2) = -0.45129772879842;
-  _R(1,0) = -0.47307856232664;
-  _R(1,1) = -0.39258064912909;
-  _R(1,2) = 0.78871864932708;
-  _R(2,0) = -0.05666336483842;
-  _R(2,1) = 0.90693771059546;
-  _R(2,2) = 0.41743652473765;
-  dMassRotate (&m2,R);
-  for (i=0; i<NUMP; i++) {
-    dReal a[3];
-    dMultiply0 (a,&_R(0,0),&q[i][0],3,3,1);
-    q[i][0] = a[0];
-    q[i][1] = a[1];
-    q[i][2] = a[2];
-  }
-  computeMassParams (&m1,q,pm);
-  compareMassParams (&m1,&m2,"8");
-}
-
-//****************************************************************************
-// test rotation stuff
-
-void makeRandomRotation (dMatrix3 R)
-{
-  dReal *u1 = R, *u2=R+4, *u3=R+8;
-  dMakeRandomVector (u1,3,1.0);
-  dNormalize3 (u1);
-  dMakeRandomVector (u2,3,1.0);
-  dReal d = dDOT(u1,u2);
-  u2[0] -= d*u1[0];
-  u2[1] -= d*u1[1];
-  u2[2] -= d*u1[2];
-  dNormalize3 (u2);
-  dCROSS (u3,=,u1,u2);
-}
-
-
-void testRtoQandQtoR()
-{
-  HEADER;
-  dMatrix3 R,I,R2;
-  dQuaternion q;
-  int i;
-
-  // test makeRandomRotation()
-  makeRandomRotation (R);
-  dMultiply2 (I,R,R,3,3,3);
-  printf ("\tmakeRandomRotation() - %s (1)\n",
-          cmpIdentityMat3(I) ? "passed" : "FAILED");
-
-  // test QtoR() on random normalized quaternions
-  int ok = 1;
-  for (i=0; i<100; i++) {
-    dMakeRandomVector (q,4,1.0);
-    dNormalize4 (q);
-    dQtoR (q,R);
-    dMultiply2 (I,R,R,3,3,3);
-    if (cmpIdentityMat3(I)==0) ok = 0;
-  }
-  printf ("\tQtoR() orthonormality %s (2)\n", ok ? "passed" : "FAILED");
-
-  // test R -> Q -> R works
-  dReal maxdiff=0;
-  for (i=0; i<100; i++) {
-    makeRandomRotation (R);
-    dRtoQ (R,q);
-    dQtoR (q,R2);
-    dReal diff = dMaxDifference (R,R2,3,3);
-    if (diff > maxdiff) maxdiff = diff;
-  }
-  printf ("\tmaximum difference = %e - %s (3)\n",maxdiff,
-          (maxdiff > tol) ? "FAILED" : "passed");
-}
-
-
-void testQuaternionMultiply()
-{
-  HEADER;
-  dMatrix3 RA,RB,RC,Rtest;
-  dQuaternion qa,qb,qc;
-  dReal diff,maxdiff=0;
-
-  for (int i=0; i<100; i++) {
-    makeRandomRotation (RB);
-    makeRandomRotation (RC);
-    dRtoQ (RB,qb);
-    dRtoQ (RC,qc);
-
-    dMultiply0 (RA,RB,RC,3,3,3);
-    dQMultiply0 (qa,qb,qc);
-    dQtoR (qa,Rtest);
-    diff = dMaxDifference (Rtest,RA,3,3);
-    if (diff > maxdiff) maxdiff = diff;
-
-    dMultiply1 (RA,RB,RC,3,3,3);
-    dQMultiply1 (qa,qb,qc);
-    dQtoR (qa,Rtest);
-    diff = dMaxDifference (Rtest,RA,3,3);
-    if (diff > maxdiff) maxdiff = diff;
-
-    dMultiply2 (RA,RB,RC,3,3,3);
-    dQMultiply2 (qa,qb,qc);
-    dQtoR (qa,Rtest);
-    diff = dMaxDifference (Rtest,RA,3,3);
-    if (diff > maxdiff) maxdiff = diff;
-
-    dMultiply0 (RA,RC,RB,3,3,3);
-    transpose3x3 (RA);
-    dQMultiply3 (qa,qb,qc);
-    dQtoR (qa,Rtest);
-    diff = dMaxDifference (Rtest,RA,3,3);
-    if (diff > maxdiff) maxdiff = diff;
-  }
-  printf ("\tmaximum difference = %e - %s\n",maxdiff,
-          (maxdiff > tol) ? "FAILED" : "passed");
-}
-
-
-void testRotationFunctions()
-{
-  dMatrix3 R1;
-  HEADER;
-
-  printf ("\tdRSetIdentity - ");
-  dMakeRandomMatrix (R1,3,3,1.0);
-  dRSetIdentity (R1);
-  if (cmpIdentityMat3(R1)) printf ("passed\n"); else printf ("FAILED\n");
-
-  printf ("\tdRFromAxisAndAngle - ");
-
-  printf ("\n");
-  printf ("\tdRFromEulerAngles - ");
-
-  printf ("\n");
-  printf ("\tdRFrom2Axes - ");
-
-  printf ("\n");
-}
-
-//****************************************************************************
-
-#include "../src/array.h"
-#include "../src/array.cpp"
-
-// matrix header on the stack
-
-class dMatrixComparison {
-  struct dMatInfo;
-  dArray<dMatInfo*> mat;
-  int afterfirst,index;
-
-public:
-  dMatrixComparison();
-  ~dMatrixComparison();
-
-  dReal nextMatrix (dReal *A, int n, int m, int lower_tri, char *name, ...);
-  // add a new n*m matrix A to the sequence. the name of the matrix is given
-  // by the printf-style arguments (name,...). if this is the first sequence
-  // then this object will simply record the matrices and return 0.
-  // if this the second or subsequent sequence then this object will compare
-  // the matrices with the first sequence, and report any differences.
-  // the matrix error will be returned. if `lower_tri' is 1 then only the
-  // lower triangle of the matrix (including the diagonal) will be compared
-  // (the matrix must be square).
-
-  void end();
-  // end a sequence.
-
-  void reset();
-  // restarts the object, so the next sequence will be the first sequence.
-
-  void dump();
-  // print out info about all the matrices in the sequence
-};
-
-struct dMatrixComparison::dMatInfo {
-  int n,m;              // size of matrix
-  char name[128];       // name of the matrix
-  dReal *data;          // matrix data
-  int size;             // size of `data'
-};
-
-
-
-dMatrixComparison::dMatrixComparison()
-{
-  afterfirst = 0;
-  index = 0;
-}
-
-
-dMatrixComparison::~dMatrixComparison()
-{
-  reset();
-}
-
-
-dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri,
-                                     char *name, ...)
-{
-  if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix");
-  int num = n*dPAD(m);
-
-  if (afterfirst==0) {
-    dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo));
-    mi->n = n;
-    mi->m = m;
-    mi->size = num * sizeof(dReal);
-    mi->data = (dReal*) dAlloc (mi->size);
-    memcpy (mi->data,A,mi->size);
-
-    va_list ap;
-    va_start (ap,name);
-    vsprintf (mi->name,name,ap);
-    if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long");
-
-    mat.push (mi);
-    return 0;
-  }
-  else {
-    if (lower_tri && n != m)
-      dDebug (0,"dMatrixComparison, lower triangular matrix must be square");
-    if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices");
-    dMatInfo *mp = mat[index];
-    index++;
-
-    dMatInfo mi;
-    va_list ap;
-    va_start (ap,name);
-    vsprintf (mi.name,name,ap);
-    if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long");
-
-    if (strcmp(mp->name,mi.name) != 0)
-      dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")",
-              mp->name,mi.name);
-    if (mp->n != n || mp->m != m)
-      dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)",
-              mp->n,mp->m,n,m);
-
-    dReal maxdiff;
-    if (lower_tri) {
-      maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n);
-    }
-    else {
-      maxdiff = dMaxDifference (A,mp->data,n,m);
-    }
-    if (maxdiff > tol)
-      dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", "
-              "error=%.4e)",n,m,mi.name,maxdiff);
-    return maxdiff;
-  }
-}
-
-
-void dMatrixComparison::end()
-{
-  if (mat.size() <= 0) dDebug (0,"no matrices in sequence");
-  afterfirst = 1;
-  index = 0;
-}
-
-
-void dMatrixComparison::reset()
-{
-  for (int i=0; i<mat.size(); i++) {
-    dFree (mat[i]->data,mat[i]->size);
-    dFree (mat[i],sizeof(dMatInfo));
-  }
-  mat.setSize (0);
-  afterfirst = 0;
-  index = 0;
-}
-
-
-void dMatrixComparison::dump()
-{
-  for (int i=0; i<mat.size(); i++)
-    printf ("%d: %s (%dx%d)\n",i,mat[i]->name,mat[i]->n,mat[i]->m);
-}
-
-//****************************************************************************
-// unit test
-
-#include <setjmp.h>
-
-// static jmp_buf jump_buffer;
-
-static void myDebug (int num, const char *msg, va_list ap)
-{
-  // printf ("(Error %d: ",num);
-  // vprintf (msg,ap);
-  // printf (")\n");
-  longjmp (jump_buffer,1);
-}
-
-
-extern "C" void dTestMatrixComparison()
-{
-  volatile int i;
-  printf ("dTestMatrixComparison()\n");
-  dMessageFunction *orig_debug = dGetDebugHandler();
-
-  dMatrixComparison mc;
-  dReal A[50*50];
-
-  // make first sequence
-  unsigned long seed = dRandGetSeed();
-  for (i=1; i<49; i++) {
-    dMakeRandomMatrix (A,i,i+1,1.0);
-    mc.nextMatrix (A,i,i+1,0,"A%d",i);
-  }
-  mc.end();
-
-  //mc.dump();
-
-  // test identical sequence
-  dSetDebugHandler (&myDebug);
-  dRandSetSeed (seed);
-  if (setjmp (jump_buffer)) {
-    printf ("\tFAILED (1)\n");
-  }
-  else {
-    for (i=1; i<49; i++) {
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-    }
-    mc.end();
-    printf ("\tpassed (1)\n");
-  }
-  dSetDebugHandler (orig_debug);
-
-  // test broken sequences (with matrix error)
-  dRandSetSeed (seed);
-  volatile int passcount = 0;
-  for (i=1; i<49; i++) {
-    if (setjmp (jump_buffer)) {
-      passcount++;
-    }
-    else {
-      dSetDebugHandler (&myDebug);
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      A[(i-1)*dPAD(i+1)+i] += REAL(0.01);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-      dSetDebugHandler (orig_debug);
-    }
-  }
-  mc.end();
-  printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED");
-
-  // test broken sequences (with name error)
-  dRandSetSeed (seed);
-  passcount = 0;
-  for (i=1; i<49; i++) {
-    if (setjmp (jump_buffer)) {
-      passcount++;
-    }
-    else {
-      dSetDebugHandler (&myDebug);
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"B%d",i);
-      dSetDebugHandler (orig_debug);
-    }
-  }
-  mc.end();
-  printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED");
-
-  // test identical sequence again
-  dSetDebugHandler (&myDebug);
-  dRandSetSeed (seed);
-  if (setjmp (jump_buffer)) {
-    printf ("\tFAILED (4)\n");
-  }
-  else {
-    for (i=1; i<49; i++) {
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-    }
-    mc.end();
-    printf ("\tpassed (4)\n");
-  }
-  dSetDebugHandler (orig_debug);
-}
-
-//****************************************************************************
-
-// internal unit tests
-extern "C" void dTestDataStructures();
-extern "C" void dTestMatrixComparison();
-extern "C" void dTestSolveLCP();
-
-
-int main()
-{
-  dInitODE();
-  testRandomNumberGenerator();
-  testInfinity();
-  testPad();
-  testCrossProduct();
-  testSetZero();
-  testNormalize3();
-  //testReorthonormalize();     ... not any more
-  testPlaneSpace();
-  testMatrixMultiply();
-  testSmallMatrixMultiply();
-  testCholeskyFactorization();
-  testCholeskySolve();
-  testInvertPDMatrix();
-  testIsPositiveDefinite();
-  testFastLDLTFactorization();
-  testSolveLDLT();
-  testLDLTAddTL();
-  testLDLTRemove();
-  testMassFunctions();
-  testRtoQandQtoR();
-  testQuaternionMultiply();
-  testRotationFunctions();
-  dTestMatrixComparison();
-  dTestSolveLCP();
-  // dTestDataStructures();
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_plane2d.cpp b/libraries/ode-0.9/ode/demo/demo_plane2d.cpp
deleted file mode 100644
index 3ba4df8..0000000
--- a/libraries/ode-0.9/ode/demo/demo_plane2d.cpp
+++ /dev/null
@@ -1,268 +0,0 @@
-// Test my Plane2D constraint.
-// Uses ode-0.35 collision API.
-
-# include       <stdio.h>
-# include       <stdlib.h>
-# include       <math.h>
-# include       <ode/ode.h>
-# include       <drawstuff/drawstuff.h>
-
-#   define drand48()  ((double) (((double) rand()) / ((double) RAND_MAX)))
-
-# define        N_BODIES        40
-# define        STAGE_SIZE      8.0  // in m
-
-# define        TIME_STEP       0.01
-# define        K_SPRING        10.0
-# define        K_DAMP          10.0
-
-
-static dWorld   dyn_world;
-static dBody    dyn_bodies[N_BODIES];
-static dReal    bodies_sides[N_BODIES][3];
-
-static dSpaceID coll_space_id;
-static dJointID plane2d_joint_ids[N_BODIES];
-static dJointGroup
-                coll_contacts;
-
-
-
-static void     cb_start ()
-/*************************/
-{
-    static float    xyz[3] = { 0.5f*STAGE_SIZE, 0.5f*STAGE_SIZE, 0.65f*STAGE_SIZE};
-    static float    hpr[3] = { 90.0f, -90.0f, 0 };
-
-    dsSetViewpoint (xyz, hpr);
-}
-
-
-
-static void     cb_near_collision (void *data, dGeomID o1, dGeomID o2)
-/********************************************************************/
-{
-    dBodyID     b1 = dGeomGetBody (o1);
-    dBodyID     b2 = dGeomGetBody (o2);
-    dContact    contact;
-
-
-    // exit without doing anything if the two bodies are static
-    if (b1 == 0 && b2 == 0)
-        return;
-
-    // exit without doing anything if the two bodies are connected by a joint
-    if (b1 && b2 && dAreConnected (b1, b2))
-    {
-        /* MTRAP; */
-        return;
-    }
-
-    contact.surface.mode = 0;
-    contact.surface.mu = 0; // frictionless
-
-    if (dCollide (o1, o2, 1, &contact.geom, sizeof (dContactGeom)))
-    {
-        dJointID c = dJointCreateContact (dyn_world.id(),
-                        coll_contacts.id (), &contact);
-        dJointAttach (c, b1, b2);
-    }
-}
-
-
-static void     track_to_pos (dBody &body, dJointID joint_id,
-                              dReal target_x, dReal target_y)
-/************************************************************************/
-{
-    dReal  curr_x = body.getPosition()[0];
-    dReal  curr_y = body.getPosition()[1];
-
-    dJointSetPlane2DXParam (joint_id, dParamVel, 1 * (target_x - curr_x));
-    dJointSetPlane2DYParam (joint_id, dParamVel, 1 * (target_y - curr_y));
-}
-
-
-
-static void     cb_sim_step (int pause)
-/*************************************/
-{
-    if (! pause)
-    {
-        static dReal angle = 0;
-
-        angle += REAL( 0.01 );
-
-        track_to_pos (dyn_bodies[0], plane2d_joint_ids[0],
-            dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * cos (angle) ),
-            dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * sin (angle) ));
-
-        /* double   f0 = 0.001; */
-        /* for (int b = 0; b < N_BODIES; b ++) */
-        /* { */
-            /* double   p = 1 + b / (double) N_BODIES; */
-            /* double   q = 2 - b / (double) N_BODIES; */
-            /* dyn_bodies[b].addForce (f0 * cos (p*angle), f0 * sin (q*angle), 0); */
-        /* } */
-        /* dyn_bodies[0].addTorque (0, 0, 0.1); */
-
-        const int n = 10;
-        for (int i = 0; i < n; i ++)
-        {
-            dSpaceCollide (coll_space_id, 0, &cb_near_collision);
-            dyn_world.step (dReal(TIME_STEP/n));
-            coll_contacts.empty ();
-        }
-    }
-
-# if 1  /* [ */
-    {
-        // @@@ hack Plane2D constraint error reduction here:
-        for (int b = 0; b < N_BODIES; b ++)
-        {
-            const dReal     *rot = dBodyGetAngularVel (dyn_bodies[b].id());
-            const dReal     *quat_ptr;
-            dReal           quat[4],
-                            quat_len;
-
-
-            quat_ptr = dBodyGetQuaternion (dyn_bodies[b].id());
-            quat[0] = quat_ptr[0];
-            quat[1] = 0;
-            quat[2] = 0;
-            quat[3] = quat_ptr[3];
-            quat_len = sqrt (quat[0] * quat[0] + quat[3] * quat[3]);
-            quat[0] /= quat_len;
-            quat[3] /= quat_len;
-            dBodySetQuaternion (dyn_bodies[b].id(), quat);
-            dBodySetAngularVel (dyn_bodies[b].id(), 0, 0, rot[2]);
-        }
-    }
-# endif  /* ] */
-
-
-# if 0  /* [ */
-    {
-        // @@@ friction
-        for (int b = 0; b < N_BODIES; b ++)
-        {
-            const dReal *vel = dBodyGetLinearVel (dyn_bodies[b].id()),
-                        *rot = dBodyGetAngularVel (dyn_bodies[b].id());
-            dReal       s = 1.00;
-            dReal       t = 0.99;
-
-            dBodySetLinearVel (dyn_bodies[b].id(), s*vel[0],s*vel[1],s*vel[2]);
-            dBodySetAngularVel (dyn_bodies[b].id(),t*rot[0],t*rot[1],t*rot[2]);
-        }
-    }
-# endif  /* ] */
-
-
-    {
-        // ode  drawstuff
-
-        dsSetTexture (DS_WOOD);
-        for (int b = 0; b < N_BODIES; b ++)
-        {
-            if (b == 0)
-            dsSetColor (1.0, 0.5, 1.0);
-            else
-            dsSetColor (0, 0.5, 1.0);
-#ifdef dDOUBLE
-            dsDrawBoxD (dyn_bodies[b].getPosition(), dyn_bodies[b].getRotation(), bodies_sides[b]);
-#else
-            dsDrawBox (dyn_bodies[b].getPosition(), dyn_bodies[b].getRotation(), bodies_sides[b]);
-#endif
-        }
-    }
-}
-
-
-
-extern int      main
-/******************/
-(
-    int         argc,
-    char        **argv
-)
-{
-    int         b;
-    dsFunctions drawstuff_functions;
-
-
-         dInitODE();
-
-    // dynamic world
-
-    dReal  cf_mixing;// = 1 / TIME_STEP * K_SPRING + K_DAMP;
-    dReal  err_reduct;// = TIME_STEP * K_SPRING * cf_mixing;
-    err_reduct = REAL( 0.5 );
-    cf_mixing = REAL( 0.001 );
-    dWorldSetERP (dyn_world.id (), err_reduct);
-    dWorldSetCFM (dyn_world.id (), cf_mixing);
-    dyn_world.setGravity (0, 0.0, -1.0);
-
-    coll_space_id = dSimpleSpaceCreate (0);
-
-    // dynamic bodies
-    for (b = 0; b < N_BODIES; b ++)
-    {
-        int     l = (int) (1 + sqrt ((double) N_BODIES));
-        dReal  x = dReal( (0.5 + (b / l)) / l * STAGE_SIZE );
-        dReal  y = dReal( (0.5 + (b % l)) / l * STAGE_SIZE );
-        dReal  z = REAL( 1.0 ) + REAL( 0.1 ) * (dReal)drand48();
-
-        bodies_sides[b][0] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) );
-        bodies_sides[b][1] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) );
-        bodies_sides[b][2] = z;
-
-        dyn_bodies[b].create (dyn_world);
-        dyn_bodies[b].setPosition (x, y, z/2);
-        dyn_bodies[b].setData ((void*) (size_t)b);
-        dBodySetLinearVel (dyn_bodies[b].id (),
-            dReal( 3 * (drand48 () - 0.5) ), 
-                        dReal( 3 * (drand48 () - 0.5) ), 0);
-
-        dMass m;
-        m.setBox (1, bodies_sides[b][0],bodies_sides[b][1],bodies_sides[b][2]);
-        m.adjust (REAL(0.1) * bodies_sides[b][0] * bodies_sides[b][1]);
-        dyn_bodies[b].setMass (&m);
-
-        plane2d_joint_ids[b] = dJointCreatePlane2D (dyn_world.id (), 0);
-        dJointAttach (plane2d_joint_ids[b], dyn_bodies[b].id (), 0);
-    }
-
-    dJointSetPlane2DXParam (plane2d_joint_ids[0], dParamFMax, 10);
-    dJointSetPlane2DYParam (plane2d_joint_ids[0], dParamFMax, 10);
-
-
-    // collision geoms and joints
-    dCreatePlane (coll_space_id,  1, 0, 0, 0);
-    dCreatePlane (coll_space_id, -1, 0, 0, -STAGE_SIZE);
-    dCreatePlane (coll_space_id,  0,  1, 0, 0);
-    dCreatePlane (coll_space_id,  0, -1, 0, -STAGE_SIZE);
-
-    for (b = 0; b < N_BODIES; b ++)
-    {
-        dGeomID coll_box_id;
-        coll_box_id = dCreateBox (coll_space_id,
-            bodies_sides[b][0], bodies_sides[b][1], bodies_sides[b][2]);
-        dGeomSetBody (coll_box_id, dyn_bodies[b].id ());
-    }
-
-    coll_contacts.create (0);
-
-    {
-        // simulation loop (by drawstuff lib)
-        drawstuff_functions.version = DS_VERSION;
-        drawstuff_functions.start = &cb_start;
-        drawstuff_functions.step = &cb_sim_step;
-        drawstuff_functions.command = 0;
-        drawstuff_functions.stop = 0;
-        drawstuff_functions.path_to_textures = "../../drawstuff/textures";
-
-        dsSimulationLoop (argc, argv, 352,288,&drawstuff_functions);
-    }
-
-         dCloseODE();
-    return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_slider.cpp b/libraries/ode-0.9/ode/demo/demo_slider.cpp
deleted file mode 100644
index 5de08b0..0000000
--- a/libraries/ode-0.9/ode/demo/demo_slider.cpp
+++ /dev/null
@@ -1,172 +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
-#endif
-
-
-// some constants
-#define SIDE (0.5f)     // side length of a box
-#define MASS (1.0)      // mass of a box
-
-
-// dynamics and collision objects
-static dWorldID world;
-static dBodyID body[2];
-static dJointID slider;
-
-
-// state set by keyboard commands
-static int occasional_error = 0;
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
-  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-  printf ("Press 'e' to start/stop occasional error.\n");
-}
-
-
-// called when a key pressed
-
-static void command (int cmd)
-{
-  if (cmd == 'e' || cmd == 'E') {
-    occasional_error ^= 1;
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  const dReal kd = -0.3;        // angular damping constant
-  const dReal ks = 0.5; // spring constant
-  if (!pause) {
-    // add an oscillating torque to body 0, and also damp its rotational motion
-    static dReal a=0;
-    const dReal *w = dBodyGetAngularVel (body[0]);
-    dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a));
-    a += 0.01;
-
-    // add a spring force to keep the bodies together, otherwise they will
-    // fly apart along the slider axis.
-    const dReal *p1 = dBodyGetPosition (body[0]);
-    const dReal *p2 = dBodyGetPosition (body[1]);
-    dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),
-                   ks*(p2[2]-p1[2]));
-    dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),
-                   ks*(p1[2]-p2[2]));
-
-    // occasionally re-orient one of the bodies to create a deliberate error.
-    if (occasional_error) {
-      static int count = 0;
-      if ((count % 20)==0) {
-        // randomly adjust orientation of body[0]
-        const dReal *R1;
-        dMatrix3 R2,R3;
-        R1 = dBodyGetRotation (body[0]);
-        dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
-                            dRandReal()-0.5,dRandReal()-0.5);
-        dMultiply0 (R3,R1,R2,3,3,3);
-        dBodySetRotation (body[0],R3);
-
-        // randomly adjust position of body[0]
-        const dReal *pos = dBodyGetPosition (body[0]);
-        dBodySetPosition (body[0],
-                          pos[0]+0.2*(dRandReal()-0.5),
-                          pos[1]+0.2*(dRandReal()-0.5),
-                          pos[2]+0.2*(dRandReal()-0.5));
-      }
-      count++;
-    }
-
-    dWorldStep (world,0.05);
-  }
-
-  dReal sides1[3] = {SIDE,SIDE,SIDE};
-  dReal sides2[3] = {SIDE*0.8f,SIDE*0.8f,SIDE*2.0f};
-  dsSetTexture (DS_WOOD);
-  dsSetColor (1,1,0);
-  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
-  dsSetColor (0,1,1);
-  dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
-}
-
-
-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
-  dInitODE();
-  world = dWorldCreate();
-  dMass m;
-  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
-  dMassAdjust (&m,MASS);
-
-  body[0] = dBodyCreate (world);
-  dBodySetMass (body[0],&m);
-  dBodySetPosition (body[0],0,0,1);
-  body[1] = dBodyCreate (world);
-  dBodySetMass (body[1],&m);
-  dQuaternion q;
-  dQFromAxisAndAngle (q,-1,1,0,0.25*M_PI);
-  dBodySetPosition (body[1],0.2,0.2,1.2);
-  dBodySetQuaternion (body[1],q);
-
-  slider = dJointCreateSlider (world,0);
-  dJointAttach (slider,body[0],body[1]);
-  dJointSetSliderAxis (slider,1,1,1);
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_space.cpp b/libraries/ode-0.9/ode/demo/demo_space.cpp
deleted file mode 100644
index 73101b5..0000000
--- a/libraries/ode-0.9/ode/demo/demo_space.cpp
+++ /dev/null
@@ -1,233 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-testing procedure:
-  * create a bunch of random boxes
-  * test for intersections directly, put results in n^2 array
-  * get space to report collisions:
-    - all correct collisions reported
-    - no pair reported more than once
-    - no incorrect collisions reported
-
-*/
-
-
-#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 dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// some constants
-
-#define NUM 20                  // number of boxes to test
-
-
-// collision objects and globals
-
-static dSpaceID space;
-static dGeomID geom[NUM];
-static dReal bounds[NUM][6];
-static size_t good_matrix[NUM][NUM];    // correct collision matrix
-static size_t test_matrix[NUM][NUM];    // testing collision matrix
-static size_t hits[NUM];                // number of collisions a box has
-static unsigned long seed=37;
-
-
-static void init_test()
-{
-  int i,j;
-  const dReal scale = 0.5;
-
-  // set random boxes
-  dRandSetSeed (seed);
-  for (i=0; i < NUM; i++) {
-    bounds[i][0] = dRandReal()*2-1;
-    bounds[i][1] = bounds[i][0] + dRandReal()*scale;
-    bounds[i][2] = dRandReal()*2-1;
-    bounds[i][3] = bounds[i][2] + dRandReal()*scale;
-    bounds[i][4] = dRandReal()*2;
-    bounds[i][5] = bounds[i][4] + dRandReal()*scale;
-
-    if (geom[i]) dGeomDestroy (geom[i]);
-    geom[i] = dCreateBox (space,
-                          bounds[i][1] - bounds[i][0],
-                          bounds[i][3] - bounds[i][2],
-                          bounds[i][5] - bounds[i][4]);
-    dGeomSetPosition (geom[i],
-                      (bounds[i][0] + bounds[i][1])*0.5,
-                      (bounds[i][2] + bounds[i][3])*0.5,
-                      (bounds[i][4] + bounds[i][5])*0.5);
-    dGeomSetData (geom[i],(void*)(size_t)(i));
-  }
-
-  // compute all intersections and put the results in "good_matrix"
-  for (i=0; i < NUM; i++) {
-    for (j=0; j < NUM; j++) good_matrix[i][j] = 0;
-  }
-  for (i=0; i < NUM; i++) hits[i] = 0;
-
-  for (i=0; i < NUM; i++) {
-    for (j=i+1; j < NUM; j++) {
-      dReal *bounds1 = &bounds[i][0];
-      dReal *bounds2 = &bounds[j][0];
-      if (bounds1[0] > bounds2[1] ||
-          bounds1[1] < bounds2[0] ||
-          bounds1[2] > bounds2[3] ||
-          bounds1[3] < bounds2[2] ||
-          bounds1[4] > bounds2[5] ||
-          bounds1[5] < bounds2[4]) continue;
-      good_matrix[i][j] = 1;
-      good_matrix[j][i] = 1;
-      hits[i]++;
-      hits[j]++;
-    }
-  }
-}
-
-
-// this is called by dSpaceCollide when two objects in space are
-// potentially colliding.
-
-static void nearCallback (void *data, dGeomID o1, dGeomID o2)
-{
-  size_t i,j;
-  i = (size_t) dGeomGetData (o1);
-  j = (size_t) dGeomGetData (o2);
-  if (i==j)
-    printf ("collision (%d,%d) is between the same object\n",i,j);
-  if (!good_matrix[i][j] || !good_matrix[j][i])
-    printf ("collision (%d,%d) is incorrect\n",i,j);
-  if (test_matrix[i][j] || test_matrix[j][i])
-    printf ("collision (%d,%d) reported more than once\n",i,j);
-  test_matrix[i][j] = 1;
-  test_matrix[j][i] = 1;
-}
-
-
-// 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);
-}
-
-
-static void command (int cmd)
-{
-  if (cmd == ' ') {
-    seed++;
-    init_test();
-  }
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  int i,j;
-
-  for (i=0; i < NUM; i++) {
-    for (j=0; j < NUM; j++) test_matrix[i][j] = 0;
-  }
-  dSpaceCollide (space,0,&nearCallback);
-  for (i=0; i < NUM; i++) {
-    for (j=i+1; j < NUM; j++) {
-      if (good_matrix[i][j] && !test_matrix[i][j]) {
-        printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed);
-      }
-    }
-  }
-
-  seed++;
-  init_test();
-
-  for (i=0; i<NUM; i++) {
-    dVector3 pos,side;
-    dMatrix3 R;
-    dRSetIdentity (R);
-    for (j=0; j<3; j++) pos[j] = (bounds[i][j*2+1] + bounds[i][j*2]) * 0.5;
-    for (j=0; j<3; j++) side[j] = bounds[i][j*2+1] - bounds[i][j*2];
-    if (hits[i] > 0) dsSetColor (1,0,0);
-    else dsSetColor (1,1,0);
-    dsDrawBox (pos,R,side);
-  }
-}
-
-
-int main (int argc, char **argv)
-{
-  int i;
-
-  // 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];
-    }
-
-  dInitODE();
-
-  // test the simple space:
-  // space = dSimpleSpaceCreate();
-
-  // test the hash space:
-  // space = dHashSpaceCreate (0);
-  // dHashSpaceSetLevels (space,-10,10);
-
-  // test the quadtree space
-  dVector3 Center = {0, 0, 0, 0};
-  dVector3 Extents = {10, 0, 10, 0};
-  space = dQuadTreeSpaceCreate(0, Center, Extents, 7);
-
-  for (i=0; i < NUM; i++) geom[i] = 0;
-  init_test();
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dSpaceDestroy (space);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_space_stress.cpp b/libraries/ode-0.9/ode/demo/demo_space_stress.cpp
deleted file mode 100644
index e1be369..0000000
--- a/libraries/ode-0.9/ode/demo/demo_space_stress.cpp
+++ /dev/null
@@ -1,435 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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 dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// some constants
-
-#define NUM 10000                       // 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
-#define WORLD_SIZE 100
-
-
-// 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?
-static int draw_geom = 1;
-
-
-// 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 | 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 ("   o to disable rendering.\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()*WORLD_SIZE-(WORLD_SIZE/2),dRandReal()*WORLD_SIZE-(WORLD_SIZE/2),dRandReal()+1);
-      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, 0,0,maxheight+1);
-      dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
-    }
-    dBodySetRotation (obj[i].body,R);
-    dBodySetData (obj[i].body,(void*)(size_t)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;
-      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
-      obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
-    }
-/*
-    // cylinder option not yet implemented
-    else if (cmd == 'l') {
-      sides[1] *= 0.5;
-      dMassSetCapsule (&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] = dCreateCapsule (0,radius,length);
-          dMassSetCapsule (&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;
-  }
-  else if (cmd == 'o') {
-    draw_geom ^= 1;
-  }
-}
-
-
-// draw a geom
-
-void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
-{
-        if (!draw_geom){
-                return;
-        }
-
-  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 == dCapsuleClass) {
-    dReal radius,length;
-    dGeomCapsuleGetParams (g,&radius,&length);
-    dsDrawCapsule (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 (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
-    dVector3 bbsides;
-    for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*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);
-  //if (!pause) dWorldStepFast (world,0.05, 1);
-
-  // 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
-  dInitODE();
-  world = dWorldCreate();
-
-
-  dVector3 Center = {0, 0, 0, 0};
-  dVector3 Extents = {WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, 0};
-
-  //space = dSimpleSpaceCreate(0);
-  //space = dHashSpaceCreate (0);
-  space = dQuadTreeSpaceCreate (0, Center, Extents, 6);
-  
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  dWorldSetCFM (world,1e-5);
-  dCreatePlane (space,0,0,1,0);
-  memset (obj,0,sizeof(obj));
-
-  for (int i = 0; i < NUM; i++){
-        command('s');
-  }
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_step.cpp b/libraries/ode-0.9/ode/demo/demo_step.cpp
deleted file mode 100644
index df2385c..0000000
--- a/libraries/ode-0.9/ode/demo/demo_step.cpp
+++ /dev/null
@@ -1,193 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-// test the step function by comparing the output of the fast and the slow
-// version, for various systems. currently you have to define COMPARE_METHODS
-// in step.cpp for this to work properly.
-//
-// @@@ report MAX error
-
-#include <time.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 dsDrawCapsule dsDrawCapsuleD
-#endif
-
-
-// some constants
-
-#define NUM 10                  // number of bodies
-#define NUMJ 9                  // number of joints
-#define SIDE (0.2)              // side length of a box
-#define MASS (1.0)              // mass of a box
-#define RADIUS (0.1732f)        // sphere radius
-
-
-
-// dynamics and collision objects
-
-static dWorldID world=0;
-static dBodyID body[NUM];
-static dJointID joint[NUMJ];
-
-
-// create the test system
-
-void createTest()
-{
-  int i,j;
-  if (world) dWorldDestroy (world);
-
-  world = dWorldCreate();
-
-  // create random bodies
-  for (i=0; i<NUM; i++) {
-    // create bodies at random position and orientation
-    body[i] = dBodyCreate (world);
-    dBodySetPosition (body[i],dRandReal()*2-1,dRandReal()*2-1,
-                      dRandReal()*2+RADIUS);
-    dReal q[4];
-    for (j=0; j<4; j++) q[j] = dRandReal()*2-1;
-    dBodySetQuaternion (body[i],q);
-
-    // set random velocity
-    dBodySetLinearVel (body[i], dRandReal()*2-1,dRandReal()*2-1,
-                       dRandReal()*2-1);
-    dBodySetAngularVel (body[i], dRandReal()*2-1,dRandReal()*2-1,
-                        dRandReal()*2-1);
-
-    // set random mass (random diagonal mass rotated by a random amount)
-    dMass m;
-    dMatrix3 R;
-    dMassSetBox (&m,1,dRandReal()+0.1,dRandReal()+0.1,dRandReal()+0.1);
-    dMassAdjust (&m,dRandReal()+1);
-    for (j=0; j<4; j++) q[j] = dRandReal()*2-1;
-    dQtoR (q,R);
-    dMassRotate (&m,R);
-    dBodySetMass (body[i],&m);
-  }
-
-  // create ball-n-socket joints at random positions, linking random bodies
-  // (but make sure not to link the same pair of bodies twice)
-  char linked[NUM*NUM];
-  for (i=0; i<NUM*NUM; i++) linked[i] = 0;
-  for (i=0; i<NUMJ; i++) {
-    int b1,b2;
-    do {
-      b1 = dRandInt (NUM);
-      b2 = dRandInt (NUM);
-    } while (linked[b1*NUM + b2] || b1==b2);
-    linked[b1*NUM + b2] = 1;
-    linked[b2*NUM + b1] = 1;
-    joint[i] = dJointCreateBall (world,0);
-    dJointAttach (joint[i],body[b1],body[b2]);
-    dJointSetBallAnchor (joint[i],dRandReal()*2-1,
-                         dRandReal()*2-1,dRandReal()*2+RADIUS);
-  }
-
-  for (i=0; i<NUM; i++) {
-    // move bodies a bit to get some joint error
-    const dReal *pos = dBodyGetPosition (body[i]); 
-    dBodySetPosition (body[i],pos[0]+dRandReal()*0.2-0.1,
-                      pos[1]+dRandReal()*0.2-0.1,pos[2]+dRandReal()*0.2-0.1);
-  }
-}
-
-
-// start simulation - set viewpoint
-
-static void start()
-{
-  static float xyz[3] = {2.6117f,-1.4433f,2.3700f};
-  static float hpr[3] = {151.5000f,-30.5000f,0.0000f};
-  dsSetViewpoint (xyz,hpr);
-}
-
-
-// simulation loop
-
-static void simLoop (int pause)
-{
-  if (!pause) {
-    // add random forces and torques to all bodies
-    int i;
-    const dReal scale1 = 5;
-    const dReal scale2 = 5;
-    for (i=0; i<NUM; i++) {
-      dBodyAddForce (body[i],
-                     scale1*(dRandReal()*2-1),
-                     scale1*(dRandReal()*2-1),
-                     scale1*(dRandReal()*2-1));
-      dBodyAddTorque (body[i],
-                     scale2*(dRandReal()*2-1),
-                     scale2*(dRandReal()*2-1),
-                     scale2*(dRandReal()*2-1));
-    }
-
-    dWorldStep (world,0.05);
-    createTest();
-  }
-
-  // float sides[3] = {SIDE,SIDE,SIDE};
-  dsSetColor (1,1,0);
-  for (int i=0; i<NUM; i++)
-    dsDrawSphere (dBodyGetPosition(body[i]), dBodyGetRotation(body[i]),RADIUS);
-}
-
-
-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 = 0;
-  fn.stop = 0;
-  fn.path_to_textures = "../../drawstuff/textures";
-  if(argc==2)
-    {
-        fn.path_to_textures = argv[1];
-    }
-
-  dInitODE();
-  dRandSetSeed (time(0));
-  createTest();
-
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/demo_trimesh.cpp b/libraries/ode-0.9/ode/demo/demo_trimesh.cpp
deleted file mode 100644
index f87ff0b..0000000
--- a/libraries/ode-0.9/ode/demo/demo_trimesh.cpp
+++ /dev/null
@@ -1,537 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-// TriMesh test by Erwin de Vries
-
-#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 dsDrawCapsule dsDrawCapsuleD
-#define dsDrawLine dsDrawLineD
-#define dsDrawTriangle dsDrawTriangleD
-#endif
-
-
-// some constants
-
-#define NUM 200                 // max number of objects
-#define DENSITY (5.0)           // density of all objects
-#define GPB 3                   // maximum number of geometries per body
-#define MAX_CONTACTS 40         // 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?
-
-#define VertexCount 5
-#define IndexCount 12
-
-static dVector3 Size;
-static dVector3 Vertices[VertexCount];
-static int Indices[IndexCount];
-
-static dGeomID TriMesh;
-static dGeomID Ray;
-
-
-// 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 | 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++) {
-                if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
-                        dMatrix3 Rotation;
-                        dRSetIdentity(Rotation);
-                        dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
-                        
-                        dVector3 End;
-                        End[0] = contact[i].geom.pos[0] + (contact[i].geom.normal[0] * contact[i].geom.depth);
-                        End[1] = contact[i].geom.pos[1] + (contact[i].geom.normal[1] * contact[i].geom.depth);
-                        End[2] = contact[i].geom.pos[2] + (contact[i].geom.normal[2] * contact[i].geom.depth);
-                        End[3] = contact[i].geom.pos[3] + (contact[i].geom.normal[3] * contact[i].geom.depth);
-                        
-                        dsDrawLine(contact[i].geom.pos, End);
-                        continue;
-                }
-                
-      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()+1);
-      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, 0,0,maxheight+1);
-      dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
-    }
-    dBodySetRotation (obj[i].body,R);
-    dBodySetData (obj[i].body,(void*)(size_t)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;
-      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
-      obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
-    }
-/*
-    // cylinder option not yet implemented
-    else if (cmd == 'l') {
-      sides[1] *= 0.5;
-      dMassSetCapsule (&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] = dCreateCapsule (0,radius,length);
-          dMassSetCapsule (&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)
-{
-  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 == dCapsuleClass) {
-    dReal radius,length;
-    dGeomCapsuleGetParams (g,&radius,&length);
-    dsDrawCapsule (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 (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
-    dVector3 bbsides;
-    for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*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);
-  //if (!pause) dWorldStepFast (world,0.05, 1);
-
-  // 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);
-    }
-  }
-
-  /*{
-    for (int i = 1; i < IndexCount; i++) {
-      dsDrawLine(Vertices[Indices[i - 1]], Vertices[Indices[i]]);
-    }
-  }*/
-
-  {const dReal* Pos = dGeomGetPosition(TriMesh);
-  const dReal* Rot = dGeomGetRotation(TriMesh);
-
-  {for (int i = 0; i < IndexCount / 3; i++){
-    const dVector3& v0 = Vertices[Indices[i * 3 + 0]];
-        const dVector3& v1 = Vertices[Indices[i * 3 + 1]];
-        const dVector3& v2 = Vertices[Indices[i * 3 + 2]];
-        dsDrawTriangle(Pos, Rot, (dReal*)&v0, (dReal*)&v1, (dReal*)&v2, 0);
-  }}}
-
-  if (Ray){
-          dVector3 Origin, Direction;
-          dGeomRayGet(Ray, Origin, Direction);
-          
-          dReal Length = dGeomRayGetLength(Ray);
-          
-          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
-  dInitODE();
-  world = dWorldCreate();
-
-  space = dSimpleSpaceCreate(0);
-  contactgroup = dJointGroupCreate (0);
-  dWorldSetGravity (world,0,0,-0.5);
-  dWorldSetCFM (world,1e-5);
-  //dCreatePlane (space,0,0,1,0);
-  memset (obj,0,sizeof(obj));
-  
-  Size[0] = 5.0f;
-  Size[1] = 5.0f;
-  Size[2] = 2.5f;
-  
-  Vertices[0][0] = -Size[0];
-  Vertices[0][1] = -Size[1];
-  Vertices[0][2] = Size[2];
-  
-  Vertices[1][0] = Size[0];
-  Vertices[1][1] = -Size[1];
-  Vertices[1][2] = Size[2];
-  
-  Vertices[2][0] = Size[0];
-  Vertices[2][1] = Size[1];
-  Vertices[2][2] = Size[2];
-  
-  Vertices[3][0] = -Size[0];
-  Vertices[3][1] = Size[1];
-  Vertices[3][2] = Size[2];
-  
-  Vertices[4][0] = 0;
-  Vertices[4][1] = 0;
-  Vertices[4][2] = 0;
-  
-  Indices[0] = 0;
-  Indices[1] = 1;
-  Indices[2] = 4;
-  
-  Indices[3] = 1;
-  Indices[4] = 2;
-  Indices[5] = 4;
-  
-  Indices[6] = 2;
-  Indices[7] = 3;
-  Indices[8] = 4;
-  
-  Indices[9] = 3;
-  Indices[10] = 0;
-  Indices[11] = 4;
-
-  dTriMeshDataID Data = dGeomTriMeshDataCreate();
-
-  dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount);
-  
-  TriMesh = dCreateTriMesh(space, Data, 0, 0, 0);
-
-  //dGeomSetPosition(TriMesh, 0, 0, 1.0);
-  
-  Ray = dCreateRay(space, 0.9);
-  dVector3 Origin, Direction;
-  Origin[0] = 0.0;
-  Origin[1] = 0;
-  Origin[2] = 0.5;
-  Origin[3] = 0;
-  
-  Direction[0] = 0;
-  Direction[1] = 1.1f;
-  Direction[2] = -1;
-  Direction[3] = 0;
-  dNormalize3(Direction);
-  
-  dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]);
-  
-  // run simulation
-  dsSimulationLoop (argc,argv,352,288,&fn);
-
-  dJointGroupDestroy (contactgroup);
-  dSpaceDestroy (space);
-  dWorldDestroy (world);
-  dCloseODE();
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/demo/world_geom3.h b/libraries/ode-0.9/ode/demo/world_geom3.h
deleted file mode 100644
index 0b94a5e..0000000
--- a/libraries/ode-0.9/ode/demo/world_geom3.h
+++ /dev/null
@@ -1,9 +0,0 @@
-// mesh for a world model, to be used with test_cyl.cpp
-
-static float world_vertices[] = {10.000000f,-10.000000f,1.000000f,-10.000000f,-10.000000f,1.000000f,-10.000000f,-10.000000f,-1.000000f,-10.000000f,-10.000000f,-1.000000f,10.000000f,-10.000000f,-1.000000f,10.000000f,-10.000000f,1.000000f,10.000000f,10.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,10.000000f,-10.000000f,-1.000000f,10.000000f,-10.000000f,-1.000000f,10.000000f,10.000000f,-1.000000f,10.000000f,10.000000f,1.000000f,10.000000f,10.000000f,-1.000000f,10.000000f,-10.000000f,-1.000000f,-10.000000f,-10.000000f,-1.000000f,-10.000000f,-10.000000f,-1.000000f,-10.000000f,10.000000f,-1.000000f,10.000000f,10.000000f,-1.000000f,0.000000f,9.000000f,-0.000000f,0.000000f,-9.000000f,0.000000f,9.000000f,-9.000000f,0.000000f,0.000000f,9.000000f,-0.000000f,9.000000f,-9.000000f,0.000000f,9.000000f,9.000000f,-0.000000f,10.000000f,10.000000f,-1.000000f,-10.000000f,10.000000f,-1.000000f,-10.000000f,10.000000f,1.000000f,10.000000f,10.000000f,-1.000000f,-10.000000f,10.000000f,1.000000f,10.000000f,10.000000f,1.000000f,-10.000000f,-10.000000f,-1.000000f,-10.000000f,-10.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-10.000000f,10.000000f,-1.000000f,-10.000000f,-10.000000f,-1.000000f,9.000000f,-9.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,-10.000000f,-10.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,9.000000f,9.000000f,1.000000f,9.000000f,-9.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,10.000000f,10.000000f,1.000000f,9.000000f,9.000000f,1.000000f,-9.000000f,9.000000f,1.000000f,9.000000f,9.000000f,1.000000f,10.000000f,10.000000f,1.000000f,10.000000f,10.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-9.000000f,9.000000f,1.000000f,-9.000000f,9.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-10.000000f,-10.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,0.000000f,-9.000000f,0.000000f,-9.000000f,-9.000000f,0.000000f,-9.000000f,-9.000000f,1.000000f,0.000000f,-9.000000f,0.000000f,-9.000000f,-9.000000f,1.000000f,9.000000f,-9.000000f,1.000000f,0.000000f,-9.000000f,0.000000f,9.000000f,-9.000000f,1.000000f,9.000000f,-9.000000f,0.000000f,9.000000f,-9.000000f,0.000000f,9.000000f,-9.000000f,1.000000f,9.000000f,9.000000f,1.000000f,9.000000f,9.000000f,1.000000f,9.000000f,9.000000f,-0.000000f,9.000000f,-9.000000f,0.000000f,0.000000f,9.000000f,-0.000000f,9.000000f,9.000000f,-0.000000f,9.000000f,9.000000f,1.000000f,0.000000f,9.000000f,-0.000000f,9.000000f,9.000000f,1.000000f,-9.000000f,9.000000f,1.000000f,0.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,1.000000f,-9.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,-9.000000f,-9.000000f,0.000000f,-9.000000f,-9.000000f,0.000000f,-9.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,1.000000f,-2.997000f,-1.748874f,0.000000f,-2.997000f,-2.001000f,0.000000f,0.000000f,-9.000000f,0.000000f,-2.997000f,-1.748874f,0.000000f,0.000000f,-9.000000f,0.000000f,-2.997000f,1.748874f,-0.000000f,-2.997000f,-2.001000f,0.000000f,-2.997000f,-6.003000f,0.002697f,0.000000f,-9.000000f,0.000000f,0.000000f,9.000000f,-0.000000f,-2.997000f,2.001000f,-0.000000f,-2.997000f,1.748874f,-0.000000f,0.000000f,9.000000f,-0.000000f,-2.997000f,1.748874f,-0.000000f,0.000000f,-9.000000f,0.000000f,-2.997000f,2.001000f,-0.000000f,0.000000f,9.000000f,-0.000000f,-2.997000f,6.003000f,0.002697f,-6.003000f,6.003000f,0.002697f,-2.997000f,6.003000f,0.002697f,0.000000f,9.000000f,-0.000000f,0.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,-0.000000f,-6.003000f,6.003000f,0.002697f,-6.003000f,1.748874f,-0.000000f,-9.000000f,-9.000000f,0.000000f,-6.003000f,-1.748874f,0.000000f,-6.003000f,2.001000f,-0.000000f,-6.003000f,6.003000f,0.002697f,-9.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,-0.000000f,-6.003000f,1.748874f,-0.000000f,-6.003000f,2.001000f,-0.000000f,-9.000000f,9.000000f,-0.000000f,-9.000000f,-9.000000f,0.000000f,-6.003000f,1.748874f,-0.000000f,-9.000000f,-9.000000f,0.000000f,-6.003000f,-6.003000f,0.002697f,-6.003000f,-2.001000f,0.000000f,-9.000000f,-9.000000f,0.000000f,-6.003000f,-2.001000f,0.000000f,-6.003000f,-1.748874f,0.000000f,-6.003000f,-6.003000f,0.002697f,-9.000000f,-9.000000f,0.000000f,0.000000f,-9.000000f,0.000000f,-6.003000f,-6.003000f,0.002697f,0.000000f,-9.000000f,0.000000f,-2.997000f,-6.003000f,0.002697f,-2.997000f,1.748874f,1.237951f,-2.997000f,1.748874f,-0.000000f,-2.997000f,2.001000f,-0.000000f,-2.997000f,1.748874f,1.237951f,-2.997000f,2.001000f,-0.000000f,-2.997000f,2.001000f,1.515748f,-6.003000f,-2.001000f,1.515748f,-6.003000f,-6.003000f,0.002697f,-2.997000f,-6.003000f,0.002697f,-6.003000f,-2.001000f,1.515748f,-2.997000f,-6.003000f,0.002697f,-2.997000f,-2.001000f,1.515748f,-2.997000f,2.001000f,1.515748f,-2.997000f,6.003000f,0.002697f,-6.003000f,6.003000f,0.002697f,-6.003000f,6.003000f,0.002697f,-6.003000f,2.001000f,1.515748f,-2.997000f,2.001000f,1.515748f,-6.003000f,-2.00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-
-static float world_normals[] = 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-
-
-static int world_indices[] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227};
-
diff --git a/libraries/ode-0.9/ode/doc/Doxyfile b/libraries/ode-0.9/ode/doc/Doxyfile
deleted file mode 100644
index cd0b1d7..0000000
--- a/libraries/ode-0.9/ode/doc/Doxyfile
+++ /dev/null
@@ -1,1237 +0,0 @@
-# Doxyfile 1.4.6-NO

-

-# This file describes the settings to be used by the documentation system

-# doxygen (www.doxygen.org) for a project

-#

-# All text after a hash (#) is considered a comment and will be ignored

-# The format is:

-#       TAG = value [value, ...]

-# For lists items can also be appended using:

-#       TAG += value [value, ...]

-# Values that contain spaces should be placed between quotes (" ")

-

-#---------------------------------------------------------------------------

-# Project related configuration options

-#---------------------------------------------------------------------------

-

-# The PROJECT_NAME tag is a single word (or a sequence of words surrounded 

-# by quotes) that should identify the project.

-

-PROJECT_NAME           = "Open Dynamics Engine"

-

-# The PROJECT_NUMBER tag can be used to enter a project or revision number. 

-# This could be handy for archiving the generated documentation or 

-# if some version control system is used.

-

-PROJECT_NUMBER         = 

-

-# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) 

-# base path where the generated documentation will be put. 

-# If a relative path is entered, it will be relative to the location 

-# where doxygen was started. If left blank the current directory will be used.

-

-OUTPUT_DIRECTORY       = ../../docs

-

-# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 

-# 4096 sub-directories (in 2 levels) under the output directory of each output 

-# format and will distribute the generated files over these directories. 

-# Enabling this option can be useful when feeding doxygen a huge amount of 

-# source files, where putting all generated files in the same directory would 

-# otherwise cause performance problems for the file system.

-

-CREATE_SUBDIRS         = NO

-

-# The OUTPUT_LANGUAGE tag is used to specify the language in which all 

-# documentation generated by doxygen is written. Doxygen will use this 

-# information to generate all constant output in the proper language. 

-# The default language is English, other supported languages are: 

-# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, 

-# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese, 

-# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian, 

-# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, 

-# Swedish, and Ukrainian.

-

-OUTPUT_LANGUAGE        = English

-

-# This tag can be used to specify the encoding used in the generated output. 

-# The encoding is not always determined by the language that is chosen, 

-# but also whether or not the output is meant for Windows or non-Windows users. 

-# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES 

-# forces the Windows encoding (this is the default for the Windows binary), 

-# whereas setting the tag to NO uses a Unix-style encoding (the default for 

-# all platforms other than Windows).

-

-USE_WINDOWS_ENCODING   = YES

-

-# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will 

-# include brief member descriptions after the members that are listed in 

-# the file and class documentation (similar to JavaDoc). 

-# Set to NO to disable this.

-

-BRIEF_MEMBER_DESC      = YES

-

-# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend 

-# the brief description of a member or function before the detailed description. 

-# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the 

-# brief descriptions will be completely suppressed.

-

-REPEAT_BRIEF           = YES

-

-# This tag implements a quasi-intelligent brief description abbreviator 

-# that is used to form the text in various listings. Each string 

-# in this list, if found as the leading text of the brief description, will be 

-# stripped from the text and the result after processing the whole list, is 

-# used as the annotated text. Otherwise, the brief description is used as-is. 

-# If left blank, the following values are used ("$name" is automatically 

-# replaced with the name of the entity): "The $name class" "The $name widget" 

-# "The $name file" "is" "provides" "specifies" "contains" 

-# "represents" "a" "an" "the"

-

-ABBREVIATE_BRIEF       = 

-

-# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then 

-# Doxygen will generate a detailed section even if there is only a brief 

-# description.

-

-ALWAYS_DETAILED_SEC    = NO

-

-# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all 

-# inherited members of a class in the documentation of that class as if those 

-# members were ordinary class members. Constructors, destructors and assignment 

-# operators of the base classes will not be shown.

-

-INLINE_INHERITED_MEMB  = NO

-

-# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full 

-# path before files name in the file list and in the header files. If set 

-# to NO the shortest path that makes the file name unique will be used.

-

-FULL_PATH_NAMES        = NO

-

-# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag 

-# can be used to strip a user-defined part of the path. Stripping is 

-# only done if one of the specified strings matches the left-hand part of 

-# the path. The tag can be used to show relative paths in the file list. 

-# If left blank the directory from which doxygen is run is used as the 

-# path to strip.

-

-STRIP_FROM_PATH        = 

-

-# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of 

-# the path mentioned in the documentation of a class, which tells 

-# the reader which header file to include in order to use a class. 

-# If left blank only the name of the header file containing the class 

-# definition is used. Otherwise one should specify the include paths that 

-# are normally passed to the compiler using the -I flag.

-

-STRIP_FROM_INC_PATH    = 

-

-# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter 

-# (but less readable) file names. This can be useful is your file systems 

-# doesn't support long names like on DOS, Mac, or CD-ROM.

-

-SHORT_NAMES            = NO

-

-# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen 

-# will interpret the first line (until the first dot) of a JavaDoc-style 

-# comment as the brief description. If set to NO, the JavaDoc 

-# comments will behave just like the Qt-style comments (thus requiring an 

-# explicit @brief command for a brief description.

-

-JAVADOC_AUTOBRIEF      = NO

-

-# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen 

-# treat a multi-line C++ special comment block (i.e. a block of //! or /// 

-# comments) as a brief description. This used to be the default behaviour. 

-# The new default is to treat a multi-line C++ comment block as a detailed 

-# description. Set this tag to YES if you prefer the old behaviour instead.

-

-MULTILINE_CPP_IS_BRIEF = NO

-

-# If the DETAILS_AT_TOP tag is set to YES then Doxygen 

-# will output the detailed description near the top, like JavaDoc.

-# If set to NO, the detailed description appears after the member 

-# documentation.

-

-DETAILS_AT_TOP         = NO

-

-# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented 

-# member inherits the documentation from any documented member that it 

-# re-implements.

-

-INHERIT_DOCS           = YES

-

-# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce 

-# a new page for each member. If set to NO, the documentation of a member will 

-# be part of the file/class/namespace that contains it.

-

-SEPARATE_MEMBER_PAGES  = NO

-

-# The TAB_SIZE tag can be used to set the number of spaces in a tab. 

-# Doxygen uses this value to replace tabs by spaces in code fragments.

-

-TAB_SIZE               = 3

-

-# This tag can be used to specify a number of aliases that acts 

-# as commands in the documentation. An alias has the form "name=value". 

-# For example adding "sideeffect=\par Side Effects:\n" will allow you to 

-# put the command \sideeffect (or @sideeffect) in the documentation, which 

-# will result in a user-defined paragraph with heading "Side Effects:". 

-# You can put \n's in the value part of an alias to insert newlines.

-

-ALIASES                = 

-

-# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C 

-# sources only. Doxygen will then generate output that is more tailored for C. 

-# For instance, some of the names that are used will be different. The list 

-# of all members will be omitted, etc.

-

-OPTIMIZE_OUTPUT_FOR_C  = YES

-

-# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java 

-# sources only. Doxygen will then generate output that is more tailored for Java. 

-# For instance, namespaces will be presented as packages, qualified scopes 

-# will look different, etc.

-

-OPTIMIZE_OUTPUT_JAVA   = NO

-

-# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want to 

-# include (a tag file for) the STL sources as input, then you should 

-# set this tag to YES in order to let doxygen match functions declarations and 

-# definitions whose arguments contain STL classes (e.g. func(std::string); v.s. 

-# func(std::string) {}). This also make the inheritance and collaboration 

-# diagrams that involve STL classes more complete and accurate.

-

-BUILTIN_STL_SUPPORT    = NO

-

-# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC 

-# tag is set to YES, then doxygen will reuse the documentation of the first 

-# member in the group (if any) for the other members of the group. By default 

-# all members of a group must be documented explicitly.

-

-DISTRIBUTE_GROUP_DOC   = NO

-

-# Set the SUBGROUPING tag to YES (the default) to allow class member groups of 

-# the same type (for instance a group of public functions) to be put as a 

-# subgroup of that type (e.g. under the Public Functions section). Set it to 

-# NO to prevent subgrouping. Alternatively, this can be done per class using 

-# the \nosubgrouping command.

-

-SUBGROUPING            = YES

-

-#---------------------------------------------------------------------------

-# Build related configuration options

-#---------------------------------------------------------------------------

-

-# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in 

-# documentation are documented, even if no documentation was available. 

-# Private class members and static file members will be hidden unless 

-# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES

-

-EXTRACT_ALL            = NO

-

-# If the EXTRACT_PRIVATE tag is set to YES all private members of a class 

-# will be included in the documentation.

-

-EXTRACT_PRIVATE        = NO

-

-# If the EXTRACT_STATIC tag is set to YES all static members of a file 

-# will be included in the documentation.

-

-EXTRACT_STATIC         = NO

-

-# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) 

-# defined locally in source files will be included in the documentation. 

-# If set to NO only classes defined in header files are included.

-

-EXTRACT_LOCAL_CLASSES  = YES

-

-# This flag is only useful for Objective-C code. When set to YES local 

-# methods, which are defined in the implementation section but not in 

-# the interface are included in the documentation. 

-# If set to NO (the default) only methods in the interface are included.

-

-EXTRACT_LOCAL_METHODS  = NO

-

-# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all 

-# undocumented members of documented classes, files or namespaces. 

-# If set to NO (the default) these members will be included in the 

-# various overviews, but no documentation section is generated. 

-# This option has no effect if EXTRACT_ALL is enabled.

-

-HIDE_UNDOC_MEMBERS     = NO

-

-# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all 

-# undocumented classes that are normally visible in the class hierarchy. 

-# If set to NO (the default) these classes will be included in the various 

-# overviews. This option has no effect if EXTRACT_ALL is enabled.

-

-HIDE_UNDOC_CLASSES     = NO

-

-# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all 

-# friend (class|struct|union) declarations. 

-# If set to NO (the default) these declarations will be included in the 

-# documentation.

-

-HIDE_FRIEND_COMPOUNDS  = NO

-

-# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any 

-# documentation blocks found inside the body of a function. 

-# If set to NO (the default) these blocks will be appended to the 

-# function's detailed documentation block.

-

-HIDE_IN_BODY_DOCS      = NO

-

-# The INTERNAL_DOCS tag determines if documentation 

-# that is typed after a \internal command is included. If the tag is set 

-# to NO (the default) then the documentation will be excluded. 

-# Set it to YES to include the internal documentation.

-

-INTERNAL_DOCS          = NO

-

-# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate 

-# file names in lower-case letters. If set to YES upper-case letters are also 

-# allowed. This is useful if you have classes or files whose names only differ 

-# in case and if your file system supports case sensitive file names. Windows 

-# and Mac users are advised to set this option to NO.

-

-CASE_SENSE_NAMES       = NO

-

-# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen 

-# will show members with their full class and namespace scopes in the 

-# documentation. If set to YES the scope will be hidden.

-

-HIDE_SCOPE_NAMES       = NO

-

-# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen 

-# will put a list of the files that are included by a file in the documentation 

-# of that file.

-

-SHOW_INCLUDE_FILES     = YES

-

-# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] 

-# is inserted in the documentation for inline members.

-

-INLINE_INFO            = YES

-

-# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen 

-# will sort the (detailed) documentation of file and class members 

-# alphabetically by member name. If set to NO the members will appear in 

-# declaration order.

-

-SORT_MEMBER_DOCS       = YES

-

-# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the 

-# brief documentation of file, namespace and class members alphabetically 

-# by member name. If set to NO (the default) the members will appear in 

-# declaration order.

-

-SORT_BRIEF_DOCS        = NO

-

-# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be 

-# sorted by fully-qualified names, including namespaces. If set to 

-# NO (the default), the class list will be sorted only by class name, 

-# not including the namespace part. 

-# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.

-# Note: This option applies only to the class list, not to the 

-# alphabetical list.

-

-SORT_BY_SCOPE_NAME     = NO

-

-# The GENERATE_TODOLIST tag can be used to enable (YES) or 

-# disable (NO) the todo list. This list is created by putting \todo 

-# commands in the documentation.

-

-GENERATE_TODOLIST      = YES

-

-# The GENERATE_TESTLIST tag can be used to enable (YES) or 

-# disable (NO) the test list. This list is created by putting \test 

-# commands in the documentation.

-

-GENERATE_TESTLIST      = YES

-

-# The GENERATE_BUGLIST tag can be used to enable (YES) or 

-# disable (NO) the bug list. This list is created by putting \bug 

-# commands in the documentation.

-

-GENERATE_BUGLIST       = YES

-

-# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or 

-# disable (NO) the deprecated list. This list is created by putting 

-# \deprecated commands in the documentation.

-

-GENERATE_DEPRECATEDLIST= YES

-

-# The ENABLED_SECTIONS tag can be used to enable conditional 

-# documentation sections, marked by \if sectionname ... \endif.

-

-ENABLED_SECTIONS       = 

-

-# The MAX_INITIALIZER_LINES tag determines the maximum number of lines 

-# the initial value of a variable or define consists of for it to appear in 

-# the documentation. If the initializer consists of more lines than specified 

-# here it will be hidden. Use a value of 0 to hide initializers completely. 

-# The appearance of the initializer of individual variables and defines in the 

-# documentation can be controlled using \showinitializer or \hideinitializer 

-# command in the documentation regardless of this setting.

-

-MAX_INITIALIZER_LINES  = 30

-

-# Set the SHOW_USED_FILES tag to NO to disable the list of files generated 

-# at the bottom of the documentation of classes and structs. If set to YES the 

-# list will mention the files that were used to generate the documentation.

-

-SHOW_USED_FILES        = YES

-

-# If the sources in your project are distributed over multiple directories 

-# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy 

-# in the documentation. The default is NO.

-

-SHOW_DIRECTORIES       = NO

-

-# The FILE_VERSION_FILTER tag can be used to specify a program or script that 

-# doxygen should invoke to get the current version for each file (typically from the 

-# version control system). Doxygen will invoke the program by executing (via 

-# popen()) the command <command> <input-file>, where <command> is the value of 

-# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file 

-# provided by doxygen. Whatever the program writes to standard output 

-# is used as the file version. See the manual for examples.

-

-FILE_VERSION_FILTER    = 

-

-#---------------------------------------------------------------------------

-# configuration options related to warning and progress messages

-#---------------------------------------------------------------------------

-

-# The QUIET tag can be used to turn on/off the messages that are generated 

-# by doxygen. Possible values are YES and NO. If left blank NO is used.

-

-QUIET                  = NO

-

-# The WARNINGS tag can be used to turn on/off the warning messages that are 

-# generated by doxygen. Possible values are YES and NO. If left blank 

-# NO is used.

-

-WARNINGS               = YES

-

-# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings 

-# for undocumented members. If EXTRACT_ALL is set to YES then this flag will 

-# automatically be disabled.

-

-WARN_IF_UNDOCUMENTED   = YES

-

-# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for 

-# potential errors in the documentation, such as not documenting some 

-# parameters in a documented function, or documenting parameters that 

-# don't exist or using markup commands wrongly.

-

-WARN_IF_DOC_ERROR      = YES

-

-# This WARN_NO_PARAMDOC option can be abled to get warnings for 

-# functions that are documented, but have no documentation for their parameters 

-# or return value. If set to NO (the default) doxygen will only warn about 

-# wrong or incomplete parameter documentation, but not about the absence of 

-# documentation.

-

-WARN_NO_PARAMDOC       = NO

-

-# The WARN_FORMAT tag determines the format of the warning messages that 

-# doxygen can produce. The string should contain the $file, $line, and $text 

-# tags, which will be replaced by the file and line number from which the 

-# warning originated and the warning text. Optionally the format may contain 

-# $version, which will be replaced by the version of the file (if it could 

-# be obtained via FILE_VERSION_FILTER)

-

-WARN_FORMAT            = "$file:$line: $text"

-

-# The WARN_LOGFILE tag can be used to specify a file to which warning 

-# and error messages should be written. If left blank the output is written 

-# to stderr.

-

-WARN_LOGFILE           = 

-

-#---------------------------------------------------------------------------

-# configuration options related to the input files

-#---------------------------------------------------------------------------

-

-# The INPUT tag can be used to specify the files and/or directories that contain 

-# documented source files. You may enter file names like "myfile.cpp" or 

-# directories like "/usr/src/myproject". Separate the files or directories 

-# with spaces.

-

-INPUT                  = . ../../include/ode ../../include/drawstuff

-

-# If the value of the INPUT tag contains directories, you can use the 

-# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 

-# and *.h) to filter out the source-files in the directories. If left 

-# blank the following patterns are tested: 

-# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx 

-# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.py

-

-FILE_PATTERNS          = *.h *.c *.cpp *.dox

-

-# The RECURSIVE tag can be used to turn specify whether or not subdirectories 

-# should be searched for input files as well. Possible values are YES and NO. 

-# If left blank NO is used.

-

-RECURSIVE              = NO

-

-# The EXCLUDE tag can be used to specify files and/or directories that should 

-# excluded from the INPUT source files. This way you can easily exclude a 

-# subdirectory from a directory tree whose root is specified with the INPUT tag.

-

-EXCLUDE                = 

-

-# The EXCLUDE_SYMLINKS tag can be used select whether or not files or 

-# directories that are symbolic links (a Unix filesystem feature) are excluded 

-# from the input.

-

-EXCLUDE_SYMLINKS       = NO

-

-# If the value of the INPUT tag contains directories, you can use the 

-# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude 

-# certain files from those directories. Note that the wildcards are matched 

-# against the file with absolute path, so to exclude all test directories 

-# for example use the pattern */test/*

-

-EXCLUDE_PATTERNS       = 

-

-# The EXAMPLE_PATH tag can be used to specify one or more files or 

-# directories that contain example code fragments that are included (see 

-# the \include command).

-

-EXAMPLE_PATH           = 

-

-# If the value of the EXAMPLE_PATH tag contains directories, you can use the 

-# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 

-# and *.h) to filter out the source-files in the directories. If left 

-# blank all files are included.

-

-EXAMPLE_PATTERNS       = 

-

-# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be 

-# searched for input files to be used with the \include or \dontinclude 

-# commands irrespective of the value of the RECURSIVE tag. 

-# Possible values are YES and NO. If left blank NO is used.

-

-EXAMPLE_RECURSIVE      = NO

-

-# The IMAGE_PATH tag can be used to specify one or more files or 

-# directories that contain image that are included in the documentation (see 

-# the \image command).

-

-IMAGE_PATH             = pix

-

-# The INPUT_FILTER tag can be used to specify a program that doxygen should 

-# invoke to filter for each input file. Doxygen will invoke the filter program 

-# by executing (via popen()) the command <filter> <input-file>, where <filter> 

-# is the value of the INPUT_FILTER tag, and <input-file> is the name of an 

-# input file. Doxygen will then use the output that the filter program writes 

-# to standard output.  If FILTER_PATTERNS is specified, this tag will be 

-# ignored.

-

-INPUT_FILTER           = 

-

-# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern 

-# basis.  Doxygen will compare the file name with each pattern and apply the 

-# filter if there is a match.  The filters are a list of the form: 

-# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further 

-# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER 

-# is applied to all files.

-

-FILTER_PATTERNS        = 

-

-# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using 

-# INPUT_FILTER) will be used to filter the input files when producing source 

-# files to browse (i.e. when SOURCE_BROWSER is set to YES).

-

-FILTER_SOURCE_FILES    = NO

-

-#---------------------------------------------------------------------------

-# configuration options related to source browsing

-#---------------------------------------------------------------------------

-

-# If the SOURCE_BROWSER tag is set to YES then a list of source files will 

-# be generated. Documented entities will be cross-referenced with these sources. 

-# Note: To get rid of all source code in the generated output, make sure also 

-# VERBATIM_HEADERS is set to NO.

-

-SOURCE_BROWSER         = NO

-

-# Setting the INLINE_SOURCES tag to YES will include the body 

-# of functions and classes directly in the documentation.

-

-INLINE_SOURCES         = NO

-

-# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct 

-# doxygen to hide any special comment blocks from generated source code 

-# fragments. Normal C and C++ comments will always remain visible.

-

-STRIP_CODE_COMMENTS    = YES

-

-# If the REFERENCED_BY_RELATION tag is set to YES (the default) 

-# then for each documented function all documented 

-# functions referencing it will be listed.

-

-REFERENCED_BY_RELATION = YES

-

-# If the REFERENCES_RELATION tag is set to YES (the default) 

-# then for each documented function all documented entities 

-# called/used by that function will be listed.

-

-REFERENCES_RELATION    = YES

-

-# If the USE_HTAGS tag is set to YES then the references to source code 

-# will point to the HTML generated by the htags(1) tool instead of doxygen 

-# built-in source browser. The htags tool is part of GNU's global source 

-# tagging system (see http://www.gnu.org/software/global/global.html). You 

-# will need version 4.8.6 or higher.

-

-USE_HTAGS              = NO

-

-# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen 

-# will generate a verbatim copy of the header file for each class for 

-# which an include is specified. Set to NO to disable this.

-

-VERBATIM_HEADERS       = YES

-

-#---------------------------------------------------------------------------

-# configuration options related to the alphabetical class index

-#---------------------------------------------------------------------------

-

-# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index 

-# of all compounds will be generated. Enable this if the project 

-# contains a lot of classes, structs, unions or interfaces.

-

-ALPHABETICAL_INDEX     = NO

-

-# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then 

-# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns 

-# in which this list will be split (can be a number in the range [1..20])

-

-COLS_IN_ALPHA_INDEX    = 5

-

-# In case all classes in a project start with a common prefix, all 

-# classes will be put under the same header in the alphabetical index. 

-# The IGNORE_PREFIX tag can be used to specify one or more prefixes that 

-# should be ignored while generating the index headers.

-

-IGNORE_PREFIX          = 

-

-#---------------------------------------------------------------------------

-# configuration options related to the HTML output

-#---------------------------------------------------------------------------

-

-# If the GENERATE_HTML tag is set to YES (the default) Doxygen will 

-# generate HTML output.

-

-GENERATE_HTML          = YES

-

-# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. 

-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 

-# put in front of it. If left blank `html' will be used as the default path.

-

-HTML_OUTPUT            = .

-

-# The HTML_FILE_EXTENSION tag can be used to specify the file extension for 

-# each generated HTML page (for example: .htm,.php,.asp). If it is left blank 

-# doxygen will generate files with .html extension.

-

-HTML_FILE_EXTENSION    = .html

-

-# The HTML_HEADER tag can be used to specify a personal HTML header for 

-# each generated HTML page. If it is left blank doxygen will generate a 

-# standard header.

-

-HTML_HEADER            = 

-

-# The HTML_FOOTER tag can be used to specify a personal HTML footer for 

-# each generated HTML page. If it is left blank doxygen will generate a 

-# standard footer.

-

-HTML_FOOTER            = 

-

-# The HTML_STYLESHEET tag can be used to specify a user-defined cascading 

-# style sheet that is used by each HTML page. It can be used to 

-# fine-tune the look of the HTML output. If the tag is left blank doxygen 

-# will generate a default style sheet. Note that doxygen will try to copy 

-# the style sheet file to the HTML output directory, so don't put your own 

-# stylesheet in the HTML output directory as well, or it will be erased!

-

-HTML_STYLESHEET        = 

-

-# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, 

-# files or namespaces will be aligned in HTML using tables. If set to 

-# NO a bullet list will be used.

-

-HTML_ALIGN_MEMBERS     = YES

-

-# If the GENERATE_HTMLHELP tag is set to YES, additional index files 

-# will be generated that can be used as input for tools like the 

-# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) 

-# of the generated HTML documentation.

-

-GENERATE_HTMLHELP      = NO

-

-# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can 

-# be used to specify the file name of the resulting .chm file. You 

-# can add a path in front of the file if the result should not be 

-# written to the html output directory.

-

-CHM_FILE               = 

-

-# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can 

-# be used to specify the location (absolute path including file name) of 

-# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run 

-# the HTML help compiler on the generated index.hhp.

-

-HHC_LOCATION           = 

-

-# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag 

-# controls if a separate .chi index file is generated (YES) or that 

-# it should be included in the master .chm file (NO).

-

-GENERATE_CHI           = NO

-

-# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag 

-# controls whether a binary table of contents is generated (YES) or a 

-# normal table of contents (NO) in the .chm file.

-

-BINARY_TOC             = NO

-

-# The TOC_EXPAND flag can be set to YES to add extra items for group members 

-# to the contents of the HTML help documentation and to the tree view.

-

-TOC_EXPAND             = NO

-

-# The DISABLE_INDEX tag can be used to turn on/off the condensed index at 

-# top of each HTML page. The value NO (the default) enables the index and 

-# the value YES disables it.

-

-DISABLE_INDEX          = NO

-

-# This tag can be used to set the number of enum values (range [1..20]) 

-# that doxygen will group on one line in the generated HTML documentation.

-

-ENUM_VALUES_PER_LINE   = 4

-

-# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be

-# generated containing a tree-like index structure (just like the one that 

-# is generated for HTML Help). For this to work a browser that supports 

-# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, 

-# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are 

-# probably better off using the HTML help feature.

-

-GENERATE_TREEVIEW      = NO

-

-# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be 

-# used to set the initial width (in pixels) of the frame in which the tree 

-# is shown.

-

-TREEVIEW_WIDTH         = 250

-

-#---------------------------------------------------------------------------

-# configuration options related to the LaTeX output

-#---------------------------------------------------------------------------

-

-# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will 

-# generate Latex output.

-

-GENERATE_LATEX         = NO

-

-# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. 

-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 

-# put in front of it. If left blank `latex' will be used as the default path.

-

-LATEX_OUTPUT           = latex

-

-# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be 

-# invoked. If left blank `latex' will be used as the default command name.

-

-LATEX_CMD_NAME         = latex

-

-# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to 

-# generate index for LaTeX. If left blank `makeindex' will be used as the 

-# default command name.

-

-MAKEINDEX_CMD_NAME     = makeindex

-

-# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact 

-# LaTeX documents. This may be useful for small projects and may help to 

-# save some trees in general.

-

-COMPACT_LATEX          = NO

-

-# The PAPER_TYPE tag can be used to set the paper type that is used 

-# by the printer. Possible values are: a4, a4wide, letter, legal and 

-# executive. If left blank a4wide will be used.

-

-PAPER_TYPE             = a4wide

-

-# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX 

-# packages that should be included in the LaTeX output.

-

-EXTRA_PACKAGES         = 

-

-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for 

-# the generated latex document. The header should contain everything until 

-# the first chapter. If it is left blank doxygen will generate a 

-# standard header. Notice: only use this tag if you know what you are doing!

-

-LATEX_HEADER           = 

-

-# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated 

-# is prepared for conversion to pdf (using ps2pdf). The pdf file will 

-# contain links (just like the HTML output) instead of page references 

-# This makes the output suitable for online browsing using a pdf viewer.

-

-PDF_HYPERLINKS         = NO

-

-# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of 

-# plain latex in the generated Makefile. Set this option to YES to get a 

-# higher quality PDF documentation.

-

-USE_PDFLATEX           = NO

-

-# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. 

-# command to the generated LaTeX files. This will instruct LaTeX to keep 

-# running if errors occur, instead of asking the user for help. 

-# This option is also used when generating formulas in HTML.

-

-LATEX_BATCHMODE        = NO

-

-# If LATEX_HIDE_INDICES is set to YES then doxygen will not 

-# include the index chapters (such as File Index, Compound Index, etc.) 

-# in the output.

-

-LATEX_HIDE_INDICES     = NO

-

-#---------------------------------------------------------------------------

-# configuration options related to the RTF output

-#---------------------------------------------------------------------------

-

-# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output 

-# The RTF output is optimized for Word 97 and may not look very pretty with 

-# other RTF readers or editors.

-

-GENERATE_RTF           = NO

-

-# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. 

-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 

-# put in front of it. If left blank `rtf' will be used as the default path.

-

-RTF_OUTPUT             = rtf

-

-# If the COMPACT_RTF tag is set to YES Doxygen generates more compact 

-# RTF documents. This may be useful for small projects and may help to 

-# save some trees in general.

-

-COMPACT_RTF            = NO

-

-# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated 

-# will contain hyperlink fields. The RTF file will 

-# contain links (just like the HTML output) instead of page references. 

-# This makes the output suitable for online browsing using WORD or other 

-# programs which support those fields. 

-# Note: wordpad (write) and others do not support links.

-

-RTF_HYPERLINKS         = NO

-

-# Load stylesheet definitions from file. Syntax is similar to doxygen's 

-# config file, i.e. a series of assignments. You only have to provide 

-# replacements, missing definitions are set to their default value.

-

-RTF_STYLESHEET_FILE    = 

-

-# Set optional variables used in the generation of an rtf document. 

-# Syntax is similar to doxygen's config file.

-

-RTF_EXTENSIONS_FILE    = 

-

-#---------------------------------------------------------------------------

-# configuration options related to the man page output

-#---------------------------------------------------------------------------

-

-# If the GENERATE_MAN tag is set to YES (the default) Doxygen will 

-# generate man pages

-

-GENERATE_MAN           = NO

-

-# The MAN_OUTPUT tag is used to specify where the man pages will be put. 

-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 

-# put in front of it. If left blank `man' will be used as the default path.

-

-MAN_OUTPUT             = man

-

-# The MAN_EXTENSION tag determines the extension that is added to 

-# the generated man pages (default is the subroutine's section .3)

-

-MAN_EXTENSION          = .3

-

-# If the MAN_LINKS tag is set to YES and Doxygen generates man output, 

-# then it will generate one additional man file for each entity 

-# documented in the real man page(s). These additional files 

-# only source the real man page, but without them the man command 

-# would be unable to find the correct page. The default is NO.

-

-MAN_LINKS              = NO

-

-#---------------------------------------------------------------------------

-# configuration options related to the XML output

-#---------------------------------------------------------------------------

-

-# If the GENERATE_XML tag is set to YES Doxygen will 

-# generate an XML file that captures the structure of 

-# the code including all documentation.

-

-GENERATE_XML           = NO

-

-# The XML_OUTPUT tag is used to specify where the XML pages will be put. 

-# If a relative path is entered the value of OUTPUT_DIRECTORY will be 

-# put in front of it. If left blank `xml' will be used as the default path.

-

-XML_OUTPUT             = xml

-

-# The XML_SCHEMA tag can be used to specify an XML schema, 

-# which can be used by a validating XML parser to check the 

-# syntax of the XML files.

-

-XML_SCHEMA             = 

-

-# The XML_DTD tag can be used to specify an XML DTD, 

-# which can be used by a validating XML parser to check the 

-# syntax of the XML files.

-

-XML_DTD                = 

-

-# If the XML_PROGRAMLISTING tag is set to YES Doxygen will 

-# dump the program listings (including syntax highlighting 

-# and cross-referencing information) to the XML output. Note that 

-# enabling this will significantly increase the size of the XML output.

-

-XML_PROGRAMLISTING     = YES

-

-#---------------------------------------------------------------------------

-# configuration options for the AutoGen Definitions output

-#---------------------------------------------------------------------------

-

-# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will 

-# generate an AutoGen Definitions (see autogen.sf.net) file 

-# that captures the structure of the code including all 

-# documentation. Note that this feature is still experimental 

-# and incomplete at the moment.

-

-GENERATE_AUTOGEN_DEF   = NO

-

-#---------------------------------------------------------------------------

-# configuration options related to the Perl module output

-#---------------------------------------------------------------------------

-

-# If the GENERATE_PERLMOD tag is set to YES Doxygen will 

-# generate a Perl module file that captures the structure of 

-# the code including all documentation. Note that this 

-# feature is still experimental and incomplete at the 

-# moment.

-

-GENERATE_PERLMOD       = NO

-

-# If the PERLMOD_LATEX tag is set to YES Doxygen will generate 

-# the necessary Makefile rules, Perl scripts and LaTeX code to be able 

-# to generate PDF and DVI output from the Perl module output.

-

-PERLMOD_LATEX          = NO

-

-# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be 

-# nicely formatted so it can be parsed by a human reader.  This is useful 

-# if you want to understand what is going on.  On the other hand, if this 

-# tag is set to NO the size of the Perl module output will be much smaller 

-# and Perl will parse it just the same.

-

-PERLMOD_PRETTY         = YES

-

-# The names of the make variables in the generated doxyrules.make file 

-# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. 

-# This is useful so different doxyrules.make files included by the same 

-# Makefile don't overwrite each other's variables.

-

-PERLMOD_MAKEVAR_PREFIX = 

-

-#---------------------------------------------------------------------------

-# Configuration options related to the preprocessor   

-#---------------------------------------------------------------------------

-

-# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will 

-# evaluate all C-preprocessor directives found in the sources and include 

-# files.

-

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-# interpreter (i.e. the result of `which perl').

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-PERL_PATH              = /usr/bin/perl

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-HAVE_DOT               = NO

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-DOT_IMAGE_FORMAT       = png

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-# The tag DOT_PATH can be used to specify the path where the dot tool can be 

-# found. If left blank, it is assumed the dot tool can be found in the path.

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-DOT_PATH               = 

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-# The DOTFILE_DIRS tag can be used to specify one or more directories that 

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diff --git a/libraries/ode-0.9/ode/doc/main.dox b/libraries/ode-0.9/ode/doc/main.dox
deleted file mode 100644
index 5136c33..0000000
--- a/libraries/ode-0.9/ode/doc/main.dox
+++ /dev/null
@@ -1,22 +0,0 @@
-/**

-@mainpage Open Dynamics Engine API Reference

- 

-<center><em>This document is &copy; Russell Smith and the ODE Project</em></center>

-

-The Open Dynamics Engine (ODE) is a free, industrial quality library for 

-simulating articulated rigid body dynamics. ODE is being developed by 

-<a href="http://www.q12.org/">Russell Smith</a> with help from several 

-<a href="http://ode.org/community.html">contributors</a>.

-

-This document describes the library API. For a more general introduction 

-to ODE, please see the <a href="http://opende.sourceforge.net/wiki/index.php/Manual">

-Online Handbook</a>.

-

-<h2>Important: this document is not yet complete!</h2>

-

-We are still working on getting the full API documentated. In the meantime,

-please refer to the <a href="http://opende.sourceforge.net/wiki/index.php/Manual">

-Online Handbook</a>

- 

-*/

- 

diff --git a/libraries/ode-0.9/ode/doc/pix/amotor.jpg b/libraries/ode-0.9/ode/doc/pix/amotor.jpg
deleted file mode 100644
index bb80810..0000000
--- a/libraries/ode-0.9/ode/doc/pix/amotor.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/doc/pix/ball-and-socket-bad.jpg b/libraries/ode-0.9/ode/doc/pix/ball-and-socket-bad.jpg
deleted file mode 100644
index 90abaf3..0000000
--- a/libraries/ode-0.9/ode/doc/pix/ball-and-socket-bad.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/doc/pix/ball-and-socket.jpg b/libraries/ode-0.9/ode/doc/pix/ball-and-socket.jpg
deleted file mode 100644
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--- a/libraries/ode-0.9/ode/doc/pix/ball-and-socket.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/doc/pix/body.jpg b/libraries/ode-0.9/ode/doc/pix/body.jpg
deleted file mode 100644
index e026b93..0000000
--- a/libraries/ode-0.9/ode/doc/pix/body.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/doc/pix/contact.jpg b/libraries/ode-0.9/ode/doc/pix/contact.jpg
deleted file mode 100644
index 5d96809..0000000
--- a/libraries/ode-0.9/ode/doc/pix/contact.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/doc/pix/hinge.jpg b/libraries/ode-0.9/ode/doc/pix/hinge.jpg
deleted file mode 100644
index ffd634e..0000000
--- a/libraries/ode-0.9/ode/doc/pix/hinge.jpg
+++ /dev/null
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deleted file mode 100644
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--- a/libraries/ode-0.9/ode/doc/pix/hinge2.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/doc/pix/joints.jpg b/libraries/ode-0.9/ode/doc/pix/joints.jpg
deleted file mode 100644
index 188ed01..0000000
--- a/libraries/ode-0.9/ode/doc/pix/joints.jpg
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diff --git a/libraries/ode-0.9/ode/doc/pix/rollingcontact.jpg b/libraries/ode-0.9/ode/doc/pix/rollingcontact.jpg
deleted file mode 100644
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--- a/libraries/ode-0.9/ode/doc/pix/rollingcontact.jpg
+++ /dev/null
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deleted file mode 100644
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--- a/libraries/ode-0.9/ode/doc/pix/sf-graph1.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/doc/pix/sf-graph2.jpg b/libraries/ode-0.9/ode/doc/pix/sf-graph2.jpg
deleted file mode 100644
index 67d08bc..0000000
--- a/libraries/ode-0.9/ode/doc/pix/sf-graph2.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/doc/pix/slider.jpg b/libraries/ode-0.9/ode/doc/pix/slider.jpg
deleted file mode 100644
index 040f76f..0000000
--- a/libraries/ode-0.9/ode/doc/pix/slider.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/doc/pix/universal.jpg b/libraries/ode-0.9/ode/doc/pix/universal.jpg
deleted file mode 100644
index bc63523..0000000
--- a/libraries/ode-0.9/ode/doc/pix/universal.jpg
+++ /dev/null
diff --git a/libraries/ode-0.9/ode/src/Makefile.am b/libraries/ode-0.9/ode/src/Makefile.am
deleted file mode 100644
index 1b0cf19..0000000
--- a/libraries/ode-0.9/ode/src/Makefile.am
+++ /dev/null
@@ -1,207 +0,0 @@
-AM_CXXFLAGS = @ARCHFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include
-AM_CPPFLAGS = @ARCHFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include
-AM_CFLAGS = @ARCHFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include
-lib_LIBRARIES = libode.a
-libode_a_CPPFLAGS = -O2
-
-libode_a_CPPFLAGS += -fPIC
-
-# Fake an executable in order to get a shared library
-# Note the elegant and cunning way to trick Autotools to install a program
-# in a lib directory. --Rodrigo
-traplibdir=$(libdir)
-EXEEXT=@so_ext@
-traplib_PROGRAMS=libode
-libode_SOURCES=
-libode_DEPENDENCIES = libfast.a libode.a
-libode_LDFLAGS= @SHARED_LDFLAGS@
-if USE_SONAME
-libode_LDFLAGS+=-Wl,-soname,@ODE_SONAME@
-endif
-libode_LDADD=$(libode_a_OBJECTS) $(libfast_a_OBJECTS)
-
-if OPCODE
-libode_DEPENDENCIES+= libOPCODE.a
-libode_LDADD+=$(libOPCODE_a_OBJECTS)
-endif
-
-
-if GIMPACT
-libode_DEPENDENCIES+= libGIMPACT.a
-libode_LDADD+=$(libGIMPACT_a_OBJECTS)
-endif
-
-
-# convenience library to simulate per object cflags
-noinst_LIBRARIES= libfast.a
-libfast_a_CFLAGS= -O1
-libfast_a_SOURCES= fastldlt.c fastltsolve.c fastdot.c fastlsolve.c
-
-libfast_a_CFLAGS += -fPIC
-
-libode_a_DEPENDENCIES = libfast.a
-libode_a_LIBADD= $(libfast_a_OBJECTS)
-
-libode_a_SOURCES =      objects.h \
-                        obstack.cpp \
-                        collision_util.cpp \
-                        obstack.h \
-                        array.cpp \
-                        collision_util.h \
-                        ode.cpp \
-                        array.h \
-                        error.cpp \
-                        odemath.cpp \
-                        collision_kernel.cpp \
-                        export-dif.cpp \
-                        quickstep.cpp \
-                        collision_kernel.h \
-                        quickstep.h \
-                        collision_quadtreespace.cpp \
-                        rotation.cpp \
-                        collision_space.cpp \
-                        collision_space_internal.h \
-                        collision_cylinder_box.cpp \
-                        collision_cylinder_sphere.cpp \
-                        collision_cylinder_plane.cpp \
-                        sphere.cpp \
-                        box.cpp \
-                        capsule.cpp \
-                        plane.cpp \
-                        ray.cpp \
-                        cylinder.cpp \
-                        convex.cpp \
-                        joint.cpp \
-                        stack.h \
-                        collision_std.h \
-                        joint.h \
-                        step.cpp \
-                        collision_transform.cpp \
-                        lcp.cpp \
-                        step.h \
-                        collision_transform.h \
-                        lcp.h \
-                        stepfast.cpp \
-                        mass.cpp \
-                        testing.cpp \
-                        mat.cpp \
-                        testing.h \
-                        mat.h \
-                        timer.cpp \
-                        matrix.cpp \
-                        util.cpp \
-                        memory.cpp \
-                        util.h \
-                        misc.cpp \
-                        heightfield.cpp \
-                        heightfield.h
-
-
-
-###################################
-#   G I M P A C T    S T U F F
-###################################
-
-
-if GIMPACT
-noinst_LIBRARIES+= libGIMPACT.a
-libGIMPACT_a_CPPFLAGS= -O2 -fno-strict-aliasing -fPIC
-
-libode_a_SOURCES+= collision_trimesh_gimpact.cpp
-
-libGIMPACT_a_SOURCES = \
-  @TOPDIR@/GIMPACT/src/gim_boxpruning.cpp \
-  @TOPDIR@/GIMPACT/src/gim_contact.cpp \
-  @TOPDIR@/GIMPACT/src/gim_math.cpp \
-  @TOPDIR@/GIMPACT/src/gim_memory.cpp \
-  @TOPDIR@/GIMPACT/src/gim_tri_tri_overlap.cpp \
-  @TOPDIR@/GIMPACT/src/gim_trimesh.cpp \
-  @TOPDIR@/GIMPACT/src/gim_trimesh_capsule_collision.cpp \
-  @TOPDIR@/GIMPACT/src/gim_trimesh_ray_collision.cpp \
-  @TOPDIR@/GIMPACT/src/gim_trimesh_sphere_collision.cpp \
-  @TOPDIR@/GIMPACT/src/gim_trimesh_trimesh_collision.cpp \
-  @TOPDIR@/GIMPACT/src/gimpact.cpp
-
-libode_a_DEPENDENCIES+=libGIMPACT.a
-libode_a_LIBADD+= $(libGIMPACT_a_OBJECTS)
-AM_CXXFLAGS += -I@TOPDIR@/GIMPACT/include -DdTRIMESH_ENABLED -DdTRIMESH_GIMPACT
-AM_CFLAGS += -I@TOPDIR@/GIMPACT/include -DdTRIMESH_ENABLED -DdTRIMESH_GIMPACT
-
-libode_a_SOURCES+=      collision_trimesh_trimesh.cpp \
-                        collision_trimesh_sphere.cpp \
-                        collision_trimesh_ray.cpp \
-                        collision_trimesh_opcode.cpp \
-                        collision_trimesh_box.cpp \
-                        collision_trimesh_ccylinder.cpp \
-                        collision_trimesh_distance.cpp \
-                        collision_trimesh_internal.h \
-                        collision_cylinder_trimesh.cpp \
-                        collision_trimesh_plane.cpp
-endif
-
-
-
-#################################
-#   O P C O D E    S T U F F
-#################################
-
-
-if OPCODE
-noinst_LIBRARIES+= libOPCODE.a
-libOPCODE_a_CPPFLAGS= -O2 -fno-strict-aliasing -fPIC
-
-
-libOPCODE_a_SOURCES=    @TOPDIR@/OPCODE/OPC_AABBCollider.cpp \
-                        @TOPDIR@/OPCODE/OPC_AABBTree.cpp \
-                        @TOPDIR@/OPCODE/OPC_BaseModel.cpp \
-                        @TOPDIR@/OPCODE/OPC_BoxPruning.cpp \
-                        @TOPDIR@/OPCODE/OPC_Collider.cpp \
-                        @TOPDIR@/OPCODE/OPC_Common.cpp \
-                        @TOPDIR@/OPCODE/OPC_HybridModel.cpp \
-                        @TOPDIR@/OPCODE/OPC_LSSCollider.cpp \
-                        @TOPDIR@/OPCODE/OPC_MeshInterface.cpp \
-                        @TOPDIR@/OPCODE/OPC_Model.cpp \
-                        @TOPDIR@/OPCODE/OPC_OBBCollider.cpp \
-                        @TOPDIR@/OPCODE/Opcode.cpp \
-                        @TOPDIR@/OPCODE/OPC_OptimizedTree.cpp \
-                        @TOPDIR@/OPCODE/OPC_Picking.cpp \
-                        @TOPDIR@/OPCODE/OPC_PlanesCollider.cpp \
-                        @TOPDIR@/OPCODE/OPC_RayCollider.cpp \
-                        @TOPDIR@/OPCODE/OPC_SphereCollider.cpp \
-                        @TOPDIR@/OPCODE/OPC_SweepAndPrune.cpp \
-                        @TOPDIR@/OPCODE/OPC_TreeBuilders.cpp \
-                        @TOPDIR@/OPCODE/OPC_TreeCollider.cpp \
-                        @TOPDIR@/OPCODE/OPC_VolumeCollider.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceAABB.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceContainer.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceHPoint.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceIndexedTriangle.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceMatrix3x3.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceMatrix4x4.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceOBB.cpp \
-                        @TOPDIR@/OPCODE/Ice/IcePlane.cpp \
-                        @TOPDIR@/OPCODE/Ice/IcePoint.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceRandom.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceRay.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceRevisitedRadix.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceSegment.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceTriangle.cpp \
-                        @TOPDIR@/OPCODE/Ice/IceUtils.cpp
-libode_a_DEPENDENCIES+=libOPCODE.a
-
-libode_a_LIBADD+= $(libOPCODE_a_OBJECTS)
-AM_CXXFLAGS += -I@TOPDIR@/OPCODE -I@TOPDIR@/OPCODE/Ice -DdTRIMESH_ENABLED -DdTRIMESH_OPCODE
-AM_CFLAGS += -I@TOPDIR@/OPCODE -I@TOPDIR@/OPCODE/Ice -DdTRIMESH_ENABLED -DdTRIMESH_OPCODE
-libode_a_SOURCES+=      collision_trimesh_trimesh.cpp \
-                        collision_trimesh_sphere.cpp \
-                        collision_trimesh_ray.cpp \
-                        collision_trimesh_opcode.cpp \
-                        collision_trimesh_box.cpp \
-                        collision_trimesh_ccylinder.cpp \
-                        collision_trimesh_distance.cpp \
-                        collision_trimesh_internal.h \
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diff --git a/libraries/ode-0.9/ode/src/array.cpp b/libraries/ode-0.9/ode/src/array.cpp
deleted file mode 100644
index cbb1a6e..0000000
--- a/libraries/ode-0.9/ode/src/array.cpp
+++ /dev/null
@@ -1,80 +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/config.h>
-#include <ode/memory.h>
-#include <ode/error.h>
-#include "array.h"
-
-
-static inline int roundUpToPowerOfTwo (int x)
-{
-  int i = 1;
-  while (i < x) i <<= 1;
-  return i;
-}
-
-
-void dArrayBase::_freeAll (int sizeofT)
-{
-  if (_data) {
-    if (_data == this+1) return;        // if constructLocalArray() was called
-    dFree (_data,_anum * sizeofT);
-  }
-}
-
-
-void dArrayBase::_setSize (int newsize, int sizeofT)
-{
-  if (newsize < 0) return;
-  if (newsize > _anum) {
-    if (_data == this+1) {
-      // this is a no-no, because constructLocalArray() was called
-      dDebug (0,"setSize() out of space in LOCAL array");
-    }
-    int newanum = roundUpToPowerOfTwo (newsize);
-    if (_data) _data = dRealloc (_data, _anum*sizeofT, newanum*sizeofT);
-    else _data = dAlloc (newanum*sizeofT);
-    _anum = newanum;
-  }
-  _size = newsize;
-}
-
-
-void * dArrayBase::operator new (size_t size)
-{
-  return dAlloc (size);
-}
-
-
-void dArrayBase::operator delete (void *ptr, size_t size)
-{
-  dFree (ptr,size);
-}
-
-
-void dArrayBase::constructLocalArray (int __anum)
-{
-  _size = 0;
-  _anum = __anum;
-  _data = this+1;
-}
diff --git a/libraries/ode-0.9/ode/src/array.h b/libraries/ode-0.9/ode/src/array.h
deleted file mode 100644
index 307206c..0000000
--- a/libraries/ode-0.9/ode/src/array.h
+++ /dev/null
@@ -1,135 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/* this comes from the `reuse' library. copy any changes back to the source.
- *
- * Variable sized array template. The array is always stored in a contiguous
- * chunk. The array can be resized. A size increase will cause more memory
- * to be allocated, and may result in relocation of the array memory.
- * A size decrease has no effect on the memory allocation.
- *
- * Array elements with constructors or destructors are not supported!
- * But if you must have such elements, here's what to know/do:
- *   - Bitwise copy is used when copying whole arrays.
- *   - When copying individual items (via push(), insert() etc) the `='
- *     (equals) operator is used. Thus you should define this operator to do
- *     a bitwise copy. You should probably also define the copy constructor.
- */
-
-
-#ifndef _ODE_ARRAY_H_
-#define _ODE_ARRAY_H_
-
-#include <ode/config.h>
-
-
-// this base class has no constructors or destructor, for your convenience.
-
-class dArrayBase {
-protected:
-  int _size;            // number of elements in `data'
-  int _anum;            // allocated number of elements in `data'
-  void *_data;          // array data
-
-  void _freeAll (int sizeofT);
-  void _setSize (int newsize, int sizeofT);
-  // set the array size to `newsize', allocating more memory if necessary.
-  // if newsize>_anum and is a power of two then this is guaranteed to
-  // set _size and _anum to newsize.
-
-public:
-  // not: dArrayBase () { _size=0; _anum=0; _data=0; }
-
-  int size() const { return _size; }
-  int allocatedSize() const { return _anum; }
-  void * operator new (size_t size);
-  void operator delete (void *ptr, size_t size);
-
-  void constructor() { _size=0; _anum=0; _data=0; }
-  // if this structure is allocated with malloc() instead of new, you can
-  // call this to set it up.
-
-  void constructLocalArray (int __anum);
-  // this helper function allows non-reallocating arrays to be constructed
-  // on the stack (or in the heap if necessary). this is something of a
-  // kludge and should be used with extreme care. this function acts like
-  // a constructor - it is called on uninitialized memory that will hold the
-  // Array structure and the data. __anum is the number of elements that
-  // are allocated. the memory MUST be allocated with size:
-  //   sizeof(ArrayBase) + __anum*sizeof(T)
-  // arrays allocated this way will never try to reallocate or free the
-  // memory - that's your job.
-};
-
-
-template <class T> class dArray : public dArrayBase {
-public:
-  void equals (const dArray<T> &x) {
-    setSize (x.size());
-    memcpy (_data,x._data,x._size * sizeof(T));
-  }
-
-  dArray () { constructor(); }
-  dArray (const dArray<T> &x) { constructor(); equals (x); }
-  ~dArray () { _freeAll(sizeof(T)); }
-  void setSize (int newsize) { _setSize (newsize,sizeof(T)); }
-  T *data() const { return (T*) _data; }
-  T & operator[] (int i) const { return ((T*)_data)[i]; }
-  void operator = (const dArray<T> &x) { equals (x); }
-
-  void push (const T item) {
-    if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
-    memcpy (&(((T*)_data)[_size-1]), &item, sizeof(T));
-  }
-
-  void swap (dArray<T> &x) {
-    int tmp1;
-    void *tmp2;
-    tmp1=_size; _size=x._size; x._size=tmp1;
-    tmp1=_anum; _anum=x._anum; x._anum=tmp1;
-    tmp2=_data; _data=x._data; x._data=tmp2;
-  }
-
-  // insert the item at the position `i'. if i<0 then add the item to the
-  // start, if i >= size then add the item to the end of the array.
-  void insert (int i, const T item) {
-    if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
-    if (i >= (_size-1)) i = _size-1;    // add to end
-    else {
-      if (i < 0) i=0;                   // add to start
-      int n = _size-1-i;
-      if (n>0) memmove (((T*)_data) + i+1, ((T*)_data) + i, n*sizeof(T));
-    }
-    ((T*)_data)[i] = item;
-  }
-
-  void remove (int i) {
-    if (i >= 0 && i < _size) {  // passing this test guarantees size>0
-      int n = _size-1-i;
-      if (n>0) memmove (((T*)_data) + i, ((T*)_data) + i+1, n*sizeof(T));
-      _size--;
-    }
-  }
-};
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/box.cpp b/libraries/ode-0.9/ode/src/box.cpp
deleted file mode 100644
index f328651..0000000
--- a/libraries/ode-0.9/ode/src/box.cpp
+++ /dev/null
@@ -1,847 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-standard ODE geometry primitives: public API and pairwise collision functions.
-
-the rule is that only the low level primitive collision functions should set
-dContactGeom::g1 and dContactGeom::g2.
-
-*/
-
-#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_util.h"
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-//****************************************************************************
-// box public API
-
-dxBox::dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz) : dxGeom (space,1)
-{
-  dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
-  type = dBoxClass;
-  side[0] = lx;
-  side[1] = ly;
-  side[2] = lz;
-}
-
-
-void dxBox::computeAABB()
-{
-  const dMatrix3& R = final_posr->R;
-  const dVector3& pos = final_posr->pos;
-  
-  dReal xrange = REAL(0.5) * (dFabs (R[0] * side[0]) +
-    dFabs (R[1] * side[1]) + dFabs (R[2] * side[2]));
-  dReal yrange = REAL(0.5) * (dFabs (R[4] * side[0]) +
-    dFabs (R[5] * side[1]) + dFabs (R[6] * side[2]));
-  dReal zrange = REAL(0.5) * (dFabs (R[8] * side[0]) +
-    dFabs (R[9] * side[1]) + dFabs (R[10] * side[2]));
-  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 dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
-{
-  return new dxBox (space,lx,ly,lz);
-}
-
-
-void dGeomBoxSetLengths (dGeomID g, dReal lx, dReal ly, dReal lz)
-{
-  dUASSERT (g && g->type == dBoxClass,"argument not a box");
-  dAASSERT (lx > 0 && ly > 0 && lz > 0);
-  dxBox *b = (dxBox*) g;
-  b->side[0] = lx;
-  b->side[1] = ly;
-  b->side[2] = lz;
-  dGeomMoved (g);
-}
-
-
-void dGeomBoxGetLengths (dGeomID g, dVector3 result)
-{
-  dUASSERT (g && g->type == dBoxClass,"argument not a box");
-  dxBox *b = (dxBox*) g;
-  result[0] = b->side[0];
-  result[1] = b->side[1];
-  result[2] = b->side[2];
-}
-
-
-dReal dGeomBoxPointDepth (dGeomID g, dReal x, dReal y, dReal z)
-{
-  dUASSERT (g && g->type == dBoxClass,"argument not a box");
-  g->recomputePosr();
-  dxBox *b = (dxBox*) g;
-
-  // Set p = (x,y,z) relative to box center
-  //
-  // This will be (0,0,0) if the point is at (side[0]/2,side[1]/2,side[2]/2)
-
-  dVector3 p,q;
-
-  p[0] = x - b->final_posr->pos[0];
-  p[1] = y - b->final_posr->pos[1];
-  p[2] = z - b->final_posr->pos[2];
-
-  // Rotate p into box's coordinate frame, so we can
-  // treat the OBB as an AABB
-
-  dMULTIPLY1_331 (q,b->final_posr->R,p);
-
-  // Record distance from point to each successive box side, and see
-  // if the point is inside all six sides
-
-  dReal dist[6];
-  int   i;
-
-  bool inside = true;
-
-  for (i=0; i < 3; i++) {
-    dReal side = b->side[i] * REAL(0.5);
-
-    dist[i  ] = side - q[i];
-    dist[i+3] = side + q[i];
-
-    if ((dist[i] < 0) || (dist[i+3] < 0)) {
-      inside = false;
-    }
-  }
-
-  // If point is inside the box, the depth is the smallest positive distance
-  // to any side
-
-  if (inside) {
-    dReal smallest_dist = (dReal) (unsigned) -1;
-
-    for (i=0; i < 6; i++) {
-      if (dist[i] < smallest_dist) smallest_dist = dist[i];
-    }
-
-    return smallest_dist;
-  }
-
-  // Otherwise, if point is outside the box, the depth is the largest
-  // distance to any side.  This is an approximation to the 'proper'
-  // solution (the proper solution may be larger in some cases).
-
-  dReal largest_dist = 0;
-
-  for (i=0; i < 6; i++) {
-    if (dist[i] > largest_dist) largest_dist = dist[i];
-  }
-
-  return -largest_dist;
-}
-
-//****************************************************************************
-// box-box collision utility
-
-
-// find all the intersection points between the 2D rectangle with vertices
-// at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]),
-// (p[2],p[3]),(p[4],p[5]),(p[6],p[7]).
-//
-// the intersection points are returned as x,y pairs in the 'ret' array.
-// the number of intersection points is returned by the function (this will
-// be in the range 0 to 8).
-
-static int intersectRectQuad (dReal h[2], dReal p[8], dReal ret[16])
-{
-  // q (and r) contain nq (and nr) coordinate points for the current (and
-  // chopped) polygons
-  int nq=4,nr;
-  dReal buffer[16];
-  dReal *q = p;
-  dReal *r = ret;
-  for (int dir=0; dir <= 1; dir++) {
-    // direction notation: xy[0] = x axis, xy[1] = y axis
-    for (int sign=-1; sign <= 1; sign += 2) {
-      // chop q along the line xy[dir] = sign*h[dir]
-      dReal *pq = q;
-      dReal *pr = r;
-      nr = 0;
-      for (int i=nq; i > 0; i--) {
-        // go through all points in q and all lines between adjacent points
-        if (sign*pq[dir] < h[dir]) {
-          // this point is inside the chopping line
-          pr[0] = pq[0];
-          pr[1] = pq[1];
-          pr += 2;
-          nr++;
-          if (nr & 8) {
-            q = r;
-            goto done;
-          }
-        }
-        dReal *nextq = (i > 1) ? pq+2 : q;
-        if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) {
-          // this line crosses the chopping line
-          pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) /
-            (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]);
-          pr[dir] = sign*h[dir];
-          pr += 2;
-          nr++;
-          if (nr & 8) {
-            q = r;
-            goto done;
-          }
-        }
-        pq += 2;
-      }
-      q = r;
-      r = (q==ret) ? buffer : ret;
-      nq = nr;
-    }
-  }
- done:
-  if (q != ret) memcpy (ret,q,nr*2*sizeof(dReal));
-  return nr;
-}
-
-
-// given n points in the plane (array p, of size 2*n), generate m points that
-// best represent the whole set. the definition of 'best' here is not
-// predetermined - the idea is to select points that give good box-box
-// collision detection behavior. the chosen point indexes are returned in the
-// array iret (of size m). 'i0' is always the first entry in the array.
-// n must be in the range [1..8]. m must be in the range [1..n]. i0 must be
-// in the range [0..n-1].
-
-void cullPoints (int n, dReal p[], int m, int i0, int iret[])
-{
-  // compute the centroid of the polygon in cx,cy
-  int i,j;
-  dReal a,cx,cy,q;
-  if (n==1) {
-    cx = p[0];
-    cy = p[1];
-  }
-  else if (n==2) {
-    cx = REAL(0.5)*(p[0] + p[2]);
-    cy = REAL(0.5)*(p[1] + p[3]);
-  }
-  else {
-    a = 0;
-    cx = 0;
-    cy = 0;
-    for (i=0; i<(n-1); i++) {
-      q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1];
-      a += q;
-      cx += q*(p[i*2]+p[i*2+2]);
-      cy += q*(p[i*2+1]+p[i*2+3]);
-    }
-    q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
-    a = dRecip(REAL(3.0)*(a+q));
-    cx = a*(cx + q*(p[n*2-2]+p[0]));
-    cy = a*(cy + q*(p[n*2-1]+p[1]));
-  }
-
-  // compute the angle of each point w.r.t. the centroid
-  dReal A[8];
-  for (i=0; i<n; i++) A[i] = dAtan2(p[i*2+1]-cy,p[i*2]-cx);
-
-  // search for points that have angles closest to A[i0] + i*(2*pi/m).
-  int avail[8];
-  for (i=0; i<n; i++) avail[i] = 1;
-  avail[i0] = 0;
-  iret[0] = i0;
-  iret++;
-  for (j=1; j<m; j++) {
-    a = dReal(j)*(2*M_PI/m) + A[i0];
-    if (a > M_PI) a -= 2*M_PI;
-    dReal maxdiff=1e9,diff;
-#ifndef dNODEBUG
-    *iret = i0;                 // iret is not allowed to keep this value
-#endif
-    for (i=0; i<n; i++) {
-      if (avail[i]) {
-        diff = dFabs (A[i]-a);
-        if (diff > M_PI) diff = 2*M_PI - diff;
-        if (diff < maxdiff) {
-          maxdiff = diff;
-          *iret = i;
-        }
-      }
-    }
-#ifndef dNODEBUG
-    dIASSERT (*iret != i0);     // ensure iret got set
-#endif
-    avail[*iret] = 0;
-    iret++;
-  }
-}
-
-
-// given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and
-// generate contact points. this returns 0 if there is no contact otherwise
-// it returns the number of contacts generated.
-// `normal' returns the contact normal.
-// `depth' returns the maximum penetration depth along that normal.
-// `return_code' returns a number indicating the type of contact that was
-// detected:
-//        1,2,3 = box 2 intersects with a face of box 1
-//        4,5,6 = box 1 intersects with a face of box 2
-//        7..15 = edge-edge contact
-// `maxc' is the maximum number of contacts allowed to be generated, i.e.
-// the size of the `contact' array.
-// `contact' and `skip' are the contact array information provided to the
-// collision functions. this function only fills in the position and depth
-// fields.
-
-
-int dBoxBox (const dVector3 p1, const dMatrix3 R1,
-             const dVector3 side1, const dVector3 p2,
-             const dMatrix3 R2, const dVector3 side2,
-             dVector3 normal, dReal *depth, int *return_code,
-             int flags, dContactGeom *contact, int skip)
-{
-  const dReal fudge_factor = REAL(1.05);
-  dVector3 p,pp,normalC;
-  const dReal *normalR = 0;
-  dReal A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
-    Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l,expr1_val;
-  int i,j,invert_normal,code;
-
-  // 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
-  A[0] = side1[0]*REAL(0.5);
-  A[1] = side1[1]*REAL(0.5);
-  A[2] = side1[2]*REAL(0.5);
-  B[0] = side2[0]*REAL(0.5);
-  B[1] = side2[1]*REAL(0.5);
-  B[2] = 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);
-
-  // for all 15 possible separating axes:
-  //   * see if the axis separates the boxes. 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.
-
-  do {
-#define TST(expr1,expr2,norm,cc) \
-    expr1_val = (expr1); /* Avoid duplicate evaluation of expr1 */ \
-    s2 = dFabs(expr1_val) - (expr2); \
-    if (s2 > 0) return 0; \
-    if (s2 > s) { \
-      s = s2; \
-      normalR = norm; \
-      invert_normal = ((expr1_val) < 0); \
-      code = (cc); \
-          if (flags & CONTACTS_UNIMPORTANT) break; \
-        }
-
-    s = -dInfinity;
-    invert_normal = 0;
-    code = 0;
-
-    // separating axis = u1,u2,u3
-    TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1);
-    TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2);
-    TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3);
-
-    // separating axis = v1,v2,v3
-    TST (dDOT41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4);
-    TST (dDOT41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5);
-    TST (dDOT41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6);
-
-    // note: cross product axes need to be scaled when s is computed.
-    // normal (n1,n2,n3) is relative to box 1.
-#undef TST
-#define TST(expr1,expr2,n1,n2,n3,cc) \
-    expr1_val = (expr1); /* Avoid duplicate evaluation of expr1 */ \
-    s2 = dFabs(expr1_val) - (expr2); \
-    if (s2 > 0) return 0; \
-    l = dSqrt ((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
-    if (l > 0) { \
-      s2 /= l; \
-      if (s2*fudge_factor > s) { \
-        s = s2; \
-        normalR = 0; \
-        normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
-        invert_normal = ((expr1_val) < 0); \
-        code = (cc); \
-        if (flags & CONTACTS_UNIMPORTANT) break; \
-          } \
-        }
-
-    // separating axis = u1 x (v1,v2,v3)
-    TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
-    TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
-    TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9);
-
-    // separating axis = u2 x (v1,v2,v3)
-    TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10);
-    TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11);
-    TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12);
-
-    // separating axis = u3 x (v1,v2,v3)
-    TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13);
-    TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14);
-    TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15);
-#undef TST
-  } while (0);
-
-  if (!code) return 0;
-
-  // 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 {
-    dMULTIPLY0_331 (normal,R1,normalC);
-  }
-  if (invert_normal) {
-    normal[0] = -normal[0];
-    normal[1] = -normal[1];
-    normal[2] = -normal[2];
-  }
-  *depth = -s;
-
-  // compute contact point(s)
-
-  if (code > 6) {
-    // an edge from box 1 touches an edge from box 2.
-    // find a point pa on the intersecting edge of box 1
-    dVector3 pa;
-    dReal sign;
-    for (i=0; i<3; i++) pa[i] = p1[i];
-    for (j=0; j<3; j++) {
-      sign = (dDOT14(normal,R1+j) > 0) ? REAL(1.0) : REAL(-1.0);
-      for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j];
-    }
-
-    // find a point pb on the intersecting edge of box 2
-    dVector3 pb;
-    for (i=0; i<3; i++) pb[i] = p2[i];
-    for (j=0; j<3; j++) {
-      sign = (dDOT14(normal,R2+j) > 0) ? REAL(-1.0) : REAL(1.0);
-      for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j];
-    }
-
-    dReal alpha,beta;
-    dVector3 ua,ub;
-    for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4];
-    for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4];
-
-    dLineClosestApproach (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_code = code;
-    return 1;
-  }
-
-  // okay, we have a face-something intersection (because the separating
-  // axis is perpendicular to a face). define face 'a' to be the reference
-  // face (i.e. the normal vector is perpendicular to this) and face 'b' to be
-  // the incident face (the closest face of the other box).
-
-  const dReal *Ra,*Rb,*pa,*pb,*Sa,*Sb;
-  if (code <= 3) {
-    Ra = R1;
-    Rb = R2;
-    pa = p1;
-    pb = p2;
-    Sa = A;
-    Sb = B;
-  }
-  else {
-    Ra = R2;
-    Rb = R1;
-    pa = p2;
-    pb = p1;
-    Sa = B;
-    Sb = A;
-  }
-
-  // nr = normal vector of reference face dotted with axes of incident box.
-  // anr = absolute values of nr.
-  dVector3 normal2,nr,anr;
-  if (code <= 3) {
-    normal2[0] = normal[0];
-    normal2[1] = normal[1];
-    normal2[2] = normal[2];
-  }
-  else {
-    normal2[0] = -normal[0];
-    normal2[1] = -normal[1];
-    normal2[2] = -normal[2];
-  }
-  dMULTIPLY1_331 (nr,Rb,normal2);
-  anr[0] = dFabs (nr[0]);
-  anr[1] = dFabs (nr[1]);
-  anr[2] = dFabs (nr[2]);
-
-  // find the largest compontent of anr: this corresponds to the normal
-  // for the indident face. the other axis numbers of the indicent face
-  // are stored in a1,a2.
-  int lanr,a1,a2;
-  if (anr[1] > anr[0]) {
-    if (anr[1] > anr[2]) {
-      a1 = 0;
-      lanr = 1;
-      a2 = 2;
-    }
-    else {
-      a1 = 0;
-      a2 = 1;
-      lanr = 2;
-    }
-  }
-  else {
-    if (anr[0] > anr[2]) {
-      lanr = 0;
-      a1 = 1;
-      a2 = 2;
-    }
-    else {
-      a1 = 0;
-      a2 = 1;
-      lanr = 2;
-    }
-  }
-
-  // compute center point of incident face, in reference-face coordinates
-  dVector3 center;
-  if (nr[lanr] < 0) {
-    for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr];
-  }
-  else {
-    for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr];
-  }
-
-  // find the normal and non-normal axis numbers of the reference box
-  int codeN,code1,code2;
-  if (code <= 3) codeN = code-1; else codeN = code-4;
-  if (codeN==0) {
-    code1 = 1;
-    code2 = 2;
-  }
-  else if (codeN==1) {
-    code1 = 0;
-    code2 = 2;
-  }
-  else {
-    code1 = 0;
-    code2 = 1;
-  }
-
-  // find the four corners of the incident face, in reference-face coordinates
-  dReal quad[8];        // 2D coordinate of incident face (x,y pairs)
-  dReal c1,c2,m11,m12,m21,m22;
-  c1 = dDOT14 (center,Ra+code1);
-  c2 = dDOT14 (center,Ra+code2);
-  // optimize this? - we have already computed this data above, but it is not
-  // stored in an easy-to-index format. for now it's quicker just to recompute
-  // the four dot products.
-  m11 = dDOT44 (Ra+code1,Rb+a1);
-  m12 = dDOT44 (Ra+code1,Rb+a2);
-  m21 = dDOT44 (Ra+code2,Rb+a1);
-  m22 = dDOT44 (Ra+code2,Rb+a2);
-  {
-    dReal k1 = m11*Sb[a1];
-    dReal k2 = m21*Sb[a1];
-    dReal k3 = m12*Sb[a2];
-    dReal k4 = m22*Sb[a2];
-    quad[0] = c1 - k1 - k3;
-    quad[1] = c2 - k2 - k4;
-    quad[2] = c1 - k1 + k3;
-    quad[3] = c2 - k2 + k4;
-    quad[4] = c1 + k1 + k3;
-    quad[5] = c2 + k2 + k4;
-    quad[6] = c1 + k1 - k3;
-    quad[7] = c2 + k2 - k4;
-  }
-
-  // find the size of the reference face
-  dReal rect[2];
-  rect[0] = Sa[code1];
-  rect[1] = Sa[code2];
-
-  // intersect the incident and reference faces
-  dReal ret[16];
-  int n = intersectRectQuad (rect,quad,ret);
-  if (n < 1) return 0;          // this should never happen
-
-  // convert the intersection points into reference-face coordinates,
-  // and compute the contact position and depth for each point. only keep
-  // those points that have a positive (penetrating) depth. delete points in
-  // the 'ret' array as necessary so that 'point' and 'ret' correspond.
-  dReal point[3*8];             // penetrating contact points
-  dReal dep[8];                 // depths for those points
-  dReal det1 = dRecip(m11*m22 - m12*m21);
-  m11 *= det1;
-  m12 *= det1;
-  m21 *= det1;
-  m22 *= det1;
-  int cnum = 0;                 // number of penetrating contact points found
-  for (j=0; j < n; j++) {
-    dReal k1 =  m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2);
-    dReal k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2);
-    for (i=0; i<3; i++) point[cnum*3+i] =
-                          center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2];
-    dep[cnum] = Sa[codeN] - dDOT(normal2,point+cnum*3);
-    if (dep[cnum] >= 0) {
-      ret[cnum*2] = ret[j*2];
-      ret[cnum*2+1] = ret[j*2+1];
-      cnum++;
-          if ((cnum | CONTACTS_UNIMPORTANT) == (flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                  break;
-          }
-    }
-  }
-  if (cnum < 1) { 
-          return 0;     // this should not happen, yet does at times (demo_plane2d single precision).
-  }
-
-  // we can't generate more contacts than we actually have
-  int maxc = flags & NUMC_MASK;
-  if (maxc > cnum) maxc = cnum;
-  if (maxc < 1) maxc = 1;       // Even though max count must not be zero this check is kept for backward compatibility as this is a public function
-
-  if (cnum <= maxc) {
-    // we have less contacts than we need, so we use them all
-    for (j=0; j < cnum; j++) {
-      dContactGeom *con = CONTACT(contact,skip*j);
-      for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i];
-      con->depth = dep[j];
-    }
-  }
-  else {
-    dIASSERT(!(flags & CONTACTS_UNIMPORTANT)); // cnum should be generated not greater than maxc so that "then" clause is executed
-    // we have more contacts than are wanted, some of them must be culled.
-    // find the deepest point, it is always the first contact.
-    int i1 = 0;
-    dReal maxdepth = dep[0];
-    for (i=1; i<cnum; i++) {
-      if (dep[i] > maxdepth) {
-        maxdepth = dep[i];
-        i1 = i;
-      }
-    }
-
-    int iret[8];
-    cullPoints (cnum,ret,maxc,i1,iret);
-
-    for (j=0; j < maxc; j++) {
-      dContactGeom *con = CONTACT(contact,skip*j);
-      for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
-      con->depth = dep[iret[j]];
-    }
-    cnum = maxc;
-  }
-
-  *return_code = code;
-  return cnum;
-}
-
-
-
-int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
-                    dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dBoxClass);
-  dIASSERT (o2->type == dBoxClass);
-  dIASSERT ((flags & NUMC_MASK) >= 1);
-
-  dVector3 normal;
-  dReal depth;
-  int code;
-  dxBox *b1 = (dxBox*) o1;
-  dxBox *b2 = (dxBox*) o2;
-  int num = dBoxBox (o1->final_posr->pos,o1->final_posr->R,b1->side, o2->final_posr->pos,o2->final_posr->R,b2->side,
-                     normal,&depth,&code,flags,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 = o1;
-    CONTACT(contact,i*skip)->g2 = o2;
-  }
-  return num;
-}
-
-
-int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
-                      int flags, dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dBoxClass);
-  dIASSERT (o2->type == dPlaneClass);
-  dIASSERT ((flags & NUMC_MASK) >= 1);
-
-  dxBox *box = (dxBox*) o1;
-  dxPlane *plane = (dxPlane*) o2;
-
-  contact->g1 = o1;
-  contact->g2 = o2;
-  int ret = 0;
-
-  //@@@ problem: using 4-vector (plane->p) as 3-vector (normal).
-  const dReal *R = o1->final_posr->R;           // rotation of box
-  const dReal *n = plane->p;            // normal vector
-
-  // project sides lengths along normal vector, get absolute values
-  dReal Q1 = dDOT14(n,R+0);
-  dReal Q2 = dDOT14(n,R+1);
-  dReal Q3 = dDOT14(n,R+2);
-  dReal A1 = box->side[0] * Q1;
-  dReal A2 = box->side[1] * Q2;
-  dReal A3 = box->side[2] * Q3;
-  dReal B1 = dFabs(A1);
-  dReal B2 = dFabs(A2);
-  dReal B3 = dFabs(A3);
-
-  // early exit test
-  dReal depth = plane->p[3] + REAL(0.5)*(B1+B2+B3) - dDOT(n,o1->final_posr->pos);
-  if (depth < 0) return 0;
-
-  // find number of contacts requested
-  int maxc = flags & NUMC_MASK;
-  // if (maxc < 1) maxc = 1; // an assertion is made on entry
-  if (maxc > 3) maxc = 3;       // not more than 3 contacts per box allowed
-
-  // find deepest point
-  dVector3 p;
-  p[0] = o1->final_posr->pos[0];
-  p[1] = o1->final_posr->pos[1];
-  p[2] = o1->final_posr->pos[2];
-#define FOO(i,op) \
-  p[0] op REAL(0.5)*box->side[i] * R[0+i]; \
-  p[1] op REAL(0.5)*box->side[i] * R[4+i]; \
-  p[2] op REAL(0.5)*box->side[i] * R[8+i];
-#define BAR(i,iinc) if (A ## iinc > 0) { FOO(i,-=) } else { FOO(i,+=) }
-  BAR(0,1);
-  BAR(1,2);
-  BAR(2,3);
-#undef FOO
-#undef BAR
-
-  // the deepest point is the first contact point
-  contact->pos[0] = p[0];
-  contact->pos[1] = p[1];
-  contact->pos[2] = p[2];
-  contact->normal[0] = n[0];
-  contact->normal[1] = n[1];
-  contact->normal[2] = n[2];
-  contact->depth = depth;
-  ret = 1;              // ret is number of contact points found so far
-  if (maxc == 1) goto done;
-
-  // get the second and third contact points by starting from `p' and going
-  // along the two sides with the smallest projected length.
-
-#define FOO(i,j,op) \
-  CONTACT(contact,i*skip)->pos[0] = p[0] op box->side[j] * R[0+j]; \
-  CONTACT(contact,i*skip)->pos[1] = p[1] op box->side[j] * R[4+j]; \
-  CONTACT(contact,i*skip)->pos[2] = p[2] op box->side[j] * R[8+j];
-#define BAR(ctact,side,sideinc) \
-  depth -= B ## sideinc; \
-  if (depth < 0) goto done; \
-  if (A ## sideinc > 0) { FOO(ctact,side,+); } else { FOO(ctact,side,-); } \
-  CONTACT(contact,ctact*skip)->depth = depth; \
-  ret++;
-
-  CONTACT(contact,skip)->normal[0] = n[0];
-  CONTACT(contact,skip)->normal[1] = n[1];
-  CONTACT(contact,skip)->normal[2] = n[2];
-  if (maxc == 3) {
-    CONTACT(contact,2*skip)->normal[0] = n[0];
-    CONTACT(contact,2*skip)->normal[1] = n[1];
-    CONTACT(contact,2*skip)->normal[2] = n[2];
-  }
-
-  if (B1 < B2) {
-    if (B3 < B1) goto use_side_3; else {
-      BAR(1,0,1);       // use side 1
-      if (maxc == 2) goto done;
-      if (B2 < B3) goto contact2_2; else goto contact2_3;
-    }
-  }
-  else {
-    if (B3 < B2) {
-      use_side_3:       // use side 3
-      BAR(1,2,3);
-      if (maxc == 2) goto done;
-      if (B1 < B2) goto contact2_1; else goto contact2_2;
-    }
-    else {
-      BAR(1,1,2);       // use side 2
-      if (maxc == 2) goto done;
-      if (B1 < B3) goto contact2_1; else goto contact2_3;
-    }
-  }
-
-  contact2_1: BAR(2,0,1); goto done;
-  contact2_2: BAR(2,1,2); goto done;
-  contact2_3: BAR(2,2,3); goto done;
-#undef FOO
-#undef BAR
-
- done:
-  for (int i=0; i<ret; i++) {
-    CONTACT(contact,i*skip)->g1 = o1;
-    CONTACT(contact,i*skip)->g2 = o2;
-  }
-  return ret;
-}
diff --git a/libraries/ode-0.9/ode/src/capsule.cpp b/libraries/ode-0.9/ode/src/capsule.cpp
deleted file mode 100644
index 5680baa..0000000
--- a/libraries/ode-0.9/ode/src/capsule.cpp
+++ /dev/null
@@ -1,369 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-standard ODE geometry primitives: public API and pairwise collision functions.
-
-the rule is that only the low level primitive collision functions should set
-dContactGeom::g1 and dContactGeom::g2.
-
-*/
-
-#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_util.h"
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-//****************************************************************************
-// capped cylinder public API
-
-dxCapsule::dxCapsule (dSpaceID space, dReal _radius, dReal _length) :
-  dxGeom (space,1)
-{
-  dAASSERT (_radius > 0 && _length > 0);
-  type = dCapsuleClass;
-  radius = _radius;
-  lz = _length;
-}
-
-
-void dxCapsule::computeAABB()
-{
-  const dMatrix3& R = final_posr->R;
-  const dVector3& pos = final_posr->pos;
-  
-  dReal xrange = dFabs(R[2]  * lz) * REAL(0.5) + radius;
-  dReal yrange = dFabs(R[6]  * lz) * REAL(0.5) + radius;
-  dReal zrange = dFabs(R[10] * lz) * REAL(0.5) + 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 dCreateCapsule (dSpaceID space, dReal radius, dReal length)
-{
-  return new dxCapsule (space,radius,length);
-}
-
-
-void dGeomCapsuleSetParams (dGeomID g, dReal radius, dReal length)
-{
-  dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder");
-  dAASSERT (radius > 0 && length > 0);
-  dxCapsule *c = (dxCapsule*) g;
-  c->radius = radius;
-  c->lz = length;
-  dGeomMoved (g);
-}
-
-
-void dGeomCapsuleGetParams (dGeomID g, dReal *radius, dReal *length)
-{
-  dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder");
-  dxCapsule *c = (dxCapsule*) g;
-  *radius = c->radius;
-  *length = c->lz;
-}
-
-
-dReal dGeomCapsulePointDepth (dGeomID g, dReal x, dReal y, dReal z)
-{
-  dUASSERT (g && g->type == dCapsuleClass,"argument not a ccylinder");
-  g->recomputePosr();
-  dxCapsule *c = (dxCapsule*) g;
-
-  const dReal* R = g->final_posr->R;
-  const dReal* pos = g->final_posr->pos;
-  
-  dVector3 a;
-  a[0] = x - pos[0];
-  a[1] = y - pos[1];
-  a[2] = z - pos[2];
-  dReal beta = dDOT14(a,R+2);
-  dReal lz2 = c->lz*REAL(0.5);
-  if (beta < -lz2) beta = -lz2;
-  else if (beta > lz2) beta = lz2;
-  a[0] = c->final_posr->pos[0] + beta*R[0*4+2];
-  a[1] = c->final_posr->pos[1] + beta*R[1*4+2];
-  a[2] = c->final_posr->pos[2] + beta*R[2*4+2];
-  return c->radius -
-    dSqrt ((x-a[0])*(x-a[0]) + (y-a[1])*(y-a[1]) + (z-a[2])*(z-a[2]));
-}
-
-
-
-int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags,
-                             dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dCapsuleClass);
-  dIASSERT (o2->type == dSphereClass);
-  dIASSERT ((flags & NUMC_MASK) >= 1);

-  

-  dxCapsule *ccyl = (dxCapsule*) o1;
-  dxSphere *sphere = (dxSphere*) o2;
-
-  contact->g1 = o1;
-  contact->g2 = o2;
-
-  // find the point on the cylinder axis that is closest to the sphere
-  dReal alpha = 
-    o1->final_posr->R[2]  * (o2->final_posr->pos[0] - o1->final_posr->pos[0]) +
-    o1->final_posr->R[6]  * (o2->final_posr->pos[1] - o1->final_posr->pos[1]) +
-    o1->final_posr->R[10] * (o2->final_posr->pos[2] - o1->final_posr->pos[2]);
-  dReal lz2 = ccyl->lz * REAL(0.5);
-  if (alpha > lz2) alpha = lz2;
-  if (alpha < -lz2) alpha = -lz2;
-
-  // collide the spheres
-  dVector3 p;
-  p[0] = o1->final_posr->pos[0] + alpha * o1->final_posr->R[2];
-  p[1] = o1->final_posr->pos[1] + alpha * o1->final_posr->R[6];
-  p[2] = o1->final_posr->pos[2] + alpha * o1->final_posr->R[10];
-  return dCollideSpheres (p,ccyl->radius,o2->final_posr->pos,sphere->radius,contact);
-}
-
-
-int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags,
-                          dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dCapsuleClass);
-  dIASSERT (o2->type == dBoxClass);
-  dIASSERT ((flags & NUMC_MASK) >= 1);

-

-  dxCapsule *cyl = (dxCapsule*) o1;
-  dxBox *box = (dxBox*) o2;
-
-  contact->g1 = o1;
-  contact->g2 = o2;
-
-  // get p1,p2 = cylinder axis endpoints, get radius
-  dVector3 p1,p2;
-  dReal clen = cyl->lz * REAL(0.5);
-  p1[0] = o1->final_posr->pos[0] + clen * o1->final_posr->R[2];
-  p1[1] = o1->final_posr->pos[1] + clen * o1->final_posr->R[6];
-  p1[2] = o1->final_posr->pos[2] + clen * o1->final_posr->R[10];
-  p2[0] = o1->final_posr->pos[0] - clen * o1->final_posr->R[2];
-  p2[1] = o1->final_posr->pos[1] - clen * o1->final_posr->R[6];
-  p2[2] = o1->final_posr->pos[2] - clen * o1->final_posr->R[10];
-  dReal radius = cyl->radius;
-
-  // copy out box center, rotation matrix, and side array
-  dReal *c = o2->final_posr->pos;
-  dReal *R = o2->final_posr->R;
-  const dReal *side = box->side;
-
-  // get the closest point between the cylinder axis and the box
-  dVector3 pl,pb;
-  dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb);
-
-  // generate contact point
-  return dCollideSpheres (pl,radius,pb,0,contact);
-}
-
-
-int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2,
-                                int flags, dContactGeom *contact, int skip)
-{

-  dIASSERT (skip >= (int)sizeof(dContactGeom));

-  dIASSERT (o1->type == dCapsuleClass);

-  dIASSERT (o2->type == dCapsuleClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-  int i;
-  const dReal tolerance = REAL(1e-5);
-
-  dxCapsule *cyl1 = (dxCapsule*) o1;
-  dxCapsule *cyl2 = (dxCapsule*) o2;
-
-  contact->g1 = o1;
-  contact->g2 = o2;
-
-  // copy out some variables, for convenience
-  dReal lz1 = cyl1->lz * REAL(0.5);
-  dReal lz2 = cyl2->lz * REAL(0.5);
-  dReal *pos1 = o1->final_posr->pos;
-  dReal *pos2 = o2->final_posr->pos;
-  dReal axis1[3],axis2[3];
-  axis1[0] = o1->final_posr->R[2];
-  axis1[1] = o1->final_posr->R[6];
-  axis1[2] = o1->final_posr->R[10];
-  axis2[0] = o2->final_posr->R[2];
-  axis2[1] = o2->final_posr->R[6];
-  axis2[2] = o2->final_posr->R[10];
-
-  // if the cylinder axes are close to parallel, we'll try to detect up to
-  // two contact points along the body of the cylinder. if we can't find any
-  // points then we'll fall back to the closest-points algorithm. note that
-  // we are not treating this special case for reasons of degeneracy, but
-  // because we want two contact points in some situations. the closet-points
-  // algorithm is robust in all casts, but it can return only one contact.
-
-  dVector3 sphere1,sphere2;
-  dReal a1a2 = dDOT (axis1,axis2);
-  dReal det = REAL(1.0)-a1a2*a1a2;
-  if (det < tolerance) {
-    // the cylinder axes (almost) parallel, so we will generate up to two
-    // contacts. alpha1 and alpha2 (line position parameters) are related by:
-    //       alpha2 =   alpha1 + (pos1-pos2)'*axis1   (if axis1==axis2)
-    //    or alpha2 = -(alpha1 + (pos1-pos2)'*axis1)  (if axis1==-axis2)
-    // first compute where the two cylinders overlap in alpha1 space:
-    if (a1a2 < 0) {
-      axis2[0] = -axis2[0];
-      axis2[1] = -axis2[1];
-      axis2[2] = -axis2[2];
-    }
-    dReal q[3];
-    for (i=0; i<3; i++) q[i] = pos1[i]-pos2[i];
-    dReal k = dDOT (axis1,q);
-    dReal a1lo = -lz1;
-    dReal a1hi = lz1;
-    dReal a2lo = -lz2 - k;
-    dReal a2hi = lz2 - k;
-    dReal lo = (a1lo > a2lo) ? a1lo : a2lo;
-    dReal hi = (a1hi < a2hi) ? a1hi : a2hi;
-    if (lo <= hi) {
-      int num_contacts = flags & NUMC_MASK;
-      if (num_contacts >= 2 && lo < hi) {
-        // generate up to two contacts. if one of those contacts is
-        // not made, fall back on the one-contact strategy.
-        for (i=0; i<3; i++) sphere1[i] = pos1[i] + lo*axis1[i];
-        for (i=0; i<3; i++) sphere2[i] = pos2[i] + (lo+k)*axis2[i];
-        int n1 = dCollideSpheres (sphere1,cyl1->radius,
-                                  sphere2,cyl2->radius,contact);
-        if (n1) {
-          for (i=0; i<3; i++) sphere1[i] = pos1[i] + hi*axis1[i];
-          for (i=0; i<3; i++) sphere2[i] = pos2[i] + (hi+k)*axis2[i];
-          dContactGeom *c2 = CONTACT(contact,skip);
-          int n2 = dCollideSpheres (sphere1,cyl1->radius,
-                                    sphere2,cyl2->radius, c2);
-          if (n2) {
-            c2->g1 = o1;
-            c2->g2 = o2;
-            return 2;
-          }
-        }
-      }
-
-      // just one contact to generate, so put it in the middle of
-      // the range
-      dReal alpha1 = (lo + hi) * REAL(0.5);
-      dReal alpha2 = alpha1 + k;
-      for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-      for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-      return dCollideSpheres (sphere1,cyl1->radius,
-                              sphere2,cyl2->radius,contact);
-    }
-  }
-          
-  // use the closest point algorithm
-  dVector3 a1,a2,b1,b2;
-  a1[0] = o1->final_posr->pos[0] + axis1[0]*lz1;
-  a1[1] = o1->final_posr->pos[1] + axis1[1]*lz1;
-  a1[2] = o1->final_posr->pos[2] + axis1[2]*lz1;
-  a2[0] = o1->final_posr->pos[0] - axis1[0]*lz1;
-  a2[1] = o1->final_posr->pos[1] - axis1[1]*lz1;
-  a2[2] = o1->final_posr->pos[2] - axis1[2]*lz1;
-  b1[0] = o2->final_posr->pos[0] + axis2[0]*lz2;
-  b1[1] = o2->final_posr->pos[1] + axis2[1]*lz2;
-  b1[2] = o2->final_posr->pos[2] + axis2[2]*lz2;
-  b2[0] = o2->final_posr->pos[0] - axis2[0]*lz2;
-  b2[1] = o2->final_posr->pos[1] - axis2[1]*lz2;
-  b2[2] = o2->final_posr->pos[2] - axis2[2]*lz2;
-
-  dClosestLineSegmentPoints (a1,a2,b1,b2,sphere1,sphere2);
-  return dCollideSpheres (sphere1,cyl1->radius,sphere2,cyl2->radius,contact);
-}
-
-
-int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags,
-                            dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dCapsuleClass);
-  dIASSERT (o2->type == dPlaneClass);
-  dIASSERT ((flags & NUMC_MASK) >= 1);

-

-  dxCapsule *ccyl = (dxCapsule*) o1;
-  dxPlane *plane = (dxPlane*) o2;
-
-  // collide the deepest capping sphere with the plane
-  dReal sign = (dDOT14 (plane->p,o1->final_posr->R+2) > 0) ? REAL(-1.0) : REAL(1.0);
-  dVector3 p;
-  p[0] = o1->final_posr->pos[0] + o1->final_posr->R[2]  * ccyl->lz * REAL(0.5) * sign;
-  p[1] = o1->final_posr->pos[1] + o1->final_posr->R[6]  * ccyl->lz * REAL(0.5) * sign;
-  p[2] = o1->final_posr->pos[2] + o1->final_posr->R[10] * ccyl->lz * REAL(0.5) * sign;
-
-  dReal k = dDOT (p,plane->p);
-  dReal depth = plane->p[3] - k + ccyl->radius;
-  if (depth < 0) return 0;
-  contact->normal[0] = plane->p[0];
-  contact->normal[1] = plane->p[1];
-  contact->normal[2] = plane->p[2];
-  contact->pos[0] = p[0] - plane->p[0] * ccyl->radius;
-  contact->pos[1] = p[1] - plane->p[1] * ccyl->radius;
-  contact->pos[2] = p[2] - plane->p[2] * ccyl->radius;
-  contact->depth = depth;
-
-  int ncontacts = 1;
-  if ((flags & NUMC_MASK) >= 2) {
-    // collide the other capping sphere with the plane
-    p[0] = o1->final_posr->pos[0] - o1->final_posr->R[2]  * ccyl->lz * REAL(0.5) * sign;
-    p[1] = o1->final_posr->pos[1] - o1->final_posr->R[6]  * ccyl->lz * REAL(0.5) * sign;
-    p[2] = o1->final_posr->pos[2] - o1->final_posr->R[10] * ccyl->lz * REAL(0.5) * sign;
-
-    k = dDOT (p,plane->p);
-    depth = plane->p[3] - k + ccyl->radius;
-    if (depth >= 0) {
-      dContactGeom *c2 = CONTACT(contact,skip);
-      c2->normal[0] = plane->p[0];
-      c2->normal[1] = plane->p[1];
-      c2->normal[2] = plane->p[2];
-      c2->pos[0] = p[0] - plane->p[0] * ccyl->radius;
-      c2->pos[1] = p[1] - plane->p[1] * ccyl->radius;
-      c2->pos[2] = p[2] - plane->p[2] * ccyl->radius;
-      c2->depth = depth;
-      ncontacts = 2;
-    }
-  }
-
-  for (int i=0; i < ncontacts; i++) {
-    CONTACT(contact,i*skip)->g1 = o1;
-    CONTACT(contact,i*skip)->g2 = o2;
-  }
-  return ncontacts;
-}
-
diff --git a/libraries/ode-0.9/ode/src/collision_cylinder_box.cpp b/libraries/ode-0.9/ode/src/collision_cylinder_box.cpp
deleted file mode 100644
index eb14c72..0000000
--- a/libraries/ode-0.9/ode/src/collision_cylinder_box.cpp
+++ /dev/null
@@ -1,1007 +0,0 @@
-/*************************************************************************
-*                                                                       *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
-*                                                                       *
-*************************************************************************/
-
-/*
- *      Cylinder-box collider by Alen Ladavac
- *  Ported to ODE by Nguyen Binh
- */
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_util.h"
-
-static const int MAX_CYLBOX_CLIP_POINTS  = 16;
-static const int nCYLINDER_AXIS                  = 2;
-// Number of segment of cylinder base circle.
-// Must be divisible by 4.
-static const int nCYLINDER_SEGMENT               = 8;
-
-#define MAX_FLOAT       dInfinity
-
-// Data that passed through the collider's functions
-typedef struct _sCylinderBoxData
-{
-        // cylinder parameters
-        dMatrix3                        mCylinderRot;
-        dVector3                        vCylinderPos;
-        dVector3                        vCylinderAxis;
-        dReal                           fCylinderRadius;
-        dReal                           fCylinderSize;
-        dVector3                        avCylinderNormals[nCYLINDER_SEGMENT];
-        
-        // box parameters
-
-        dMatrix3                        mBoxRot;
-        dVector3                        vBoxPos;
-        dVector3                        vBoxHalfSize;
-        // box vertices array : 8 vertices
-        dVector3                        avBoxVertices[8];
-
-        // global collider data
-        dVector3                        vDiff;                  
-        dVector3                        vNormal;
-        dReal                           fBestDepth;
-        dReal                           fBestrb;
-        dReal                           fBestrc;
-        int                                     iBestAxis;
-
-        // contact data
-        dVector3                        vEp0, vEp1;
-        dReal                           fDepth0, fDepth1;
-
-        // ODE stuff
-        dGeomID                         gBox;
-        dGeomID                         gCylinder;
-        dContactGeom*           gContact;
-        int                                     iFlags;
-        int                                     iSkip;
-        int                                     nContacts;
-        
-} sCylinderBoxData;
-
-
-// initialize collision data
-void _cldInitCylinderBox(sCylinderBoxData& cData) 
-{
-        // get cylinder position, orientation
-        const dReal* pRotCyc = dGeomGetRotation(cData.gCylinder); 
-        dMatrix3Copy(pRotCyc,cData.mCylinderRot);
-
-        const dVector3* pPosCyc = (const dVector3*)dGeomGetPosition(cData.gCylinder);
-        dVector3Copy(*pPosCyc,cData.vCylinderPos);
-
-        dMat3GetCol(cData.mCylinderRot,nCYLINDER_AXIS,cData.vCylinderAxis);
-        
-        // get cylinder radius and size
-        dGeomCylinderGetParams(cData.gCylinder,&cData.fCylinderRadius,&cData.fCylinderSize);
-
-        // get box position, orientation, size
-        const dReal* pRotBox = dGeomGetRotation(cData.gBox);
-        dMatrix3Copy(pRotBox,cData.mBoxRot);
-        const dVector3* pPosBox  = (const dVector3*)dGeomGetPosition(cData.gBox);
-        dVector3Copy(*pPosBox,cData.vBoxPos);
-
-        dGeomBoxGetLengths(cData.gBox, cData.vBoxHalfSize);
-        cData.vBoxHalfSize[0] *= REAL(0.5);
-        cData.vBoxHalfSize[1] *= REAL(0.5);
-        cData.vBoxHalfSize[2] *= REAL(0.5);
-
-        // vertex 0
-        cData.avBoxVertices[0][0] = -cData.vBoxHalfSize[0];
-        cData.avBoxVertices[0][1] =  cData.vBoxHalfSize[1];
-        cData.avBoxVertices[0][2] = -cData.vBoxHalfSize[2];
-
-        // vertex 1
-        cData.avBoxVertices[1][0] =  cData.vBoxHalfSize[0];
-        cData.avBoxVertices[1][1] =  cData.vBoxHalfSize[1];
-        cData.avBoxVertices[1][2] = -cData.vBoxHalfSize[2];
-
-        // vertex 2
-        cData.avBoxVertices[2][0] = -cData.vBoxHalfSize[0];
-        cData.avBoxVertices[2][1] = -cData.vBoxHalfSize[1];
-        cData.avBoxVertices[2][2] = -cData.vBoxHalfSize[2];
-
-        // vertex 3
-        cData.avBoxVertices[3][0] =  cData.vBoxHalfSize[0];
-        cData.avBoxVertices[3][1] = -cData.vBoxHalfSize[1];
-        cData.avBoxVertices[3][2] = -cData.vBoxHalfSize[2];
-
-        // vertex 4
-        cData.avBoxVertices[4][0] =  cData.vBoxHalfSize[0];
-        cData.avBoxVertices[4][1] =  cData.vBoxHalfSize[1];
-        cData.avBoxVertices[4][2] =  cData.vBoxHalfSize[2];
-
-        // vertex 5
-        cData.avBoxVertices[5][0] =  cData.vBoxHalfSize[0];
-        cData.avBoxVertices[5][1] = -cData.vBoxHalfSize[1];
-        cData.avBoxVertices[5][2] =  cData.vBoxHalfSize[2];
-
-        // vertex 6
-        cData.avBoxVertices[6][0] = -cData.vBoxHalfSize[0];
-        cData.avBoxVertices[6][1] = -cData.vBoxHalfSize[1];
-        cData.avBoxVertices[6][2] =  cData.vBoxHalfSize[2];
-
-        // vertex 7
-        cData.avBoxVertices[7][0] = -cData.vBoxHalfSize[0];
-        cData.avBoxVertices[7][1] =  cData.vBoxHalfSize[1];
-        cData.avBoxVertices[7][2] =  cData.vBoxHalfSize[2];
-
-        // temp index
-        int i = 0;
-        dVector3        vTempBoxVertices[8];
-        // transform vertices in absolute space
-        for(i=0; i < 8; i++) 
-        {
-                dMultiplyMat3Vec3(cData.mBoxRot,cData.avBoxVertices[i], vTempBoxVertices[i]);
-                dVector3Add(vTempBoxVertices[i], cData.vBoxPos, cData.avBoxVertices[i]);
-        }
-
-        // find relative position
-        dVector3Subtract(cData.vCylinderPos,cData.vBoxPos,cData.vDiff);
-        cData.fBestDepth = MAX_FLOAT;
-        cData.vNormal[0] = REAL(0.0);
-        cData.vNormal[1] = REAL(0.0);
-        cData.vNormal[2] = REAL(0.0);
-
-        // calculate basic angle for nCYLINDER_SEGMENT-gon
-        dReal fAngle = M_PI/nCYLINDER_SEGMENT;
-
-        // calculate angle increment
-        dReal fAngleIncrement = fAngle * REAL(2.0); 
-
-        // calculate nCYLINDER_SEGMENT-gon points
-        for(i = 0; i < nCYLINDER_SEGMENT; i++) 
-        {
-                cData.avCylinderNormals[i][0] = -dCos(fAngle);
-                cData.avCylinderNormals[i][1] = -dSin(fAngle);
-                cData.avCylinderNormals[i][2] = 0;
-
-                fAngle += fAngleIncrement;
-        }
-
-        cData.fBestrb           = 0;
-        cData.fBestrc           = 0;
-        cData.iBestAxis         = 0;
-        cData.nContacts         = 0;
-
-}
-
-// test for given separating axis
-int _cldTestAxis(sCylinderBoxData& cData, dVector3& vInputNormal, int iAxis ) 
-{
-        // check length of input normal
-        dReal fL = dVector3Length(vInputNormal);
-        // if not long enough
-        if ( fL < REAL(1e-5) ) 
-        {
-                // do nothing
-                return 1;
-        }
-
-        // otherwise make it unit for sure
-        dNormalize3(vInputNormal);
-
-        // project box and Cylinder on mAxis
-        dReal fdot1 = dVector3Dot(cData.vCylinderAxis, vInputNormal);
-
-        dReal frc;
-
-        if (fdot1 > REAL(1.0)) 
-        {
-                fdot1 = REAL(1.0);
-                frc = dFabs(cData.fCylinderSize*REAL(0.5));
-        }
-
-        // project box and capsule on iAxis
-        frc = dFabs( fdot1 * (cData.fCylinderSize*REAL(0.5))) + cData.fCylinderRadius * dSqrt(REAL(1.0)-(fdot1*fdot1));
-
-        dVector3        vTemp1;
-        dReal frb = REAL(0.0);
-
-        dMat3GetCol(cData.mBoxRot,0,vTemp1);
-        frb = dFabs(dVector3Dot(vTemp1,vInputNormal))*cData.vBoxHalfSize[0];
-
-        dMat3GetCol(cData.mBoxRot,1,vTemp1);
-        frb += dFabs(dVector3Dot(vTemp1,vInputNormal))*cData.vBoxHalfSize[1];
-
-        dMat3GetCol(cData.mBoxRot,2,vTemp1);
-        frb += dFabs(dVector3Dot(vTemp1,vInputNormal))*cData.vBoxHalfSize[2];
-        
-        // project their distance on separating axis
-        dReal fd  = dVector3Dot(cData.vDiff,vInputNormal);
-
-        // if they do not overlap exit, we have no intersection
-        if ( dFabs(fd) > frc+frb )
-        { 
-                return 0; 
-        } 
-
-        // get depth
-        dReal fDepth = - dFabs(fd) + (frc+frb);
-
-        // get maximum depth
-        if ( fDepth < cData.fBestDepth ) 
-        {
-                cData.fBestDepth = fDepth;
-                dVector3Copy(vInputNormal,cData.vNormal);
-                cData.iBestAxis  = iAxis;
-                cData.fBestrb    = frb;
-                cData.fBestrc    = frc;
-
-                // flip normal if interval is wrong faced
-                if (fd > 0) 
-                { 
-                        dVector3Inv(cData.vNormal);
-                }
-        }
-
-        return 1;
-}
-
-
-// check for separation between box edge and cylinder circle edge
-int _cldTestEdgeCircleAxis( sCylinderBoxData& cData,
-                                                        const dVector3 &vCenterPoint, 
-                                                        const dVector3 &vVx0, const dVector3 &vVx1, 
-                                                        int iAxis ) 
-{
-        // calculate direction of edge
-        dVector3 vDirEdge;
-        dVector3Subtract(vVx1,vVx0,vDirEdge);
-        dNormalize3(vDirEdge);
-        // starting point of edge 
-        dVector3 vEStart;
-        dVector3Copy(vVx0,vEStart);;
-
-        // calculate angle cosine between cylinder axis and edge
-        dReal fdot2 = dVector3Dot (vDirEdge,cData.vCylinderAxis);
-
-        // if edge is perpendicular to cylinder axis
-        if(dFabs(fdot2) < REAL(1e-5)) 
-        {
-                // this can't be separating axis, because edge is parallel to circle plane
-                return 1;
-        }
-
-        // find point of intersection between edge line and circle plane
-        dVector3 vTemp1;
-        dVector3Subtract(vCenterPoint,vEStart,vTemp1);
-        dReal fdot1 = dVector3Dot(vTemp1,cData.vCylinderAxis);
-        dVector3 vpnt;
-        vpnt[0]= vEStart[0] + vDirEdge[0] * (fdot1/fdot2);
-        vpnt[1]= vEStart[1] + vDirEdge[1] * (fdot1/fdot2);
-        vpnt[2]= vEStart[2] + vDirEdge[2] * (fdot1/fdot2);
-
-        // find tangent vector on circle with same center (vCenterPoint) that
-        // touches point of intersection (vpnt)
-        dVector3 vTangent;
-        dVector3Subtract(vCenterPoint,vpnt,vTemp1);
-        dVector3Cross(vTemp1,cData.vCylinderAxis,vTangent);
-        
-        // find vector orthogonal both to tangent and edge direction
-        dVector3 vAxis;
-        dVector3Cross(vTangent,vDirEdge,vAxis);
-
-        // use that vector as separating axis
-        return _cldTestAxis( cData, vAxis, iAxis );
-}
-
-// Test separating axis for collision
-int _cldTestSeparatingAxes(sCylinderBoxData& cData) 
-{
-        // reset best axis
-        cData.fBestDepth = MAX_FLOAT;
-        cData.iBestAxis = 0;
-        cData.fBestrb = 0;
-        cData.fBestrc = 0;
-        cData.nContacts = 0;
-
-        dVector3  vAxis = {REAL(0.0),REAL(0.0),REAL(0.0),REAL(0.0)};
-
-        // Epsilon value for checking axis vector length 
-        const dReal fEpsilon = REAL(1e-6);
-
-        // axis A0
-        dMat3GetCol(cData.mBoxRot, 0 , vAxis);
-        if (!_cldTestAxis( cData, vAxis, 1 )) 
-        {
-                return 0;
-        }
-
-        // axis A1
-        dMat3GetCol(cData.mBoxRot, 1 , vAxis);
-        if (!_cldTestAxis( cData, vAxis, 2 )) 
-        {
-                return 0;
-        }
-
-        // axis A2
-        dMat3GetCol(cData.mBoxRot, 2 , vAxis);
-        if (!_cldTestAxis( cData, vAxis, 3 )) 
-        {
-                return 0;
-        }
-
-        // axis C - Cylinder Axis
-        //vAxis = vCylinderAxis;
-        dVector3Copy(cData.vCylinderAxis , vAxis);
-        if (!_cldTestAxis( cData, vAxis, 4 )) 
-        {
-                return 0;
-        }
-
-        // axis CxA0
-        //vAxis = ( vCylinderAxis cross mthGetColM33f( mBoxRot, 0 ));
-        dVector3CrossMat3Col(cData.mBoxRot, 0 ,cData.vCylinderAxis, vAxis);
-        if(dVector3Length2( vAxis ) > fEpsilon ) 
-        {
-                if (!_cldTestAxis( cData, vAxis, 5 ))
-                {
-                        return 0;
-                }
-        }
-
-        // axis CxA1
-        //vAxis = ( vCylinderAxis cross mthGetColM33f( mBoxRot, 1 ));
-        dVector3CrossMat3Col(cData.mBoxRot, 1 ,cData.vCylinderAxis, vAxis);
-        if(dVector3Length2( vAxis ) > fEpsilon ) 
-        {
-                if (!_cldTestAxis( cData, vAxis, 6 )) 
-                {
-                        return 0;
-                }
-        }
-
-        // axis CxA2
-        //vAxis = ( vCylinderAxis cross mthGetColM33f( mBoxRot, 2 ));
-        dVector3CrossMat3Col(cData.mBoxRot, 2 ,cData.vCylinderAxis, vAxis);
-        if(dVector3Length2( vAxis ) > fEpsilon ) 
-        {
-                if (!_cldTestAxis( cData, vAxis, 7 ))
-                {
-                        return 0;
-                }
-        }
-
-        int i = 0;
-        dVector3        vTemp1;
-        dVector3        vTemp2;
-        // here we check box's vertices axis
-        for(i=0; i< 8; i++) 
-        {
-                //vAxis = ( vCylinderAxis cross (cData.avBoxVertices[i] - vCylinderPos));
-                dVector3Subtract(cData.avBoxVertices[i],cData.vCylinderPos,vTemp1);
-                dVector3Cross(cData.vCylinderAxis,vTemp1,vTemp2);
-                //vAxis = ( vCylinderAxis cross vAxis );
-                dVector3Cross(cData.vCylinderAxis,vTemp2,vAxis);
-                if(dVector3Length2( vAxis ) > fEpsilon ) 
-                {
-                        if (!_cldTestAxis( cData, vAxis, 8 + i ))
-                        {
-                                return 0;
-                        }
-                }
-        }
-
-        // ************************************
-        // this is defined for first 12 axes
-        // normal of plane that contains top circle of cylinder
-        // center of top circle of cylinder
-        dVector3 vcc;
-        vcc[0] = (cData.vCylinderPos)[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
-        vcc[1] = (cData.vCylinderPos)[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
-        vcc[2] = (cData.vCylinderPos)[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
-        // ************************************
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[1], cData.avBoxVertices[0], 16)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[1], cData.avBoxVertices[3], 17)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[2], cData.avBoxVertices[3], 18))
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[2], cData.avBoxVertices[0], 19)) 
-        {
-                return 0;
-        }
-
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[4], cData.avBoxVertices[1], 20))
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[4], cData.avBoxVertices[7], 21))
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[0], cData.avBoxVertices[7], 22)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[5], cData.avBoxVertices[3], 23)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[5], cData.avBoxVertices[6], 24)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[2], cData.avBoxVertices[6], 25)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[4], cData.avBoxVertices[5], 26)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[6], cData.avBoxVertices[7], 27)) 
-        {
-                return 0;
-        }
-
-        // ************************************
-        // this is defined for second 12 axes
-        // normal of plane that contains bottom circle of cylinder
-        // center of bottom circle of cylinder
-        //      vcc = vCylinderPos - vCylinderAxis*(fCylinderSize*REAL(0.5));
-        vcc[0] = (cData.vCylinderPos)[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
-        vcc[1] = (cData.vCylinderPos)[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
-        vcc[2] = (cData.vCylinderPos)[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
-        // ************************************
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[1], cData.avBoxVertices[0], 28)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[1], cData.avBoxVertices[3], 29)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[2], cData.avBoxVertices[3], 30)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[2], cData.avBoxVertices[0], 31)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[4], cData.avBoxVertices[1], 32)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[4], cData.avBoxVertices[7], 33)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[0], cData.avBoxVertices[7], 34)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[5], cData.avBoxVertices[3], 35)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[5], cData.avBoxVertices[6], 36)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[2], cData.avBoxVertices[6], 37)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[4], cData.avBoxVertices[5], 38)) 
-        {
-                return 0;
-        }
-
-        if (!_cldTestEdgeCircleAxis( cData, vcc, cData.avBoxVertices[6], cData.avBoxVertices[7], 39)) 
-        {
-                return 0;
-        }
-
-        return 1;
-}
-
-int _cldClipCylinderToBox(sCylinderBoxData& cData)
-{
-        dIASSERT(cData.nContacts != (cData.iFlags & NUMC_MASK));
-
-        // calculate that vector perpendicular to cylinder axis which closes lowest angle with collision normal
-        dVector3 vN;
-        dReal fTemp1 = dVector3Dot(cData.vCylinderAxis,cData.vNormal);
-        vN[0]   =       cData.vNormal[0] - cData.vCylinderAxis[0]*fTemp1;
-        vN[1]   =       cData.vNormal[1] - cData.vCylinderAxis[1]*fTemp1;
-        vN[2]   =       cData.vNormal[2] - cData.vCylinderAxis[2]*fTemp1;
-
-        // normalize that vector
-        dNormalize3(vN);
-
-        // translate cylinder end points by the vector
-        dVector3 vCposTrans;
-        vCposTrans[0] = cData.vCylinderPos[0] + vN[0] * cData.fCylinderRadius;
-        vCposTrans[1] = cData.vCylinderPos[1] + vN[1] * cData.fCylinderRadius;
-        vCposTrans[2] = cData.vCylinderPos[2] + vN[2] * cData.fCylinderRadius;
-
-        cData.vEp0[0]  = vCposTrans[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
-        cData.vEp0[1]  = vCposTrans[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
-        cData.vEp0[2]  = vCposTrans[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
-
-        cData.vEp1[0]  = vCposTrans[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
-        cData.vEp1[1]  = vCposTrans[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
-        cData.vEp1[2]  = vCposTrans[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
-
-        // transform edge points in box space
-        cData.vEp0[0] -= cData.vBoxPos[0];
-        cData.vEp0[1] -= cData.vBoxPos[1];
-        cData.vEp0[2] -= cData.vBoxPos[2];
-
-        cData.vEp1[0] -= cData.vBoxPos[0];
-        cData.vEp1[1] -= cData.vBoxPos[1];
-        cData.vEp1[2] -= cData.vBoxPos[2];
-
-        dVector3 vTemp1;
-        // clip the edge to box 
-        dVector4 plPlane;
-        // plane 0 +x
-        dMat3GetCol(cData.mBoxRot,0,vTemp1);
-        dConstructPlane(vTemp1,cData.vBoxHalfSize[0],plPlane);
-        if(!dClipEdgeToPlane( cData.vEp0, cData.vEp1, plPlane )) 
-        { 
-                return 0; 
-        }
-
-        // plane 1 +y
-        dMat3GetCol(cData.mBoxRot,1,vTemp1);
-        dConstructPlane(vTemp1,cData.vBoxHalfSize[1],plPlane);
-        if(!dClipEdgeToPlane( cData.vEp0, cData.vEp1, plPlane )) 
-        { 
-                return 0; 
-        }
-
-        // plane 2 +z
-        dMat3GetCol(cData.mBoxRot,2,vTemp1);
-        dConstructPlane(vTemp1,cData.vBoxHalfSize[2],plPlane);
-        if(!dClipEdgeToPlane( cData.vEp0, cData.vEp1, plPlane )) 
-        { 
-                return 0; 
-        }
-
-        // plane 3 -x
-        dMat3GetCol(cData.mBoxRot,0,vTemp1);
-        dVector3Inv(vTemp1);
-        dConstructPlane(vTemp1,cData.vBoxHalfSize[0],plPlane);
-        if(!dClipEdgeToPlane( cData.vEp0, cData.vEp1, plPlane )) 
-        { 
-                return 0; 
-        }
-
-        // plane 4 -y
-        dMat3GetCol(cData.mBoxRot,1,vTemp1);
-        dVector3Inv(vTemp1);
-        dConstructPlane(vTemp1,cData.vBoxHalfSize[1],plPlane);
-        if(!dClipEdgeToPlane( cData.vEp0, cData.vEp1, plPlane )) 
-        { 
-                return 0; 
-        }
-
-        // plane 5 -z
-        dMat3GetCol(cData.mBoxRot,2,vTemp1);
-        dVector3Inv(vTemp1);
-        dConstructPlane(vTemp1,cData.vBoxHalfSize[2],plPlane);
-        if(!dClipEdgeToPlane( cData.vEp0, cData.vEp1, plPlane )) 
-        { 
-                return 0; 
-        }
-
-        // calculate depths for both contact points
-        cData.fDepth0 = cData.fBestrb + dVector3Dot(cData.vEp0, cData.vNormal);
-        cData.fDepth1 = cData.fBestrb + dVector3Dot(cData.vEp1, cData.vNormal);
-
-        // clamp depths to 0
-        if(cData.fDepth0<0) 
-        {
-                cData.fDepth0 = REAL(0.0);
-        }
-
-        if(cData.fDepth1<0) 
-        {
-                cData.fDepth1 = REAL(0.0);
-        }
-
-        // back transform edge points from box to absolute space
-        cData.vEp0[0] += cData.vBoxPos[0];
-        cData.vEp0[1] += cData.vBoxPos[1];
-        cData.vEp0[2] += cData.vBoxPos[2];
-
-        cData.vEp1[0] += cData.vBoxPos[0];
-        cData.vEp1[1] += cData.vBoxPos[1];
-        cData.vEp1[2] += cData.vBoxPos[2];
-
-        dContactGeom* Contact0 = SAFECONTACT(cData.iFlags, cData.gContact, cData.nContacts, cData.iSkip);
-        Contact0->depth = cData.fDepth0;
-        dVector3Copy(cData.vNormal,Contact0->normal);
-        dVector3Copy(cData.vEp0,Contact0->pos);
-        Contact0->g1 = cData.gCylinder;
-        Contact0->g2 = cData.gBox;
-        dVector3Inv(Contact0->normal);
-        cData.nContacts++;
-        
-        if (cData.nContacts != (cData.iFlags & NUMC_MASK))
-        {
-                dContactGeom* Contact1 = SAFECONTACT(cData.iFlags, cData.gContact, cData.nContacts, cData.iSkip);
-                Contact1->depth = cData.fDepth1;
-                dVector3Copy(cData.vNormal,Contact1->normal);
-                dVector3Copy(cData.vEp1,Contact1->pos);
-                Contact1->g1 = cData.gCylinder;
-                Contact1->g2 = cData.gBox;
-                dVector3Inv(Contact1->normal);
-                cData.nContacts++;
-        }
-
-        return 1;
-}
-
-
-void _cldClipBoxToCylinder(sCylinderBoxData& cData ) 
-{
-        dIASSERT(cData.nContacts != (cData.iFlags & NUMC_MASK));
-        
-        dVector3 vCylinderCirclePos, vCylinderCircleNormal_Rel;
-        // check which circle from cylinder we take for clipping
-        if ( dVector3Dot(cData.vCylinderAxis, cData.vNormal) > REAL(0.0) ) 
-        {
-                // get top circle
-                vCylinderCirclePos[0] = cData.vCylinderPos[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
-                vCylinderCirclePos[1] = cData.vCylinderPos[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
-                vCylinderCirclePos[2] = cData.vCylinderPos[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
-
-                vCylinderCircleNormal_Rel[0] = REAL(0.0);
-                vCylinderCircleNormal_Rel[1] = REAL(0.0);
-                vCylinderCircleNormal_Rel[2] = REAL(0.0);
-                vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(-1.0);
-        }
-        else 
-        {
-                // get bottom circle
-                vCylinderCirclePos[0] = cData.vCylinderPos[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
-                vCylinderCirclePos[1] = cData.vCylinderPos[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
-                vCylinderCirclePos[2] = cData.vCylinderPos[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
-
-                vCylinderCircleNormal_Rel[0] = REAL(0.0);
-                vCylinderCircleNormal_Rel[1] = REAL(0.0);
-                vCylinderCircleNormal_Rel[2] = REAL(0.0);
-                vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(1.0);
-        }
-
-        // vNr is normal in Box frame, pointing from Cylinder to Box
-        dVector3 vNr;
-        dMatrix3 mBoxInv;
-
-        // Find a way to use quaternion
-        dMatrix3Inv(cData.mBoxRot,mBoxInv);
-        dMultiplyMat3Vec3(mBoxInv,cData.vNormal,vNr);
-
-        dVector3 vAbsNormal;
-
-        vAbsNormal[0] = dFabs( vNr[0] );
-        vAbsNormal[1] = dFabs( vNr[1] );
-        vAbsNormal[2] = dFabs( vNr[2] );
-
-        // find which face in box is closest to cylinder
-        int iB0, iB1, iB2;
-
-        // Different from Croteam's code
-        if (vAbsNormal[1] > vAbsNormal[0]) 
-        {
-                // 1 > 0
-                if (vAbsNormal[0]> vAbsNormal[2]) 
-                {
-                        // 0 > 2 -> 1 > 0 >2
-                        iB0 = 1; iB1 = 0; iB2 = 2;
-                } 
-                else 
-                {
-                        // 2 > 0-> Must compare 1 and 2
-                        if (vAbsNormal[1] > vAbsNormal[2])
-                        {
-                                // 1 > 2 -> 1 > 2 > 0
-                                iB0 = 1; iB1 = 2; iB2 = 0;
-                        }
-                        else
-                        {
-                                // 2 > 1 -> 2 > 1 > 0;
-                                iB0 = 2; iB1 = 1; iB2 = 0;
-                        }                       
-                }
-        } 
-        else 
-        {
-                // 0 > 1
-                if (vAbsNormal[1] > vAbsNormal[2]) 
-                {
-                        // 1 > 2 -> 0 > 1 > 2
-                        iB0 = 0; iB1 = 1; iB2 = 2;
-                }
-                else 
-                {
-                        // 2 > 1 -> Must compare 0 and 2
-                        if (vAbsNormal[0] > vAbsNormal[2])
-                        {
-                                // 0 > 2 -> 0 > 2 > 1;
-                                iB0 = 0; iB1 = 2; iB2 = 1;
-                        }
-                        else
-                        {
-                                // 2 > 0 -> 2 > 0 > 1;
-                                iB0 = 2; iB1 = 0; iB2 = 1;
-                        }               
-                }
-        }
-
-        dVector3 vCenter;
-        // find center of box polygon
-        dVector3 vTemp;
-        if (vNr[iB0] > 0) 
-        {
-                dMat3GetCol(cData.mBoxRot,iB0,vTemp);
-                vCenter[0] = cData.vBoxPos[0] - cData.vBoxHalfSize[iB0]*vTemp[0];
-                vCenter[1] = cData.vBoxPos[1] - cData.vBoxHalfSize[iB0]*vTemp[1];
-                vCenter[2] = cData.vBoxPos[2] - cData.vBoxHalfSize[iB0]*vTemp[2];
-        }
-        else 
-        {
-                dMat3GetCol(cData.mBoxRot,iB0,vTemp);
-                vCenter[0] = cData.vBoxPos[0] + cData.vBoxHalfSize[iB0]*vTemp[0];
-                vCenter[1] = cData.vBoxPos[1] + cData.vBoxHalfSize[iB0]*vTemp[1];
-                vCenter[2] = cData.vBoxPos[2] + cData.vBoxHalfSize[iB0]*vTemp[2];
-        }
-
-        // find the vertices of box polygon
-        dVector3 avPoints[4];
-        dVector3 avTempArray1[MAX_CYLBOX_CLIP_POINTS];
-        dVector3 avTempArray2[MAX_CYLBOX_CLIP_POINTS];
-
-        int i=0;
-        for(i=0; i<MAX_CYLBOX_CLIP_POINTS; i++) 
-        {
-                avTempArray1[i][0] = REAL(0.0);
-                avTempArray1[i][1] = REAL(0.0);
-                avTempArray1[i][2] = REAL(0.0);
-
-                avTempArray2[i][0] = REAL(0.0);
-                avTempArray2[i][1] = REAL(0.0);
-                avTempArray2[i][2] = REAL(0.0);
-        }
-
-        dVector3 vAxis1, vAxis2;
-
-        dMat3GetCol(cData.mBoxRot,iB1,vAxis1);
-        dMat3GetCol(cData.mBoxRot,iB2,vAxis2);
-
-        avPoints[0][0] = vCenter[0] + cData.vBoxHalfSize[iB1] * vAxis1[0] - cData.vBoxHalfSize[iB2] * vAxis2[0];
-        avPoints[0][1] = vCenter[1] + cData.vBoxHalfSize[iB1] * vAxis1[1] - cData.vBoxHalfSize[iB2] * vAxis2[1];
-        avPoints[0][2] = vCenter[2] + cData.vBoxHalfSize[iB1] * vAxis1[2] - cData.vBoxHalfSize[iB2] * vAxis2[2];
-
-        avPoints[1][0] = vCenter[0] - cData.vBoxHalfSize[iB1] * vAxis1[0] - cData.vBoxHalfSize[iB2] * vAxis2[0];
-        avPoints[1][1] = vCenter[1] - cData.vBoxHalfSize[iB1] * vAxis1[1] - cData.vBoxHalfSize[iB2] * vAxis2[1];
-        avPoints[1][2] = vCenter[2] - cData.vBoxHalfSize[iB1] * vAxis1[2] - cData.vBoxHalfSize[iB2] * vAxis2[2];
-
-        avPoints[2][0] = vCenter[0] - cData.vBoxHalfSize[iB1] * vAxis1[0] + cData.vBoxHalfSize[iB2] * vAxis2[0];
-        avPoints[2][1] = vCenter[1] - cData.vBoxHalfSize[iB1] * vAxis1[1] + cData.vBoxHalfSize[iB2] * vAxis2[1];
-        avPoints[2][2] = vCenter[2] - cData.vBoxHalfSize[iB1] * vAxis1[2] + cData.vBoxHalfSize[iB2] * vAxis2[2];
-
-        avPoints[3][0] = vCenter[0] + cData.vBoxHalfSize[iB1] * vAxis1[0] + cData.vBoxHalfSize[iB2] * vAxis2[0];
-        avPoints[3][1] = vCenter[1] + cData.vBoxHalfSize[iB1] * vAxis1[1] + cData.vBoxHalfSize[iB2] * vAxis2[1];
-        avPoints[3][2] = vCenter[2] + cData.vBoxHalfSize[iB1] * vAxis1[2] + cData.vBoxHalfSize[iB2] * vAxis2[2];
-
-        // transform box points to space of cylinder circle
-        dMatrix3 mCylinderInv;
-        dMatrix3Inv(cData.mCylinderRot,mCylinderInv);
-
-        for(i=0; i<4; i++) 
-        {
-                dVector3Subtract(avPoints[i],vCylinderCirclePos,vTemp);
-                dMultiplyMat3Vec3(mCylinderInv,vTemp,avPoints[i]);
-        }
-
-        int iTmpCounter1 = 0;
-        int iTmpCounter2 = 0;
-        dVector4 plPlane;
-
-        // plane of cylinder that contains circle for intersection
-        dConstructPlane(vCylinderCircleNormal_Rel,REAL(0.0),plPlane);
-        dClipPolyToPlane(avPoints, 4, avTempArray1, iTmpCounter1, plPlane);
-
-
-        // Body of base circle of Cylinder
-        int nCircleSegment = 0;
-        for (nCircleSegment = 0; nCircleSegment < nCYLINDER_SEGMENT; nCircleSegment++)
-        {
-                dConstructPlane(cData.avCylinderNormals[nCircleSegment],cData.fCylinderRadius,plPlane);
-
-                if (0 == (nCircleSegment % 2))
-                {
-                        dClipPolyToPlane( avTempArray1 , iTmpCounter1 , avTempArray2, iTmpCounter2, plPlane);
-                }
-                else
-                {
-                        dClipPolyToPlane( avTempArray2, iTmpCounter2, avTempArray1 , iTmpCounter1 , plPlane );
-                }
-
-                dIASSERT( iTmpCounter1 >= 0 && iTmpCounter1 <= MAX_CYLBOX_CLIP_POINTS );
-                dIASSERT( iTmpCounter2 >= 0 && iTmpCounter2 <= MAX_CYLBOX_CLIP_POINTS );
-        }
-        
-        // back transform clipped points to absolute space
-        dReal ftmpdot;  
-        dReal fTempDepth;
-        dVector3 vPoint;
-
-        if (nCircleSegment % 2)
-        {
-                for( i=0; i<iTmpCounter2; i++)
-                {
-                        dMULTIPLY0_331(vPoint,cData.mCylinderRot,avTempArray2[i]);
-                        vPoint[0] += vCylinderCirclePos[0];
-                        vPoint[1] += vCylinderCirclePos[1];
-                        vPoint[2] += vCylinderCirclePos[2];
-
-                        dVector3Subtract(vPoint,cData.vCylinderPos,vTemp);
-                        ftmpdot  = dVector3Dot(vTemp, cData.vNormal);
-                        fTempDepth = cData.fBestrc - ftmpdot;
-                        // Depth must be positive
-                        if (fTempDepth > REAL(0.0))
-                        {
-                                // generate contacts
-                                dContactGeom* Contact0 = SAFECONTACT(cData.iFlags, cData.gContact, cData.nContacts, cData.iSkip);
-                                Contact0->depth = fTempDepth;
-                                dVector3Copy(cData.vNormal,Contact0->normal);
-                                dVector3Copy(vPoint,Contact0->pos);
-                                Contact0->g1 = cData.gCylinder;
-                                Contact0->g2 = cData.gBox;
-                                dVector3Inv(Contact0->normal);
-                                cData.nContacts++;
-                                
-                                if (cData.nContacts == (cData.iFlags & NUMC_MASK))
-                                {
-                                        break;
-                                }
-                        }
-                }
-        }
-        else
-        {
-                for( i=0; i<iTmpCounter1; i++)
-                {
-                        dMULTIPLY0_331(vPoint,cData.mCylinderRot,avTempArray1[i]);
-                        vPoint[0] += vCylinderCirclePos[0];
-                        vPoint[1] += vCylinderCirclePos[1];
-                        vPoint[2] += vCylinderCirclePos[2];
-
-                        dVector3Subtract(vPoint,cData.vCylinderPos,vTemp);
-                        ftmpdot  = dVector3Dot(vTemp, cData.vNormal);
-                        fTempDepth = cData.fBestrc - ftmpdot;
-                        // Depth must be positive
-                        if (fTempDepth > REAL(0.0))
-                        {
-                                // generate contacts
-                                dContactGeom* Contact0 = SAFECONTACT(cData.iFlags, cData.gContact, cData.nContacts, cData.iSkip);
-                                Contact0->depth = fTempDepth;
-                                dVector3Copy(cData.vNormal,Contact0->normal);
-                                dVector3Copy(vPoint,Contact0->pos);
-                                Contact0->g1 = cData.gCylinder;
-                                Contact0->g2 = cData.gBox;
-                                dVector3Inv(Contact0->normal);
-                                cData.nContacts++;
-                                
-                                if (cData.nContacts == (cData.iFlags & NUMC_MASK))
-                                {
-                                        break;
-                                }
-                        }
-                }
-        }
-}
-
-
-// Cylinder - Box by CroTeam
-// Ported by Nguyen Binh
-int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dCylinderClass);
-        dIASSERT (o2->type == dBoxClass);
-        dIASSERT ((flags & NUMC_MASK) >= 1);
-
-        sCylinderBoxData        cData;
-
-        // Assign ODE stuff
-        cData.gCylinder = o1;
-        cData.gBox              = o2;
-        cData.iFlags    = flags;
-        cData.iSkip             = skip;
-        cData.gContact  = contact;
-
-        // initialize collider
-        _cldInitCylinderBox( cData );
-
-        // do intersection test and find best separating axis
-        if(!_cldTestSeparatingAxes( cData ) ) 
-        {
-                // if not found do nothing
-                return 0;
-        }
-
-        // if best separation axis is not found
-        if ( cData.iBestAxis == 0 ) 
-        {
-                // this should not happen (we should already exit in that case)
-                dIASSERT(0);
-                // do nothing
-                return 0;
-        }
-
-        dReal fdot = dVector3Dot(cData.vNormal,cData.vCylinderAxis);
-        // choose which clipping method are we going to apply
-        if (dFabs(fdot) < REAL(0.9) ) 
-        {
-                // clip cylinder over box
-                if(!_cldClipCylinderToBox(cData)) 
-                {
-                        return 0;
-                }
-        } 
-        else 
-        {
-                _cldClipBoxToCylinder(cData);  
-        }
-
-        return cData.nContacts;
-}
-
diff --git a/libraries/ode-0.9/ode/src/collision_cylinder_plane.cpp b/libraries/ode-0.9/ode/src/collision_cylinder_plane.cpp
deleted file mode 100644
index f85701d..0000000
--- a/libraries/ode-0.9/ode/src/collision_cylinder_plane.cpp
+++ /dev/null
@@ -1,254 +0,0 @@
-/*************************************************************************
-*                                                                       *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
-*                                                                       *
-*************************************************************************/
-
-
-/*
- * Cylinder-Plane collider by Christoph Beyer ( boernerb@web.de )
- *
- * This testing basically comes down to testing the intersection
- * of the cylinder caps (discs) with the plane.
- * 
- */
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include <ode/objects.h>
-
-#include "collision_kernel.h"   // for dxGeom
-#include "collision_util.h"
-
-
-int dCollideCylinderPlane(dxGeom *Cylinder, dxGeom *Plane, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (Cylinder->type == dCylinderClass);
-        dIASSERT (Plane->type == dPlaneClass);
-        dIASSERT ((flags & NUMC_MASK) >= 1);
-
-        int GeomCount = 0; // count of used contactgeoms
-
-#ifdef dSINGLE
-        const dReal toleranz = REAL(0.0001);
-#endif
-#ifdef dDOUBLE
-        const dReal toleranz = REAL(0.0000001);
-#endif
-
-        // Get the properties of the cylinder (length+radius)
-        dReal radius, length;
-        dGeomCylinderGetParams(Cylinder, &radius, &length);
-        dVector3 &cylpos = Cylinder->final_posr->pos;
-        // and the plane
-        dVector4 planevec;
-        dGeomPlaneGetParams(Plane, planevec);
-        dVector3 PlaneNormal = {planevec[0],planevec[1],planevec[2]};
-        dVector3 PlanePos = {planevec[0] * planevec[3],planevec[1] * planevec[3],planevec[2] * planevec[3]};
-
-        dVector3 G1Pos1, G1Pos2, vDir1;
-        vDir1[0] = Cylinder->final_posr->R[2];
-        vDir1[1] = Cylinder->final_posr->R[6];
-        vDir1[2] = Cylinder->final_posr->R[10];
-
-        dReal s;
-        s = length * REAL(0.5);
-        G1Pos2[0] = vDir1[0] * s + cylpos[0];
-        G1Pos2[1] = vDir1[1] * s + cylpos[1];
-        G1Pos2[2] = vDir1[2] * s + cylpos[2];
-
-        G1Pos1[0] = vDir1[0] * -s + cylpos[0];
-        G1Pos1[1] = vDir1[1] * -s + cylpos[1];
-        G1Pos1[2] = vDir1[2] * -s + cylpos[2];
-
-        dVector3 C;
-
-        // parallel-check
-        s = vDir1[0] * PlaneNormal[0] + vDir1[1] * PlaneNormal[1] + vDir1[2] * PlaneNormal[2];
-        if(s < 0)
-                s += REAL(1.0); // is ca. 0, if vDir1 and PlaneNormal are parallel
-        else
-                s -= REAL(1.0); // is ca. 0, if vDir1 and PlaneNormal are parallel
-        if(s < toleranz && s > (-toleranz))
-        {
-                // discs are parallel to the plane
-
-                // 1.compute if, and where contacts are
-                dVector3 P;
-                s = planevec[3] - dVector3Dot(planevec, G1Pos1);
-                dReal t;
-                t = planevec[3] - dVector3Dot(planevec, G1Pos2);
-                if(s >= t) // s == t does never happen, 
-                {
-                        if(s >= 0)
-                        {
-                                // 1. Disc
-                                dVector3Copy(G1Pos1, P);
-                        }
-                        else
-                                return GeomCount; // no contacts
-                }
-                else
-                {
-                        if(t >= 0)
-                        {
-                                // 2. Disc
-                                dVector3Copy(G1Pos2, P);
-                        }
-                        else
-                                return GeomCount; // no contacts
-                }
-
-                // 2. generate a coordinate-system on the disc
-                dVector3 V1, V2;
-                if(vDir1[0] < toleranz && vDir1[0] > (-toleranz))
-                {
-                        // not x-axis
-                        V1[0] = vDir1[0] + REAL(1.0); // random value
-                        V1[1] = vDir1[1];
-                        V1[2] = vDir1[2];
-                }
-                else
-                {
-                        // maybe x-axis
-                        V1[0] = vDir1[0];
-                        V1[1] = vDir1[1] + REAL(1.0); // random value
-                        V1[2] = vDir1[2];
-                }
-                // V1 is now another direction than vDir1
-                // Cross-product
-            dVector3Cross(V1, vDir1, V2);
-                // make unit V2
-                t = dVector3Length(V2);
-                t = radius / t;
-                dVector3Scale(V2, t);
-                // cross again
-                dVector3Cross(V2, vDir1, V1);
-                // |V2| is 'radius' and vDir1 unit, so |V1| is 'radius'
-                // V1 = first axis
-                // V2 = second axis
-
-                // 3. generate contactpoints
-
-                // Potential contact 1
-                dVector3Add(P, V1, contact->pos);
-                contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
-                if(contact->depth > 0)
-                {
-                        dVector3Copy(PlaneNormal, contact->normal);
-                        contact->g1 = Cylinder;
-                        contact->g2 = Plane;
-                        GeomCount++;
-                        if( GeomCount >= (flags & NUMC_MASK))
-                                return GeomCount; // enough contactgeoms
-                        contact = (dContactGeom *)((char *)contact + skip);
-                }
-
-                // Potential contact 2
-                dVector3Subtract(P, V1, contact->pos);
-                contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
-                if(contact->depth > 0)
-                {
-                        dVector3Copy(PlaneNormal, contact->normal);
-                        contact->g1 = Cylinder;
-                        contact->g2 = Plane;
-                        GeomCount++;
-                        if( GeomCount >= (flags & NUMC_MASK))
-                                return GeomCount; // enough contactgeoms
-                        contact = (dContactGeom *)((char *)contact + skip);
-                }
-
-                // Potential contact 3
-                dVector3Add(P, V2, contact->pos);
-                contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
-                if(contact->depth > 0)
-                {
-                        dVector3Copy(PlaneNormal, contact->normal);
-                        contact->g1 = Cylinder;
-                        contact->g2 = Plane;
-                        GeomCount++;
-                        if( GeomCount >= (flags & NUMC_MASK))
-                                return GeomCount; // enough contactgeoms
-                        contact = (dContactGeom *)((char *)contact + skip);
-                }
-
-                // Potential contact 4
-                dVector3Subtract(P, V2, contact->pos);
-                contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
-                if(contact->depth > 0)
-                {
-                        dVector3Copy(PlaneNormal, contact->normal);
-                        contact->g1 = Cylinder;
-                        contact->g2 = Plane;
-                        GeomCount++;
-                        if( GeomCount >= (flags & NUMC_MASK))
-                                return GeomCount; // enough contactgeoms
-                        contact = (dContactGeom *)((char *)contact + skip);
-                }
-        }
-        else
-        {
-                dReal t = dVector3Dot(PlaneNormal, vDir1);
-                C[0] = vDir1[0] * t - PlaneNormal[0];
-                C[1] = vDir1[1] * t - PlaneNormal[1];
-                C[2] = vDir1[2] * t - PlaneNormal[2];
-                s = dVector3Length(C);
-                // move C onto the circle
-                s = radius / s;
-                dVector3Scale(C, s);
-
-                // deepest point of disc 1
-                dVector3Add(C, G1Pos1, contact->pos);
-
-                // depth of the deepest point
-                contact->depth = planevec[3] - dVector3Dot(planevec, contact->pos);
-                if(contact->depth >= 0)
-                {
-                        dVector3Copy(PlaneNormal, contact->normal);
-                        contact->g1 = Cylinder;
-                        contact->g2 = Plane;
-                        GeomCount++;
-                        if( GeomCount >= (flags & NUMC_MASK))
-                                return GeomCount; // enough contactgeoms
-                        contact = (dContactGeom *)((char *)contact + skip);
-                }
-
-                // C is still computed
-
-                // deepest point of disc 2
-                dVector3Add(C, G1Pos2, contact->pos);
-
-                // depth of the deepest point
-                contact->depth = planevec[3] - planevec[0] * contact->pos[0] - planevec[1] * contact->pos[1] - planevec[2] * contact->pos[2];
-                if(contact->depth >= 0)
-                {
-                        dVector3Copy(PlaneNormal, contact->normal);
-                        contact->g1 = Cylinder;
-                        contact->g2 = Plane;
-                        GeomCount++;
-                        if( GeomCount >= (flags & NUMC_MASK))
-                                return GeomCount; // enough contactgeoms
-                        contact = (dContactGeom *)((char *)contact + skip);
-                }
-        }
-        return GeomCount;
-}
diff --git a/libraries/ode-0.9/ode/src/collision_cylinder_sphere.cpp b/libraries/ode-0.9/ode/src/collision_cylinder_sphere.cpp
deleted file mode 100644
index 964c531..0000000
--- a/libraries/ode-0.9/ode/src/collision_cylinder_sphere.cpp
+++ /dev/null
@@ -1,264 +0,0 @@
-/*************************************************************************
-*                                                                       *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
-*                                                                       *
-*************************************************************************/
-
-
-/*******************************************************************
- *                                                                 *
- * cylinder-sphere collider by Christoph Beyer (boernerb@web.de)   *
- *                                                                 *
- * In Cylinder/Sphere-collisions, there are three possibilies:     *
- * 1. collision with the cylinder's nappe                          *
- * 2. collision with one of the cylinder's disc                    *
- * 3. collision with one of the disc's border                      *
- *                                                                 *
- * This collider computes two distances (s, t) and based on them,  *
- * it decides, which collision we have.                            *
- * This collider always generates 1 (or 0, if we have no collison) *
- * contacts.                                                       *
- * It is able to "separate" cylinder and sphere in all             *
- * configurations, but it never pays attention to velocity.        *
- * So, in extrem situations, "tunneling-effect" is possible.       *
- *                                                                 *
- *******************************************************************/
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include <ode/objects.h>
-#include "collision_kernel.h"   // for dxGeom
-#include "collision_util.h"
-
-int dCollideCylinderSphere(dxGeom* Cylinder, dxGeom* Sphere, 
-                           int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (Cylinder->type == dCylinderClass);
-        dIASSERT (Sphere->type == dSphereClass);
-        dIASSERT ((flags & NUMC_MASK) >= 1);
-
-        unsigned char* pContactData = (unsigned char*)contact;
-        int GeomCount = 0; // count of used contacts
-
-#ifdef dSINGLE
-        const dReal toleranz = REAL(0.0001);
-#endif
-#ifdef dDOUBLE
-        const dReal toleranz = REAL(0.0000001);
-#endif
-
-        // get the data from the geoms
-        dReal radius, length;
-        dGeomCylinderGetParams(Cylinder, &radius, &length);
-    dVector3 &cylpos = Cylinder->final_posr->pos;
-        const dReal* pfRot1 = dGeomGetRotation(Cylinder);
-
-        dReal radius2;
-        radius2 = dGeomSphereGetRadius(Sphere);
-        const dReal* SpherePos = dGeomGetPosition(Sphere);
-
-        // G1Pos1 is the middle of the first disc
-        // G1Pos2 is the middle of the second disc
-        // vDir1 is the unit direction of the cylinderaxis
-        dVector3 G1Pos1, G1Pos2, vDir1;
-        vDir1[0] = Cylinder->final_posr->R[2];
-        vDir1[1] = Cylinder->final_posr->R[6];
-        vDir1[2] = Cylinder->final_posr->R[10];
-
-        dReal s;
-        s = length * REAL(0.5); // just a precomputed factor
-        G1Pos2[0] = vDir1[0] * s + cylpos[0];
-        G1Pos2[1] = vDir1[1] * s + cylpos[1];
-        G1Pos2[2] = vDir1[2] * s + cylpos[2];
-
-        G1Pos1[0] = vDir1[0] * -s + cylpos[0];
-        G1Pos1[1] = vDir1[1] * -s + cylpos[1];
-        G1Pos1[2] = vDir1[2] * -s + cylpos[2];
-
-        dVector3 C;
-        dReal t;
-        // Step 1: compute the two distances 's' and 't'
-        // 's' is the distance from the first disc (in vDir1-/Zylinderaxis-direction), the disc with G1Pos1 in the middle
-        s = (SpherePos[0] - G1Pos1[0]) * vDir1[0] - (G1Pos1[1] - SpherePos[1]) * vDir1[1] - (G1Pos1[2] - SpherePos[2]) * vDir1[2];
-        if(s < (-radius2) || s > (length + radius2) )
-        {
-                // Sphere is too far away from the discs
-                // no collision
-                return 0;
-        }
-
-        // C is the direction from Sphere-middle to the cylinder-axis (vDir1); C is orthogonal to the cylinder-axis
-        C[0] = s * vDir1[0] + G1Pos1[0] - SpherePos[0];
-        C[1] = s * vDir1[1] + G1Pos1[1] - SpherePos[1];
-        C[2] = s * vDir1[2] + G1Pos1[2] - SpherePos[2];
-        // t is the distance from the Sphere-middle to the cylinder-axis!
-        t = dVector3Length(C);
-        if(t > (radius + radius2) )
-        {
-                // Sphere is too far away from the cylinder axis!
-                // no collision
-                return 0;
-        }
-
-        // decide which kind of collision we have:
-        if(t > radius && (s < 0 || s > length) )
-        {
-                // 3. collision
-                if(s <= 0)
-                {
-                        contact->depth = radius2 - dSqrt( (s) * (s) + (t - radius) * (t - radius) );
-                        if(contact->depth < 0)
-                        {
-                                // no collision!
-                                return 0;
-                        }
-                        contact->pos[0] = C[0] / t * -radius + G1Pos1[0];
-                        contact->pos[1] = C[1] / t * -radius + G1Pos1[1];
-                        contact->pos[2] = C[2] / t * -radius + G1Pos1[2];
-                        contact->normal[0] = (contact->pos[0] - SpherePos[0]) / (radius2 - contact->depth);
-                        contact->normal[1] = (contact->pos[1] - SpherePos[1]) / (radius2 - contact->depth);
-                        contact->normal[2] = (contact->pos[2] - SpherePos[2]) / (radius2 - contact->depth);
-                        contact->g1 = Cylinder;
-                        contact->g2 = Sphere;
-                        GeomCount++;
-                        return GeomCount;
-                }
-                else
-                {
-                        // now s is bigger than length here!
-                        contact->depth = radius2 - dSqrt( (s - length) * (s - length) + (t - radius) * (t - radius) );
-                        if(contact->depth < 0)
-                        {
-                                // no collision!
-                                return 0;
-                        }
-                        contact->pos[0] = C[0] / t * -radius + G1Pos2[0];
-                        contact->pos[1] = C[1] / t * -radius + G1Pos2[1];
-                        contact->pos[2] = C[2] / t * -radius + G1Pos2[2];
-                        contact->normal[0] = (contact->pos[0] - SpherePos[0]) / (radius2 - contact->depth);
-                        contact->normal[1] = (contact->pos[1] - SpherePos[1]) / (radius2 - contact->depth);
-                        contact->normal[2] = (contact->pos[2] - SpherePos[2]) / (radius2 - contact->depth);
-                        contact->g1 = Cylinder;
-                        contact->g2 = Sphere;
-                        GeomCount++;
-                        return GeomCount;
-                }
-        }
-        else if( (radius - t) <= s && (radius - t) <= (length - s) )
-        {
-                // 1. collsision
-                if(t > (radius2 + toleranz))
-                {
-                        // cylinder-axis is outside the sphere
-                        contact->depth = (radius2 + radius) - t;
-                        if(contact->depth < 0)
-                        {
-                                // should never happen, but just for safeness
-                                return 0;
-                        }
-                        else
-                        {
-                                C[0] /= t;
-                                C[1] /= t;
-                                C[2] /= t;
-                                contact->pos[0] = C[0] * radius2 + SpherePos[0];
-                                contact->pos[1] = C[1] * radius2 + SpherePos[1];
-                                contact->pos[2] = C[2] * radius2 + SpherePos[2];
-                                contact->normal[0] = C[0];
-                                contact->normal[1] = C[1];
-                                contact->normal[2] = C[2];
-                                contact->g1 = Cylinder;
-                                contact->g2 = Sphere;
-                                GeomCount++;
-                                return GeomCount;
-                        }
-                }
-                else
-                {
-                        // cylinder-axis is outside of the sphere
-                        contact->depth = (radius2 + radius) - t;
-                        if(contact->depth < 0)
-                        {
-                                // should never happen, but just for safeness
-                                return 0;
-                        }
-                        else
-                        {
-                                contact->pos[0] = C[0] + SpherePos[0];
-                                contact->pos[1] = C[1] + SpherePos[1];
-                                contact->pos[2] = C[2] + SpherePos[2];
-                                contact->normal[0] = C[0] / t;
-                                contact->normal[1] = C[1] / t;
-                                contact->normal[2] = C[2] / t;
-                                contact->g1 = Cylinder;
-                                contact->g2 = Sphere;
-                                GeomCount++;
-                                return GeomCount;
-                        }
-                }
-        }
-        else
-        {
-                // 2. collision
-                if(s <= (length * REAL(0.5)) )
-                {
-                        // collsision with the first disc
-                        contact->depth = s + radius2;
-                        if(contact->depth < 0)
-                        {
-                                // should never happen, but just for safeness
-                                return 0;
-                        }
-                        contact->pos[0] = radius2 * vDir1[0] + SpherePos[0];
-                        contact->pos[1] = radius2 * vDir1[1] + SpherePos[1];
-                        contact->pos[2] = radius2 * vDir1[2] + SpherePos[2];
-                        contact->normal[0] = vDir1[0];
-                        contact->normal[1] = vDir1[1];
-                        contact->normal[2] = vDir1[2];
-                        contact->g1 = Cylinder;
-                        contact->g2 = Sphere;
-                        GeomCount++;
-                        return GeomCount;
-                }
-                else
-                {
-                        // collsision with the second disc
-                        contact->depth = (radius2 + length - s);
-                        if(contact->depth < 0)
-                        {
-                                // should never happen, but just for safeness
-                                return 0;
-                        }
-                        contact->pos[0] = radius2 * -vDir1[0] + SpherePos[0];
-                        contact->pos[1] = radius2 * -vDir1[1] + SpherePos[1];
-                        contact->pos[2] = radius2 * -vDir1[2] + SpherePos[2];
-                        contact->normal[0] = -vDir1[0];
-                        contact->normal[1] = -vDir1[1];
-                        contact->normal[2] = -vDir1[2];
-                        contact->g1 = Cylinder;
-                        contact->g2 = Sphere;
-                        GeomCount++;
-                        return GeomCount;
-                }
-        }
-        return GeomCount;
-}
diff --git a/libraries/ode-0.9/ode/src/collision_cylinder_trimesh.cpp b/libraries/ode-0.9/ode/src/collision_cylinder_trimesh.cpp
deleted file mode 100644
index 342be04..0000000
--- a/libraries/ode-0.9/ode/src/collision_cylinder_trimesh.cpp
+++ /dev/null
@@ -1,1145 +0,0 @@
-/*************************************************************************
-*                                                                       *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
-*                                                                       *
-*************************************************************************/
-
-/*
- *      Cylinder-trimesh collider by Alen Ladavac
- *   Ported to ODE by Nguyen Binh
- */
-
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_util.h"
-
-#define TRIMESH_INTERNAL
-#include "collision_trimesh_internal.h"
-
-#define MAX_REAL        dInfinity
-static const int        nCYLINDER_AXIS                          = 2;
-static const int    nCYLINDER_CIRCLE_SEGMENTS   = 8;
-static const int    nMAX_CYLINDER_TRIANGLE_CLIP_POINTS  = 12;
-
-#define OPTIMIZE_CONTACTS 1
-
-// Local contacts data
-typedef struct _sLocalContactData
-{
-        dVector3        vPos;
-        dVector3        vNormal;
-        dReal           fDepth;
-        int                     triIndex;
-        int                     nFlags; // 0 = filtered out, 1 = OK
-}sLocalContactData;
-
-typedef struct _sCylinderTrimeshColliderData
-{
-        // cylinder data
-        dMatrix3        mCylinderRot;
-        dQuaternion     qCylinderRot;
-        dQuaternion     qInvCylinderRot;
-        dVector3        vCylinderPos;
-        dVector3        vCylinderAxis;
-        dReal           fCylinderRadius;
-        dReal           fCylinderSize;
-        dVector3        avCylinderNormals[nCYLINDER_CIRCLE_SEGMENTS];
-
-        // mesh data
-        dQuaternion     qTrimeshRot;
-        dQuaternion     qInvTrimeshRot;
-        dMatrix3        mTrimeshRot;
-        dVector3        vTrimeshPos;
-
-        // global collider data
-        dVector3        vBestPoint;
-        dReal           fBestDepth;
-        dReal           fBestCenter;
-        dReal           fBestrt;
-        int                     iBestAxis;
-        dVector3        vContactNormal;
-        dVector3        vNormal;
-        dVector3        vE0;
-        dVector3        vE1;
-        dVector3        vE2;
-
-        // ODE stuff
-        dGeomID                         gCylinder;
-        dxTriMesh*                      gTrimesh;
-        dContactGeom*           gContact;
-        int                                     iFlags;
-        int                                     iSkip;
-        int                                     nContacts;// = 0;
-        sLocalContactData*      gLocalContacts;
-} sCylinderTrimeshColliderData;
-
-// Short type name
-typedef  sCylinderTrimeshColliderData sData;
-
-// Use to classify contacts to be "near" in position
-static const dReal fSameContactPositionEpsilon = REAL(0.0001); // 1e-4
-// Use to classify contacts to be "near" in normal direction
-static const dReal fSameContactNormalEpsilon = REAL(0.0001); // 1e-4
-
-// If this two contact can be classified as "near"
-inline int _IsNearContacts(sLocalContactData& c1,sLocalContactData& c2)
-{
-        int bPosNear = 0;
-        int bSameDir = 0;
-        dVector3        vDiff;
-
-        // First check if they are "near" in position
-        dVector3Subtract(c1.vPos,c2.vPos,vDiff);
-        if (  (dFabs(vDiff[0]) < fSameContactPositionEpsilon)
-                &&(dFabs(vDiff[1]) < fSameContactPositionEpsilon)
-                &&(dFabs(vDiff[2]) < fSameContactPositionEpsilon))
-        {
-                bPosNear = 1;
-        }
-
-        // Second check if they are "near" in normal direction
-        dVector3Subtract(c1.vNormal,c2.vNormal,vDiff);
-        if (  (dFabs(vDiff[0]) < fSameContactNormalEpsilon)
-                &&(dFabs(vDiff[1]) < fSameContactNormalEpsilon)
-                &&(dFabs(vDiff[2]) < fSameContactNormalEpsilon) )
-        {
-                bSameDir = 1;
-        }
-
-        // Will be "near" if position and normal direction are "near"
-        return (bPosNear && bSameDir);
-}
-
-inline int _IsBetter(sLocalContactData& c1,sLocalContactData& c2)
-{
-        // The not better will be throw away
-        // You can change the selection criteria here
-        return (c1.fDepth > c2.fDepth);
-}
-
-// iterate through gLocalContacts and filtered out "near contact"
-inline void     _OptimizeLocalContacts(sData& cData)
-{
-        int nContacts = cData.nContacts;
-
-        for (int i = 0; i < nContacts-1; i++)
-        {
-                for (int j = i+1; j < nContacts; j++)
-                {
-                        if (_IsNearContacts(cData.gLocalContacts[i],cData.gLocalContacts[j]))
-                        {
-                                // If they are seem to be the same then filtered 
-                                // out the least penetrate one
-                                if (_IsBetter(cData.gLocalContacts[j],cData.gLocalContacts[i]))
-                                {
-                                        cData.gLocalContacts[i].nFlags = 0; // filtered 1st contact
-                                }
-                                else
-                                {
-                                        cData.gLocalContacts[j].nFlags = 0; // filtered 2nd contact
-                                }
-
-                                // NOTE
-                                // There is other way is to add two depth together but
-                                // it not work so well. Why???
-                        }
-                }
-        }
-}
-
-inline int      _ProcessLocalContacts(sData& cData)
-{
-        if (cData.nContacts == 0)
-        {
-                return 0;
-        }
-
-#ifdef OPTIMIZE_CONTACTS
-        if (cData.nContacts > 1 && !(cData.iFlags & CONTACTS_UNIMPORTANT))
-        {
-                // Can be optimized...
-                _OptimizeLocalContacts(cData);
-        }
-#endif          
-
-        int iContact = 0;
-        dContactGeom* Contact = 0;
-
-        int nFinalContact = 0;
-
-        for (iContact = 0; iContact < cData.nContacts; iContact ++)
-        {
-                if (1 == cData.gLocalContacts[iContact].nFlags)
-                {
-                        Contact = SAFECONTACT(cData.iFlags, cData.gContact, nFinalContact, cData.iSkip);
-                        Contact->depth = cData.gLocalContacts[iContact].fDepth;
-                        dVector3Copy(cData.gLocalContacts[iContact].vNormal,Contact->normal);
-                        dVector3Copy(cData.gLocalContacts[iContact].vPos,Contact->pos);
-                        Contact->g1 = cData.gCylinder;
-                        Contact->g2 = cData.gTrimesh;
-                        Contact->side2 = cData.gLocalContacts[iContact].triIndex;
-                        dVector3Inv(Contact->normal);
-
-                        nFinalContact++;
-                }
-        }
-        // debug
-        //if (nFinalContact != cData.nContacts)
-        //{
-        //      printf("[Info] %d contacts generated,%d  filtered.\n",cData.nContacts,cData.nContacts-nFinalContact);
-        //}
-
-        return nFinalContact;
-}
-
-
-bool _cldTestAxis(sData& cData,
-                                  const dVector3 &v0,
-                                  const dVector3 &v1,
-                                  const dVector3 &v2, 
-                  dVector3& vAxis, 
-                                  int iAxis,
-                                  bool bNoFlip = false)
-{
-  
-        // calculate length of separating axis vector
-        dReal fL = dVector3Length(vAxis);
-        // if not long enough
-        if ( fL < REAL(1e-5) )
-        {
-                // do nothing
-                return true;
-        }
-
-        // otherwise normalize it
-        vAxis[0] /= fL;
-        vAxis[1] /= fL;
-        vAxis[2] /= fL;
-
-        dReal fdot1 = dVector3Dot(cData.vCylinderAxis,vAxis);
-        // project capsule on vAxis
-        dReal frc;
-
-        if (dFabs(fdot1) > REAL(1.0) ) 
-        {
-//              fdot1 = REAL(1.0);
-                frc = dFabs(cData.fCylinderSize* REAL(0.5));
-        }
-        else
-        {
-                frc = dFabs((cData.fCylinderSize* REAL(0.5)) * fdot1)
-                        + cData.fCylinderRadius * dSqrt(REAL(1.0)-(fdot1*fdot1));
-        }
-  
-        dVector3 vV0;
-        dVector3Subtract(v0,cData.vCylinderPos,vV0);
-        dVector3 vV1;
-        dVector3Subtract(v1,cData.vCylinderPos,vV1);
-        dVector3 vV2;
-        dVector3Subtract(v2,cData.vCylinderPos,vV2);
-
-        // project triangle on vAxis
-        dReal afv[3];
-        afv[0] = dVector3Dot( vV0 , vAxis );
-        afv[1] = dVector3Dot( vV1 , vAxis );
-        afv[2] = dVector3Dot( vV2 , vAxis );
-
-        dReal fMin = MAX_REAL;
-        dReal fMax = -MAX_REAL;
-
-        // for each vertex 
-        for(int i = 0; i < 3; i++) 
-        {
-                // find minimum
-                if (afv[i]<fMin) 
-                {
-                        fMin = afv[i];
-                }
-                // find maximum
-                if (afv[i]>fMax) 
-                {
-                        fMax = afv[i];
-                }
-        }
-
-        // find capsule's center of interval on axis
-        dReal fCenter = (fMin+fMax)* REAL(0.5);
-        // calculate triangles halfinterval 
-        dReal fTriangleRadius = (fMax-fMin)*REAL(0.5);
-
-        // if they do not overlap, 
-        if( dFabs(fCenter) > (frc+fTriangleRadius) ) 
-        { 
-                // exit, we have no intersection
-                return false; 
-        }
-
-        // calculate depth 
-        dReal fDepth = -(dFabs(fCenter) - (frc + fTriangleRadius ) );
-
-        // if greater then best found so far
-        if ( fDepth < cData.fBestDepth ) 
-        {
-                // remember depth
-                cData.fBestDepth                        = fDepth;
-                cData.fBestCenter                   = fCenter;
-                cData.fBestrt                           = frc;
-                dVector3Copy(vAxis,cData.vContactNormal);
-                cData.iBestAxis                         = iAxis;
-          
-                // flip normal if interval is wrong faced
-                if ( fCenter< REAL(0.0) && !bNoFlip) 
-                { 
-                        dVector3Inv(cData.vContactNormal);
-                        cData.fBestCenter = -fCenter;
-                }
-        }
-  
-        return true;
-}
-
-// intersection test between edge and circle
-bool _cldTestCircleToEdgeAxis(sData& cData,
-                                                          const dVector3 &v0, const dVector3 &v1, const dVector3 &v2,
-                              const dVector3 &vCenterPoint, const dVector3 &vCylinderAxis1,
-                              const dVector3 &vVx0, const dVector3 &vVx1, int iAxis) 
-{
-        // calculate direction of edge
-        dVector3 vkl;
-        dVector3Subtract( vVx1 , vVx0 , vkl);
-        dNormalize3(vkl);
-        // starting point of edge 
-        dVector3 vol;
-        dVector3Copy(vVx0,vol);
-
-        // calculate angle cosine between cylinder axis and edge
-        dReal fdot2 = dVector3Dot(vkl , vCylinderAxis1);
-
-        // if edge is perpendicular to cylinder axis
-        if(dFabs(fdot2)<REAL(1e-5))
-        {
-                // this can't be separating axis, because edge is parallel to circle plane
-                return true;
-        }
-    
-        // find point of intersection between edge line and circle plane
-        dVector3 vTemp;
-        dVector3Subtract(vCenterPoint,vol,vTemp);
-        dReal fdot1 = dVector3Dot(vTemp,vCylinderAxis1);
-        dVector3 vpnt;// = vol + vkl * (fdot1/fdot2);
-        vpnt[0] = vol[0] + vkl[0] * fdot1/fdot2;
-        vpnt[1] = vol[1] + vkl[1] * fdot1/fdot2;
-        vpnt[2] = vol[2] + vkl[2] * fdot1/fdot2;
-
-        // find tangent vector on circle with same center (vCenterPoint) that touches point of intersection (vpnt)
-        dVector3 vTangent;
-        dVector3Subtract(vCenterPoint,vpnt,vTemp);
-        dVector3Cross(vTemp,vCylinderAxis1,vTangent);
-  
-        // find vector orthogonal both to tangent and edge direction
-        dVector3 vAxis;
-        dVector3Cross(vTangent,vkl,vAxis);
-
-        // use that vector as separating axis
-        return _cldTestAxis( cData ,v0, v1, v2, vAxis, iAxis );
-}
-
-// helper for less key strokes
-// r = ( (v1 - v2) cross v3 ) cross v3
-inline void _CalculateAxis(const dVector3& v1,
-                                                   const dVector3& v2,
-                                                   const dVector3& v3,
-                                                   dVector3& r)
-{
-        dVector3 t1;
-        dVector3 t2;
-
-        dVector3Subtract(v1,v2,t1);
-        dVector3Cross(t1,v3,t2);
-        dVector3Cross(t2,v3,r);
-}
-
-bool _cldTestSeparatingAxes(sData& cData,
-                                                        const dVector3 &v0,
-                                                        const dVector3 &v1,
-                                                        const dVector3 &v2) 
-{
-
-        // calculate edge vectors
-        dVector3Subtract(v1 ,v0 , cData.vE0);
-        // cData.vE1 has been calculated before -> so save some cycles here
-        dVector3Subtract(v0 ,v2 , cData.vE2);
-
-        // calculate caps centers in absolute space
-        dVector3 vCp0;
-        vCp0[0] = cData.vCylinderPos[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize* REAL(0.5));
-        vCp0[1] = cData.vCylinderPos[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize* REAL(0.5));
-        vCp0[2] = cData.vCylinderPos[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize* REAL(0.5));
-
-        dVector3 vCp1;
-        vCp1[0] = cData.vCylinderPos[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize* REAL(0.5));
-        vCp1[1] = cData.vCylinderPos[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize* REAL(0.5));
-        vCp1[2] = cData.vCylinderPos[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize* REAL(0.5));
-
-        // reset best axis
-        cData.iBestAxis = 0;
-        dVector3 vAxis;
-
-        // axis cData.vNormal
-        //vAxis = -cData.vNormal;
-        vAxis[0] = -cData.vNormal[0];
-        vAxis[1] = -cData.vNormal[1];
-        vAxis[2] = -cData.vNormal[2];
-        if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 1, true)) 
-        { 
-                return false; 
-        }
-
-        // axis CxE0
-        // vAxis = ( cData.vCylinderAxis cross cData.vE0 );
-        dVector3Cross(cData.vCylinderAxis, cData.vE0,vAxis);
-        if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 2)) 
-        { 
-                return false; 
-        }
-
-        // axis CxE1
-        // vAxis = ( cData.vCylinderAxis cross cData.vE1 );
-        dVector3Cross(cData.vCylinderAxis, cData.vE1,vAxis);
-        if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 3)) 
-        { 
-                return false; 
-        }
-
-        // axis CxE2
-        // vAxis = ( cData.vCylinderAxis cross cData.vE2 );
-        dVector3Cross(cData.vCylinderAxis, cData.vE2,vAxis);
-        if (!_cldTestAxis( cData ,v0, v1, v2, vAxis, 4)) 
-        { 
-                return false; 
-        }
-
-        // first vertex on triangle
-        // axis ((V0-Cp0) x C) x C
-        //vAxis = ( ( v0-vCp0 ) cross cData.vCylinderAxis ) cross cData.vCylinderAxis;
-        _CalculateAxis(v0 , vCp0 , cData.vCylinderAxis , vAxis);
-        if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 11)) 
-        { 
-                return false; 
-        }
-
-        // second vertex on triangle
-        // axis ((V1-Cp0) x C) x C
-        // vAxis = ( ( v1-vCp0 ) cross cData.vCylinderAxis ) cross cData.vCylinderAxis;
-        _CalculateAxis(v1 , vCp0 , cData.vCylinderAxis , vAxis);
-        if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 12)) 
-        { 
-                return false; 
-        }
-
-        // third vertex on triangle
-        // axis ((V2-Cp0) x C) x C
-        //vAxis = ( ( v2-vCp0 ) cross cData.vCylinderAxis ) cross cData.vCylinderAxis;
-        _CalculateAxis(v2 , vCp0 , cData.vCylinderAxis , vAxis);
-        if (!_cldTestAxis(cData, v0, v1, v2, vAxis, 13))
-        { 
-                return false; 
-        }
-
-        // test cylinder axis
-        // vAxis = cData.vCylinderAxis;
-        dVector3Copy(cData.vCylinderAxis , vAxis);
-        if (!_cldTestAxis(cData , v0, v1, v2, vAxis, 14)) 
-        { 
-                return false; 
-        }
-
-        // Test top and bottom circle ring of cylinder for separation
-        dVector3 vccATop;
-        vccATop[0] = cData.vCylinderPos[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize * REAL(0.5));
-        vccATop[1] = cData.vCylinderPos[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize * REAL(0.5));
-        vccATop[2] = cData.vCylinderPos[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize * REAL(0.5));
-
-        dVector3 vccABottom;
-        vccABottom[0] = cData.vCylinderPos[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize * REAL(0.5));
-        vccABottom[1] = cData.vCylinderPos[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize * REAL(0.5));
-        vccABottom[2] = cData.vCylinderPos[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize * REAL(0.5));
-
-
-  if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccATop, cData.vCylinderAxis, v0, v1, 15)) 
-  {
-    return false;
-  }
-
-  if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccATop, cData.vCylinderAxis, v1, v2, 16)) 
-  {
-    return false;
-  }
-
-  if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccATop, cData.vCylinderAxis, v0, v2, 17)) 
-  {
-    return false;
-  }
-
-  if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccABottom, cData.vCylinderAxis, v0, v1, 18)) 
-  {
-    return false;
-  }
-
-  if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccABottom, cData.vCylinderAxis, v1, v2, 19)) 
-  {
-    return false;
-  }
-
-  if (!_cldTestCircleToEdgeAxis(cData, v0, v1, v2, vccABottom, cData.vCylinderAxis, v0, v2, 20)) 
-  {
-    return false;
-  }
-
-  return true;
-}
-
-bool _cldClipCylinderEdgeToTriangle(sData& cData, const dVector3 &v0, const dVector3 &v1, const dVector3 &v2)
-{
-        // translate cylinder
-        dReal fTemp = dVector3Dot(cData.vCylinderAxis , cData.vContactNormal);
-        dVector3 vN2;
-        vN2[0] = cData.vContactNormal[0] - cData.vCylinderAxis[0]*fTemp;
-        vN2[1] = cData.vContactNormal[1] - cData.vCylinderAxis[1]*fTemp;
-        vN2[2] = cData.vContactNormal[2] - cData.vCylinderAxis[2]*fTemp;
-
-        fTemp = dVector3Length(vN2);
-        if (fTemp < REAL(1e-5))
-        {
-                return false;
-        }
-
-        // Normalize it
-        vN2[0] /= fTemp;
-        vN2[1] /= fTemp;
-        vN2[2] /= fTemp;
-
-        // calculate caps centers in absolute space
-        dVector3 vCposTrans;
-        vCposTrans[0] = cData.vCylinderPos[0] + vN2[0]*cData.fCylinderRadius;
-        vCposTrans[1] = cData.vCylinderPos[1] + vN2[1]*cData.fCylinderRadius;
-        vCposTrans[2] = cData.vCylinderPos[2] + vN2[2]*cData.fCylinderRadius;
-          
-        dVector3 vCEdgePoint0;
-        vCEdgePoint0[0]  = vCposTrans[0] + cData.vCylinderAxis[0] * (cData.fCylinderSize* REAL(0.5));
-        vCEdgePoint0[1]  = vCposTrans[1] + cData.vCylinderAxis[1] * (cData.fCylinderSize* REAL(0.5));
-        vCEdgePoint0[2]  = vCposTrans[2] + cData.vCylinderAxis[2] * (cData.fCylinderSize* REAL(0.5));
-
-        dVector3 vCEdgePoint1;
-        vCEdgePoint1[0]  = vCposTrans[0] - cData.vCylinderAxis[0] * (cData.fCylinderSize* REAL(0.5));
-        vCEdgePoint1[1]  = vCposTrans[1] - cData.vCylinderAxis[1] * (cData.fCylinderSize* REAL(0.5));
-        vCEdgePoint1[2]  = vCposTrans[2] - cData.vCylinderAxis[2] * (cData.fCylinderSize* REAL(0.5));
-
-        // transform cylinder edge points into triangle space
-        vCEdgePoint0[0] -= v0[0];
-        vCEdgePoint0[1] -= v0[1];
-        vCEdgePoint0[2] -= v0[2];
-
-        vCEdgePoint1[0] -= v0[0];
-        vCEdgePoint1[1] -= v0[1];
-        vCEdgePoint1[2] -= v0[2];
-
-        dVector4 plPlane;
-        dVector3 vPlaneNormal;
-
-        // triangle plane
-        //plPlane = Plane4f( -cData.vNormal, 0);
-        vPlaneNormal[0] = -cData.vNormal[0];
-        vPlaneNormal[1] = -cData.vNormal[1];
-        vPlaneNormal[2] = -cData.vNormal[2];
-        dConstructPlane(vPlaneNormal,REAL(0.0),plPlane);
-        if(!dClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane )) 
-        { 
-                return false; 
-        }
-
-        // plane with edge 0
-        //plPlane = Plane4f( ( cData.vNormal cross cData.vE0 ), REAL(1e-5));
-        dVector3Cross(cData.vNormal,cData.vE0,vPlaneNormal);
-        dConstructPlane(vPlaneNormal,REAL(1e-5),plPlane);
-        if(!dClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane )) 
-        { 
-                return false; 
-        }
-  
-        // plane with edge 1
-        //dVector3 vTemp = ( cData.vNormal cross cData.vE1 );
-        dVector3Cross(cData.vNormal,cData.vE1,vPlaneNormal);
-        fTemp = dVector3Dot(cData.vE0 , vPlaneNormal) - REAL(1e-5);
-        //plPlane = Plane4f( vTemp, -(( cData.vE0 dot vTemp )-REAL(1e-5)));
-        dConstructPlane(vPlaneNormal,-fTemp,plPlane);
-        if(!dClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane )) 
-        {
-                return false;
-        }
-
-        // plane with edge 2
-        // plPlane = Plane4f( ( cData.vNormal cross cData.vE2 ), REAL(1e-5));
-        dVector3Cross(cData.vNormal,cData.vE2,vPlaneNormal);
-        dConstructPlane(vPlaneNormal,REAL(1e-5),plPlane);
-        if(!dClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane )) 
-        { 
-                return false; 
-        }
-
-        // return capsule edge points into absolute space
-        vCEdgePoint0[0] += v0[0];
-        vCEdgePoint0[1] += v0[1];
-        vCEdgePoint0[2] += v0[2];
-
-        vCEdgePoint1[0] += v0[0];
-        vCEdgePoint1[1] += v0[1];
-        vCEdgePoint1[2] += v0[2];
-
-        // calculate depths for both contact points
-        dVector3 vTemp;
-        dVector3Subtract(vCEdgePoint0,cData.vCylinderPos, vTemp);
-        dReal fRestDepth0 = -dVector3Dot(vTemp,cData.vContactNormal) + cData.fBestrt;
-        dVector3Subtract(vCEdgePoint1,cData.vCylinderPos, vTemp);
-        dReal fRestDepth1 = -dVector3Dot(vTemp,cData.vContactNormal) + cData.fBestrt;
-        
-        dReal fDepth0 = cData.fBestDepth - (fRestDepth0);
-        dReal fDepth1 = cData.fBestDepth - (fRestDepth1);
-                  
-        // clamp depths to zero
-        if(fDepth0 < REAL(0.0) ) 
-        {
-                fDepth0 = REAL(0.0);
-        }
-
-        if(fDepth1<REAL(0.0)) 
-        {
-                fDepth1 = REAL(0.0);
-        }
-
-        // Generate contact 0
-        {
-                cData.gLocalContacts[cData.nContacts].fDepth = fDepth0;
-                dVector3Copy(cData.vContactNormal,cData.gLocalContacts[cData.nContacts].vNormal);
-                dVector3Copy(vCEdgePoint0,cData.gLocalContacts[cData.nContacts].vPos);
-                cData.gLocalContacts[cData.nContacts].nFlags = 1;
-                cData.nContacts++;
-                if(cData.nContacts >= (cData.iFlags & NUMC_MASK)) 
-                        return true;
-        }
-
-        // Generate contact 1
-        {
-                // generate contacts
-                cData.gLocalContacts[cData.nContacts].fDepth = fDepth1;
-                dVector3Copy(cData.vContactNormal,cData.gLocalContacts[cData.nContacts].vNormal);
-                dVector3Copy(vCEdgePoint1,cData.gLocalContacts[cData.nContacts].vPos);
-                cData.gLocalContacts[cData.nContacts].nFlags = 1;
-                cData.nContacts++;              
-        }
-
-        return true;
-}
-
-void _cldClipCylinderToTriangle(sData& cData,const dVector3 &v0, const dVector3 &v1, const dVector3 &v2)
-{
-        int i = 0;
-        dVector3 avPoints[3];
-        dVector3 avTempArray1[nMAX_CYLINDER_TRIANGLE_CLIP_POINTS];
-        dVector3 avTempArray2[nMAX_CYLINDER_TRIANGLE_CLIP_POINTS];
-
-        dSetZero(&avTempArray1[0][0],nMAX_CYLINDER_TRIANGLE_CLIP_POINTS * 4);
-        dSetZero(&avTempArray2[0][0],nMAX_CYLINDER_TRIANGLE_CLIP_POINTS * 4);
-
-        // setup array of triangle vertices
-        dVector3Copy(v0,avPoints[0]);
-        dVector3Copy(v1,avPoints[1]);
-        dVector3Copy(v2,avPoints[2]);
-
-        dVector3 vCylinderCirclePos, vCylinderCircleNormal_Rel;
-        dSetZero(vCylinderCircleNormal_Rel,4);
-        // check which circle from cylinder we take for clipping
-        if ( dVector3Dot(cData.vCylinderAxis , cData.vContactNormal) > REAL(0.0)) 
-        {
-                // get top circle
-                vCylinderCirclePos[0] = cData.vCylinderPos[0] + cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
-                vCylinderCirclePos[1] = cData.vCylinderPos[1] + cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
-                vCylinderCirclePos[2] = cData.vCylinderPos[2] + cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
-
-                vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(-1.0);
-        } 
-        else 
-        {
-                // get bottom circle
-                vCylinderCirclePos[0] = cData.vCylinderPos[0] - cData.vCylinderAxis[0]*(cData.fCylinderSize*REAL(0.5));
-                vCylinderCirclePos[1] = cData.vCylinderPos[1] - cData.vCylinderAxis[1]*(cData.fCylinderSize*REAL(0.5));
-                vCylinderCirclePos[2] = cData.vCylinderPos[2] - cData.vCylinderAxis[2]*(cData.fCylinderSize*REAL(0.5));
-
-                vCylinderCircleNormal_Rel[nCYLINDER_AXIS] = REAL(1.0);
-        }
-
-        dVector3 vTemp;
-        dQuatInv(cData.qCylinderRot , cData.qInvCylinderRot);
-        // transform triangle points to space of cylinder circle
-        for(i=0; i<3; i++) 
-        {
-                dVector3Subtract(avPoints[i] , vCylinderCirclePos , vTemp);
-                dQuatTransform(cData.qInvCylinderRot,vTemp,avPoints[i]);
-        }
-
-        int iTmpCounter1 = 0;
-        int iTmpCounter2 = 0;
-        dVector4 plPlane;
-
-        // plane of cylinder that contains circle for intersection
-        //plPlane = Plane4f( vCylinderCircleNormal_Rel, 0.0f );
-        dConstructPlane(vCylinderCircleNormal_Rel,REAL(0.0),plPlane);
-        dClipPolyToPlane(avPoints, 3, avTempArray1, iTmpCounter1, plPlane);
-
-        // Body of base circle of Cylinder
-        int nCircleSegment = 0;
-        for (nCircleSegment = 0; nCircleSegment < nCYLINDER_CIRCLE_SEGMENTS; nCircleSegment++)
-        {
-                dConstructPlane(cData.avCylinderNormals[nCircleSegment],cData.fCylinderRadius,plPlane);
-
-                if (0 == (nCircleSegment % 2))
-                {
-                        dClipPolyToPlane( avTempArray1 , iTmpCounter1 , avTempArray2, iTmpCounter2, plPlane);
-                }
-                else
-                {
-                        dClipPolyToPlane( avTempArray2, iTmpCounter2, avTempArray1 , iTmpCounter1 , plPlane );
-                }
-
-                dIASSERT( iTmpCounter1 >= 0 && iTmpCounter1 <= nMAX_CYLINDER_TRIANGLE_CLIP_POINTS );
-                dIASSERT( iTmpCounter2 >= 0 && iTmpCounter2 <= nMAX_CYLINDER_TRIANGLE_CLIP_POINTS );
-        }
-
-        // back transform clipped points to absolute space
-        dReal ftmpdot;  
-        dReal fTempDepth;
-        dVector3 vPoint;
-
-        if (nCircleSegment %2)
-        {
-                for( i=0; i<iTmpCounter2; i++)
-                {
-                        dQuatTransform(cData.qCylinderRot,avTempArray2[i], vPoint);
-                        vPoint[0] += vCylinderCirclePos[0];
-                        vPoint[1] += vCylinderCirclePos[1];
-                        vPoint[2] += vCylinderCirclePos[2];
-
-                        dVector3Subtract(vPoint,cData.vCylinderPos,vTemp);
-                        ftmpdot  = dFabs(dVector3Dot(vTemp, cData.vContactNormal));
-                        fTempDepth = cData.fBestrt - ftmpdot;
-                        // Depth must be positive
-                        if (fTempDepth > REAL(0.0))
-                        {
-                                cData.gLocalContacts[cData.nContacts].fDepth = fTempDepth;
-                                dVector3Copy(cData.vContactNormal,cData.gLocalContacts[cData.nContacts].vNormal);
-                                dVector3Copy(vPoint,cData.gLocalContacts[cData.nContacts].vPos);
-                                cData.gLocalContacts[cData.nContacts].nFlags = 1;
-                                cData.nContacts++;
-                                if(cData.nContacts >= (cData.iFlags & NUMC_MASK)) 
-                                        return;;
-                        }
-                }
-        }
-        else
-        {
-                for( i=0; i<iTmpCounter1; i++)
-                {
-                        dQuatTransform(cData.qCylinderRot,avTempArray1[i], vPoint);
-                        vPoint[0] += vCylinderCirclePos[0];
-                        vPoint[1] += vCylinderCirclePos[1];
-                        vPoint[2] += vCylinderCirclePos[2];
-
-                        dVector3Subtract(vPoint,cData.vCylinderPos,vTemp);
-                        ftmpdot  = dFabs(dVector3Dot(vTemp, cData.vContactNormal));
-                        fTempDepth = cData.fBestrt - ftmpdot;
-                        // Depth must be positive
-                        if (fTempDepth > REAL(0.0))
-                        {
-                                cData.gLocalContacts[cData.nContacts].fDepth = fTempDepth;
-                                dVector3Copy(cData.vContactNormal,cData.gLocalContacts[cData.nContacts].vNormal);
-                                dVector3Copy(vPoint,cData.gLocalContacts[cData.nContacts].vPos);
-                                cData.gLocalContacts[cData.nContacts].nFlags = 1;
-                                cData.nContacts++;
-                                if(cData.nContacts >= (cData.iFlags & NUMC_MASK)) 
-                                        return;;
-                        }
-                }
-        }
-}
-
-void TestOneTriangleVsCylinder(   sData& cData, 
-                                                                  const dVector3 &v0, 
-                                  const dVector3 &v1, 
-                                  const dVector3 &v2, 
-                                  const bool bDoubleSided)
-{
-
-        // calculate triangle normal
-        dVector3Subtract( v2 , v1 ,cData.vE1);
-        dVector3 vTemp;
-        dVector3Subtract( v0 , v1 ,vTemp);
-        dVector3Cross(cData.vE1 , vTemp , cData.vNormal );
-
-        dNormalize3( cData.vNormal);
-
-        // create plane from triangle
-        //Plane4f plTrianglePlane = Plane4f( vPolyNormal, v0 ); 
-        dReal plDistance = -dVector3Dot(v0, cData.vNormal);
-        dVector4 plTrianglePlane;
-        dConstructPlane( cData.vNormal,plDistance,plTrianglePlane);
-
-         // calculate sphere distance to plane
-        dReal fDistanceCylinderCenterToPlane = dPointPlaneDistance(cData.vCylinderPos , plTrianglePlane);
-
-        // Sphere must be over positive side of triangle
-        if(fDistanceCylinderCenterToPlane < 0 && !bDoubleSided) 
-        {
-                // if not don't generate contacts
-                return;
-         }
-
-        dVector3 vPnt0;
-        dVector3 vPnt1;
-        dVector3 vPnt2;
-
-        if (fDistanceCylinderCenterToPlane < REAL(0.0) )
-        {
-                // flip it
-                dVector3Copy(v0 , vPnt0);
-                dVector3Copy(v1 , vPnt2);
-                dVector3Copy(v2 , vPnt1);
-        }
-        else
-        {
-                dVector3Copy(v0 , vPnt0);
-                dVector3Copy(v1 , vPnt1);
-                dVector3Copy(v2 , vPnt2);
-        }
-
-        cData.fBestDepth = MAX_REAL;
-
-        // do intersection test and find best separating axis
-        if(!_cldTestSeparatingAxes(cData , vPnt0, vPnt1, vPnt2) ) 
-        {
-                // if not found do nothing
-                return;
-        }
-
-        // if best separation axis is not found
-        if ( cData.iBestAxis == 0 ) 
-        {
-                // this should not happen (we should already exit in that case)
-                dIASSERT(false);
-                // do nothing
-                return;
-        }
-
-        dReal fdot = dVector3Dot( cData.vContactNormal , cData.vCylinderAxis );
-
-        // choose which clipping method are we going to apply
-        if (dFabs(fdot) < REAL(0.9) ) 
-        {
-                if (!_cldClipCylinderEdgeToTriangle(cData ,vPnt0, vPnt1, vPnt2)) 
-                {
-                        return;
-                }
-        }
-        else 
-        {
-                _cldClipCylinderToTriangle(cData ,vPnt0, vPnt1, vPnt2);
-        }
-
-}
-
-void _InitCylinderTrimeshData(sData& cData)
-{
-        // get cylinder information
-        // Rotation
-        const dReal* pRotCyc = dGeomGetRotation(cData.gCylinder); 
-        dMatrix3Copy(pRotCyc,cData.mCylinderRot);
-        dGeomGetQuaternion(cData.gCylinder,cData.qCylinderRot);
-        
-        // Position
-        const dVector3* pPosCyc = (const dVector3*)dGeomGetPosition(cData.gCylinder);
-        dVector3Copy(*pPosCyc,cData.vCylinderPos);
-        // Cylinder axis
-        dMat3GetCol(cData.mCylinderRot,nCYLINDER_AXIS,cData.vCylinderAxis);
-        // get cylinder radius and size
-        dGeomCylinderGetParams(cData.gCylinder,&cData.fCylinderRadius,&cData.fCylinderSize);
-        
-        // get trimesh position and orientation
-        const dReal* pRotTris = dGeomGetRotation(cData.gTrimesh); 
-        dMatrix3Copy(pRotTris,cData.mTrimeshRot);
-        dGeomGetQuaternion(cData.gTrimesh,cData.qTrimeshRot);
-        
-        // Position
-        const dVector3* pPosTris = (const dVector3*)dGeomGetPosition(cData.gTrimesh);
-        dVector3Copy(*pPosTris,cData.vTrimeshPos);
-
-
-        // calculate basic angle for 8-gon
-        dReal fAngle = M_PI / nCYLINDER_CIRCLE_SEGMENTS;
-        // calculate angle increment
-        dReal fAngleIncrement = fAngle*REAL(2.0); 
-
-        // calculate plane normals
-        // axis dependant code
-        for(int i=0; i<nCYLINDER_CIRCLE_SEGMENTS; i++) 
-        {
-                cData.avCylinderNormals[i][0] = -dCos(fAngle);
-                cData.avCylinderNormals[i][1] = -dSin(fAngle);
-                cData.avCylinderNormals[i][2] = REAL(0.0);
-
-                fAngle += fAngleIncrement;
-        }
-
-        dSetZero(cData.vBestPoint,4);
-        // reset best depth
-        cData.fBestCenter = REAL(0.0);  
-}
-
-#if dTRIMESH_ENABLED
-
-// OPCODE version of cylinder to mesh collider
-#if dTRIMESH_OPCODE
-int dCollideCylinderTrimesh(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT( skip >= (int)sizeof( dContactGeom ) );
-        dIASSERT( o1->type == dCylinderClass );
-        dIASSERT( o2->type == dTriMeshClass );
-        dIASSERT ((flags & NUMC_MASK) >= 1);
-
-        // Main data holder
-        sData cData;
-
-        // Assign ODE stuff
-        cData.gCylinder  = o1;
-        cData.gTrimesh   = (dxTriMesh*)o2;
-        cData.iFlags     = flags;
-        cData.iSkip              = skip;
-        cData.gContact   = contact;
-        cData.nContacts  = 0;
-
-        _InitCylinderTrimeshData(cData);
-
-        OBBCollider& Collider = cData.gTrimesh->_OBBCollider;
-
-        Point cCenter(cData.vCylinderPos[0],cData.vCylinderPos[1],cData.vCylinderPos[2]);
-
-        Point cExtents(cData.fCylinderRadius,cData.fCylinderRadius,cData.fCylinderRadius);
-        cExtents[nCYLINDER_AXIS] = cData.fCylinderSize * REAL(0.5);
-
-        Matrix3x3 obbRot;
-
-        // It is a potential issue to explicitly cast to float 
-        // if custom width floating point type is introduced in OPCODE.
-        // It is necessary to make a typedef and cast to it
-        // (e.g. typedef float opc_float;)
-        // However I'm not sure in what header it should be added.
-
-        obbRot[0][0] = /*(float)*/cData.mCylinderRot[0];
-        obbRot[1][0] = /*(float)*/cData.mCylinderRot[1];
-        obbRot[2][0] = /*(float)*/cData.mCylinderRot[2];
-
-        obbRot[0][1] = /*(float)*/cData.mCylinderRot[4];
-        obbRot[1][1] = /*(float)*/cData.mCylinderRot[5];
-        obbRot[2][1] = /*(float)*/cData.mCylinderRot[6];
-
-        obbRot[0][2] = /*(float)*/cData.mCylinderRot[8];
-        obbRot[1][2] = /*(float)*/cData.mCylinderRot[9];
-        obbRot[2][2] = /*(float)*/cData.mCylinderRot[10];
-
-        OBB obbCapsule(cCenter,cExtents,obbRot);
-
-        Matrix4x4 CapsuleMatrix;
-        MakeMatrix(cData.vCylinderPos, cData.mCylinderRot, CapsuleMatrix);
-
-        Matrix4x4 MeshMatrix;
-        MakeMatrix(cData.vTrimeshPos, cData.mTrimeshRot, MeshMatrix);
-
-        // TC results
-        if (cData.gTrimesh->doBoxTC) 
-        {
-                dxTriMesh::BoxTC* BoxTC = 0;
-                for (int i = 0; i < cData.gTrimesh->BoxTCCache.size(); i++)
-                {
-                        if (cData.gTrimesh->BoxTCCache[i].Geom == cData.gCylinder)
-                        {
-                                BoxTC = &cData.gTrimesh->BoxTCCache[i];
-                                break;
-                        }
-                }
-                if (!BoxTC)
-                {
-                        cData.gTrimesh->BoxTCCache.push(dxTriMesh::BoxTC());
-
-                        BoxTC = &cData.gTrimesh->BoxTCCache[cData.gTrimesh->BoxTCCache.size() - 1];
-                        BoxTC->Geom = cData.gCylinder;
-                        BoxTC->FatCoeff = REAL(1.0);
-                }
-
-                // Intersect
-                Collider.SetTemporalCoherence(true);
-                Collider.Collide(*BoxTC, obbCapsule, cData.gTrimesh->Data->BVTree, null, &MeshMatrix);
-        }
-        else 
-        {
-                Collider.SetTemporalCoherence(false);
-                Collider.Collide(dxTriMesh::defaultBoxCache, obbCapsule, cData.gTrimesh->Data->BVTree, null,&MeshMatrix);
-        }
-
-        // Retrieve data
-        int TriCount = Collider.GetNbTouchedPrimitives();
-        const int* Triangles = (const int*)Collider.GetTouchedPrimitives();
-
-
-        if (TriCount != 0)
-        {
-                if (cData.gTrimesh->ArrayCallback != null)
-                {
-                        cData.gTrimesh->ArrayCallback(cData.gTrimesh, cData.gCylinder, Triangles, TriCount);
-                }
-
-                // allocate buffer for local contacts on stack
-                cData.gLocalContacts = (sLocalContactData*)dALLOCA16(sizeof(sLocalContactData)*(cData.iFlags & NUMC_MASK));
-
-            int ctContacts0 = 0;
-
-                // loop through all intersecting triangles
-                for (int i = 0; i < TriCount; i++)
-                {
-                        const int Triint = Triangles[i];
-                        if (!Callback(cData.gTrimesh, cData.gCylinder, Triint)) continue;
-
-
-                        dVector3 dv[3];
-                        FetchTriangle(cData.gTrimesh, Triint, cData.vTrimeshPos, cData.mTrimeshRot, dv);
-                        
-                        // test this triangle
-                        TestOneTriangleVsCylinder(cData , dv[0],dv[1],dv[2], false);
-
-                        // fill-in tri index for generated contacts
-                        for (; ctContacts0<cData.nContacts; ctContacts0++)
-                                cData.gLocalContacts[ctContacts0].triIndex = Triint;
-
-                        // Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
-                        if(cData.nContacts      >= (cData.iFlags & NUMC_MASK))
-                        {
-                                break;
-                        }
-                }
-        }
-
-        return _ProcessLocalContacts(cData);
-}
-#endif
-
-// GIMPACT version of cylinder to mesh collider
-#if dTRIMESH_GIMPACT
-int dCollideCylinderTrimesh(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT( skip >= (int)sizeof( dContactGeom ) );
-        dIASSERT( o1->type == dCylinderClass );
-        dIASSERT( o2->type == dTriMeshClass );
-        dIASSERT ((flags & NUMC_MASK) >= 1);
-        
-        // Main data holder
-        sData cData;
-
-        // Assign ODE stuff
-        cData.gCylinder  = o1;
-        cData.gTrimesh   = (dxTriMesh*)o2;
-        cData.iFlags     = flags;
-        cData.iSkip              = skip;
-        cData.gContact   = contact;
-        cData.nContacts  = 0;
-
-        _InitCylinderTrimeshData(cData);
-
-//*****at first , collide box aabb******//
-
-        aabb3f test_aabb;
-
-        test_aabb.minX = o1->aabb[0];
-        test_aabb.maxX = o1->aabb[1];
-        test_aabb.minY = o1->aabb[2];
-        test_aabb.maxY = o1->aabb[3];
-        test_aabb.minZ = o1->aabb[4];
-        test_aabb.maxZ = o1->aabb[5];
-
-
-        GDYNAMIC_ARRAY collision_result;
-        GIM_CREATE_BOXQUERY_LIST(collision_result);
-
-        gim_aabbset_box_collision(&test_aabb, &cData.gTrimesh->m_collision_trimesh.m_aabbset , &collision_result);
-
-        if(collision_result.m_size==0)
-        {
-            GIM_DYNARRAY_DESTROY(collision_result);
-            return 0;
-        }
-//*****Set globals for box collision******//
-
-        int ctContacts0 = 0;
-        cData.gLocalContacts = (sLocalContactData*)dALLOCA16(sizeof(sLocalContactData)*(cData.iFlags & NUMC_MASK));
-
-        GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);
-        GIM_TRIMESH * ptrimesh = &cData.gTrimesh->m_collision_trimesh;
-
-        gim_trimesh_locks_work_data(ptrimesh);
-
-
-        for(unsigned int i=0;i<collision_result.m_size;i++)
-        {
-                const int Triint = boxesresult[i];
-                
-                dVector3 dv[3];
-                gim_trimesh_get_triangle_vertices(ptrimesh, Triint,dv[0],dv[1],dv[2]);
-        // test this triangle
-        TestOneTriangleVsCylinder(cData , dv[0],dv[1],dv[2], false);
-
-        // fill-in triangle index for generated contacts
-        for (; ctContacts0<cData.nContacts; ctContacts0++)
-            cData.gLocalContacts[ctContacts0].triIndex =  Triint;
-
-                // Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
-                if(cData.nContacts      >= (cData.iFlags & NUMC_MASK))
-        {
-            break;
-        }
-        }
-
-        gim_trimesh_unlocks_work_data(ptrimesh);
-        GIM_DYNARRAY_DESTROY(collision_result);
-
-        return _ProcessLocalContacts(cData);
-}
-#endif
-
-#endif // dTRIMESH_ENABLED
-
-
diff --git a/libraries/ode-0.9/ode/src/collision_kernel.cpp b/libraries/ode-0.9/ode/src/collision_kernel.cpp
deleted file mode 100644
index b885603..0000000
--- a/libraries/ode-0.9/ode/src/collision_kernel.cpp
+++ /dev/null
@@ -1,1103 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-core collision functions and data structures, plus part of the public API
-for geometry objects
-
-*/
-
-#include <ode/common.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/objects.h>
-#include <ode/odemath.h>
-#include "collision_kernel.h"
-#include "collision_util.h"
-#include "collision_std.h"
-#include "collision_transform.h"
-#include "collision_trimesh_internal.h"
-
-#if dTRIMESH_GIMPACT
-#include <GIMPACT/gimpact.h>
-#endif
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-//****************************************************************************
-// helper functions for dCollide()ing a space with another geom
-
-// this struct records the parameters passed to dCollideSpaceGeom()
-
-// Allocate and free posr - we cache a single posr to avoid thrashing
-static dxPosR* s_cachedPosR = 0;
-
-dxPosR* dAllocPosr()
-{
-        dxPosR* retPosR;
-        if (s_cachedPosR)
-        {
-                retPosR = s_cachedPosR;
-                s_cachedPosR = 0;
-        }
-        else
-        {
-                retPosR = (dxPosR*) dAlloc (sizeof(dxPosR));
-        }
-        return retPosR;
-}
-
-void dFreePosr(dxPosR* oldPosR)
-{
-        if (oldPosR)
-        {
-                if (s_cachedPosR)
-                {
-                        dFree(s_cachedPosR, sizeof(dxPosR));
-                }
-                s_cachedPosR = oldPosR;
-        }
-}
-
-void dClearPosrCache(void)
-{
-        if (s_cachedPosR)
-        {
-                dFree(s_cachedPosR, sizeof(dxPosR));
-                s_cachedPosR = 0;
-        }
-}
-
-struct SpaceGeomColliderData {
-  int flags;                    // space left in contacts array
-  dContactGeom *contact;
-  int skip;
-};
-
-
-static void space_geom_collider (void *data, dxGeom *o1, dxGeom *o2)
-{
-  SpaceGeomColliderData *d = (SpaceGeomColliderData*) data;
-  if (d->flags & NUMC_MASK) {
-    int n = dCollide (o1,o2,d->flags,d->contact,d->skip);
-    d->contact = CONTACT (d->contact,d->skip*n);
-    d->flags -= n;
-  }
-}
-
-
-static int dCollideSpaceGeom (dxGeom *o1, dxGeom *o2, int flags,
-                              dContactGeom *contact, int skip)
-{
-  SpaceGeomColliderData data;
-  data.flags = flags;
-  data.contact = contact;
-  data.skip = skip;
-  dSpaceCollide2 (o1,o2,&data,&space_geom_collider);
-  return (flags & NUMC_MASK) - (data.flags & NUMC_MASK);
-}
-
-//****************************************************************************
-// dispatcher for the N^2 collider functions
-
-// function pointers and modes for n^2 class collider functions
-
-struct dColliderEntry {
-  dColliderFn *fn;      // collider function, 0 = no function available
-  int reverse;          // 1 = reverse o1 and o2
-};
-static dColliderEntry colliders[dGeomNumClasses][dGeomNumClasses];
-static int colliders_initialized = 0;
-
-
-// setCollider() will refuse to write over a collider entry once it has
-// been written.
-
-static void setCollider (int i, int j, dColliderFn *fn)
-{
-  if (colliders[i][j].fn == 0) {
-    colliders[i][j].fn = fn;
-    colliders[i][j].reverse = 0;
-  }
-  if (colliders[j][i].fn == 0) {
-    colliders[j][i].fn = fn;
-    colliders[j][i].reverse = 1;
-  }
-}
-
-
-static void setAllColliders (int i, dColliderFn *fn)
-{
-  for (int j=0; j<dGeomNumClasses; j++) setCollider (i,j,fn);
-}
-
-
-static void initColliders()
-{
-  int i,j;
-
-  if (colliders_initialized) return;
-  colliders_initialized = 1;
-
-  memset (colliders,0,sizeof(colliders));
-
-  // setup space colliders
-  for (i=dFirstSpaceClass; i <= dLastSpaceClass; i++) {
-    for (j=0; j < dGeomNumClasses; j++) {
-      setCollider (i,j,&dCollideSpaceGeom);
-    }
-  }
-
-  setCollider (dSphereClass,dSphereClass,&dCollideSphereSphere);
-  setCollider (dSphereClass,dBoxClass,&dCollideSphereBox);
-  setCollider (dSphereClass,dPlaneClass,&dCollideSpherePlane);
-  setCollider (dBoxClass,dBoxClass,&dCollideBoxBox);
-  setCollider (dBoxClass,dPlaneClass,&dCollideBoxPlane);
-  setCollider (dCapsuleClass,dSphereClass,&dCollideCapsuleSphere);
-  setCollider (dCapsuleClass,dBoxClass,&dCollideCapsuleBox);
-  setCollider (dCapsuleClass,dCapsuleClass,&dCollideCapsuleCapsule);
-  setCollider (dCapsuleClass,dPlaneClass,&dCollideCapsulePlane);
-  setCollider (dRayClass,dSphereClass,&dCollideRaySphere);
-  setCollider (dRayClass,dBoxClass,&dCollideRayBox);
-  setCollider (dRayClass,dCapsuleClass,&dCollideRayCapsule);
-  setCollider (dRayClass,dPlaneClass,&dCollideRayPlane);
-  setCollider (dRayClass,dCylinderClass,&dCollideRayCylinder);
-#if dTRIMESH_ENABLED
-  setCollider (dTriMeshClass,dSphereClass,&dCollideSTL);
-  setCollider (dTriMeshClass,dBoxClass,&dCollideBTL);
-  setCollider (dTriMeshClass,dRayClass,&dCollideRTL);
-  setCollider (dTriMeshClass,dTriMeshClass,&dCollideTTL);
-  setCollider (dTriMeshClass,dCapsuleClass,&dCollideCCTL);
-  setCollider (dTriMeshClass,dPlaneClass,&dCollideTrimeshPlane);
-  setCollider (dCylinderClass,dTriMeshClass,&dCollideCylinderTrimesh);
-#endif
-  setCollider (dCylinderClass,dBoxClass,&dCollideCylinderBox);
-  setCollider (dCylinderClass,dSphereClass,&dCollideCylinderSphere);
-  setCollider (dCylinderClass,dPlaneClass,&dCollideCylinderPlane);
-  //setCollider (dCylinderClass,dCylinderClass,&dCollideCylinderCylinder);
-
-//--> Convex Collision
-  setCollider (dConvexClass,dPlaneClass,&dCollideConvexPlane);
-  setCollider (dSphereClass,dConvexClass,&dCollideSphereConvex);
-  setCollider (dConvexClass,dBoxClass,&dCollideConvexBox);
-  setCollider (dConvexClass,dCapsuleClass,&dCollideConvexCapsule);
-  setCollider (dConvexClass,dConvexClass,&dCollideConvexConvex);
-  setCollider (dRayClass,dConvexClass,&dCollideRayConvex);
-//<-- Convex Collision
-
-//--> dHeightfield Collision
-  setCollider (dHeightfieldClass,dRayClass,&dCollideHeightfield);
-  setCollider (dHeightfieldClass,dSphereClass,&dCollideHeightfield);
-  setCollider (dHeightfieldClass,dBoxClass,&dCollideHeightfield);
-  setCollider (dHeightfieldClass,dCapsuleClass,&dCollideHeightfield);
-  setCollider (dHeightfieldClass,dCylinderClass,&dCollideHeightfield);
-  setCollider (dHeightfieldClass,dConvexClass,&dCollideHeightfield);
-#if dTRIMESH_ENABLED
-  setCollider (dHeightfieldClass,dTriMeshClass,&dCollideHeightfield);
-#endif
-//<-- dHeightfield Collision
-
-  setAllColliders (dGeomTransformClass,&dCollideTransform);
-}
-
-
-/*
- *      NOTE!
- *      If it is necessary to add special processing mode without contact generation
- *      use NULL contact parameter value as indicator, not zero in flags.
- */
-int dCollide (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact,
-              int skip)
-{
-  dAASSERT(o1 && o2 && contact);
-  dUASSERT(colliders_initialized,"colliders array not initialized");
-  dUASSERT(o1->type >= 0 && o1->type < dGeomNumClasses,"bad o1 class number");
-  dUASSERT(o2->type >= 0 && o2->type < dGeomNumClasses,"bad o2 class number");
-  // Even though comparison for greater or equal to one is used in all the 
-  // other places, here it is more logical to check for greater than zero
-  // because function does not require any specific number of contact slots - 
-  // it must be just a positive.
-  dUASSERT((flags & NUMC_MASK) > 0, "no contacts requested"); 
-
-  // Extra precaution for zero contact count in parameters
-  if ((flags & NUMC_MASK) == 0) return 0;
-  // no contacts if both geoms are the same
-  if (o1 == o2) return 0;
-
-  // no contacts if both geoms on the same body, and the body is not 0
-  if (o1->body == o2->body && o1->body) return 0;
-
-  o1->recomputePosr();
-  o2->recomputePosr();
-
-  dColliderEntry *ce = &colliders[o1->type][o2->type];
-  int count = 0;
-  if (ce->fn) {
-    if (ce->reverse) {
-      count = (*ce->fn) (o2,o1,flags,contact,skip);
-      for (int i=0; i<count; i++) {
-        dContactGeom *c = CONTACT(contact,skip*i);
-        c->normal[0] = -c->normal[0];
-        c->normal[1] = -c->normal[1];
-        c->normal[2] = -c->normal[2];
-        dxGeom *tmp = c->g1;
-        c->g1 = c->g2;
-        c->g2 = tmp;
-        int tmpint = c->side1;
-        c->side1 = c->side2;
-        c->side2 = tmpint;
-      }
-    }
-    else {
-      count = (*ce->fn) (o1,o2,flags,contact,skip);
-    }
-  }
-  return count;
-}
-
-//****************************************************************************
-// dxGeom
-
-dxGeom::dxGeom (dSpaceID _space, int is_placeable)
-{
-  initColliders();
-
-  // setup body vars. invalid type of -1 must be changed by the constructor.
-  type = -1;
-  gflags = GEOM_DIRTY | GEOM_AABB_BAD | GEOM_ENABLED;
-  if (is_placeable) gflags |= GEOM_PLACEABLE;
-  data = 0;
-  body = 0;
-  body_next = 0;
-  if (is_placeable) {
-        final_posr = dAllocPosr();
-    dSetZero (final_posr->pos,4);
-    dRSetIdentity (final_posr->R);
-  }
-  else {
-    final_posr = 0;
-  }
-  offset_posr = 0;
-
-  // setup space vars
-  next = 0;
-  tome = 0;
-  parent_space = 0;
-  dSetZero (aabb,6);
-  category_bits = ~0;
-  collide_bits = ~0;
-
-  // put this geom in a space if required
-  if (_space) dSpaceAdd (_space,this);
-}
-
-
-dxGeom::~dxGeom()
-{
-   if (parent_space) dSpaceRemove (parent_space,this);
-   if ((gflags & GEOM_PLACEABLE) && (!body || (body && offset_posr)))
-     dFreePosr(final_posr);
-   if (offset_posr) dFreePosr(offset_posr);
-   bodyRemove();
-}
-
-
-int dxGeom::AABBTest (dxGeom *o, dReal aabb[6])
-{
-  return 1;
-}
-
-
-void dxGeom::bodyRemove()
-{
-  if (body) {
-    // delete this geom from body list
-    dxGeom **last = &body->geom, *g = body->geom;
-    while (g) {
-      if (g == this) {
-        *last = g->body_next;
-        break;
-      }
-      last = &g->body_next;
-      g = g->body_next;
-    }
-    body = 0;
-    body_next = 0;
-  }
-}
-
-inline void myswap(dReal& a, dReal& b) { dReal t=b; b=a; a=t; }
-
-
-inline void matrixInvert(const dMatrix3& inMat, dMatrix3& outMat)
-{
-        memcpy(outMat, inMat, sizeof(dMatrix3));
-        // swap _12 and _21
-        myswap(outMat[0 + 4*1], outMat[1 + 4*0]);
-        // swap _31 and _13
-        myswap(outMat[2 + 4*0], outMat[0 + 4*2]);
-        // swap _23 and _32
-        myswap(outMat[1 + 4*2], outMat[2 + 4*1]);
-}
-
-void getBodyPosr(const dxPosR& offset_posr, const dxPosR& final_posr, dxPosR& body_posr)
-{
-        dMatrix3 inv_offset;
-        matrixInvert(offset_posr.R, inv_offset);
-
-        dMULTIPLY0_333(body_posr.R, final_posr.R, inv_offset);
-        dVector3 world_offset;
-        dMULTIPLY0_331(world_offset, body_posr.R, offset_posr.pos);
-        body_posr.pos[0] = final_posr.pos[0] - world_offset[0];
-        body_posr.pos[1] = final_posr.pos[1] - world_offset[1];
-        body_posr.pos[2] = final_posr.pos[2] - world_offset[2];
-}
-
-void getWorldOffsetPosr(const dxPosR& body_posr, const dxPosR& world_posr, dxPosR& offset_posr)
-{
-        dMatrix3 inv_body;
-        matrixInvert(body_posr.R, inv_body);
-
-        dMULTIPLY0_333(offset_posr.R, inv_body, world_posr.R);
-        dVector3 world_offset;
-        world_offset[0] = world_posr.pos[0] - body_posr.pos[0];
-        world_offset[1] = world_posr.pos[1] - body_posr.pos[1];
-        world_offset[2] = world_posr.pos[2] - body_posr.pos[2];
-        dMULTIPLY0_331(offset_posr.pos, inv_body, world_offset);
-}
-
-void dxGeom::computePosr()
-{
-  // should only be recalced if we need to - ie offset from a body
-  dIASSERT(offset_posr);  
-  dIASSERT(body);
-  
-  dMULTIPLY0_331 (final_posr->pos,body->posr.R,offset_posr->pos);
-  final_posr->pos[0] += body->posr.pos[0];
-  final_posr->pos[1] += body->posr.pos[1];
-  final_posr->pos[2] += body->posr.pos[2];
-  dMULTIPLY0_333 (final_posr->R,body->posr.R,offset_posr->R);
-}
-
-//****************************************************************************
-// misc
-
-dxGeom *dGeomGetBodyNext (dxGeom *geom)
-{
-  return geom->body_next;
-}
-
-//****************************************************************************
-// public API for geometry objects
-
-#define CHECK_NOT_LOCKED(space) \
-  dUASSERT (!(space && space->lock_count), \
-            "invalid operation for geom in locked space");
-
-
-void dGeomDestroy (dxGeom *g)
-{
-  dAASSERT (g);
-  delete g;
-}
-
-
-void dGeomSetData (dxGeom *g, void *data)
-{
-  dAASSERT (g);
-  g->data = data;
-}
-
-
-void *dGeomGetData (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->data;
-}
-
-
-void dGeomSetBody (dxGeom *g, dxBody *b)
-{
-  dAASSERT (g);
-  dUASSERT (b == NULL || (g->gflags & GEOM_PLACEABLE),"geom must be placeable");
-  CHECK_NOT_LOCKED (g->parent_space);
-
-  if (b) {
-    if (!g->body) dFreePosr(g->final_posr);
-    if (g->body != b) {
-      if (g->offset_posr) {
-        dFreePosr(g->offset_posr);
-        g->offset_posr = 0;
-      }
-      g->final_posr = &b->posr;
-      g->bodyRemove();
-      g->bodyAdd (b);
-    }
-    dGeomMoved (g);
-  }
-  else {
-    if (g->body) {
-      if (g->offset_posr)
-      {
-        // if we're offset, we already have our own final position, make sure its updated
-        g->recomputePosr();
-        dFreePosr(g->offset_posr);
-        g->offset_posr = 0;
-      }
-      else
-      {
-        g->final_posr = dAllocPosr();
-        memcpy (g->final_posr->pos,g->body->posr.pos,sizeof(dVector3));
-        memcpy (g->final_posr->R,g->body->posr.R,sizeof(dMatrix3));
-      }
-      g->bodyRemove();
-    }
-    // dGeomMoved() should not be called if the body is being set to 0, as the
-    // new position of the geom is set to the old position of the body, so the
-    // effective position of the geom remains unchanged.
-  }
-}
-
-
-dBodyID dGeomGetBody (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->body;
-}
-
-
-void dGeomSetPosition (dxGeom *g, dReal x, dReal y, dReal z)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  CHECK_NOT_LOCKED (g->parent_space);
-  if (g->offset_posr) {
-    // move body such that body+offset = position
-        dVector3 world_offset;
-        dMULTIPLY0_331(world_offset, g->body->posr.R, g->offset_posr->pos);
-        dBodySetPosition(g->body,
-            x - world_offset[0],
-            y - world_offset[1],
-            z - world_offset[2]);
-  }
-  else if (g->body) {
-    // this will call dGeomMoved (g), so we don't have to
-    dBodySetPosition (g->body,x,y,z);
-  }
-  else {
-    g->final_posr->pos[0] = x;
-    g->final_posr->pos[1] = y;
-    g->final_posr->pos[2] = z;
-    dGeomMoved (g);
-  }
-}
-
-
-void dGeomSetRotation (dxGeom *g, const dMatrix3 R)
-{
-  dAASSERT (g && R);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  CHECK_NOT_LOCKED (g->parent_space);
-  if (g->offset_posr) {
-    g->recomputePosr();
-    // move body such that body+offset = rotation
-    dxPosR new_final_posr;
-    dxPosR new_body_posr;
-    memcpy(new_final_posr.pos, g->final_posr->pos, sizeof(dVector3));
-    memcpy(new_final_posr.R, R, sizeof(dMatrix3));
-    getBodyPosr(*g->offset_posr, new_final_posr, new_body_posr);
-    dBodySetRotation(g->body, new_body_posr.R);
-    dBodySetPosition(g->body, new_body_posr.pos[0], new_body_posr.pos[1], new_body_posr.pos[2]);
-  }
-  else if (g->body) {
-    // this will call dGeomMoved (g), so we don't have to
-    dBodySetRotation (g->body,R);
-  }
-  else {
-    memcpy (g->final_posr->R,R,sizeof(dMatrix3));
-    dGeomMoved (g);
-  }
-}
-
-
-void dGeomSetQuaternion (dxGeom *g, const dQuaternion quat)
-{
-  dAASSERT (g && quat);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  CHECK_NOT_LOCKED (g->parent_space);
-  if (g->offset_posr) {
-    g->recomputePosr();
-    // move body such that body+offset = rotation
-    dxPosR new_final_posr;
-    dxPosR new_body_posr;
-    dQtoR (quat, new_final_posr.R);
-    memcpy(new_final_posr.pos, g->final_posr->pos, sizeof(dVector3));
-    
-    getBodyPosr(*g->offset_posr, new_final_posr, new_body_posr);
-    dBodySetRotation(g->body, new_body_posr.R);
-    dBodySetPosition(g->body, new_body_posr.pos[0], new_body_posr.pos[1], new_body_posr.pos[2]);
-  }
-  if (g->body) {
-    // this will call dGeomMoved (g), so we don't have to
-    dBodySetQuaternion (g->body,quat);
-  }
-  else {
-    dQtoR (quat, g->final_posr->R);
-    dGeomMoved (g);
-  }
-}
-
-
-const dReal * dGeomGetPosition (dxGeom *g)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  g->recomputePosr();
-  return g->final_posr->pos;
-}
-
-
-void dGeomCopyPosition(dxGeom *g, dVector3 pos)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  g->recomputePosr();
-  const dReal* src = g->final_posr->pos;
-  pos[0] = src[0];
-  pos[1] = src[1];
-  pos[2] = src[2];
-}
-
-
-const dReal * dGeomGetRotation (dxGeom *g)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  g->recomputePosr();
-  return g->final_posr->R;
-}
-
-
-void dGeomCopyRotation(dxGeom *g, dMatrix3 R)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  g->recomputePosr();
-  const dReal* src = g->final_posr->R;
-  R[0]  = src[0];
-  R[1]  = src[1];
-  R[2]  = src[2];
-  R[4]  = src[4];
-  R[5]  = src[5];
-  R[6]  = src[6];
-  R[8]  = src[8];
-  R[9]  = src[9];
-  R[10] = src[10];
-}
-
-
-void dGeomGetQuaternion (dxGeom *g, dQuaternion quat)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  if (g->body && !g->offset_posr) {
-    const dReal * body_quat = dBodyGetQuaternion (g->body);
-    quat[0] = body_quat[0];
-    quat[1] = body_quat[1];
-    quat[2] = body_quat[2];
-    quat[3] = body_quat[3];
-  }
-  else {
-    g->recomputePosr();
-    dRtoQ (g->final_posr->R, quat);
-  }
-}
-
-
-void dGeomGetAABB (dxGeom *g, dReal aabb[6])
-{
-  dAASSERT (g);
-  dAASSERT (aabb);
-  g->recomputeAABB();
-  memcpy (aabb,g->aabb,6 * sizeof(dReal));
-}
-
-
-int dGeomIsSpace (dxGeom *g)
-{
-  dAASSERT (g);
-  return IS_SPACE(g);
-}
-
-
-dSpaceID dGeomGetSpace (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->parent_space;
-}
-
-
-int dGeomGetClass (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->type;
-}
-
-
-void dGeomSetCategoryBits (dxGeom *g, unsigned long bits)
-{
-  dAASSERT (g);
-  CHECK_NOT_LOCKED (g->parent_space);
-  g->category_bits = bits;
-}
-
-
-void dGeomSetCollideBits (dxGeom *g, unsigned long bits)
-{
-  dAASSERT (g);
-  CHECK_NOT_LOCKED (g->parent_space);
-  g->collide_bits = bits;
-}
-
-
-unsigned long dGeomGetCategoryBits (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->category_bits;
-}
-
-
-unsigned long dGeomGetCollideBits (dxGeom *g)
-{
-  dAASSERT (g);
-  return g->collide_bits;
-}
-
-
-void dGeomEnable (dxGeom *g)
-{
-        dAASSERT (g);
-        g->gflags |= GEOM_ENABLED;
-}
-
-void dGeomDisable (dxGeom *g)
-{
-        dAASSERT (g);
-        g->gflags &= ~GEOM_ENABLED;
-}
-
-int dGeomIsEnabled (dxGeom *g)
-{
-        dAASSERT (g);
-        return (g->gflags & GEOM_ENABLED) != 0;
-}
-
-
-//****************************************************************************
-// C interface that lets the user make new classes. this interface is a lot
-// more cumbersome than C++ subclassing, which is what is used internally
-// in ODE. this API is mainly to support legacy code.
-
-static int num_user_classes = 0;
-static dGeomClass user_classes [dMaxUserClasses];
-
-
-struct dxUserGeom : public dxGeom {
-  void *user_data;
-
-  dxUserGeom (int class_num);
-  ~dxUserGeom();
-  void computeAABB();
-  int AABBTest (dxGeom *o, dReal aabb[6]);
-};
-
-
-dxUserGeom::dxUserGeom (int class_num) : dxGeom (0,1)
-{
-  type = class_num;
-  int size = user_classes[type-dFirstUserClass].bytes;
-  user_data = dAlloc (size);
-  memset (user_data,0,size);
-}
-
-
-dxUserGeom::~dxUserGeom()
-{
-  dGeomClass *c = &user_classes[type-dFirstUserClass];
-  if (c->dtor) c->dtor (this);
-  dFree (user_data,c->bytes);
-}
-
-
-void dxUserGeom::computeAABB()
-{
-  user_classes[type-dFirstUserClass].aabb (this,aabb);
-}
-
-
-int dxUserGeom::AABBTest (dxGeom *o, dReal aabb[6])
-{
-  dGeomClass *c = &user_classes[type-dFirstUserClass];
-  if (c->aabb_test) return c->aabb_test (this,o,aabb);
-  else return 1;
-}
-
-
-static int dCollideUserGeomWithGeom (dxGeom *o1, dxGeom *o2, int flags,
-                                     dContactGeom *contact, int skip)
-{
-  // this generic collider function is called the first time that a user class
-  // tries to collide against something. it will find out the correct collider
-  // function and then set the colliders array so that the correct function is
-  // called directly the next time around.
-
-  int t1 = o1->type;    // note that o1 is a user geom
-  int t2 = o2->type;    // o2 *may* be a user geom
-
-  // find the collider function to use. if o1 does not know how to collide with
-  // o2, then o2 might know how to collide with o1 (provided that it is a user
-  // geom).
-  dColliderFn *fn = user_classes[t1-dFirstUserClass].collider (t2);
-  int reverse = 0;
-  if (!fn && t2 >= dFirstUserClass && t2 <= dLastUserClass) {
-    fn = user_classes[t2-dFirstUserClass].collider (t1);
-    reverse = 1;
-  }
-
-  // set the colliders array so that the correct function is called directly
-  // the next time around. note that fn can be 0 here if no collider was found,
-  // which means that dCollide() will always return 0 for this case.
-  colliders[t1][t2].fn = fn;
-  colliders[t1][t2].reverse = reverse;
-  colliders[t2][t1].fn = fn;
-  colliders[t2][t1].reverse = !reverse;
-
-  // now call the collider function indirectly through dCollide(), so that
-  // contact reversing is properly handled.
-  return dCollide (o1,o2,flags,contact,skip);
-}
-
-
-int dCreateGeomClass (const dGeomClass *c)
-{
-  dUASSERT(c && c->bytes >= 0 && c->collider && c->aabb,"bad geom class");
-
-  if (num_user_classes >= dMaxUserClasses) {
-    dDebug (0,"too many user classes, you must increase the limit and "
-              "recompile ODE");
-  }
-  user_classes[num_user_classes] = *c;
-  int class_number = num_user_classes + dFirstUserClass;
-  initColliders();
-  setAllColliders (class_number,&dCollideUserGeomWithGeom);
-
-  num_user_classes++;
-  return class_number;
-}
-
-
-void * dGeomGetClassData (dxGeom *g)
-{
-  dUASSERT (g && g->type >= dFirstUserClass &&
-            g->type <= dLastUserClass,"not a custom class");
-  dxUserGeom *user = (dxUserGeom*) g;
-  return user->user_data;
-}
-
-
-dGeomID dCreateGeom (int classnum)
-{
-  dUASSERT (classnum >= dFirstUserClass &&
-            classnum <= dLastUserClass,"not a custom class");
-  return new dxUserGeom (classnum);
-}
-
-
-
-/* ************************************************************************ */
-/* geom offset from body */
-
-void dGeomCreateOffset (dxGeom *g)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  dUASSERT (g->body, "geom must be on a body");  
-  if (g->offset_posr)
-  {
-        return; // already created
-  }
-  dIASSERT (g->final_posr == &g->body->posr);
-  
-  g->final_posr = dAllocPosr();
-  g->offset_posr = dAllocPosr();
-  dSetZero (g->offset_posr->pos,4);
-  dRSetIdentity (g->offset_posr->R);
-  
-  g->gflags |= GEOM_POSR_BAD;
-}
-
-void dGeomSetOffsetPosition (dxGeom *g, dReal x, dReal y, dReal z)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  dUASSERT (g->body, "geom must be on a body");  
-  CHECK_NOT_LOCKED (g->parent_space);
-  if (!g->offset_posr) 
-  {
-        dGeomCreateOffset(g);
-  }
-  g->offset_posr->pos[0] = x;
-  g->offset_posr->pos[1] = y;
-  g->offset_posr->pos[2] = z;
-  dGeomMoved (g);
-}
-
-void dGeomSetOffsetRotation (dxGeom *g, const dMatrix3 R)
-{
-  dAASSERT (g && R);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  dUASSERT (g->body, "geom must be on a body");  
-  CHECK_NOT_LOCKED (g->parent_space);
-  if (!g->offset_posr) 
-  {
-        dGeomCreateOffset (g);
-  }
-  memcpy (g->offset_posr->R,R,sizeof(dMatrix3));
-  dGeomMoved (g);
-}
-
-void dGeomSetOffsetQuaternion (dxGeom *g, const dQuaternion quat)
-{
-  dAASSERT (g && quat);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  dUASSERT (g->body, "geom must be on a body");  
-  CHECK_NOT_LOCKED (g->parent_space);
-  if (!g->offset_posr) 
-  {
-        dGeomCreateOffset (g);
-  }
-  dQtoR (quat, g->offset_posr->R);
-  dGeomMoved (g);
-}
-
-void dGeomSetOffsetWorldPosition (dxGeom *g, dReal x, dReal y, dReal z)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  dUASSERT (g->body, "geom must be on a body");  
-  CHECK_NOT_LOCKED (g->parent_space);
-  if (!g->offset_posr) 
-  {
-        dGeomCreateOffset(g);
-  }
-  dBodyGetPosRelPoint(g->body, x, y, z, g->offset_posr->pos);
-  dGeomMoved (g);
-}
-
-void dGeomSetOffsetWorldRotation (dxGeom *g, const dMatrix3 R)
-{
-  dAASSERT (g && R);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  dUASSERT (g->body, "geom must be on a body");  
-  CHECK_NOT_LOCKED (g->parent_space);
-  if (!g->offset_posr) 
-  {
-        dGeomCreateOffset (g);
-  }
-  g->recomputePosr();
-  
-  dxPosR new_final_posr;
-  memcpy(new_final_posr.pos, g->final_posr->pos, sizeof(dVector3));
-  memcpy(new_final_posr.R, R, sizeof(dMatrix3));
-  
-  getWorldOffsetPosr(g->body->posr, new_final_posr, *g->offset_posr);
-  dGeomMoved (g);
-}
-
-void dGeomSetOffsetWorldQuaternion (dxGeom *g, const dQuaternion quat)
-{
-  dAASSERT (g && quat);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  dUASSERT (g->body, "geom must be on a body");  
-  CHECK_NOT_LOCKED (g->parent_space);
-  if (!g->offset_posr) 
-  {
-        dGeomCreateOffset (g);
-  }
-
-  g->recomputePosr();
-  
-  dxPosR new_final_posr;
-  memcpy(new_final_posr.pos, g->final_posr->pos, sizeof(dVector3));
-  dQtoR (quat, new_final_posr.R);
-  
-  getWorldOffsetPosr(g->body->posr, new_final_posr, *g->offset_posr);
-  dGeomMoved (g);
-}
-
-void dGeomClearOffset(dxGeom *g)
-{
-  dAASSERT (g);
-  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
-  if (g->offset_posr)
-  {
-    dIASSERT(g->body);
-    // no longer need an offset posr
-        dFreePosr(g->offset_posr);
-        g->offset_posr = 0;
-    // the geom will now share the position of the body
-    dFreePosr(g->final_posr);
-    g->final_posr = &g->body->posr;
-    // geom has moved
-    g->gflags &= ~GEOM_POSR_BAD;
-    dGeomMoved (g);
-  }
-}
-
-int dGeomIsOffset(dxGeom *g)
-{
-  dAASSERT (g);
-  return ((0 != g->offset_posr) ? 1 : 0);
-}
-
-static const dVector3 OFFSET_POSITION_ZERO = { 0.0f, 0.0f, 0.0f, 0.0f };
-
-const dReal * dGeomGetOffsetPosition (dxGeom *g)
-{
-  dAASSERT (g);
-  if (g->offset_posr)
-  {
-    return g->offset_posr->pos;
-  }
-  return OFFSET_POSITION_ZERO;
-}
-
-void dGeomCopyOffsetPosition (dxGeom *g, dVector3 pos)
-{
-  dAASSERT (g);
-  if (g->offset_posr)
-  {
-    const dReal* src = g->offset_posr->pos;
-    pos[0] = src[0];
-         pos[1] = src[1];
-         pos[2] = src[2];
-  }
-  else
-  {
-    pos[0] = 0;
-         pos[1] = 0;
-         pos[2] = 0;
-  }
-}
-
-static const dMatrix3 OFFSET_ROTATION_ZERO = 
-{ 
-        1.0f, 0.0f, 0.0f, 0.0f, 
-        0.0f, 1.0f, 0.0f, 0.0f, 
-        0.0f, 0.0f, 1.0f, 0.0f, 
-};
-
-const dReal * dGeomGetOffsetRotation (dxGeom *g)
-{
-  dAASSERT (g);
-  if (g->offset_posr)
-  {
-    return g->offset_posr->R;
-  }
-  return OFFSET_ROTATION_ZERO;
-}
-
-void dGeomCopyOffsetRotation (dxGeom *g, dMatrix3 R)
-{
-        dAASSERT (g);
-        if (g->offset_posr)
-        {
-                const dReal* src = g->final_posr->R;
-                R[0]  = src[0];
-                R[1]  = src[1];
-                R[2]  = src[2];
-                R[4]  = src[4];
-                R[5]  = src[5];
-                R[6]  = src[6];
-                R[8]  = src[8];
-                R[9]  = src[9];
-                R[10] = src[10];
-        }
-        else
-        {
-                R[0]  = OFFSET_ROTATION_ZERO[0];
-                R[1]  = OFFSET_ROTATION_ZERO[1];
-                R[2]  = OFFSET_ROTATION_ZERO[2];
-                R[4]  = OFFSET_ROTATION_ZERO[4];
-                R[5]  = OFFSET_ROTATION_ZERO[5];
-                R[6]  = OFFSET_ROTATION_ZERO[6];
-                R[8]  = OFFSET_ROTATION_ZERO[8];
-                R[9]  = OFFSET_ROTATION_ZERO[9];
-                R[10] = OFFSET_ROTATION_ZERO[10];
-        }
-}
-
-void dGeomGetOffsetQuaternion (dxGeom *g, dQuaternion result)
-{
-  dAASSERT (g);
-  if (g->offset_posr)
-  {
-    dRtoQ (g->offset_posr->R, result);
-  }
-  else
-  {
-    dSetZero (result,4);
-    result[0] = 1;
-  }
-}
-
-//****************************************************************************
-// initialization and shutdown routines - allocate and initialize data,
-// cleanup before exiting
-
-extern void opcode_collider_cleanup();
-
-void dInitODE()
-{
-#if dTRIMESH_ENABLED && dTRIMESH_GIMPACT
-        gimpact_init();
-#endif
-}
-
-void dCloseODE()
-{
-  colliders_initialized = 0;
-  num_user_classes = 0;
-  dClearPosrCache();
-
-#if dTRIMESH_ENABLED && dTRIMESH_GIMPACT
-  gimpact_terminate();
-#endif
-
-#if dTRIMESH_ENABLED && dTRIMESH_OPCODE
-  // Free up static allocations in opcode
-  opcode_collider_cleanup();
-#endif
-}
diff --git a/libraries/ode-0.9/ode/src/collision_kernel.h b/libraries/ode-0.9/ode/src/collision_kernel.h
deleted file mode 100644
index d5a2bc4..0000000
--- a/libraries/ode-0.9/ode/src/collision_kernel.h
+++ /dev/null
@@ -1,214 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-internal data structures and functions for collision detection.
-
-*/
-
-#ifndef _ODE_COLLISION_KERNEL_H_
-#define _ODE_COLLISION_KERNEL_H_
-
-#include <ode/common.h>
-#include <ode/contact.h>
-#include <ode/collision.h>
-#include "objects.h"
-
-//****************************************************************************
-// constants and macros
-
-// mask for the number-of-contacts field in the dCollide() flags parameter
-#define NUMC_MASK (0xffff)
-
-#define IS_SPACE(geom) \
-  ((geom)->type >= dFirstSpaceClass && (geom)->type <= dLastSpaceClass)
-
-//****************************************************************************
-// geometry object base class
-
-
-// geom flags.
-//
-// GEOM_DIRTY means that the space data structures for this geom are
-// potentially not up to date. NOTE THAT all space parents of a dirty geom
-// are themselves dirty. this is an invariant that must be enforced.
-//
-// GEOM_AABB_BAD means that the cached AABB for this geom is not up to date.
-// note that GEOM_DIRTY does not imply GEOM_AABB_BAD, as the geom might
-// recalculate its own AABB but does not know how to update the space data
-// structures for the space it is in. but GEOM_AABB_BAD implies GEOM_DIRTY.
-// the valid combinations are: 
-//              0
-//              GEOM_DIRTY
-//              GEOM_DIRTY|GEOM_AABB_BAD
-//              GEOM_DIRTY|GEOM_AABB_BAD|GEOM_POSR_BAD
-
-enum {
-  GEOM_DIRTY    = 1,    // geom is 'dirty', i.e. position unknown
-  GEOM_POSR_BAD = 2,    // geom's final posr is not valid
-  GEOM_AABB_BAD = 4,    // geom's AABB is not valid
-  GEOM_PLACEABLE = 8,   // geom is placeable
-  GEOM_ENABLED = 16,            // geom is enabled
-
-  // Ray specific
-  RAY_FIRSTCONTACT = 0x10000,
-  RAY_BACKFACECULL = 0x20000,
-  RAY_CLOSEST_HIT  = 0x40000
-};
-
-
-// geometry object base class. pos and R will either point to a separately
-// allocated buffer (if body is 0 - pos points to the dxPosR object) or to
-// the pos and R of the body (if body nonzero).
-// a dGeomID is a pointer to this object.
-
-struct dxGeom : public dBase {
-  int type;             // geom type number, set by subclass constructor
-  int gflags;           // flags used by geom and space
-  void *data;           // user-defined data pointer
-  dBodyID body;         // dynamics body associated with this object (if any)
-  dxGeom *body_next;    // next geom in body's linked list of associated geoms
-  dxPosR *final_posr;   // final position of the geom in world coordinates
-  dxPosR *offset_posr;  // offset from body in local coordinates
-
-  // information used by spaces
-  dxGeom *next;         // next geom in linked list of geoms
-  dxGeom **tome;        // linked list backpointer
-  dxSpace *parent_space;// the space this geom is contained in, 0 if none
-  dReal aabb[6];        // cached AABB for this space
-  unsigned long category_bits,collide_bits;
-
-  dxGeom (dSpaceID _space, int is_placeable);
-  virtual ~dxGeom();
-
-
-  // calculate our new final position from our offset and body
-  void computePosr();
-
-  // recalculate our new final position if needed
-  void recomputePosr()
-  {
-    if (gflags & GEOM_POSR_BAD) {
-      computePosr();
-      gflags &= ~GEOM_POSR_BAD;
-    }
-  }
-
-  virtual void computeAABB()=0;
-  // compute the AABB for this object and put it in aabb. this function
-  // always performs a fresh computation, it does not inspect the
-  // GEOM_AABB_BAD flag.
-
-  virtual int AABBTest (dxGeom *o, dReal aabb[6]);
-  // test whether the given AABB object intersects with this object, return
-  // 1=yes, 0=no. this is used as an early-exit test in the space collision
-  // functions. the default implementation returns 1, which is the correct
-  // behavior if no more detailed implementation can be provided.
-
-  // utility functions
-
-  // compute the AABB only if it is not current. this function manipulates
-  // the GEOM_AABB_BAD flag.
-
-  void recomputeAABB() {
-    if (gflags & GEOM_AABB_BAD) {
-      // our aabb functions assume final_posr is up to date
-      recomputePosr(); 
-      computeAABB();
-      gflags &= ~GEOM_AABB_BAD;
-    }
-  }
-
-  // add and remove this geom from a linked list maintained by a space.
-
-  void spaceAdd (dxGeom **first_ptr) {
-    next = *first_ptr;
-    tome = first_ptr;
-    if (*first_ptr) (*first_ptr)->tome = &next;
-    *first_ptr = this;
-  }
-  void spaceRemove() {
-    if (next) next->tome = tome;
-    *tome = next;
-  }
-
-  // add and remove this geom from a linked list maintained by a body.
-
-  void bodyAdd (dxBody *b) {
-    body = b;
-    body_next = b->geom;
-    b->geom = this;
-  }
-  void bodyRemove();
-};
-
-//****************************************************************************
-// the base space class
-//
-// the contained geoms are divided into two kinds: clean and dirty.
-// the clean geoms have not moved since they were put in the list,
-// and their AABBs are valid. the dirty geoms have changed position, and
-// their AABBs are may not be valid. the two types are distinguished by the
-// GEOM_DIRTY flag. all dirty geoms come *before* all clean geoms in the list.
-
-struct dxSpace : public dxGeom {
-  int count;                    // number of geoms in this space
-  dxGeom *first;                // first geom in list
-  int cleanup;                  // cleanup mode, 1=destroy geoms on exit
-
-  // cached state for getGeom()
-  int current_index;            // only valid if current_geom != 0
-  dxGeom *current_geom;         // if 0 then there is no information
-
-  // locking stuff. the space is locked when it is currently traversing its
-  // internal data structures, e.g. in collide() and collide2(). operations
-  // that modify the contents of the space are not permitted when the space
-  // is locked.
-  int lock_count;
-
-  dxSpace (dSpaceID _space);
-  ~dxSpace();
-
-  void computeAABB();
-
-  void setCleanup (int mode);
-  int getCleanup();
-  int query (dxGeom *geom);
-  int getNumGeoms();
-  virtual dxGeom *getGeom (int i);
-
-  virtual void add (dxGeom *);
-  virtual void remove (dxGeom *);
-  virtual void dirty (dxGeom *);
-
-  virtual void cleanGeoms()=0;
-  // turn all dirty geoms into clean geoms by computing their AABBs and any
-  // other space data structures that are required. this should clear the
-  // GEOM_DIRTY and GEOM_AABB_BAD flags of all geoms.
-
-  virtual void collide (void *data, dNearCallback *callback)=0;
-  virtual void collide2 (void *data, dxGeom *geom, dNearCallback *callback)=0;
-};
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/collision_quadtreespace.cpp b/libraries/ode-0.9/ode/src/collision_quadtreespace.cpp
deleted file mode 100644
index 86a1833..0000000
--- a/libraries/ode-0.9/ode/src/collision_quadtreespace.cpp
+++ /dev/null
@@ -1,584 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-// QuadTreeSpace by Erwin de Vries.
-
-#include <ode/common.h>
-#include <ode/matrix.h>
-#include <ode/collision_space.h>
-#include <ode/collision.h>
-#include "collision_kernel.h"
-
-#include "collision_space_internal.h"
-
-
-#define AXIS0 0
-#define AXIS1 1
-#define UP 2
-
-//#define DRAWBLOCKS
-
-const int SPLITAXIS = 2;
-const int SPLITS = SPLITAXIS * SPLITAXIS;
-
-#define GEOM_ENABLED(g) (g)->gflags & GEOM_ENABLED
-
-class Block{
-public:
-        dReal MinX, MaxX;
-        dReal MinZ, MaxZ;
-
-        dGeomID First;
-        int GeomCount;
-
-        Block* Parent;
-        Block* Children;
-
-        void Create(const dVector3 Center, const dVector3 Extents, Block* Parent, int Depth, Block*& Blocks);
-
-        void Collide(void* UserData, dNearCallback* Callback);
-        void Collide(dGeomID Object, dGeomID g, void* UserData, dNearCallback* Callback);
-
-        void CollideLocal(dGeomID Object, void* UserData, dNearCallback* Callback);
-        
-        void AddObject(dGeomID Object);
-        void DelObject(dGeomID Object);
-        void Traverse(dGeomID Object);
-
-        bool Inside(const dReal* AABB);
-        
-        Block* GetBlock(const dReal* AABB);
-        Block* GetBlockChild(const dReal* AABB);
-};
-
-
-#ifdef DRAWBLOCKS
-#include "..\..\Include\drawstuff\\drawstuff.h"
-
-static void DrawBlock(Block* Block){
-        dVector3 v[8];
-        v[0][AXIS0] = Block->MinX;
-        v[0][UP] = REAL(-1.0);
-        v[0][AXIS1] = Block->MinZ;
-        
-        v[1][AXIS0] = Block->MinX;
-        v[1][UP] = REAL(-1.0);
-        v[1][AXIS1] = Block->MaxZ;
-        
-        v[2][AXIS0] = Block->MaxX;
-        v[2][UP] = REAL(-1.0);
-        v[2][AXIS1] = Block->MinZ;
-        
-        v[3][AXIS0] = Block->MaxX;
-        v[3][UP] = REAL(-1.0);
-        v[3][AXIS1] = Block->MaxZ;
-        
-        v[4][AXIS0] = Block->MinX;
-        v[4][UP] = REAL(1.0);
-        v[4][AXIS1] = Block->MinZ;
-        
-        v[5][AXIS0] = Block->MinX;
-        v[5][UP] = REAL(1.0);
-        v[5][AXIS1] = Block->MaxZ;
-        
-        v[6][AXIS0] = Block->MaxX;
-        v[6][UP] = REAL(1.0);
-        v[6][AXIS1] = Block->MinZ;
-        
-        v[7][AXIS0] = Block->MaxX;
-        v[7][UP] = REAL(1.0);
-        v[7][AXIS1] = Block->MaxZ;
-        
-        // Bottom
-        dsDrawLine(v[0], v[1]);
-        dsDrawLine(v[1], v[3]);
-        dsDrawLine(v[3], v[2]);
-        dsDrawLine(v[2], v[0]);
-        
-        // Top
-        dsDrawLine(v[4], v[5]);
-        dsDrawLine(v[5], v[7]);
-        dsDrawLine(v[7], v[6]);
-        dsDrawLine(v[6], v[4]);
-        
-        // Sides
-        dsDrawLine(v[0], v[4]);
-        dsDrawLine(v[1], v[5]);
-        dsDrawLine(v[2], v[6]);
-        dsDrawLine(v[3], v[7]);
-}
-#endif  //DRAWBLOCKS
-
-
-void Block::Create(const dVector3 Center, const dVector3 Extents, Block* Parent, int Depth, Block*& Blocks){
-        GeomCount = 0;
-        First = 0;
-
-        MinX = Center[AXIS0] - Extents[AXIS0];
-        MaxX = Center[AXIS0] + Extents[AXIS0];
-
-        MinZ = Center[AXIS1] - Extents[AXIS1];
-        MaxZ = Center[AXIS1] + Extents[AXIS1];
-
-        this->Parent = Parent;
-        if (Depth > 0){
-                Children = Blocks;
-                Blocks += SPLITS;
-
-                dVector3 ChildExtents;
-                ChildExtents[AXIS0] = Extents[AXIS0] / SPLITAXIS;
-                ChildExtents[AXIS1] = Extents[AXIS1] / SPLITAXIS;
-                ChildExtents[UP] = Extents[UP];
-
-                for (int i = 0; i < SPLITAXIS; i++){
-                        for (int j = 0; j < SPLITAXIS; j++){
-                                int Index = i * SPLITAXIS + j;
-
-                                dVector3 ChildCenter;
-                                ChildCenter[AXIS0] = Center[AXIS0] - Extents[AXIS0] + ChildExtents[AXIS0] + i * (ChildExtents[AXIS0] * 2);
-                                ChildCenter[AXIS1] = Center[AXIS1] - Extents[AXIS1] + ChildExtents[AXIS1] + j * (ChildExtents[AXIS1] * 2);
-                                ChildCenter[UP] = Center[UP];
-                                
-                                Children[Index].Create(ChildCenter, ChildExtents, this, Depth - 1, Blocks);
-                        }
-                }
-        }
-        else Children = 0;
-}
-
-void Block::Collide(void* UserData, dNearCallback* Callback){
-#ifdef DRAWBLOCKS
-        DrawBlock(this);
-#endif
-        // Collide the local list
-        dxGeom* g = First;
-        while (g){
-                if (GEOM_ENABLED(g)){
-                        Collide(g, g->next, UserData, Callback);
-                }
-                g = g->next;
-        }
-
-        // Recurse for children
-        if (Children){
-                for (int i = 0; i < SPLITS; i++){
-                        if (Children[i].GeomCount <= 1){        // Early out
-                                continue;
-                        }
-                        Children[i].Collide(UserData, Callback);
-                }
-        }
-}
-
-void Block::Collide(dxGeom* g1, dxGeom* g2, void* UserData, dNearCallback* Callback){
-#ifdef DRAWBLOCKS
-        DrawBlock(this);
-#endif
-        // Collide against local list
-        while (g2){
-                if (GEOM_ENABLED(g2)){
-                        collideAABBs (g1, g2, UserData, Callback);
-                }
-                g2 = g2->next;
-        }
-
-        // Collide against children
-        if (Children){
-                for (int i = 0; i < SPLITS; i++){
-                        // Early out for empty blocks
-                        if (Children[i].GeomCount == 0){
-                                continue;
-                        }
-
-                        // Does the geom's AABB collide with the block?
-                        // Dont do AABB tests for single geom blocks.
-                        if (Children[i].GeomCount == 1 && Children[i].First){
-                                //
-                        }
-                        else if (true){
-                                if (g1->aabb[AXIS0 * 2 + 0] > Children[i].MaxX ||
-                                        g1->aabb[AXIS0 * 2 + 1] < Children[i].MinX ||
-                                        g1->aabb[AXIS1 * 2 + 0] > Children[i].MaxZ ||
-                                        g1->aabb[AXIS1 * 2 + 1] < Children[i].MinZ) continue;
-                        }
-                        Children[i].Collide(g1, Children[i].First, UserData, Callback);
-                }
-        }
-}
-
-void Block::CollideLocal(dxGeom* g1, void* UserData, dNearCallback* Callback){
-        // Collide against local list
-        dxGeom* g2 = First;
-        while (g2){
-                if (GEOM_ENABLED(g2)){
-                        collideAABBs (g1, g2, UserData, Callback);
-                }
-                g2 = g2->next;
-        }
-}
-
-void Block::AddObject(dGeomID Object){
-        // Add the geom
-        Object->next = First;
-        First = Object;
-        Object->tome = (dxGeom**)this;
-
-        // Now traverse upwards to tell that we have a geom
-        Block* Block = this;
-        do{
-                Block->GeomCount++;
-                Block = Block->Parent;
-        }
-        while (Block);
-}
-
-void Block::DelObject(dGeomID Object){
-        // Del the geom
-        dxGeom* g = First;
-        dxGeom* Last = 0;
-        while (g){
-                if (g == Object){
-                        if (Last){
-                                Last->next = g->next;
-                        }
-                        else First = g->next;
-
-                        break;
-                }
-                Last = g;
-                g = g->next;
-        }
-
-        Object->tome = 0;
-
-        // Now traverse upwards to tell that we have lost a geom
-        Block* Block = this;
-        do{
-                Block->GeomCount--;
-                Block = Block->Parent;
-        }
-        while (Block);
-}
-
-void Block::Traverse(dGeomID Object){
-        Block* NewBlock = GetBlock(Object->aabb);
-
-        if (NewBlock != this){
-                // Remove the geom from the old block and add it to the new block.
-                // This could be more optimal, but the loss should be very small.
-                DelObject(Object);
-                NewBlock->AddObject(Object);
-        }
-}
-
-bool Block::Inside(const dReal* AABB){
-        return AABB[AXIS0 * 2 + 0] >= MinX && AABB[AXIS0 * 2 + 1] <= MaxX && AABB[AXIS1 * 2 + 0] >= MinZ && AABB[AXIS1 * 2 + 1] <= MaxZ;
-}
-
-Block* Block::GetBlock(const dReal* AABB){
-        if (Inside(AABB)){
-                return GetBlockChild(AABB);     // Child or this will have a good block
-        }
-        else if (Parent){
-                return Parent->GetBlock(AABB);  // Parent has a good block
-        }
-        else return this;       // We are at the root, so we have little choice
-}
-
-Block* Block::GetBlockChild(const dReal* AABB){
-        if (Children){
-                for (int i = 0; i < SPLITS; i++){
-                        if (Children[i].Inside(AABB)){
-                                return Children[i].GetBlockChild(AABB); // Child will have good block
-                        }
-                }
-        }
-        return this;    // This is the best block
-}
-
-//****************************************************************************
-// quadtree space
-
-struct dxQuadTreeSpace : public dxSpace{
-        Block* Blocks;  // Blocks[0] is the root
-
-        dArray<dxGeom*> DirtyList;
-
-        dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Extents, int Depth);
-        ~dxQuadTreeSpace();
-
-        dxGeom* getGeom(int i);
-        
-        void add(dxGeom* g);
-        void remove(dxGeom* g);
-        void dirty(dxGeom* g);
-
-        void computeAABB();
-        
-        void cleanGeoms();
-        void collide(void* UserData, dNearCallback* Callback);
-        void collide2(void* UserData, dxGeom* g1, dNearCallback* Callback);
-
-        // Temp data
-        Block* CurrentBlock;    // Only used while enumerating
-        int* CurrentChild;      // Only used while enumerating
-        int CurrentLevel;       // Only used while enumerating
-        dxGeom* CurrentObject;  // Only used while enumerating
-        int CurrentIndex;
-};
-
-dxQuadTreeSpace::dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Extents, int Depth) : dxSpace(_space){
-        type = dQuadTreeSpaceClass;
-
-        int BlockCount = 0;
-        for (int i = 0; i <= Depth; i++){
-                BlockCount += (int)pow((dReal)SPLITS, i);
-        }
-
-        Blocks = (Block*)dAlloc(BlockCount * sizeof(Block));
-        Block* Blocks = this->Blocks + 1;       // This pointer gets modified!
-
-        this->Blocks[0].Create(Center, Extents, 0, Depth, Blocks);
-
-        CurrentBlock = 0;
-        CurrentChild = (int*)dAlloc((Depth + 1) * sizeof(int));
-        CurrentLevel = 0;
-        CurrentObject = 0;
-        CurrentIndex = -1;
-
-        // Init AABB. We initialize to infinity because it is not illegal for an object to be outside of the tree. Its simply inserted in the root block
-        aabb[0] = -dInfinity;
-        aabb[1] = dInfinity;
-        aabb[2] = -dInfinity;
-        aabb[3] = dInfinity;
-        aabb[4] = -dInfinity;
-        aabb[5] = dInfinity;
-}
-
-dxQuadTreeSpace::~dxQuadTreeSpace(){
-        int Depth = 0;
-        Block* Current = &Blocks[0];
-        while (Current){
-                Depth++;
-                Current = Current->Children;
-        }
-
-        int BlockCount = 0;
-        for (int i = 0; i < Depth; i++){
-                BlockCount += (int)pow((dReal)SPLITS, i);
-        }
-
-        dFree(Blocks, BlockCount * sizeof(Block));
-        dFree(CurrentChild, (Depth + 1) * sizeof(int));
-}
-
-dxGeom* dxQuadTreeSpace::getGeom(int Index){
-        dUASSERT(Index >= 0 && Index < count, "index out of range");
-
-        //@@@
-        dDebug (0,"dxQuadTreeSpace::getGeom() not yet implemented");
-
-        return 0;
-
-        // This doesnt work
-
-        /*if (CurrentIndex == Index){
-                // Loop through all objects in the local list
-CHILDRECURSE:
-                if (CurrentObject){
-                        dGeomID g = CurrentObject;
-                        CurrentObject = CurrentObject->next;
-                        CurrentIndex++;
-                
-#ifdef DRAWBLOCKS
-                        DrawBlock(CurrentBlock);
-#endif  //DRAWBLOCKS
-                        return g;
-                }
-                else{
-                        // Now lets loop through our children. Starting at index 0.
-                        if (CurrentBlock->Children){
-                                CurrentChild[CurrentLevel] = 0;
-PARENTRECURSE:
-                                for (int& i = CurrentChild[CurrentLevel]; i < SPLITS; i++){
-                                        if (CurrentBlock->Children[i].GeomCount == 0){
-                                                continue;
-                                        }
-                                        CurrentBlock = &CurrentBlock->Children[i];
-                                        CurrentObject = CurrentBlock->First;
-                                
-                                        i++;
-                                
-                                        CurrentLevel++;
-                                        goto CHILDRECURSE;
-                                }
-                        }
-                }
-                
-                // Now lets go back to the parent so it can continue processing its other children.
-                if (CurrentBlock->Parent){
-                        CurrentBlock = CurrentBlock->Parent;
-                        CurrentLevel--;
-                        goto PARENTRECURSE;
-                }
-        }
-        else{
-                CurrentBlock = &Blocks[0];
-                CurrentLevel = 0;
-                CurrentObject = CurrentObject;
-                CurrentIndex = 0;
-
-                // Other states are already set
-                CurrentObject = CurrentBlock->First;
-        }
-
-
-        if (current_geom && current_index == Index - 1){
-                //current_geom = current_geom->next; // next
-                current_index = Index;
-                return current_geom;
-        }
-        else for (int i = 0; i < Index; i++){   // this will be verrrrrrry slow
-                getGeom(i);
-        }*/
-
-        return 0;
-}
-
-void dxQuadTreeSpace::add(dxGeom* g){
-        CHECK_NOT_LOCKED (this);
-        dAASSERT(g);
-        dUASSERT(g->parent_space == 0 && g->next == 0, "geom is already in a space");
-
-        g->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
-        DirtyList.push(g);
-
-        // add
-        g->parent_space = this;
-        Blocks[0].GetBlock(g->aabb)->AddObject(g);      // Add to best block
-        count++;
-        
-        // enumerator has been invalidated
-        current_geom = 0;
-        
-        dGeomMoved(this);
-}
-
-void dxQuadTreeSpace::remove(dxGeom* g){
-        CHECK_NOT_LOCKED(this);
-        dAASSERT(g);
-        dUASSERT(g->parent_space == this,"object is not in this space");
-        
-        // remove
-        ((Block*)g->tome)->DelObject(g);
-        count--;
-
-        for (int i = 0; i < DirtyList.size(); i++){
-                if (DirtyList[i] == g){
-                        DirtyList.remove(i);
-                        // (mg) there can be multiple instances of a dirty object on stack  be sure to remove ALL and not just first, for this we decrement i
-                        --i;
-                }
-        }
-        
-        // safeguard
-        g->next = 0;
-        g->tome = 0;
-        g->parent_space = 0;
-        
-        // enumerator has been invalidated
-        current_geom = 0;
-        
-        // the bounding box of this space (and that of all the parents) may have
-        // changed as a consequence of the removal.
-        dGeomMoved(this);
-}
-
-void dxQuadTreeSpace::dirty(dxGeom* g){
-        DirtyList.push(g);
-}
-
-void dxQuadTreeSpace::computeAABB(){
-        //
-}
-
-void dxQuadTreeSpace::cleanGeoms(){
-        // compute the AABBs of all dirty geoms, and clear the dirty flags
-        lock_count++;
-        
-        for (int i = 0; i < DirtyList.size(); i++){
-                dxGeom* g = DirtyList[i];
-                if (IS_SPACE(g)){
-                        ((dxSpace*)g)->cleanGeoms();
-                }
-                g->recomputeAABB();
-                g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
-
-                ((Block*)g->tome)->Traverse(g);
-        }
-        DirtyList.setSize(0);
-
-        lock_count--;
-}
-
-void dxQuadTreeSpace::collide(void* UserData, dNearCallback* Callback){
-  dAASSERT(Callback);
-
-  lock_count++;
-  cleanGeoms();
-
-  Blocks[0].Collide(UserData, Callback);
-
-  lock_count--;
-}
-
-void dxQuadTreeSpace::collide2(void* UserData, dxGeom* g1, dNearCallback* Callback){
-  dAASSERT(g1 && Callback);
-
-  lock_count++;
-  cleanGeoms();
-  g1->recomputeAABB();
-
-  if (g1->parent_space == this){
-          // The block the geom is in
-          Block* CurrentBlock = (Block*)g1->tome;
-          
-          // Collide against block and its children
-          CurrentBlock->Collide(g1, CurrentBlock->First, UserData, Callback);
-          
-          // Collide against parents
-          while (true){
-                  CurrentBlock = CurrentBlock->Parent;
-                  if (!CurrentBlock){
-                          break;
-                  }
-                  CurrentBlock->CollideLocal(g1, UserData, Callback);
-          }
-  }
-  else Blocks[0].Collide(g1, Blocks[0].First, UserData, Callback);
-
-  lock_count--;
-}
-
-dSpaceID dQuadTreeSpaceCreate(dxSpace* space, dVector3 Center, dVector3 Extents, int Depth){
-        return new dxQuadTreeSpace(space, Center, Extents, Depth);
-}
diff --git a/libraries/ode-0.9/ode/src/collision_space.cpp b/libraries/ode-0.9/ode/src/collision_space.cpp
deleted file mode 100644
index 1a8fc81..0000000
--- a/libraries/ode-0.9/ode/src/collision_space.cpp
+++ /dev/null
@@ -1,790 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-spaces
-
-*/
-
-#include <ode/common.h>
-#include <ode/matrix.h>
-#include <ode/collision_space.h>
-#include <ode/collision.h>
-#include "collision_kernel.h"
-
-#include "collision_space_internal.h"
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-//****************************************************************************
-// make the geom dirty by setting the GEOM_DIRTY and GEOM_BAD_AABB flags
-// and moving it to the front of the space's list. all the parents of a
-// dirty geom also become dirty.
-
-void dGeomMoved (dxGeom *geom)
-{
-  dAASSERT (geom);
-  
-  // if geom is offset, mark it as needing a calculate
-  if (geom->offset_posr) {
-    geom->gflags |= GEOM_POSR_BAD;
-  }
-  
-  // from the bottom of the space heirarchy up, process all clean geoms
-  // turning them into dirty geoms.
-  dxSpace *parent = geom->parent_space;
-
-  while (parent && (geom->gflags & GEOM_DIRTY)==0) {
-    CHECK_NOT_LOCKED (parent);
-    geom->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
-    parent->dirty (geom);
-    geom = parent;
-    parent = parent->parent_space;
-  }
-
-  // all the remaining dirty geoms must have their AABB_BAD flags set, to
-  // ensure that their AABBs get recomputed
-  while (geom) {
-    geom->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
-    CHECK_NOT_LOCKED (geom->parent_space);
-    geom = geom->parent_space;
-  }
-}
-
-#define GEOM_ENABLED(g) ((g)->gflags & GEOM_ENABLED)
-
-//****************************************************************************
-// dxSpace
-
-dxSpace::dxSpace (dSpaceID _space) : dxGeom (_space,0)
-{
-  count = 0;
-  first = 0;
-  cleanup = 1;
-  current_index = 0;
-  current_geom = 0;
-  lock_count = 0;
-}
-
-
-dxSpace::~dxSpace()
-{
-  CHECK_NOT_LOCKED (this);
-  if (cleanup) {
-    // note that destroying each geom will call remove()
-    dxGeom *g,*n;
-    for (g = first; g; g=n) {
-      n = g->next;
-      dGeomDestroy (g);
-    }
-  }
-  else {
-    dxGeom *g,*n;
-    for (g = first; g; g=n) {
-      n = g->next;
-      remove (g);
-    }
-  }
-}
-
-
-void dxSpace::computeAABB()
-{
-  if (first) {
-    int i;
-    dReal a[6];
-    a[0] = dInfinity;
-    a[1] = -dInfinity;
-    a[2] = dInfinity;
-    a[3] = -dInfinity;
-    a[4] = dInfinity;
-    a[5] = -dInfinity;
-    for (dxGeom *g=first; g; g=g->next) {
-      g->recomputeAABB();
-      for (i=0; i<6; i += 2) if (g->aabb[i] < a[i]) a[i] = g->aabb[i];
-      for (i=1; i<6; i += 2) if (g->aabb[i] > a[i]) a[i] = g->aabb[i];
-    }
-    memcpy(aabb,a,6*sizeof(dReal));
-  }
-  else {
-    dSetZero (aabb,6);
-  }
-}
-
-
-void dxSpace::setCleanup (int mode)
-{
-  cleanup = (mode != 0);
-}
-
-
-int dxSpace::getCleanup()
-{
-  return cleanup;
-}
-
-
-int dxSpace::query (dxGeom *geom)
-{
-  dAASSERT (geom);
-  return (geom->parent_space == this);
-}
-
-
-int dxSpace::getNumGeoms()
-{
-  return count;
-}
-
-
-// the dirty geoms are numbered 0..k, the clean geoms are numbered k+1..count-1
-
-dxGeom *dxSpace::getGeom (int i)
-{
-  dUASSERT (i >= 0 && i < count,"index out of range");
-  if (current_geom && current_index == i-1) {
-    current_geom = current_geom->next;
-    current_index = i;
-    return current_geom;
-  }
-  else {
-    dxGeom *g=first;
-    for (int j=0; j<i; j++) {
-      if (g) g = g->next; else return 0;
-    }
-    current_geom = g;
-    current_index = i;
-    return g;
-  }
-}
-
-
-void dxSpace::add (dxGeom *geom)
-{
-  CHECK_NOT_LOCKED (this);
-  dAASSERT (geom);
-  dUASSERT (geom->parent_space == 0 && geom->next == 0,
-            "geom is already in a space");
-
-  // add
-  geom->parent_space = this;
-  geom->spaceAdd (&first);
-  count++;
-
-  // enumerator has been invalidated
-  current_geom = 0;
-
-  // new geoms are added to the front of the list and are always
-  // considered to be dirty. as a consequence, this space and all its
-  // parents are dirty too.
-  geom->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
-  dGeomMoved (this);
-}
-
-
-void dxSpace::remove (dxGeom *geom)
-{
-  CHECK_NOT_LOCKED (this);
-  dAASSERT (geom);
-  dUASSERT (geom->parent_space == this,"object is not in this space");
-
-  // remove
-  geom->spaceRemove();
-  count--;
-
-  // safeguard
-  geom->next = 0;
-  geom->tome = 0;
-  geom->parent_space = 0;
-
-  // enumerator has been invalidated
-  current_geom = 0;
-
-  // the bounding box of this space (and that of all the parents) may have
-  // changed as a consequence of the removal.
-  dGeomMoved (this);
-}
-
-
-void dxSpace::dirty (dxGeom *geom)
-{
-  geom->spaceRemove();
-  geom->spaceAdd (&first);
-}
-
-//****************************************************************************
-// simple space - reports all n^2 object intersections
-
-struct dxSimpleSpace : public dxSpace {
-  dxSimpleSpace (dSpaceID _space);
-  void cleanGeoms();
-  void collide (void *data, dNearCallback *callback);
-  void collide2 (void *data, dxGeom *geom, dNearCallback *callback);
-};
-
-
-dxSimpleSpace::dxSimpleSpace (dSpaceID _space) : dxSpace (_space)
-{
-  type = dSimpleSpaceClass;
-}
-
-
-void dxSimpleSpace::cleanGeoms()
-{
-  // compute the AABBs of all dirty geoms, and clear the dirty flags
-  lock_count++;
-  for (dxGeom *g=first; g && (g->gflags & GEOM_DIRTY); g=g->next) {
-    if (IS_SPACE(g)) {
-      ((dxSpace*)g)->cleanGeoms();
-    }
-    g->recomputeAABB();
-    g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
-  }
-  lock_count--;
-}
-
-
-void dxSimpleSpace::collide (void *data, dNearCallback *callback)
-{
-  dAASSERT (callback);
-
-  lock_count++;
-  cleanGeoms();
-
-  // intersect all bounding boxes
-  for (dxGeom *g1=first; g1; g1=g1->next) {
-    if (GEOM_ENABLED(g1)){
-      for (dxGeom *g2=g1->next; g2; g2=g2->next) {
-        if (GEOM_ENABLED(g2)){
-          collideAABBs (g1,g2,data,callback);
-        }
-      }
-    }
-  }
-
-  lock_count--;
-}
-
-
-void dxSimpleSpace::collide2 (void *data, dxGeom *geom,
-                              dNearCallback *callback)
-{
-  dAASSERT (geom && callback);
-
-  lock_count++;
-  cleanGeoms();
-  geom->recomputeAABB();
-
-  // intersect bounding boxes
-  for (dxGeom *g=first; g; g=g->next) {
-    if (GEOM_ENABLED(g)){
-      collideAABBs (g,geom,data,callback);
-    }
-  }
-
-  lock_count--;
-}
-
-//****************************************************************************
-// utility stuff for hash table space
-
-// kind of silly, but oh well...
-#ifndef MAXINT
-#define MAXINT ((int)((((unsigned int)(-1)) << 1) >> 1))
-#endif
-
-
-// prime[i] is the largest prime smaller than 2^i
-#define NUM_PRIMES 31
-static long int prime[NUM_PRIMES] = {1L,2L,3L,7L,13L,31L,61L,127L,251L,509L,
-  1021L,2039L,4093L,8191L,16381L,32749L,65521L,131071L,262139L,
-  524287L,1048573L,2097143L,4194301L,8388593L,16777213L,33554393L,
-  67108859L,134217689L,268435399L,536870909L,1073741789L};
-
-
-// an axis aligned bounding box in the hash table
-struct dxAABB {
-  dxAABB *next;         // next in the list of all AABBs
-  int level;            // the level this is stored in (cell size = 2^level)
-  int dbounds[6];       // AABB bounds, discretized to cell size
-  dxGeom *geom;         // corresponding geometry object (AABB stored here)
-  int index;            // index of this AABB, starting from 0
-};
-
-
-// a hash table node that represents an AABB that intersects a particular cell
-// at a particular level
-struct Node {
-  Node *next;           // next node in hash table collision list, 0 if none
-  int x,y,z;            // cell position in space, discretized to cell size
-  dxAABB *aabb;         // axis aligned bounding box that intersects this cell
-};
-
-
-// return the `level' of an AABB. the AABB will be put into cells at this
-// level - the cell size will be 2^level. the level is chosen to be the
-// smallest value such that the AABB occupies no more than 8 cells, regardless
-// of its placement. this means that:
-//      size/2 < q <= size
-// where q is the maximum AABB dimension.
-
-static int findLevel (dReal bounds[6])
-{
-  if (bounds[0] <= -dInfinity || bounds[1] >= dInfinity ||
-      bounds[2] <= -dInfinity || bounds[3] >= dInfinity ||
-      bounds[4] <= -dInfinity || bounds[5] >= dInfinity) {
-    return MAXINT;
-  }
-
-  // compute q
-  dReal q,q2;
-  q = bounds[1] - bounds[0];    // x bounds
-  q2 = bounds[3] - bounds[2];   // y bounds
-  if (q2 > q) q = q2;
-  q2 = bounds[5] - bounds[4];   // z bounds
-  if (q2 > q) q = q2;
-
-  // find level such that 0.5 * 2^level < q <= 2^level
-  int level;
-  frexp (q,&level);     // q = (0.5 .. 1.0) * 2^level (definition of frexp)
-  return level;
-}
-
-
-// find a virtual memory address for a cell at the given level and x,y,z
-// position.
-// @@@ currently this is not very sophisticated, e.g. the scaling
-// factors could be better designed to avoid collisions, and they should
-// probably depend on the hash table physical size.
-
-static unsigned long getVirtualAddress (int level, int x, int y, int z)
-{
-  return level*1000 + x*100 + y*10 + z;
-}
-
-//****************************************************************************
-// hash space
-
-struct dxHashSpace : public dxSpace {
-  int global_minlevel;  // smallest hash table level to put AABBs in
-  int global_maxlevel;  // objects that need a level larger than this will be
-                        // put in a "big objects" list instead of a hash table
-
-  dxHashSpace (dSpaceID _space);
-  void setLevels (int minlevel, int maxlevel);
-  void getLevels (int *minlevel, int *maxlevel);
-  void cleanGeoms();
-  void collide (void *data, dNearCallback *callback);
-  void collide2 (void *data, dxGeom *geom, dNearCallback *callback);
-};
-
-
-dxHashSpace::dxHashSpace (dSpaceID _space) : dxSpace (_space)
-{
-  type = dHashSpaceClass;
-  global_minlevel = -3;
-  global_maxlevel = 10;
-}
-
-
-void dxHashSpace::setLevels (int minlevel, int maxlevel)
-{
-  dAASSERT (minlevel <= maxlevel);
-  global_minlevel = minlevel;
-  global_maxlevel = maxlevel;
-}
-
-
-void dxHashSpace::getLevels (int *minlevel, int *maxlevel)
-{
-  if (minlevel) *minlevel = global_minlevel;
-  if (maxlevel) *maxlevel = global_maxlevel;
-}
-
-
-void dxHashSpace::cleanGeoms()
-{
-  // compute the AABBs of all dirty geoms, and clear the dirty flags
-  lock_count++;
-  for (dxGeom *g=first; g && (g->gflags & GEOM_DIRTY); g=g->next) {
-    if (IS_SPACE(g)) {
-      ((dxSpace*)g)->cleanGeoms();
-    }
-    g->recomputeAABB();
-    g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
-  }
-  lock_count--;
-}
-
-
-void dxHashSpace::collide (void *data, dNearCallback *callback)
-{
-  dAASSERT(this && callback);
-  dxGeom *geom;
-  dxAABB *aabb;
-  int i,maxlevel;
-
-  // 0 or 1 geoms can't collide with anything
-  if (count < 2) return;
-
-  lock_count++;
-  cleanGeoms();
-
-  // create a list of auxiliary information for all geom axis aligned bounding
-  // boxes. set the level for all AABBs. put AABBs larger than the space's
-  // global_maxlevel in the big_boxes list, check everything else against
-  // that list at the end. for AABBs that are not too big, record the maximum
-  // level that we need.
-
-  int n = 0;                    // number of AABBs in main list
-  dxAABB *first_aabb = 0;       // list of AABBs in hash table
-  dxAABB *big_boxes = 0;        // list of AABBs too big for hash table
-  maxlevel = global_minlevel - 1;
-  for (geom = first; geom; geom=geom->next) {
-    if (!GEOM_ENABLED(geom)){
-      continue;
-    }
-    dxAABB *aabb = (dxAABB*) ALLOCA (sizeof(dxAABB));
-    aabb->geom = geom;
-    // compute level, but prevent cells from getting too small
-    int level = findLevel (geom->aabb);
-    if (level < global_minlevel) level = global_minlevel;
-    if (level <= global_maxlevel) {
-      // aabb goes in main list
-      aabb->next = first_aabb;
-      first_aabb = aabb;
-      aabb->level = level;
-      if (level > maxlevel) maxlevel = level;
-      // cellsize = 2^level
-      dReal cellsize = (dReal) ldexp (1.0,level);
-      // discretize AABB position to cell size
-      for (i=0; i < 6; i++) aabb->dbounds[i] = (int)
-                              floor (geom->aabb[i]/cellsize);
-      // set AABB index
-      aabb->index = n;
-      n++;
-    }
-    else {
-      // aabb is too big, put it in the big_boxes list. we don't care about
-      // setting level, dbounds, index, or the maxlevel
-      aabb->next = big_boxes;
-      big_boxes = aabb;
-    }
-  }
-
-  // for `n' objects, an n*n array of bits is used to record if those objects
-  // have been intersection-tested against each other yet. this array can
-  // grow large with high n, but oh well...
-  int tested_rowsize = (n+7) >> 3;      // number of bytes needed for n bits
-  unsigned char *tested = (unsigned char *) ALLOCA (n * tested_rowsize);
-  memset (tested,0,n * tested_rowsize);
-
-  // create a hash table to store all AABBs. each AABB may take up to 8 cells.
-  // we use chaining to resolve collisions, but we use a relatively large table
-  // to reduce the chance of collisions.
-
-  // compute hash table size sz to be a prime > 8*n
-  for (i=0; i<NUM_PRIMES; i++) {
-    if (prime[i] >= (8*n)) break;
-  }
-  if (i >= NUM_PRIMES) i = NUM_PRIMES-1;        // probably pointless
-  int sz = prime[i];
-
-  // allocate and initialize hash table node pointers
-  Node **table = (Node **) ALLOCA (sizeof(Node*) * sz);
-  for (i=0; i<sz; i++) table[i] = 0;
-
-  // add each AABB to the hash table (may need to add it to up to 8 cells)
-  for (aabb=first_aabb; aabb; aabb=aabb->next) {
-    int *dbounds = aabb->dbounds;
-    for (int xi = dbounds[0]; xi <= dbounds[1]; xi++) {
-      for (int yi = dbounds[2]; yi <= dbounds[3]; yi++) {
-        for (int zi = dbounds[4]; zi <= dbounds[5]; zi++) {
-          // get the hash index
-          unsigned long hi = getVirtualAddress (aabb->level,xi,yi,zi) % sz;
-          // add a new node to the hash table
-          Node *node = (Node*) ALLOCA (sizeof (Node));
-          node->x = xi;
-          node->y = yi;
-          node->z = zi;
-          node->aabb = aabb;
-          node->next = table[hi];
-          table[hi] = node;
-        }
-      }
-    }
-  }
-
-  // now that all AABBs are loaded into the hash table, we do the actual
-  // collision detection. for all AABBs, check for other AABBs in the
-  // same cells for collisions, and then check for other AABBs in all
-  // intersecting higher level cells.
-
-  int db[6];                    // discrete bounds at current level
-  for (aabb=first_aabb; aabb; aabb=aabb->next) {
-    // we are searching for collisions with aabb
-    for (i=0; i<6; i++) db[i] = aabb->dbounds[i];
-    for (int level = aabb->level; level <= maxlevel; level++) {
-      for (int xi = db[0]; xi <= db[1]; xi++) {
-        for (int yi = db[2]; yi <= db[3]; yi++) {
-          for (int zi = db[4]; zi <= db[5]; zi++) {
-            // get the hash index
-            unsigned long hi = getVirtualAddress (level,xi,yi,zi) % sz;
-            // search all nodes at this index
-            Node *node;
-            for (node = table[hi]; node; node=node->next) {
-              // node points to an AABB that may intersect aabb
-              if (node->aabb == aabb) continue;
-              if (node->aabb->level == level &&
-                  node->x == xi && node->y == yi && node->z == zi) {
-                // see if aabb and node->aabb have already been tested
-                // against each other
-                unsigned char mask;
-                if (aabb->index <= node->aabb->index) {
-                  i = (aabb->index * tested_rowsize)+(node->aabb->index >> 3);
-                  mask = 1 << (node->aabb->index & 7);
-                }
-                else {
-                  i = (node->aabb->index * tested_rowsize)+(aabb->index >> 3);
-                  mask = 1 << (aabb->index & 7);
-                }
-                dIASSERT (i >= 0 && i < (tested_rowsize*n));
-                if ((tested[i] & mask)==0) {
-                  collideAABBs (aabb->geom,node->aabb->geom,data,callback);
-                }
-                tested[i] |= mask;
-              }
-            }
-          }
-        }
-      }
-      // get the discrete bounds for the next level up
-      for (i=0; i<6; i++) db[i] >>= 1;
-    }
-  }
-
-  // every AABB in the normal list must now be intersected against every
-  // AABB in the big_boxes list. so let's hope there are not too many objects
-  // in the big_boxes list.
-  for (aabb=first_aabb; aabb; aabb=aabb->next) {
-    for (dxAABB *aabb2=big_boxes; aabb2; aabb2=aabb2->next) {
-      collideAABBs (aabb->geom,aabb2->geom,data,callback);
-    }
-  }
-
-  // intersected all AABBs in the big_boxes list together
-  for (aabb=big_boxes; aabb; aabb=aabb->next) {
-    for (dxAABB *aabb2=aabb->next; aabb2; aabb2=aabb2->next) {
-      collideAABBs (aabb->geom,aabb2->geom,data,callback);
-    }
-  }
-
-  lock_count--;
-}
-
-
-void dxHashSpace::collide2 (void *data, dxGeom *geom,
-                            dNearCallback *callback)
-{
-  dAASSERT (geom && callback);
-  
-  // this could take advantage of the hash structure to avoid
-  // O(n2) complexity, but it does not yet.
-  
-  lock_count++;
-  cleanGeoms();
-  geom->recomputeAABB();
-  
-  // intersect bounding boxes
-  for (dxGeom *g=first; g; g=g->next) {
-    if (GEOM_ENABLED(g)) collideAABBs (g,geom,data,callback);
-  }
-  
-  lock_count--;
-}
-
-//****************************************************************************
-// space functions
-
-dxSpace *dSimpleSpaceCreate (dxSpace *space)
-{
-  return new dxSimpleSpace (space);
-}
-
-
-dxSpace *dHashSpaceCreate (dxSpace *space)
-{
-  return new dxHashSpace (space);
-}
-
-
-void dHashSpaceSetLevels (dxSpace *space, int minlevel, int maxlevel)
-{
-  dAASSERT (space);
-  dUASSERT (minlevel <= maxlevel,"must have minlevel <= maxlevel");
-  dUASSERT (space->type == dHashSpaceClass,"argument must be a hash space");
-  dxHashSpace *hspace = (dxHashSpace*) space;
-  hspace->setLevels (minlevel,maxlevel);
-}
-
-
-void dHashSpaceGetLevels (dxSpace *space, int *minlevel, int *maxlevel)
-{
-  dAASSERT (space);
-  dUASSERT (space->type == dHashSpaceClass,"argument must be a hash space");
-  dxHashSpace *hspace = (dxHashSpace*) space;
-  hspace->getLevels (minlevel,maxlevel);
-}
-
-
-void dSpaceDestroy (dxSpace *space)
-{
-  dAASSERT (space);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-  dGeomDestroy (space);
-}
-
-
-void dSpaceSetCleanup (dxSpace *space, int mode)
-{
-  dAASSERT (space);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-  space->setCleanup (mode);
-}
-
-
-int dSpaceGetCleanup (dxSpace *space)
-{
-  dAASSERT (space);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-  return space->getCleanup();
-}
-
-
-void dSpaceAdd (dxSpace *space, dxGeom *g)
-{
-  dAASSERT (space);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-  CHECK_NOT_LOCKED (space);
-  space->add (g);
-}
-
-
-void dSpaceRemove (dxSpace *space, dxGeom *g)
-{
-  dAASSERT (space);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-  CHECK_NOT_LOCKED (space);
-  space->remove (g);
-}
-
-
-int dSpaceQuery (dxSpace *space, dxGeom *g)
-{
-  dAASSERT (space);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-  return space->query (g);
-}
-
-void dSpaceClean (dxSpace *space){
-  dAASSERT (space);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-
-  space->cleanGeoms();
-}
-
-int dSpaceGetNumGeoms (dxSpace *space)
-{
-  dAASSERT (space);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-  return space->getNumGeoms();
-}
-
-
-dGeomID dSpaceGetGeom (dxSpace *space, int i)
-{
-  dAASSERT (space);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-  return space->getGeom (i);
-}
-
-
-void dSpaceCollide (dxSpace *space, void *data, dNearCallback *callback)
-{
-  dAASSERT (space && callback);
-  dUASSERT (dGeomIsSpace(space),"argument not a space");
-  space->collide (data,callback);
-}
-
-
-void dSpaceCollide2 (dxGeom *g1, dxGeom *g2, void *data,
-                     dNearCallback *callback)
-{
-  dAASSERT (g1 && g2 && callback);
-  dxSpace *s1,*s2;
-
-  // see if either geom is a space
-  if (IS_SPACE(g1)) s1 = (dxSpace*) g1; else s1 = 0;
-  if (IS_SPACE(g2)) s2 = (dxSpace*) g2; else s2 = 0;
-
-  // handle the four space/geom cases
-  if (s1) {
-    if (s2) {
-      // g1 and g2 are spaces.
-      if (s1==s2) {
-        // collide a space with itself --> interior collision
-        s1->collide (data,callback);
-      }
-      else {
-        // iterate through the space that has the fewest geoms, calling
-        // collide2 in the other space for each one.
-        if (s1->count < s2->count) {
-          for (dxGeom *g = s1->first; g; g=g->next) {
-            s2->collide2 (data,g,callback);
-          }
-        }
-        else {
-          for (dxGeom *g = s2->first; g; g=g->next) {
-            s1->collide2 (data,g,callback);
-          }
-        }
-      }
-    }
-    else {
-      // g1 is a space, g2 is a geom
-      s1->collide2 (data,g2,callback);
-    }
-  }
-  else {
-    if (s2) {
-      // g1 is a geom, g2 is a space
-      s2->collide2 (data,g1,callback);
-    }
-    else {
-      // g1 and g2 are geoms, call the callback directly
-      callback (data,g1,g2);
-    }
-  }
-}
diff --git a/libraries/ode-0.9/ode/src/collision_space_internal.h b/libraries/ode-0.9/ode/src/collision_space_internal.h
deleted file mode 100644
index 004276a..0000000
--- a/libraries/ode-0.9/ode/src/collision_space_internal.h
+++ /dev/null
@@ -1,84 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-stuff common to all spaces
-
-*/
-
-#ifndef _ODE_COLLISION_SPACE_INTERNAL_H_
-#define _ODE_COLLISION_SPACE_INTERNAL_H_
-
-#define ALLOCA(x) dALLOCA16(x)
-
-#define CHECK_NOT_LOCKED(space) \
-  dUASSERT ((space)==0 || (space)->lock_count==0, \
-            "invalid operation for locked space");
-
-
-// collide two geoms together. for the hash table space, this is
-// called if the two AABBs inhabit the same hash table cells.
-// this only calls the callback function if the AABBs actually
-// intersect. if a geom has an AABB test function, that is called to
-// provide a further refinement of the intersection.
-//
-// NOTE: this assumes that the geom AABBs are valid on entry
-// and that both geoms are enabled.
-
-static void collideAABBs (dxGeom *g1, dxGeom *g2,
-                          void *data, dNearCallback *callback)
-{
-  dIASSERT((g1->gflags & GEOM_AABB_BAD)==0);
-  dIASSERT((g2->gflags & GEOM_AABB_BAD)==0);
-
-  // no contacts if both geoms on the same body, and the body is not 0
-  if (g1->body == g2->body && g1->body) return;
-
-  // test if the category and collide bitfields match
-  if ( ((g1->category_bits & g2->collide_bits) ||
-        (g2->category_bits & g1->collide_bits)) == 0) {
-    return;
-  }
-
-  // if the bounding boxes are disjoint then don't do anything
-  dReal *bounds1 = g1->aabb;
-  dReal *bounds2 = g2->aabb;
-  if (bounds1[0] > bounds2[1] ||
-      bounds1[1] < bounds2[0] ||
-      bounds1[2] > bounds2[3] ||
-      bounds1[3] < bounds2[2] ||
-      bounds1[4] > bounds2[5] ||
-      bounds1[5] < bounds2[4]) {
-    return;
-  }
-
-  // check if either object is able to prove that it doesn't intersect the
-  // AABB of the other
-  if (g1->AABBTest (g2,bounds2) == 0) return;
-  if (g2->AABBTest (g1,bounds1) == 0) return;
-
-  // the objects might actually intersect - call the space callback function
-  callback (data,g1,g2);
-}
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/collision_std.h b/libraries/ode-0.9/ode/src/collision_std.h
deleted file mode 100644
index d203ad0..0000000
--- a/libraries/ode-0.9/ode/src/collision_std.h
+++ /dev/null
@@ -1,172 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-the standard ODE geometry primitives.
-
-*/
-
-#ifndef _ODE_COLLISION_STD_H_
-#define _ODE_COLLISION_STD_H_
-
-#include <set>
-#include <ode/common.h>
-#include "collision_kernel.h"
-
-
-// primitive collision functions - these have the dColliderFn interface, i.e.
-// the same interface as dCollide(). the first and second geom arguments must
-// have the specified types.
-
-int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
-                          dContactGeom *contact, int skip);
-int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
-                       dContactGeom *contact, int skip);
-int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
-                         dContactGeom *contact, int skip);
-int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
-                    dContactGeom *contact, int skip);
-int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
-                      int flags, dContactGeom *contact, int skip);
-int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags,
-                             dContactGeom *contact, int skip);
-int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags,
-                          dContactGeom *contact, int skip);
-int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2,
-                                int flags, dContactGeom *contact, int skip);
-int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags,
-                            dContactGeom *contact, int skip);
-int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags,
-                       dContactGeom *contact, int skip);
-int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags,
-                    dContactGeom *contact, int skip);
-int dCollideRayCapsule (dxGeom *o1, dxGeom *o2,
-                          int flags, dContactGeom *contact, int skip);
-int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags,
-                      dContactGeom *contact, int skip);
-int dCollideRayCylinder (dxGeom *o1, dxGeom *o2, int flags,
-                      dContactGeom *contact, int skip);
-
-// Cylinder - Box/Sphere by (C) CroTeam
-// Ported by Nguyen Binh
-int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, 
-                        int flags, dContactGeom *contact, int skip);
-int dCollideCylinderSphere(dxGeom *gCylinder, dxGeom *gSphere, 
-                           int flags, dContactGeom *contact, int skip); 
-int dCollideCylinderPlane(dxGeom *gCylinder, dxGeom *gPlane, 
-                           int flags, dContactGeom *contact, int skip); 
-
-//--> Convex Collision
-int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags,
-                         dContactGeom *contact, int skip);
-int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags,
-                          dContactGeom *contact, int skip);
-int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags,
-                       dContactGeom *contact, int skip);
-int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2,
-                           int flags, dContactGeom *contact, int skip);
-int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, 
-                          dContactGeom *contact, int skip);
-int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags, 
-                       dContactGeom *contact, int skip);
-//<-- Convex Collision
-
-// dHeightfield
-int dCollideHeightfield( dxGeom *o1, dxGeom *o2, 
-                                                 int flags, dContactGeom *contact, int skip );
-
-//****************************************************************************
-// the basic geometry objects
-
-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 dxCapsule : public dxGeom {
-  dReal radius,lz;      // radius, length along z axis
-  dxCapsule (dSpaceID space, dReal _radius, dReal _length);
-  void computeAABB();
-};
-
-
-struct dxCylinder : public dxGeom {
-        dReal radius,lz;        // radius, length along z axis
-        dxCylinder (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 dxRay : public dxGeom {
-  dReal length;
-  dxRay (dSpaceID space, dReal _length);
-  void computeAABB();
-};
-
-typedef std::pair<unsigned int,unsigned int> edge; /*!< Used to descrive a convex hull edge, an edge is a pair or indices into the hull's points */
-struct dxConvex : public dxGeom 
-{
-  
-  dReal *planes; /*!< An array of planes in the form:
-                   normal X, normal Y, normal Z,Distance
-                 */
-  dReal *points; /*!< An array of points X,Y,Z */  
-  unsigned int *polygons; /*! An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order*/
-  unsigned int planecount; /*!< Amount of planes in planes */
-  unsigned int pointcount;/*!< Amount of points in points */
-  dReal saabb[6];/*!< Static AABB */
-  std::set<edge> edges;
-  dxConvex(dSpaceID space,
-           dReal *planes,
-           unsigned int planecount,
-           dReal *points,
-           unsigned int pointcount,
-           unsigned int *polygons);
-  ~dxConvex()
-  {
-    //fprintf(stdout,"dxConvex Destroy\n");
-  }
-  void computeAABB();
-  private:
-  // For Internal Use Only
-  void FillEdges();
-};
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/collision_transform.cpp b/libraries/ode-0.9/ode/src/collision_transform.cpp
deleted file mode 100644
index 85fd623..0000000
--- a/libraries/ode-0.9/ode/src/collision_transform.cpp
+++ /dev/null
@@ -1,232 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-geom transform
-
-*/
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_transform.h"
-#include "collision_util.h"
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-//****************************************************************************
-// dxGeomTransform class
-
-struct dxGeomTransform : public dxGeom {
-  dxGeom *obj;          // object that is being transformed
-  int cleanup;          // 1 to destroy obj when destroyed
-  int infomode;         // 1 to put Tx geom in dContactGeom g1
-
-  // cached final object transform (body tx + relative tx). this is set by
-  // computeAABB(), and it is valid while the AABB is valid.
-  dxPosR transform_posr;
-
-  dxGeomTransform (dSpaceID space);
-  ~dxGeomTransform();
-  void computeAABB();
-  void computeFinalTx();
-};
-/*
-void RunMe()
-{
-  printf("sizeof body = %i\n", sizeof(dxBody));
-  printf("sizeof geom = %i\n", sizeof(dxGeom));
-  printf("sizeof geomtransform = %i\n", sizeof(dxGeomTransform));
-  printf("sizeof posr = %i\n", sizeof(dxPosR));
-}
-*/
-
-dxGeomTransform::dxGeomTransform (dSpaceID space) : dxGeom (space,1)
-{
-  type = dGeomTransformClass;
-  obj = 0;
-  cleanup = 0;
-  infomode = 0;
-  dSetZero (transform_posr.pos,4);
-  dRSetIdentity (transform_posr.R);
-}
-
-
-dxGeomTransform::~dxGeomTransform()
-{
-  if (obj && cleanup) delete obj;
-}
-
-
-void dxGeomTransform::computeAABB()
-{
-  if (!obj) {
-    dSetZero (aabb,6);
-    return;
-  }
-
-  // backup the relative pos and R pointers of the encapsulated geom object
-  dxPosR* posr_bak = obj->final_posr;
-
-  // compute temporary pos and R for the encapsulated geom object
-  computeFinalTx();
-  obj->final_posr = &transform_posr;
-
-  // compute the AABB
-  obj->computeAABB();
-  memcpy (aabb,obj->aabb,6*sizeof(dReal));
-
-  // restore the pos and R
-  obj->final_posr = posr_bak;
-}
-
-
-// utility function for dCollideTransform() : compute final pos and R
-// for the encapsulated geom object
-
-void dxGeomTransform::computeFinalTx()
-{
-  dMULTIPLY0_331 (transform_posr.pos,final_posr->R,obj->final_posr->pos);
-  transform_posr.pos[0] += final_posr->pos[0];
-  transform_posr.pos[1] += final_posr->pos[1];
-  transform_posr.pos[2] += final_posr->pos[2];
-  dMULTIPLY0_333 (transform_posr.R,final_posr->R,obj->final_posr->R);
-}
-
-//****************************************************************************
-// collider function:
-// this collides a transformed geom with another geom. the other geom can
-// also be a transformed geom, but this case is not handled specially.
-
-int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
-                       dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dGeomTransformClass);
-
-  dxGeomTransform *tr = (dxGeomTransform*) o1;
-  if (!tr->obj) return 0;
-  dUASSERT (tr->obj->parent_space==0,
-            "GeomTransform encapsulated object must not be in a space");
-  dUASSERT (tr->obj->body==0,
-            "GeomTransform encapsulated object must not be attached "
-            "to a body");
-
-  // backup the relative pos and R pointers of the encapsulated geom object,
-  // and the body pointer
-  dxPosR *posr_bak = tr->obj->final_posr;
-  dxBody *bodybak = tr->obj->body;
-
-  // compute temporary pos and R for the encapsulated geom object.
-  // note that final_pos and final_R are valid if no GEOM_AABB_BAD flag,
-  // because computeFinalTx() will have already been called in
-  // dxGeomTransform::computeAABB()
-
-  if (tr->gflags & GEOM_AABB_BAD) tr->computeFinalTx();
-  tr->obj->final_posr = &tr->transform_posr;
-  tr->obj->body = o1->body;
-
-  // do the collision
-  int n = dCollide (tr->obj,o2,flags,contact,skip);
-
-  // if required, adjust the 'g1' values in the generated contacts so that
-  // thay indicated the GeomTransform object instead of the encapsulated
-  // object.
-  if (tr->infomode) {
-    for (int i=0; i<n; i++) {
-      dContactGeom *c = CONTACT(contact,skip*i);
-      c->g1 = o1;
-    }
-  }
-
-  // restore the pos, R and body
-  tr->obj->final_posr = posr_bak;
-  tr->obj->body = bodybak;
-  return n;
-}
-
-//****************************************************************************
-// public API
-
-dGeomID dCreateGeomTransform (dSpaceID space)
-{
-  return new dxGeomTransform (space);
-}
-
-
-void dGeomTransformSetGeom (dGeomID g, dGeomID obj)
-{
-  dUASSERT (g && g->type == dGeomTransformClass,
-            "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) g;
-  if (tr->obj && tr->cleanup) delete tr->obj;
-  tr->obj = obj;
-}
-
-
-dGeomID dGeomTransformGetGeom (dGeomID g)
-{
-  dUASSERT (g && g->type == dGeomTransformClass,
-            "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) g;
-  return tr->obj;
-}
-
-
-void dGeomTransformSetCleanup (dGeomID g, int mode)
-{
-  dUASSERT (g && g->type == dGeomTransformClass,
-            "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) g;
-  tr->cleanup = mode;
-}
-
-
-int dGeomTransformGetCleanup (dGeomID g)
-{
-  dUASSERT (g && g->type == dGeomTransformClass,
-            "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) g;
-  return tr->cleanup;
-}
-
-
-void dGeomTransformSetInfo (dGeomID g, int mode)
-{
-  dUASSERT (g && g->type == dGeomTransformClass,
-            "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) g;
-  tr->infomode = mode;
-}
-
-
-int dGeomTransformGetInfo (dGeomID g)
-{
-  dUASSERT (g && g->type == dGeomTransformClass,
-            "argument not a geom transform");
-  dxGeomTransform *tr = (dxGeomTransform*) g;
-  return tr->infomode;
-}
diff --git a/libraries/ode-0.9/ode/src/collision_transform.h b/libraries/ode-0.9/ode/src/collision_transform.h
deleted file mode 100644
index 406a687..0000000
--- a/libraries/ode-0.9/ode/src/collision_transform.h
+++ /dev/null
@@ -1,40 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-geom transform
-
-*/
-
-#ifndef _ODE_COLLISION_TRANSFORM_H_
-#define _ODE_COLLISION_TRANSFORM_H_
-
-#include <ode/common.h>
-#include "collision_kernel.h"
-
-
-int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
-                       dContactGeom *contact, int skip);
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_box.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_box.cpp
deleted file mode 100644
index 0194d02..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_box.cpp
+++ /dev/null
@@ -1,1497 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-
-/*************************************************************************
- *                                                                       *
- * Triangle-box collider by Alen Ladavac and Vedran Klanac.              *
- * Ported to ODE by Oskari Nyman.                                        *
- *                                                                       *
- *************************************************************************/
-
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_util.h"
-
-#define TRIMESH_INTERNAL
-#include "collision_trimesh_internal.h"
-
-#if dTRIMESH_ENABLED
-
-
-static void
-GenerateContact(int in_Flags, dContactGeom* in_Contacts, int in_Stride,
-                dxGeom* in_g1,  dxGeom* in_g2,
-                const dVector3 in_ContactPos, const dVector3 in_Normal, dReal in_Depth,
-                int& OutTriCount);
-
-
-// largest number, double or float
-#if defined(dSINGLE)
-  #define MAXVALUE FLT_MAX
-#else
-  #define MAXVALUE DBL_MAX
-#endif
-
-
-// dVector3
-// r=a-b
-#define SUBTRACT(a,b,r) do{ \
-  (r)[0]=(a)[0] - (b)[0]; \
-  (r)[1]=(a)[1] - (b)[1]; \
-  (r)[2]=(a)[2] - (b)[2]; }while(0)
-
-
-// dVector3
-// a=b
-#define SET(a,b) do{ \
-  (a)[0]=(b)[0]; \
-  (a)[1]=(b)[1]; \
-  (a)[2]=(b)[2]; }while(0)
-
-
-// dMatrix3
-// a=b
-#define SETM(a,b) do{ \
-  (a)[0]=(b)[0]; \
-  (a)[1]=(b)[1]; \
-  (a)[2]=(b)[2]; \
-  (a)[3]=(b)[3]; \
-  (a)[4]=(b)[4]; \
-  (a)[5]=(b)[5]; \
-  (a)[6]=(b)[6]; \
-  (a)[7]=(b)[7]; \
-  (a)[8]=(b)[8]; \
-  (a)[9]=(b)[9]; \
-  (a)[10]=(b)[10]; \
-                     (a)[11]=(b)[11]; }while(0)
-
-
-// dVector3
-// r=a+b
-#define ADD(a,b,r) do{ \
-  (r)[0]=(a)[0] + (b)[0]; \
-  (r)[1]=(a)[1] + (b)[1]; \
-  (r)[2]=(a)[2] + (b)[2]; }while(0)
-
-
-// dMatrix3, int, dVector3
-// v=column a from m
-#define GETCOL(m,a,v) do{ \
-  (v)[0]=(m)[(a)+0]; \
-  (v)[1]=(m)[(a)+4]; \
-  (v)[2]=(m)[(a)+8]; }while(0)
-
-
-// dVector4, dVector3
-// distance between plane p and point v
-#define POINTDISTANCE(p,v) \
-  ( p[0]*v[0] + p[1]*v[1] + p[2]*v[2] + p[3] )
-
-
-// dVector4, dVector3, dReal
-// construct plane from normal and d
-#define CONSTRUCTPLANE(plane,normal,d) do{ \
-  plane[0]=normal[0];\
-  plane[1]=normal[1];\
-  plane[2]=normal[2];\
-  plane[3]=d; }while(0)
-
-
-// dVector3
-// length of vector a
-#define LENGTHOF(a) \
-  dSqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2])
-
-
-// box data
-static dMatrix3 mHullBoxRot;
-static dVector3 vHullBoxPos;
-static dVector3 vBoxHalfSize;
-
-// mesh data
-static dVector3   vHullDstPos;
-
-// global collider data
-static dVector3 vBestNormal;
-static dReal    fBestDepth;
-static int    iBestAxis = 0;
-static int    iExitAxis = 0;
-static dVector3 vE0, vE1, vE2, vN;
-
-// global info for contact creation
-static int iFlags;
-static dContactGeom *ContactGeoms;
-static int iStride;
-static dxGeom *Geom1;
-static dxGeom *Geom2;
-static int ctContacts = 0;
-
-
-
-// Test normal of mesh face as separating axis for intersection
-static bool _cldTestNormal( dReal fp0, dReal fR, dVector3 vNormal, int iAxis )
-{
-  // calculate overlapping interval of box and triangle
-  dReal fDepth = fR+fp0;
-
-  // if we do not overlap
-  if ( fDepth<0 ) {
-    // do nothing
-    return false;
-  }
-
-  // calculate normal's length
-  dReal fLength = LENGTHOF(vNormal);
-  // if long enough
-  if ( fLength > 0.0f ) {
-
-    dReal fOneOverLength = 1.0f/fLength;
-    // normalize depth
-    fDepth = fDepth*fOneOverLength;
-
-    // get minimum depth
-    if (fDepth<fBestDepth) {
-      vBestNormal[0] = -vNormal[0]*fOneOverLength;
-      vBestNormal[1] = -vNormal[1]*fOneOverLength;
-      vBestNormal[2] = -vNormal[2]*fOneOverLength;
-      iBestAxis = iAxis;
-      //dAASSERT(fDepth>=0);
-      fBestDepth = fDepth;
-    }
-
-  }
-
-  return true;
-}
-
-
-
-
-// Test box axis as separating axis
-static bool _cldTestFace( dReal fp0, dReal fp1, dReal fp2, dReal fR, dReal fD,
-                          dVector3 vNormal, int iAxis )
-{
-  dReal fMin, fMax;
-
-  // find min of triangle interval
-  if ( fp0 < fp1 ) {
-    if ( fp0 < fp2 ) {
-      fMin = fp0;
-    } else {
-      fMin = fp2;
-    }
-  } else {
-    if( fp1 < fp2 ) {
-      fMin = fp1;
-    } else {
-      fMin = fp2;
-    }
-  }
-
-  // find max of triangle interval
-  if ( fp0 > fp1 ) {
-    if ( fp0 > fp2 ) {
-      fMax = fp0;
-    } else {
-      fMax = fp2;
-    }
-  } else {
-    if( fp1 > fp2 ) {
-      fMax = fp1;
-    } else {
-      fMax = fp2;
-    }
-  }
-
-  // calculate minimum and maximum depth
-  dReal fDepthMin = fR - fMin;
-  dReal fDepthMax = fMax + fR;
-
-  // if we dont't have overlapping interval
-  if ( fDepthMin < 0 || fDepthMax < 0 ) {
-    // do nothing
-    return false;
-  }
-
-  dReal fDepth = 0;
-
-  // if greater depth is on negative side
-  if ( fDepthMin > fDepthMax ) {
-    // use smaller depth (one from positive side)
-    fDepth = fDepthMax;
-    // flip normal direction
-    vNormal[0] = -vNormal[0];
-    vNormal[1] = -vNormal[1];
-    vNormal[2] = -vNormal[2];
-    fD = -fD;
-  // if greater depth is on positive side
-  } else {
-    // use smaller depth (one from negative side)
-    fDepth = fDepthMin;
-  }
-
-
-  // if lower depth than best found so far
-  if (fDepth<fBestDepth) {
-    // remember current axis as best axis
-    vBestNormal[0]  = vNormal[0];
-    vBestNormal[1]  = vNormal[1];
-    vBestNormal[2]  = vNormal[2];
-    iBestAxis    = iAxis;
-    //dAASSERT(fDepth>=0);
-    fBestDepth   = fDepth;
-  }
-
-  return true;
-}
-
-
-
-
-
-// Test cross products of box axis and triangle edges as separating axis
-static bool _cldTestEdge( dReal fp0, dReal fp1, dReal fR, dReal fD,
-                          dVector3 vNormal, int iAxis )
-{
-  dReal fMin, fMax;
-
-
-  // ===== Begin Patch by Francisco Leon, 2006/10/28 =====
-
-  // Fixed Null Normal. This prevents boxes passing
-  // through trimeshes at certain contact angles
-
-  fMin = vNormal[0] * vNormal[0] +
-                 vNormal[1] * vNormal[1] +
-                 vNormal[2] * vNormal[2];
-
-  if ( fMin <= dEpsilon ) /// THIS NORMAL WOULD BE DANGEROUS
-          return true;
-
-  // ===== Ending Patch by Francisco Leon =====
-
-
-  // calculate min and max interval values
-  if ( fp0 < fp1 ) {
-    fMin = fp0;
-    fMax = fp1;
-  } else {
-    fMin = fp1;
-    fMax = fp0;
-  }
-
-  // check if we overlapp
-  dReal fDepthMin = fR - fMin;
-  dReal fDepthMax = fMax + fR;
-
-  // if we don't overlapp
-  if ( fDepthMin < 0 || fDepthMax < 0 ) {
-    // do nothing
-    return false;
-  }
-
-  dReal fDepth;
-
-
-  // if greater depth is on negative side
-  if ( fDepthMin > fDepthMax ) {
-    // use smaller depth (one from positive side)
-    fDepth = fDepthMax;
-    // flip normal direction
-    vNormal[0] = -vNormal[0];
-    vNormal[1] = -vNormal[1];
-    vNormal[2] = -vNormal[2];
-    fD = -fD;
-  // if greater depth is on positive side
-  } else {
-    // use smaller depth (one from negative side)
-    fDepth = fDepthMin;
-  }
-
-  // calculate normal's length
-  dReal fLength = LENGTHOF(vNormal);
-
-  // if long enough
-  if ( fLength > 0.0f ) {
-
-    // normalize depth
-    dReal fOneOverLength = 1.0f/fLength;
-    fDepth = fDepth*fOneOverLength;
-    fD*=fOneOverLength;
-
-
-    // if lower depth than best found so far (favor face over edges)
-    if (fDepth*1.5f<fBestDepth) {
-      // remember current axis as best axis
-      vBestNormal[0]  = vNormal[0]*fOneOverLength;
-      vBestNormal[1]  = vNormal[1]*fOneOverLength;
-      vBestNormal[2]  = vNormal[2]*fOneOverLength;
-      iBestAxis    = iAxis;
-      //dAASSERT(fDepth>=0);
-      fBestDepth   = fDepth;
-    }
-  }
-
-  return true;
-}
-
-
-
-
-
-// clip polygon with plane and generate new polygon points
-static void _cldClipPolyToPlane( dVector3 avArrayIn[], int ctIn,
-                      dVector3 avArrayOut[], int &ctOut,
-                      const dVector4 &plPlane )
-{
-  // start with no output points
-  ctOut = 0;
-
-  int i0 = ctIn-1;
-
-  // for each edge in input polygon
-  for (int i1=0; i1<ctIn; i0=i1, i1++) {
-
-
-    // calculate distance of edge points to plane
-    dReal fDistance0 = POINTDISTANCE( plPlane ,avArrayIn[i0] );
-    dReal fDistance1 = POINTDISTANCE( plPlane ,avArrayIn[i1] );
-
-
-    // if first point is in front of plane
-    if( fDistance0 >= 0 ) {
-      // emit point
-      avArrayOut[ctOut][0] = avArrayIn[i0][0];
-      avArrayOut[ctOut][1] = avArrayIn[i0][1];
-      avArrayOut[ctOut][2] = avArrayIn[i0][2];
-      ctOut++;
-    }
-
-    // if points are on different sides
-    if( (fDistance0 > 0 && fDistance1 < 0) || ( fDistance0 < 0 && fDistance1 > 0) ) {
-
-      // find intersection point of edge and plane
-      dVector3 vIntersectionPoint;
-      vIntersectionPoint[0]= avArrayIn[i0][0] - (avArrayIn[i0][0]-avArrayIn[i1][0])*fDistance0/(fDistance0-fDistance1);
-      vIntersectionPoint[1]= avArrayIn[i0][1] - (avArrayIn[i0][1]-avArrayIn[i1][1])*fDistance0/(fDistance0-fDistance1);
-      vIntersectionPoint[2]= avArrayIn[i0][2] - (avArrayIn[i0][2]-avArrayIn[i1][2])*fDistance0/(fDistance0-fDistance1);
-
-      // emit intersection point
-      avArrayOut[ctOut][0] = vIntersectionPoint[0];
-      avArrayOut[ctOut][1] = vIntersectionPoint[1];
-      avArrayOut[ctOut][2] = vIntersectionPoint[2];
-      ctOut++;
-    }
-  }
-
-}
-
-
-
-
-static bool _cldTestSeparatingAxes(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2) {
-  // reset best axis
-  iBestAxis = 0;
-  iExitAxis = -1;
-  fBestDepth = MAXVALUE;
-
-  // calculate edges
-  SUBTRACT(v1,v0,vE0);
-  SUBTRACT(v2,v0,vE1);
-  SUBTRACT(vE1,vE0,vE2);
-
-  // calculate poly normal
-  dCROSS(vN,=,vE0,vE1);
-
-  // extract box axes as vectors
-  dVector3 vA0,vA1,vA2;
-  GETCOL(mHullBoxRot,0,vA0);
-  GETCOL(mHullBoxRot,1,vA1);
-  GETCOL(mHullBoxRot,2,vA2);
-
-  // box halfsizes
-  dReal fa0 = vBoxHalfSize[0];
-  dReal fa1 = vBoxHalfSize[1];
-  dReal fa2 = vBoxHalfSize[2];
-
-  // calculate relative position between box and triangle
-  dVector3 vD;
-  SUBTRACT(v0,vHullBoxPos,vD);
-
-  // calculate length of face normal
-  dReal fNLen = LENGTHOF( vN );
-
-  dVector3 vL;
-  dReal fp0, fp1, fp2, fR, fD;
-
-  // Test separating axes for intersection
-  // ************************************************
-  // Axis 1 - Triangle Normal
-  SET(vL,vN);
-  fp0  = dDOT(vL,vD);
-  fp1  = fp0;
-  fp2  = fp0;
-  fR=fa0*dFabs( dDOT(vN,vA0) ) + fa1 * dFabs( dDOT(vN,vA1) ) + fa2 * dFabs( dDOT(vN,vA2) );
-
-
-  if( !_cldTestNormal( fp0, fR, vL, 1) ) {
-    iExitAxis=1;
-    return false;
-  }
-
-  // ************************************************
-
-  // Test Faces
-  // ************************************************
-  // Axis 2 - Box X-Axis
-  SET(vL,vA0);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0 + dDOT(vA0,vE0);
-  fp2 = fp0 + dDOT(vA0,vE1);
-  fR  = fa0;
-
-
-  if( !_cldTestFace( fp0, fp1, fp2, fR, fD, vL, 2) ) {
-    iExitAxis=2;
-    return false;
-  }
-  // ************************************************
-
-  // ************************************************
-  // Axis 3 - Box Y-Axis
-  SET(vL,vA1);
-  fD = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0 + dDOT(vA1,vE0);
-  fp2 = fp0 + dDOT(vA1,vE1);
-  fR  = fa1;
-
-
-  if( !_cldTestFace( fp0, fp1, fp2, fR, fD, vL, 3) ) {
-    iExitAxis=3;
-    return false;
-  }
-
-  // ************************************************
-
-  // ************************************************
-  // Axis 4 - Box Z-Axis
-  SET(vL,vA2);
-  fD = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0 + dDOT(vA2,vE0);
-  fp2 = fp0 + dDOT(vA2,vE1);
-  fR  = fa2;
-
-
-  if( !_cldTestFace( fp0, fp1, fp2, fR, fD, vL, 4) ) {
-    iExitAxis=4;
-    return false;
-  }
-
-  // ************************************************
-
-  // Test Edges
-  // ************************************************
-  // Axis 5 - Box X-Axis cross Edge0
-  dCROSS(vL,=,vA0,vE0);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0;
-  fp2 = fp0 + dDOT(vA0,vN);
-  fR  = fa1 * dFabs(dDOT(vA2,vE0)) + fa2 * dFabs(dDOT(vA1,vE0));
-
-
-  if( !_cldTestEdge( fp1, fp2, fR, fD, vL, 5) ) {
-    iExitAxis=5;
-    return false;
-  }
-  // ************************************************
-
-  // ************************************************
-  // Axis 6 - Box X-Axis cross Edge1
-  dCROSS(vL,=,vA0,vE1);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0 - dDOT(vA0,vN);
-  fp2 = fp0;
-  fR  = fa1 * dFabs(dDOT(vA2,vE1)) + fa2 * dFabs(dDOT(vA1,vE1));
-
-
-  if( !_cldTestEdge( fp0, fp1, fR, fD, vL, 6) ) {
-    iExitAxis=6;
-    return false;
-  }
-  // ************************************************
-
-  // ************************************************
-  // Axis 7 - Box X-Axis cross Edge2
-  dCROSS(vL,=,vA0,vE2);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0 - dDOT(vA0,vN);
-  fp2 = fp0 - dDOT(vA0,vN);
-  fR  = fa1 * dFabs(dDOT(vA2,vE2)) + fa2 * dFabs(dDOT(vA1,vE2));
-
-
-  if( !_cldTestEdge( fp0, fp1, fR, fD, vL, 7) ) {
-    iExitAxis=7;
-    return false;
-  }
-
-  // ************************************************
-
-  // ************************************************
-  // Axis 8 - Box Y-Axis cross Edge0
-  dCROSS(vL,=,vA1,vE0);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0;
-  fp2 = fp0 + dDOT(vA1,vN);
-  fR  = fa0 * dFabs(dDOT(vA2,vE0)) + fa2 * dFabs(dDOT(vA0,vE0));
-
-
-  if( !_cldTestEdge( fp0, fp2, fR, fD, vL, 8) ) {
-    iExitAxis=8;
-    return false;
-  }
-
-  // ************************************************
-
-  // ************************************************
-  // Axis 9 - Box Y-Axis cross Edge1
-  dCROSS(vL,=,vA1,vE1);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0 - dDOT(vA1,vN);
-  fp2 = fp0;
-  fR  = fa0 * dFabs(dDOT(vA2,vE1)) + fa2 * dFabs(dDOT(vA0,vE1));
-
-
-  if( !_cldTestEdge( fp0, fp1, fR, fD, vL, 9) ) {
-    iExitAxis=9;
-    return false;
-  }
-
-  // ************************************************
-
-  // ************************************************
-  // Axis 10 - Box Y-Axis cross Edge2
-  dCROSS(vL,=,vA1,vE2);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0 - dDOT(vA1,vN);
-  fp2 = fp0 - dDOT(vA1,vN);
-  fR  = fa0 * dFabs(dDOT(vA2,vE2)) + fa2 * dFabs(dDOT(vA0,vE2));
-
-
-  if( !_cldTestEdge( fp0, fp1, fR, fD, vL, 10) ) {
-    iExitAxis=10;
-    return false;
-  }
-
-  // ************************************************
-
-  // ************************************************
-  // Axis 11 - Box Z-Axis cross Edge0
-  dCROSS(vL,=,vA2,vE0);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0;
-  fp2 = fp0 + dDOT(vA2,vN);
-  fR  = fa0 * dFabs(dDOT(vA1,vE0)) + fa1 * dFabs(dDOT(vA0,vE0));
-
-
-  if( !_cldTestEdge( fp0, fp2, fR, fD, vL, 11) ) {
-    iExitAxis=11;
-    return false;
-  }
-  // ************************************************
-
-  // ************************************************
-  // Axis 12 - Box Z-Axis cross Edge1
-  dCROSS(vL,=,vA2,vE1);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0 - dDOT(vA2,vN);
-  fp2 = fp0;
-  fR  = fa0 * dFabs(dDOT(vA1,vE1)) + fa1 * dFabs(dDOT(vA0,vE1));
-
-
-  if( !_cldTestEdge( fp0, fp1, fR, fD, vL, 12) ) {
-    iExitAxis=12;
-    return false;
-  }
-  // ************************************************
-
-  // ************************************************
-  // Axis 13 - Box Z-Axis cross Edge2
-  dCROSS(vL,=,vA2,vE2);
-  fD  = dDOT(vL,vN)/fNLen;
-  fp0 = dDOT(vL,vD);
-  fp1 = fp0 - dDOT(vA2,vN);
-  fp2 = fp0 - dDOT(vA2,vN);
-  fR  = fa0 * dFabs(dDOT(vA1,vE2)) + fa1 * dFabs(dDOT(vA0,vE2));
-
-
-  if( !_cldTestEdge( fp0, fp1, fR, fD, vL, 13) ) {
-    iExitAxis=13;
-    return false;
-  }
-
-  // ************************************************
-  return true;
-}
-
-
-
-
-
-// find two closest points on two lines
-static bool _cldClosestPointOnTwoLines( dVector3 vPoint1, dVector3 vLenVec1,
-                                        dVector3 vPoint2, dVector3 vLenVec2,
-                                        dReal &fvalue1, dReal &fvalue2)
-{
-  // calulate denominator
-  dVector3 vp;
-  SUBTRACT(vPoint2,vPoint1,vp);
-  dReal fuaub  = dDOT(vLenVec1,vLenVec2);
-  dReal fq1    = dDOT(vLenVec1,vp);
-  dReal fq2    = -dDOT(vLenVec2,vp);
-  dReal fd     = 1.0f - fuaub * fuaub;
-
-  // if denominator is positive
-  if (fd > 0.0f) {
-    // calculate points of closest approach
-    fd = 1.0f/fd;
-    fvalue1 = (fq1 + fuaub*fq2)*fd;
-    fvalue2 = (fuaub*fq1 + fq2)*fd;
-    return true;
-  // otherwise
-  } else {
-    // lines are parallel
-    fvalue1 = 0.0f;
-    fvalue2 = 0.0f;
-    return false;
-  }
-
-}
-
-
-
-
-
-// clip and generate contacts
-static void _cldClipping(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2) {
-  dIASSERT( !(iFlags & CONTACTS_UNIMPORTANT) || ctContacts < (iFlags & NUMC_MASK) ); // Do not call the function if there is no room to store results
-
-  // if we have edge/edge intersection
-  if ( iBestAxis > 4 ) {
-
-    dVector3 vub,vPb,vPa;
-
-    SET(vPa,vHullBoxPos);
-
-    // calculate point on box edge
-    for( int i=0; i<3; i++) {
-      dVector3 vRotCol;
-      GETCOL(mHullBoxRot,i,vRotCol);
-      dReal fSign = dDOT(vBestNormal,vRotCol) > 0 ? 1.0f : -1.0f;
-
-      vPa[0] += fSign * vBoxHalfSize[i] * vRotCol[0];
-      vPa[1] += fSign * vBoxHalfSize[i] * vRotCol[1];
-      vPa[2] += fSign * vBoxHalfSize[i] * vRotCol[2];
-    }
-
-    int iEdge = (iBestAxis-5)%3;
-
-    // decide which edge is on triangle
-    if ( iEdge == 0 ) {
-      SET(vPb,v0);
-      SET(vub,vE0);
-    } else if ( iEdge == 1) {
-      SET(vPb,v2);
-      SET(vub,vE1);
-    } else {
-      SET(vPb,v1);
-      SET(vub,vE2);
-    }
-
-
-    // setup direction parameter for face edge
-    dNormalize3(vub);
-
-    dReal fParam1, fParam2;
-
-    // setup direction parameter for box edge
-    dVector3 vua;
-    int col=(iBestAxis-5)/3;
-    GETCOL(mHullBoxRot,col,vua);
-
-    // find two closest points on both edges
-    _cldClosestPointOnTwoLines( vPa, vua, vPb, vub, fParam1, fParam2 );
-    vPa[0] += vua[0]*fParam1;
-    vPa[1] += vua[1]*fParam1;
-    vPa[2] += vua[2]*fParam1;
-
-    vPb[0] += vub[0]*fParam2;
-    vPb[1] += vub[1]*fParam2;
-    vPb[2] += vub[2]*fParam2;
-
-    // calculate collision point
-    dVector3 vPntTmp;
-    ADD(vPa,vPb,vPntTmp);
-
-    vPntTmp[0]*=0.5f;
-    vPntTmp[1]*=0.5f;
-    vPntTmp[2]*=0.5f;
-
-    // generate contact point between two closest points
-#if 0 //#ifdef ORIG -- if to use conditional define, GenerateContact must be moved into #else
-        dContactGeom* Contact = SAFECONTACT(iFlags, ContactGeoms, ctContacts, iStride);
-        Contact->depth = fBestDepth;
-        SET(Contact->normal,vBestNormal);
-        SET(Contact->pos,vPntTmp);
-        Contact->g1 = Geom1;
-        Contact->g2 = Geom2;
-        ctContacts++;
-#endif
-    GenerateContact(iFlags, ContactGeoms, iStride,  Geom1, Geom2,
-                    vPntTmp, vBestNormal, fBestDepth, ctContacts);
-
-
-  // if triangle is the referent face then clip box to triangle face
-  } else if ( iBestAxis == 1 ) {
-
-
-    dVector3 vNormal2;
-    vNormal2[0]=-vBestNormal[0];
-    vNormal2[1]=-vBestNormal[1];
-    vNormal2[2]=-vBestNormal[2];
-
-
-    // vNr is normal in box frame, pointing from triangle to box
-    dMatrix3 mTransposed;
-    mTransposed[0*4+0]=mHullBoxRot[0*4+0];
-    mTransposed[0*4+1]=mHullBoxRot[1*4+0];
-    mTransposed[0*4+2]=mHullBoxRot[2*4+0];
-
-    mTransposed[1*4+0]=mHullBoxRot[0*4+1];
-    mTransposed[1*4+1]=mHullBoxRot[1*4+1];
-    mTransposed[1*4+2]=mHullBoxRot[2*4+1];
-
-    mTransposed[2*4+0]=mHullBoxRot[0*4+2];
-    mTransposed[2*4+1]=mHullBoxRot[1*4+2];
-    mTransposed[2*4+2]=mHullBoxRot[2*4+2];
-
-    dVector3 vNr;
-    vNr[0]=mTransposed[0*4+0]*vNormal2[0]+  mTransposed[0*4+1]*vNormal2[1]+  mTransposed[0*4+2]*vNormal2[2];
-    vNr[1]=mTransposed[1*4+0]*vNormal2[0]+  mTransposed[1*4+1]*vNormal2[1]+  mTransposed[1*4+2]*vNormal2[2];
-    vNr[2]=mTransposed[2*4+0]*vNormal2[0]+  mTransposed[2*4+1]*vNormal2[1]+  mTransposed[2*4+2]*vNormal2[2];
-
-
-    dVector3 vAbsNormal;
-    vAbsNormal[0] = dFabs( vNr[0] );
-    vAbsNormal[1] = dFabs( vNr[1] );
-    vAbsNormal[2] = dFabs( vNr[2] );
-
-    // get closest face from box
-    int iB0, iB1, iB2;
-    if (vAbsNormal[1] > vAbsNormal[0]) {
-      if (vAbsNormal[1] > vAbsNormal[2]) {
-        iB1 = 0;  iB0 = 1;  iB2 = 2;
-      } else {
-        iB1 = 0;  iB2 = 1;  iB0 = 2;
-      }
-    } else {
-
-      if (vAbsNormal[0] > vAbsNormal[2]) {
-        iB0 = 0;  iB1 = 1;  iB2 = 2;
-      } else {
-        iB1 = 0;  iB2 = 1;  iB0 = 2;
-      }
-    }
-
-    // Here find center of box face we are going to project
-    dVector3 vCenter;
-    dVector3 vRotCol;
-    GETCOL(mHullBoxRot,iB0,vRotCol);
-
-    if (vNr[iB0] > 0) {
-        vCenter[0] = vHullBoxPos[0] - v0[0] - vBoxHalfSize[iB0] * vRotCol[0];
-      vCenter[1] = vHullBoxPos[1] - v0[1] - vBoxHalfSize[iB0] * vRotCol[1];
-      vCenter[2] = vHullBoxPos[2] - v0[2] - vBoxHalfSize[iB0] * vRotCol[2];
-    } else {
-      vCenter[0] = vHullBoxPos[0] - v0[0] + vBoxHalfSize[iB0] * vRotCol[0];
-      vCenter[1] = vHullBoxPos[1] - v0[1] + vBoxHalfSize[iB0] * vRotCol[1];
-      vCenter[2] = vHullBoxPos[2] - v0[2] + vBoxHalfSize[iB0] * vRotCol[2];
-    }
-
-    // Here find 4 corner points of box
-    dVector3 avPoints[4];
-
-    dVector3 vRotCol2;
-    GETCOL(mHullBoxRot,iB1,vRotCol);
-    GETCOL(mHullBoxRot,iB2,vRotCol2);
-
-    for(int x=0;x<3;x++) {
-        avPoints[0][x] = vCenter[x] + (vBoxHalfSize[iB1] * vRotCol[x]) - (vBoxHalfSize[iB2] * vRotCol2[x]);
-        avPoints[1][x] = vCenter[x] - (vBoxHalfSize[iB1] * vRotCol[x]) - (vBoxHalfSize[iB2] * vRotCol2[x]);
-        avPoints[2][x] = vCenter[x] - (vBoxHalfSize[iB1] * vRotCol[x]) + (vBoxHalfSize[iB2] * vRotCol2[x]);
-        avPoints[3][x] = vCenter[x] + (vBoxHalfSize[iB1] * vRotCol[x]) + (vBoxHalfSize[iB2] * vRotCol2[x]);
-    }
-
-
-    // clip Box face with 4 planes of triangle (1 face plane, 3 egde planes)
-    dVector3 avTempArray1[9];
-    dVector3 avTempArray2[9];
-    dVector4 plPlane;
-
-    int iTempCnt1=0;
-    int iTempCnt2=0;
-
-    // zeroify vectors - necessary?
-    for(int i=0; i<9; i++) {
-      avTempArray1[i][0]=0;
-      avTempArray1[i][1]=0;
-      avTempArray1[i][2]=0;
-
-      avTempArray2[i][0]=0;
-      avTempArray2[i][1]=0;
-      avTempArray2[i][2]=0;
-    }
-
-
-    // Normal plane
-    dVector3 vTemp;
-    vTemp[0]=-vN[0];
-    vTemp[1]=-vN[1];
-    vTemp[2]=-vN[2];
-    dNormalize3(vTemp);
-    CONSTRUCTPLANE(plPlane,vTemp,0);
-
-    _cldClipPolyToPlane( avPoints, 4, avTempArray1, iTempCnt1, plPlane  );
-
-
-    // Plane p0
-    dVector3 vTemp2;
-    SUBTRACT(v1,v0,vTemp2);
-    dCROSS(vTemp,=,vN,vTemp2);
-    dNormalize3(vTemp);
-    CONSTRUCTPLANE(plPlane,vTemp,0);
-
-    _cldClipPolyToPlane( avTempArray1, iTempCnt1, avTempArray2, iTempCnt2, plPlane  );
-
-
-    // Plane p1
-    SUBTRACT(v2,v1,vTemp2);
-    dCROSS(vTemp,=,vN,vTemp2);
-    dNormalize3(vTemp);
-    SUBTRACT(v0,v2,vTemp2);
-    CONSTRUCTPLANE(plPlane,vTemp,dDOT(vTemp2,vTemp));
-
-    _cldClipPolyToPlane( avTempArray2, iTempCnt2, avTempArray1, iTempCnt1, plPlane  );
-
-
-    // Plane p2
-    SUBTRACT(v0,v2,vTemp2);
-    dCROSS(vTemp,=,vN,vTemp2);
-    dNormalize3(vTemp);
-    CONSTRUCTPLANE(plPlane,vTemp,0);
-
-    _cldClipPolyToPlane( avTempArray1, iTempCnt1, avTempArray2, iTempCnt2, plPlane  );
-
-
-    // END of clipping polygons
-
-
-
-    // for each generated contact point
-    for ( int i=0; i<iTempCnt2; i++ ) {
-      // calculate depth
-      dReal fTempDepth = dDOT(vNormal2,avTempArray2[i]);
-
-      // clamp depth to zero
-      if (fTempDepth > 0) {
-        fTempDepth = 0;
-      }
-
-      dVector3 vPntTmp;
-      ADD(avTempArray2[i],v0,vPntTmp);
-
-#if 0 //#ifdef ORIG -- if to use conditional define, GenerateContact must be moved into #else
-      dContactGeom* Contact = SAFECONTACT(iFlags, ContactGeoms, ctContacts, iStride);
-          
-      Contact->depth = -fTempDepth;
-      SET(Contact->normal,vBestNormal);
-      SET(Contact->pos,vPntTmp);
-      Contact->g1 = Geom1;
-      Contact->g2 = Geom2;
-      ctContacts++;
-#endif
-                GenerateContact(iFlags, ContactGeoms, iStride,  Geom1, Geom2,
-                                                vPntTmp, vBestNormal, -fTempDepth, ctContacts);
-
-                if ((ctContacts | CONTACTS_UNIMPORTANT) == (iFlags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                        break;
-                }
-    }
-
-    //dAASSERT(ctContacts>0);
-
-  // if box face is the referent face, then clip triangle on box face
-  } else { // 2 <= if iBestAxis <= 4
-
-    // get normal of box face
-    dVector3 vNormal2;
-    SET(vNormal2,vBestNormal);
-
-    // get indices of box axes in correct order
-    int iA0,iA1,iA2;
-    iA0 = iBestAxis-2;
-    if ( iA0 == 0 ) {
-      iA1 = 1; iA2 = 2;
-    } else if ( iA0 == 1 ) {
-      iA1 = 0; iA2 = 2;
-    } else {
-      iA1 = 0; iA2 = 1;
-    }
-
-    dVector3 avPoints[3];
-    // calculate triangle vertices in box frame
-    SUBTRACT(v0,vHullBoxPos,avPoints[0]);
-    SUBTRACT(v1,vHullBoxPos,avPoints[1]);
-    SUBTRACT(v2,vHullBoxPos,avPoints[2]);
-
-    // CLIP Polygons
-    // define temp data for clipping
-    dVector3 avTempArray1[9];
-    dVector3 avTempArray2[9];
-
-    int iTempCnt1, iTempCnt2;
-
-    // zeroify vectors - necessary?
-    for(int i=0; i<9; i++) {
-      avTempArray1[i][0]=0;
-      avTempArray1[i][1]=0;
-      avTempArray1[i][2]=0;
-
-      avTempArray2[i][0]=0;
-      avTempArray2[i][1]=0;
-      avTempArray2[i][2]=0;
-    }
-
-    // clip triangle with 5 box planes (1 face plane, 4 edge planes)
-
-    dVector4 plPlane;
-
-    // Normal plane
-    dVector3 vTemp;
-    vTemp[0]=-vNormal2[0];
-    vTemp[1]=-vNormal2[1];
-    vTemp[2]=-vNormal2[2];
-    CONSTRUCTPLANE(plPlane,vTemp,vBoxHalfSize[iA0]);
-
-    _cldClipPolyToPlane( avPoints, 3, avTempArray1, iTempCnt1, plPlane );
-
-
-    // Plane p0
-    GETCOL(mHullBoxRot,iA1,vTemp);
-    CONSTRUCTPLANE(plPlane,vTemp,vBoxHalfSize[iA1]);
-
-    _cldClipPolyToPlane( avTempArray1, iTempCnt1, avTempArray2, iTempCnt2, plPlane );
-
-
-    // Plane p1
-    GETCOL(mHullBoxRot,iA1,vTemp);
-    vTemp[0]=-vTemp[0];
-    vTemp[1]=-vTemp[1];
-    vTemp[2]=-vTemp[2];
-    CONSTRUCTPLANE(plPlane,vTemp,vBoxHalfSize[iA1]);
-
-    _cldClipPolyToPlane( avTempArray2, iTempCnt2, avTempArray1, iTempCnt1, plPlane );
-
-
-    // Plane p2
-    GETCOL(mHullBoxRot,iA2,vTemp);
-    CONSTRUCTPLANE(plPlane,vTemp,vBoxHalfSize[iA2]);
-
-    _cldClipPolyToPlane( avTempArray1, iTempCnt1, avTempArray2, iTempCnt2, plPlane );
-
-
-    // Plane p3
-    GETCOL(mHullBoxRot,iA2,vTemp);
-    vTemp[0]=-vTemp[0];
-    vTemp[1]=-vTemp[1];
-    vTemp[2]=-vTemp[2];
-    CONSTRUCTPLANE(plPlane,vTemp,vBoxHalfSize[iA2]);
-
-    _cldClipPolyToPlane( avTempArray2, iTempCnt2, avTempArray1, iTempCnt1, plPlane );
-
-
-    // for each generated contact point
-    for ( int i=0; i<iTempCnt1; i++ ) {
-      // calculate depth
-      dReal fTempDepth = dDOT(vNormal2,avTempArray1[i])-vBoxHalfSize[iA0];
-
-      // clamp depth to zero
-      if (fTempDepth > 0) {
-        fTempDepth = 0;
-      }
-
-      // generate contact data
-      dVector3 vPntTmp;
-      ADD(avTempArray1[i],vHullBoxPos,vPntTmp);
-
-#if 0 //#ifdef ORIG -- if to use conditional define, GenerateContact must be moved into #else
-      dContactGeom* Contact = SAFECONTACT(iFlags, ContactGeoms, ctContacts, iStride);
-
-      Contact->depth = -fTempDepth;
-      SET(Contact->normal,vBestNormal);
-      SET(Contact->pos,vPntTmp);
-      Contact->g1 = Geom1;
-      Contact->g2 = Geom2;
-      ctContacts++;
-#endif
-                GenerateContact(iFlags, ContactGeoms, iStride,  Geom1, Geom2,
-                                          vPntTmp, vBestNormal, -fTempDepth, ctContacts);
-
-                if ((ctContacts | CONTACTS_UNIMPORTANT) == (iFlags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                        break;
-                }
-    }
-
-    //dAASSERT(ctContacts>0);
-  }
-
-}
-
-
-
-
-
-// test one mesh triangle on intersection with given box
-static void _cldTestOneTriangle(const dVector3 &v0, const dVector3 &v1, const dVector3 &v2)//, void *pvUser)
-{
-  // do intersection test and find best separating axis
-  if(!_cldTestSeparatingAxes(v0, v1, v2) ) {
-     // if not found do nothing
-    return;
-  }
-
-  // if best separation axis is not found
-  if ( iBestAxis == 0 ) {
-    // this should not happen (we should already exit in that case)
-    //dMessage (0, "best separation axis not found");
-    // do nothing
-    return;
-  }
-
-  _cldClipping(v0, v1, v2);
-}
-
-
-
-
-
-// OPCODE version of box to mesh collider
-#if dTRIMESH_OPCODE
-int dCollideBTL(dxGeom* g1, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride){
-  dIASSERT (Stride >= (int)sizeof(dContactGeom));
-  dIASSERT (g1->type == dTriMeshClass);
-  dIASSERT (BoxGeom->type == dBoxClass);
-  dIASSERT ((Flags & NUMC_MASK) >= 1);
-
-
-  dxTriMesh* TriMesh = (dxTriMesh*)g1;
-
-
-  // get source hull position, orientation and half size
-  const dMatrix3& mRotBox=*(const dMatrix3*)dGeomGetRotation(BoxGeom);
-  const dVector3& vPosBox=*(const dVector3*)dGeomGetPosition(BoxGeom);
-
-  // to global
-  SETM(mHullBoxRot,mRotBox);
-  SET(vHullBoxPos,vPosBox);
-
-  dGeomBoxGetLengths(BoxGeom, vBoxHalfSize);
-  vBoxHalfSize[0] *= 0.5f;
-  vBoxHalfSize[1] *= 0.5f;
-  vBoxHalfSize[2] *= 0.5f;
-
-
-
-  // get destination hull position and orientation
-  const dMatrix3& mRotMesh=*(const dMatrix3*)dGeomGetRotation(TriMesh);
-  const dVector3& vPosMesh=*(const dVector3*)dGeomGetPosition(TriMesh);
-
-  // to global
-  SET(vHullDstPos,vPosMesh);
-
-
-
-  // global info for contact creation
-  ctContacts = 0;
-  iStride=Stride;
-  iFlags=Flags;
-  ContactGeoms=Contacts;
-  Geom1=TriMesh;
-  Geom2=BoxGeom;
-
-
-
-  // reset stuff
-  fBestDepth = MAXVALUE;
-  vBestNormal[0]=0;
-  vBestNormal[1]=0;
-  vBestNormal[2]=0;
-
-  OBBCollider& Collider = TriMesh->_OBBCollider;
-
-
-
-
-  // Make OBB
-  OBB Box;
-  Box.mCenter.x = vPosBox[0];
-  Box.mCenter.y = vPosBox[1];
-  Box.mCenter.z = vPosBox[2];
-
-  // It is a potential issue to explicitly cast to float 
-  // if custom width floating point type is introduced in OPCODE.
-  // It is necessary to make a typedef and cast to it
-  // (e.g. typedef float opc_float;)
-  // However I'm not sure in what header it should be added.
-
-  Box.mExtents.x = /*(float)*/vBoxHalfSize[0];
-  Box.mExtents.y = /*(float)*/vBoxHalfSize[1];
-  Box.mExtents.z = /*(float)*/vBoxHalfSize[2];
-
-  Box.mRot.m[0][0] = /*(float)*/mRotBox[0];
-  Box.mRot.m[1][0] = /*(float)*/mRotBox[1];
-  Box.mRot.m[2][0] = /*(float)*/mRotBox[2];
-
-  Box.mRot.m[0][1] = /*(float)*/mRotBox[4];
-  Box.mRot.m[1][1] = /*(float)*/mRotBox[5];
-  Box.mRot.m[2][1] = /*(float)*/mRotBox[6];
-
-  Box.mRot.m[0][2] = /*(float)*/mRotBox[8];
-  Box.mRot.m[1][2] = /*(float)*/mRotBox[9];
-  Box.mRot.m[2][2] = /*(float)*/mRotBox[10];
-
-  Matrix4x4 amatrix;
-  Matrix4x4 BoxMatrix = MakeMatrix(vPosBox, mRotBox, amatrix);
-
-  Matrix4x4 InvBoxMatrix;
-  InvertPRMatrix(InvBoxMatrix, BoxMatrix);
-
-  // TC results
-  if (TriMesh->doBoxTC) {
-        dxTriMesh::BoxTC* BoxTC = 0;
-        for (int i = 0; i < TriMesh->BoxTCCache.size(); i++){
-                if (TriMesh->BoxTCCache[i].Geom == BoxGeom){
-                        BoxTC = &TriMesh->BoxTCCache[i];
-                        break;
-                }
-        }
-        if (!BoxTC){
-                TriMesh->BoxTCCache.push(dxTriMesh::BoxTC());
-
-                BoxTC = &TriMesh->BoxTCCache[TriMesh->BoxTCCache.size() - 1];
-                BoxTC->Geom = BoxGeom;
-    BoxTC->FatCoeff = 1.1f; // Pierre recommends this, instead of 1.0
-        }
-
-        // Intersect
-        Collider.SetTemporalCoherence(true);
-        Collider.Collide(*BoxTC, Box, TriMesh->Data->BVTree, null, &MakeMatrix(vPosMesh, mRotMesh, amatrix));
-  }
-  else {
-                Collider.SetTemporalCoherence(false);
-                Collider.Collide(dxTriMesh::defaultBoxCache, Box, TriMesh->Data->BVTree, null,
-                                                 &MakeMatrix(vPosMesh, mRotMesh, amatrix));
-        }
-
-  if (! Collider.GetContactStatus()) {
-        // no collision occurred
-        return 0;
-  }
-
-  // Retrieve data
-  int TriCount = Collider.GetNbTouchedPrimitives();
-  const int* Triangles = (const int*)Collider.GetTouchedPrimitives();
-
-  if (TriCount != 0){
-      if (TriMesh->ArrayCallback != null){
-         TriMesh->ArrayCallback(TriMesh, BoxGeom, Triangles, TriCount);
-    }
-
-    int ctContacts0 = 0;
-
-    // loop through all intersecting triangles
-    for (int i = 0; i < TriCount; i++){
-
-
-        const int Triint = Triangles[i];
-        if (!Callback(TriMesh, BoxGeom, Triint)) continue;
-
-
-        dVector3 dv[3];
-        FetchTriangle(TriMesh, Triint, vPosMesh, mRotMesh, dv);
-
-
-        // test this triangle
-        _cldTestOneTriangle(dv[0],dv[1],dv[2]);
-
-                // fill-in tri index for generated contacts
-                for (; ctContacts0<ctContacts; ctContacts0++)
-                        SAFECONTACT(iFlags, ContactGeoms, ctContacts0, iStride)->side1 = Triint;
-
-                /*
-                        NOTE by Oleh_Derevenko:
-                        The function continues checking triangles after maximal number 
-                        of contacts is reached because it selects maximal penetration depths.
-                        See also comments in GenerateContact()
-                */
-                // Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
-                if ((ctContacts | CONTACTS_UNIMPORTANT) == (iFlags & (NUMC_MASK | CONTACTS_UNIMPORTANT)))
-                        break;
-    }
-  }
-
-
-  return ctContacts;
-}
-#endif
-
-// GIMPACT version of box to mesh collider
-#if dTRIMESH_GIMPACT
-int dCollideBTL(dxGeom* g1, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride)
-{
-  dIASSERT (Stride >= (int)sizeof(dContactGeom));
-  dIASSERT (g1->type == dTriMeshClass);
-  dIASSERT (BoxGeom->type == dBoxClass);
-  dIASSERT ((Flags & NUMC_MASK) >= 1);
-
-  
-  dxTriMesh* TriMesh = (dxTriMesh*)g1;
-
-
-  // get source hull position, orientation and half size
-  const dMatrix3& mRotBox=*(const dMatrix3*)dGeomGetRotation(BoxGeom);
-  const dVector3& vPosBox=*(const dVector3*)dGeomGetPosition(BoxGeom);
-
-  // to global
-  SETM(mHullBoxRot,mRotBox);
-  SET(vHullBoxPos,vPosBox);
-
-  dGeomBoxGetLengths(BoxGeom, vBoxHalfSize);
-  vBoxHalfSize[0] *= 0.5f;
-  vBoxHalfSize[1] *= 0.5f;
-  vBoxHalfSize[2] *= 0.5f;
-
-  // get destination hull position and orientation
-  /*const dMatrix3& mRotMesh=*(const dMatrix3*)dGeomGetRotation(TriMesh);
-  const dVector3& vPosMesh=*(const dVector3*)dGeomGetPosition(TriMesh);
-
-  // to global
-  SET(vHullDstPos,vPosMesh);*/
-
-  // global info for contact creation
-  ctContacts = 0;
-  iStride=Stride;
-  iFlags=Flags;
-  ContactGeoms=Contacts;
-  Geom1=TriMesh;
-  Geom2=BoxGeom;
-
-
-  // reset stuff
-  fBestDepth = MAXVALUE;
-  vBestNormal[0]=0;
-  vBestNormal[1]=0;
-  vBestNormal[2]=0;
-
-
-//*****at first , collide box aabb******//
-
-    GIM_TRIMESH * ptrimesh = &TriMesh->m_collision_trimesh;
-        aabb3f test_aabb;
-
-        test_aabb.minX = BoxGeom->aabb[0];
-        test_aabb.maxX = BoxGeom->aabb[1];
-        test_aabb.minY = BoxGeom->aabb[2];
-        test_aabb.maxY = BoxGeom->aabb[3];
-        test_aabb.minZ = BoxGeom->aabb[4];
-        test_aabb.maxZ = BoxGeom->aabb[5];
-
-        GDYNAMIC_ARRAY collision_result;
-        GIM_CREATE_BOXQUERY_LIST(collision_result);
-
-        gim_aabbset_box_collision(&test_aabb, &ptrimesh->m_aabbset , &collision_result);
-
-        if(collision_result.m_size==0)
-        {
-            GIM_DYNARRAY_DESTROY(collision_result);
-            return 0;
-        }
-//*****Set globals for box collision******//
-
-        //collide triangles
-
-        GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);
-        gim_trimesh_locks_work_data(ptrimesh);
-
-    int ctContacts0 = 0;
-        
-        for(unsigned int i=0;i<collision_result.m_size;i++)
-        {
-                dVector3 dv[3];
-
-                int Triint = boxesresult[i];
-                gim_trimesh_get_triangle_vertices(ptrimesh, Triint,dv[0],dv[1],dv[2]);
-        // test this triangle
-        _cldTestOneTriangle(dv[0],dv[1],dv[2]);
-                
-                // fill-in tri index for generated contacts
-                for (; ctContacts0<ctContacts; ctContacts0++)
-                        SAFECONTACT(iFlags, ContactGeoms, ctContacts0, iStride)->side1 = Triint;
-                
-                /*
-                        NOTE by Oleh_Derevenko:
-                        The function continues checking triangles after maximal number 
-                        of contacts is reached because it selects maximal penetration depths.
-                        See also comments in GenerateContact()
-                */
-                // Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
-                if ((ctContacts | CONTACTS_UNIMPORTANT) == (iFlags & (NUMC_MASK | CONTACTS_UNIMPORTANT)))
-                        break;
-        }
-
-        gim_trimesh_unlocks_work_data(ptrimesh);
-        GIM_DYNARRAY_DESTROY(collision_result);
-
-        return ctContacts;
-}
-#endif
-
-
-// GenerateContact - Written by Jeff Smith (jeff@burri.to)
-//   Generate a "unique" contact.  A unique contact has a unique
-//   position or normal.  If the potential contact has the same
-//   position and normal as an existing contact, but a larger
-//   penetration depth, this new depth is used instead
-//
-static void
-GenerateContact(int in_Flags, dContactGeom* in_Contacts, int in_Stride,
-                dxGeom* in_g1,  dxGeom* in_g2,
-                const dVector3 in_ContactPos, const dVector3 in_Normal, dReal in_Depth,
-                int& OutTriCount)
-{
-        /*
-                NOTE by Oleh_Derevenko:
-                This function is called after maximal number of contacts has already been 
-                collected because it has a side effect of replacing penetration depth of
-                existing contact with larger penetration depth of another matching normal contact.
-                If this logic is not necessary any more, you can bail out on reach of contact
-                number maximum immediately in dCollideBTL(). You will also need to correct 
-                conditional statements after invocations of GenerateContact() in _cldClipping().
-        */
-        do 
-        {
-                dContactGeom* Contact;
-                dVector3 diff;
-                
-                if (!(in_Flags & CONTACTS_UNIMPORTANT))
-                {
-                        bool duplicate = false;
-                        for (int i=0; i<OutTriCount; i++)
-                        {
-                                Contact = SAFECONTACT(in_Flags, in_Contacts, i, in_Stride);
-
-                                // same position?
-                                for (int j=0; j<3; j++)
-                                        diff[j] = in_ContactPos[j] - Contact->pos[j];
-                                if (dDOT(diff, diff) < dEpsilon)
-                                {
-                                        // same normal?
-                                        if (dFabs(dDOT(in_Normal, Contact->normal)) > (REAL(1.0)-dEpsilon))
-                                        {
-                                                if (in_Depth > Contact->depth)
-                                                        Contact->depth = in_Depth;
-                                                duplicate = true;
-                                                /*
-                                                        NOTE by Oleh_Derevenko:
-                                                        There may be a case when two normals are close to each other but not duplicate
-                                                        while third normal is detected to be duplicate for both of them.
-                                                        This is the only reason I can think of, there is no "break" statement.
-                                                        Perhaps author considered it to be logical that the third normal would 
-                                                        replace the depth in both of initial contacts. 
-                                                        However, I consider it a questionable practice which should not
-                                                        be applied without deep understanding of underlaying physics.
-                                                        Even more, is this situation with close normal triplet acceptable at all?
-                                                        Should not be two initial contacts reduced to one (replaced with the latter)?
-                                                        If you know the answers for these questions, you may want to change this code.
-                                                        See the same statement in GenerateContact() of collision_trimesh_trimesh.cpp
-                                                */
-                                        }
-                                }
-                        }
-                        if (duplicate || OutTriCount == (in_Flags & NUMC_MASK))
-                        {
-                                break;
-                        }
-                }
-                else
-                {
-                        dIASSERT(OutTriCount < (in_Flags & NUMC_MASK));
-                }
-
-                // Add a new contact
-                Contact = SAFECONTACT(in_Flags, in_Contacts, OutTriCount, in_Stride);
-
-                Contact->pos[0] = in_ContactPos[0];
-                Contact->pos[1] = in_ContactPos[1];
-                Contact->pos[2] = in_ContactPos[2];
-                Contact->pos[3] = 0.0;
-
-                Contact->normal[0] = in_Normal[0];
-                Contact->normal[1] = in_Normal[1];
-                Contact->normal[2] = in_Normal[2];
-                Contact->normal[3] = 0.0;
-
-                Contact->depth = in_Depth;
-
-                Contact->g1 = in_g1;
-                Contact->g2 = in_g2;
-
-                OutTriCount++;
-        }
-        while (false);
-}
-
-#endif // dTRIMESH_ENABLED
diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_ccylinder.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_ccylinder.cpp
deleted file mode 100644
index da235e0..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_ccylinder.cpp
+++ /dev/null
@@ -1,1181 +0,0 @@
-/*************************************************************************
-*                                                                       *
-* Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
-*                                                                       *
-*************************************************************************/
-
-/*
- *      Triangle-Capsule(Capsule) collider by Alen Ladavac
- *  Ported to ODE by Nguyen Binh
- */
-
-// NOTES from Nguyen Binh
-//      14 Apr : Seem to be robust
-//       There is a problem when you use original Step and set contact friction
-//              surface.mu = dInfinity;
-//              More description : 
-//                      When I dropped Capsule over the bunny ears, it seems to stuck
-//                      there for a while. I think the cause is when you set surface.mu = dInfinity;
-//                      the friction force is too high so it just hang the capsule there.
-//                      So the good cure for this is to set mu = around 1.5 (in my case)
-//              For StepFast1, this become as solid as rock : StepFast1 just approximate 
-//              friction force.
-
-// NOTES from Croteam's Alen
-//As a side note... there are some extra contacts that can be generated
-//on the edge between two triangles, and if the capsule penetrates deeply into
-//the triangle (usually happens with large mass or low FPS), some such
-//contacts can in some cases push the capsule away from the edge instead of
-//away from the two triangles. This shows up as capsule slowing down a bit
-//when hitting an edge while sliding along a flat tesselated grid of
-//triangles. This is only if capsule is standing upwards.
-
-//Same thing can appear whenever a smooth object (e.g sphere) hits such an
-//edge, and it needs to be solved as a special case probably. This is a
-//problem we are looking forward to address soon.
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_util.h"
-
-#define TRIMESH_INTERNAL
-#include "collision_trimesh_internal.h"
-
-#if dTRIMESH_ENABLED
-
-// OPCODE version
-#if dTRIMESH_OPCODE
-// largest number, double or float
-#if defined(dSINGLE)
-#define MAX_REAL        FLT_MAX
-#define MIN_REAL        (-FLT_MAX)
-#else
-#define MAX_REAL        DBL_MAX
-#define MIN_REAL        (-DBL_MAX)
-#endif
-
-// To optimize before send contacts to dynamic part
-#define OPTIMIZE_CONTACTS
-
-// dVector3
-// r=a-b
-#define SUBTRACT(a,b,r) \
-        (r)[0]=(a)[0] - (b)[0]; \
-        (r)[1]=(a)[1] - (b)[1]; \
-        (r)[2]=(a)[2] - (b)[2]; 
-
-
-// dVector3
-// a=b
-#define SET(a,b) \
-        (a)[0]=(b)[0]; \
-        (a)[1]=(b)[1]; \
-        (a)[2]=(b)[2]; 
-
-
-// dMatrix3
-// a=b
-#define SETM(a,b) \
-        (a)[0]=(b)[0]; \
-        (a)[1]=(b)[1]; \
-        (a)[2]=(b)[2]; \
-        (a)[3]=(b)[3]; \
-        (a)[4]=(b)[4]; \
-        (a)[5]=(b)[5]; \
-        (a)[6]=(b)[6]; \
-        (a)[7]=(b)[7]; \
-        (a)[8]=(b)[8]; \
-        (a)[9]=(b)[9]; \
-        (a)[10]=(b)[10]; \
-        (a)[11]=(b)[11];
-
-
-// dVector3
-// r=a+b
-#define ADD(a,b,r) \
-        (r)[0]=(a)[0] + (b)[0]; \
-        (r)[1]=(a)[1] + (b)[1]; \
-        (r)[2]=(a)[2] + (b)[2]; 
-
-
-// dMatrix3, int, dVector3
-// v=column a from m
-#define GETCOL(m,a,v) \
-        (v)[0]=(m)[(a)+0]; \
-        (v)[1]=(m)[(a)+4]; \
-        (v)[2]=(m)[(a)+8];
-
-
-// dVector4, dVector3
-// distance between plane p and point v
-#define POINTDISTANCE(p,v) \
-        ( p[0]*v[0] + p[1]*v[1] + p[2]*v[2] + p[3] ); \
-
-
-// dVector4, dVector3, dReal
-// construct plane from normal and d
-#define CONSTRUCTPLANE(plane,normal,d) \
-        plane[0]=normal[0];\
-        plane[1]=normal[1];\
-        plane[2]=normal[2];\
-        plane[3]=d;
-
-
-// dVector3
-// length of vector a
-#define LENGTHOF(a) \
-        dSqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);\
-
-inline dReal _length2OfVector3(dVector3 v)
-{
-        return (v[0] * v[0] + v[1] * v[1] + v[2] * v[2] );
-}
-
-
-// Local contacts data
-typedef struct _sLocalContactData
-{
-        dVector3        vPos;
-        dVector3        vNormal;
-        dReal           fDepth;
-        int                     triIndex;
-        int                     nFlags; // 0 = filtered out, 1 = OK
-}sLocalContactData;
-
-static sLocalContactData   *gLocalContacts;
-static unsigned int                     ctContacts = 0;
-
-// capsule data
-// real time data
-static dMatrix3  mCapsuleRotation;
-static dVector3   vCapsulePosition;
-static dVector3   vCapsuleAxis;
-// static data
-static dReal      vCapsuleRadius;
-static dReal      fCapsuleSize;
-
-// mesh data
-static  dMatrix4  mHullDstPl;
-static   dMatrix3  mTriMeshRot;
-static dVector3   mTriMeshPos;
-static dVector3   vE0, vE1, vE2;
-
-// Two geom
-dxGeom*    gCylinder;
-dxGeom*    gTriMesh;
-
-// global collider data
-static dVector3 vNormal;
-static dReal    fBestDepth;
-static dReal    fBestCenter;
-static dReal    fBestrt;
-static int              iBestAxis;
-static dVector3 vN = {0,0,0,0};
-
-static dVector3 vV0; 
-static dVector3 vV1;
-static dVector3 vV2;
-
-// ODE contact's specific
-static unsigned int iFlags;
-static dContactGeom *ContactGeoms;
-static int iStride;
-
-// Capsule lie on axis number 3 = (Z axis)
-static const int nCAPSULE_AXIS = 2;
-
-// Use to classify contacts to be "near" in position
-static const dReal fSameContactPositionEpsilon = REAL(0.0001); // 1e-4
-// Use to classify contacts to be "near" in normal direction
-static const dReal fSameContactNormalEpsilon = REAL(0.0001); // 1e-4
-
-
-// If this two contact can be classified as "near"
-inline int _IsNearContacts(sLocalContactData& c1,sLocalContactData& c2)
-{
-        int bPosNear = 0;
-        int bSameDir = 0;
-        dVector3        vDiff;
-
-        // First check if they are "near" in position
-        SUBTRACT(c1.vPos,c2.vPos,vDiff);
-        if (  (dFabs(vDiff[0]) < fSameContactPositionEpsilon)
-                &&(dFabs(vDiff[1]) < fSameContactPositionEpsilon)
-                &&(dFabs(vDiff[2]) < fSameContactPositionEpsilon))
-        {
-                bPosNear = 1;
-        }
-
-        // Second check if they are "near" in normal direction
-        SUBTRACT(c1.vNormal,c2.vNormal,vDiff);
-        if (  (dFabs(vDiff[0]) < fSameContactNormalEpsilon)
-                &&(dFabs(vDiff[1]) < fSameContactNormalEpsilon)
-                &&(dFabs(vDiff[2]) < fSameContactNormalEpsilon) )
-        {
-                bSameDir = 1;
-        }
-
-        // Will be "near" if position and normal direction are "near"
-        return (bPosNear && bSameDir);
-}
-
-inline int _IsBetter(sLocalContactData& c1,sLocalContactData& c2)
-{
-        // The not better will be throw away
-        // You can change the selection criteria here
-        return (c1.fDepth > c2.fDepth);
-}
-
-// iterate through gLocalContacts and filtered out "near contact"
-inline void     _OptimizeLocalContacts()
-{
-        int nContacts = ctContacts;
-                
-        for (int i = 0; i < nContacts-1; i++)
-        {
-                for (int j = i+1; j < nContacts; j++)
-                {
-                        if (_IsNearContacts(gLocalContacts[i],gLocalContacts[j]))
-                        {
-                                // If they are seem to be the samed then filtered 
-                                // out the least penetrate one
-                                if (_IsBetter(gLocalContacts[j],gLocalContacts[i]))
-                                {
-                                        gLocalContacts[i].nFlags = 0; // filtered 1st contact
-                                }
-                                else
-                                {
-                                        gLocalContacts[j].nFlags = 0; // filtered 2nd contact
-                                }
-
-                                // NOTE
-                                // There is other way is to add two depth together but
-                                // it not work so well. Why???
-                        }
-                }
-        }
-}
-
-inline int      _ProcessLocalContacts()
-{
-        if (ctContacts == 0)
-        {
-                return 0;
-        }
-
-#ifdef OPTIMIZE_CONTACTS
-        if (ctContacts > 1 && !(iFlags & CONTACTS_UNIMPORTANT))
-        {
-                // Can be optimized...
-                _OptimizeLocalContacts();
-        }
-#endif          
-
-        unsigned int iContact = 0;
-        dContactGeom* Contact = 0;
-
-        unsigned int nFinalContact = 0;
-
-        for (iContact = 0; iContact < ctContacts; iContact ++)
-        {
-        // Ensure that we haven't created too many contacts
-        if( nFinalContact >= (iFlags & NUMC_MASK)) 
-                {
-            break;
-        }
-
-                if (1 == gLocalContacts[iContact].nFlags)
-                {
-                                Contact =  SAFECONTACT(iFlags, ContactGeoms, nFinalContact, iStride);
-                                Contact->depth = gLocalContacts[iContact].fDepth;
-                                SET(Contact->normal,gLocalContacts[iContact].vNormal);
-                                SET(Contact->pos,gLocalContacts[iContact].vPos);
-                                Contact->g1 = gTriMesh;
-                                Contact->g2 = gCylinder;
-                                Contact->side2 = gLocalContacts[iContact].triIndex;
-
-                                nFinalContact++;
-                }
-        }
-        // debug
-        //if (nFinalContact != ctContacts)
-        //{
-        //      printf("[Info] %d contacts generated,%d  filtered.\n",ctContacts,ctContacts-nFinalContact);
-        //}
-
-        return nFinalContact;
-}
-
-BOOL _cldClipEdgeToPlane( dVector3 &vEpnt0, dVector3 &vEpnt1, const dVector4& plPlane)
-{
-        // calculate distance of edge points to plane
-        dReal fDistance0 = POINTDISTANCE( plPlane, vEpnt0 );
-        dReal fDistance1 = POINTDISTANCE( plPlane, vEpnt1 );
-
-        // if both points are behind the plane
-        if ( fDistance0 < 0 && fDistance1 < 0 ) 
-        {
-                // do nothing
-                return FALSE;
-                // if both points in front of the plane
-        } else if ( fDistance0 > 0 && fDistance1 > 0 ) 
-        {
-                // accept them
-                return TRUE;
-                // if we have edge/plane intersection
-        } else if ((fDistance0 > 0 && fDistance1 < 0) || ( fDistance0 < 0 && fDistance1 > 0)) 
-        {
-
-                        // find intersection point of edge and plane
-                        dVector3 vIntersectionPoint;
-                        vIntersectionPoint[0]= vEpnt0[0]-(vEpnt0[0]-vEpnt1[0])*fDistance0/(fDistance0-fDistance1);
-                        vIntersectionPoint[1]= vEpnt0[1]-(vEpnt0[1]-vEpnt1[1])*fDistance0/(fDistance0-fDistance1);
-                        vIntersectionPoint[2]= vEpnt0[2]-(vEpnt0[2]-vEpnt1[2])*fDistance0/(fDistance0-fDistance1);
-
-                        // clamp correct edge to intersection point
-                        if ( fDistance0 < 0 ) 
-                        {
-                                SET(vEpnt0,vIntersectionPoint);
-                        } else 
-                        {
-                                SET(vEpnt1,vIntersectionPoint);
-                        }
-                        return TRUE;
-                }
-                return TRUE;
-}
-
-static BOOL _cldTestAxis(const dVector3 &v0,
-                                                 const dVector3 &v1,
-                                                 const dVector3 &v2, 
-                                                 dVector3 vAxis, 
-                                                 int iAxis,
-                                                 BOOL bNoFlip = FALSE) 
-{
-
-        // calculate length of separating axis vector
-        dReal fL = LENGTHOF(vAxis);
-        // if not long enough
-        // TODO : dReal epsilon please
-        if ( fL < REAL(1e-5) ) 
-        {
-                // do nothing
-                //iLastOutAxis = 0;
-                return TRUE;
-        }
-
-        // otherwise normalize it
-        dNormalize3(vAxis);
-
-        // project capsule on vAxis
-        dReal frc = dFabs(dDOT(vCapsuleAxis,vAxis))*(fCapsuleSize*REAL(0.5)-vCapsuleRadius) + vCapsuleRadius;
-
-        // project triangle on vAxis
-        dReal afv[3];
-        afv[0] = dDOT( vV0 , vAxis );
-        afv[1] = dDOT( vV1 , vAxis );
-        afv[2] = dDOT( vV2 , vAxis );
-
-        dReal fMin = MAX_REAL;
-        dReal fMax = MIN_REAL;
-
-        // for each vertex 
-        for(int i=0; i<3; i++) 
-        {
-                // find minimum
-                if (afv[i]<fMin) 
-                {
-                        fMin = afv[i];
-                }
-                // find maximum
-                if (afv[i]>fMax) 
-                {
-                        fMax = afv[i];
-                }
-        }
-
-        // find triangle's center of interval on axis
-        dReal fCenter = (fMin+fMax)*REAL(0.5);
-        // calculate triangles half interval 
-        dReal fTriangleRadius = (fMax-fMin)*REAL(0.5);
-
-        // if they do not overlap, 
-        if( dFabs(fCenter) > ( frc + fTriangleRadius ) ) 
-        { 
-                // exit, we have no intersection
-                return FALSE; 
-        }
-
-        // calculate depth 
-        dReal fDepth = dFabs(fCenter) - (frc+fTriangleRadius);
-
-        // if greater then best found so far
-        if ( fDepth > fBestDepth ) 
-        {
-                // remember depth
-                fBestDepth  = fDepth;
-                fBestCenter = fCenter;
-                fBestrt     = fTriangleRadius;
-
-                vNormal[0]     = vAxis[0];
-                vNormal[1]     = vAxis[1];
-                vNormal[2]     = vAxis[2];
-
-                iBestAxis   = iAxis;
-
-                // flip normal if interval is wrong faced
-                if (fCenter<0 && !bNoFlip) 
-                { 
-                        vNormal[0] = -vNormal[0];
-                        vNormal[1] = -vNormal[1];
-                        vNormal[2] = -vNormal[2];
-
-                        fBestCenter = -fCenter;
-                }
-        }
-
-        return TRUE;
-}
-
-// helper for less key strokes
-inline void _CalculateAxis(const dVector3& v1,
-                                                   const dVector3& v2,
-                                                   const dVector3& v3,
-                                                   const dVector3& v4,
-                                                   dVector3& r)
-{
-        dVector3 t1;
-        dVector3 t2;
-
-        SUBTRACT(v1,v2,t1);
-        dCROSS(t2,=,t1,v3);
-        dCROSS(r,=,t2,v4);
-}
-
-static BOOL _cldTestSeparatingAxesOfCapsule(const dVector3 &v0,
-                                                                                        const dVector3 &v1,
-                                                                                        const dVector3 &v2,
-                                                                                        uint8 flags) 
-{
-        // calculate caps centers in absolute space
-        dVector3 vCp0;
-        vCp0[0] = vCapsulePosition[0] + vCapsuleAxis[0]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-        vCp0[1] = vCapsulePosition[1] + vCapsuleAxis[1]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-        vCp0[2] = vCapsulePosition[2] + vCapsuleAxis[2]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-
-        dVector3 vCp1;
-        vCp1[0] = vCapsulePosition[0] - vCapsuleAxis[0]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-        vCp1[1] = vCapsulePosition[1] - vCapsuleAxis[1]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-        vCp1[2] = vCapsulePosition[2] - vCapsuleAxis[2]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-
-        // reset best axis
-        iBestAxis = 0;
-        // reset best depth
-        fBestDepth  = -MAX_REAL;
-        // reset separating axis vector
-        dVector3 vAxis = {REAL(0.0),REAL(0.0),REAL(0.0),REAL(0.0)};
-
-        // Epsilon value for checking axis vector length 
-        const dReal fEpsilon = 1e-6f;
-
-        // Translate triangle to Cc cord.
-        SUBTRACT(v0 , vCapsulePosition, vV0);
-        SUBTRACT(v1 , vCapsulePosition, vV1);
-        SUBTRACT(v2 , vCapsulePosition, vV2);
-        
-        // We begin to test for 19 separating axis now
-        // I wonder does it help if we employ the method like ISA-GJK???
-        // Or at least we should do experiment and find what axis will
-        // be most likely to be separating axis to check it first.
-
-        // Original
-        // axis vN
-        //vAxis = -vN;
-        vAxis[0] = - vN[0];
-        vAxis[1] = - vN[1];
-        vAxis[2] = - vN[2];
-        if (!_cldTestAxis( v0, v1, v2, vAxis, 1, TRUE)) 
-        { 
-                return FALSE; 
-        }
-
-        if (flags & dxTriMeshData::kEdge0)
-        {
-                // axis CxE0 - Edge 0
-                dCROSS(vAxis,=,vCapsuleAxis,vE0);
-                //vAxis = dCROSS( vCapsuleAxis cross vE0 );
-                if( _length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 2)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kEdge1)
-        {
-                // axis CxE1 - Edge 1
-                dCROSS(vAxis,=,vCapsuleAxis,vE1);
-                //vAxis = ( vCapsuleAxis cross vE1 );
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 3)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kEdge2)
-        {
-                // axis CxE2 - Edge 2
-                //vAxis = ( vCapsuleAxis cross vE2 );
-                dCROSS(vAxis,=,vCapsuleAxis,vE2);
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 4)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kEdge0)
-        {
-                // first capsule point
-                // axis ((Cp0-V0) x E0) x E0
-                _CalculateAxis(vCp0,v0,vE0,vE0,vAxis);
-        //      vAxis = ( ( vCp0-v0) cross vE0 ) cross vE0;
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 5)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kEdge1)
-        {
-                // axis ((Cp0-V1) x E1) x E1
-                _CalculateAxis(vCp0,v1,vE1,vE1,vAxis);
-                //vAxis = ( ( vCp0-v1) cross vE1 ) cross vE1;
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 6)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kEdge2)
-        {
-                // axis ((Cp0-V2) x E2) x E2
-                _CalculateAxis(vCp0,v2,vE2,vE2,vAxis);
-                //vAxis = ( ( vCp0-v2) cross vE2 ) cross vE2;
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 7)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kEdge0)
-        {
-                // second capsule point
-                // axis ((Cp1-V0) x E0) x E0
-                _CalculateAxis(vCp1,v0,vE0,vE0,vAxis);  
-                //vAxis = ( ( vCp1-v0 ) cross vE0 ) cross vE0;
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 8)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kEdge1)
-        {
-                // axis ((Cp1-V1) x E1) x E1
-                _CalculateAxis(vCp1,v1,vE1,vE1,vAxis);  
-                //vAxis = ( ( vCp1-v1 ) cross vE1 ) cross vE1;
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 9)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kEdge2)
-        {
-                // axis ((Cp1-V2) x E2) x E2
-                _CalculateAxis(vCp1,v2,vE2,vE2,vAxis);  
-                //vAxis = ( ( vCp1-v2 ) cross vE2 ) cross vE2;
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 10)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kVert0)
-        {
-                // first vertex on triangle
-                // axis ((V0-Cp0) x C) x C
-                _CalculateAxis(v0,vCp0,vCapsuleAxis,vCapsuleAxis,vAxis);        
-                //vAxis = ( ( v0-vCp0 ) cross vCapsuleAxis ) cross vCapsuleAxis;
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 11)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kVert1)
-        {
-                // second vertex on triangle
-                // axis ((V1-Cp0) x C) x C
-                _CalculateAxis(v1,vCp0,vCapsuleAxis,vCapsuleAxis,vAxis);        
-                //vAxis = ( ( v1-vCp0 ) cross vCapsuleAxis ) cross vCapsuleAxis;
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 12)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kVert2)
-        {
-                // third vertex on triangle
-                // axis ((V2-Cp0) x C) x C
-                _CalculateAxis(v2,vCp0,vCapsuleAxis,vCapsuleAxis,vAxis);        
-                //vAxis = ( ( v2-vCp0 ) cross vCapsuleAxis ) cross vCapsuleAxis;
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 13)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        // Test as separating axes direction vectors between each triangle
-        // edge and each capsule's cap center
-
-        if (flags & dxTriMeshData::kVert0)
-        {
-                // first triangle vertex and first capsule point
-                //vAxis = v0 - vCp0;
-                SUBTRACT(v0,vCp0,vAxis);
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 14)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kVert1)
-        {
-                // second triangle vertex and first capsule point
-                //vAxis = v1 - vCp0;
-                SUBTRACT(v1,vCp0,vAxis);
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 15)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kVert2)
-        {
-                // third triangle vertex and first capsule point
-                //vAxis = v2 - vCp0;
-                SUBTRACT(v2,vCp0,vAxis);
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 16)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kVert0)
-        {
-                // first triangle vertex and second capsule point
-                //vAxis = v0 - vCp1;
-                SUBTRACT(v0,vCp1,vAxis);
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 17)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kVert1)
-        {
-                // second triangle vertex and second capsule point
-                //vAxis = v1 - vCp1;
-                SUBTRACT(v1,vCp1,vAxis);
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 18)) { 
-                                return FALSE; 
-                        }
-                }
-        }
-
-        if (flags & dxTriMeshData::kVert2)
-        {
-                // third triangle vertex and second capsule point
-                //vAxis = v2 - vCp1;
-                SUBTRACT(v2,vCp1,vAxis);
-                if(_length2OfVector3( vAxis ) > fEpsilon ) {
-                        if (!_cldTestAxis( v0, v1, v2, vAxis, 19)) { 
-                                return FALSE; 
-                        }
-                }       
-        }
-
-        return TRUE;
-}
-
-// test one mesh triangle on intersection with capsule
-static void _cldTestOneTriangleVSCapsule( const dVector3 &v0, 
-                                                                                        const dVector3 &v1, 
-                                                                                        const dVector3 &v2,
-                                                                                        uint8 flags)
-{
-
-        // calculate edges
-        SUBTRACT(v1,v0,vE0);
-        SUBTRACT(v2,v1,vE1);
-        SUBTRACT(v0,v2,vE2);
-
-        dVector3        _minus_vE0;
-        SUBTRACT(v0,v1,_minus_vE0);
-
-        // calculate poly normal
-        dCROSS(vN,=,vE1,_minus_vE0);
-        dNormalize3(vN);
-        
-        // create plane from triangle
-        dReal plDistance = -dDOT(v0,vN);
-        dVector4 plTrianglePlane;
-        CONSTRUCTPLANE(plTrianglePlane,vN,plDistance);
-        
-        // calculate capsule distance to plane
-        dReal fDistanceCapsuleCenterToPlane = POINTDISTANCE(plTrianglePlane,vCapsulePosition);
-
-        // Capsule must be over positive side of triangle
-        if(fDistanceCapsuleCenterToPlane < 0 /* && !bDoubleSided*/) 
-        {
-                // if not don't generate contacts
-                return;
-        }
-
-        dVector3 vPnt0;
-        SET     (vPnt0,v0);
-        dVector3 vPnt1;
-        SET     (vPnt1,v1);
-        dVector3 vPnt2;
-        SET     (vPnt2,v2);
-
-        if (fDistanceCapsuleCenterToPlane < 0 )
-        {
-                SET     (vPnt0,v0);
-                SET     (vPnt1,v2);
-                SET     (vPnt2,v1);
-        }
-
-        // do intersection test and find best separating axis
-        if(!_cldTestSeparatingAxesOfCapsule(vPnt0, vPnt1, vPnt2, flags) ) 
-        {
-                // if not found do nothing
-                return;
-        }
-
-        // if best separation axis is not found
-        if ( iBestAxis == 0 ) 
-        {
-                // this should not happen (we should already exit in that case)
-                dIASSERT(FALSE);
-                // do nothing
-                return;
-        }
-
-        // calculate caps centers in absolute space
-        dVector3 vCposTrans;
-        vCposTrans[0] = vCapsulePosition[0] + vNormal[0]*vCapsuleRadius;
-        vCposTrans[1] = vCapsulePosition[1] + vNormal[1]*vCapsuleRadius;
-        vCposTrans[2] = vCapsulePosition[2] + vNormal[2]*vCapsuleRadius;
-
-        dVector3 vCEdgePoint0;
-        vCEdgePoint0[0]  = vCposTrans[0] + vCapsuleAxis[0]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-        vCEdgePoint0[1]  = vCposTrans[1] + vCapsuleAxis[1]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-        vCEdgePoint0[2]  = vCposTrans[2] + vCapsuleAxis[2]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-    
-        dVector3 vCEdgePoint1;
-        vCEdgePoint1[0] = vCposTrans[0] - vCapsuleAxis[0]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-        vCEdgePoint1[1] = vCposTrans[1] - vCapsuleAxis[1]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-        vCEdgePoint1[2] = vCposTrans[2] - vCapsuleAxis[2]*(fCapsuleSize*REAL(0.5)-vCapsuleRadius);
-
-        // transform capsule edge points into triangle space
-        vCEdgePoint0[0] -= vPnt0[0];
-        vCEdgePoint0[1] -= vPnt0[1];
-        vCEdgePoint0[2] -= vPnt0[2];
-
-        vCEdgePoint1[0] -= vPnt0[0];
-        vCEdgePoint1[1] -= vPnt0[1];
-        vCEdgePoint1[2] -= vPnt0[2];
-
-        dVector4 plPlane;
-        dVector3 _minus_vN;
-        _minus_vN[0] = -vN[0];
-        _minus_vN[1] = -vN[1];
-        _minus_vN[2] = -vN[2];
-        // triangle plane
-        CONSTRUCTPLANE(plPlane,_minus_vN,0);
-        //plPlane = Plane4f( -vN, 0);
-
-        if(!_cldClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane )) 
-        { 
-                return; 
-        }
-
-        // plane with edge 0
-        dVector3 vTemp;
-        dCROSS(vTemp,=,vN,vE0);
-        CONSTRUCTPLANE(plPlane, vTemp, REAL(1e-5));
-        if(!_cldClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane ))
-        { 
-                return; 
-        }
-
-        dCROSS(vTemp,=,vN,vE1);
-        CONSTRUCTPLANE(plPlane, vTemp, -(dDOT(vE0,vTemp)-REAL(1e-5)));
-        if(!_cldClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane )) 
-        { 
-                return; 
-        }
-
-        dCROSS(vTemp,=,vN,vE2);
-        CONSTRUCTPLANE(plPlane, vTemp, REAL(1e-5));
-        if(!_cldClipEdgeToPlane( vCEdgePoint0, vCEdgePoint1, plPlane )) { 
-                return; 
-        }
-
-        // return capsule edge points into absolute space
-        vCEdgePoint0[0] += vPnt0[0];
-        vCEdgePoint0[1] += vPnt0[1];
-        vCEdgePoint0[2] += vPnt0[2];
-
-        vCEdgePoint1[0] += vPnt0[0];
-        vCEdgePoint1[1] += vPnt0[1];
-        vCEdgePoint1[2] += vPnt0[2];
-
-        // calculate depths for both contact points
-        SUBTRACT(vCEdgePoint0,vCapsulePosition,vTemp);
-        dReal fDepth0 = dDOT(vTemp,vNormal) - (fBestCenter-fBestrt);
-        SUBTRACT(vCEdgePoint1,vCapsulePosition,vTemp);
-        dReal fDepth1 = dDOT(vTemp,vNormal) - (fBestCenter-fBestrt);
-
-        // clamp depths to zero
-        if(fDepth0 < 0) 
-        {
-                fDepth0 = 0.0f;
-        }
-
-        if(fDepth1 < 0 ) 
-        {
-                fDepth1 = 0.0f;
-        }
-
-        // Cached contacts's data
-        // contact 0
-    dIASSERT(ctContacts < (iFlags & NUMC_MASK)); // Do not call function if there is no room to store result
-        gLocalContacts[ctContacts].fDepth = fDepth0;
-        SET(gLocalContacts[ctContacts].vNormal,vNormal);
-        SET(gLocalContacts[ctContacts].vPos,vCEdgePoint0);
-        gLocalContacts[ctContacts].nFlags = 1;
-        ctContacts++;
-
-        if (ctContacts < (iFlags & NUMC_MASK)) {
-        // contact 1
-        gLocalContacts[ctContacts].fDepth = fDepth1;
-        SET(gLocalContacts[ctContacts].vNormal,vNormal);
-        SET(gLocalContacts[ctContacts].vPos,vCEdgePoint1);
-        gLocalContacts[ctContacts].nFlags = 1;
-        ctContacts++;
-        }
-
-}
-
-// capsule - trimesh by CroTeam
-// Ported by Nguyem Binh
-int dCollideCCTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dTriMeshClass);
-        dIASSERT (o2->type == dCapsuleClass);
-        dIASSERT ((flags & NUMC_MASK) >= 1);
-        
-        dxTriMesh* TriMesh = (dxTriMesh*)o1;
-        gCylinder = o2;
-        gTriMesh = o1;
-
-        const dMatrix3* pRot = (const dMatrix3*) dGeomGetRotation(gCylinder);
-        memcpy(mCapsuleRotation,pRot,sizeof(dMatrix3));
-
-        const dVector3* pDst = (const dVector3*)dGeomGetPosition(gCylinder);
-        memcpy(vCapsulePosition,pDst,sizeof(dVector3));
-
-        vCapsuleAxis[0] = mCapsuleRotation[0*4 + nCAPSULE_AXIS]; 
-        vCapsuleAxis[1] = mCapsuleRotation[1*4 + nCAPSULE_AXIS];
-        vCapsuleAxis[2] = mCapsuleRotation[2*4 + nCAPSULE_AXIS];
-
-        // Get size of Capsule
-        dGeomCapsuleGetParams(gCylinder,&vCapsuleRadius,&fCapsuleSize);
-        fCapsuleSize += 2*vCapsuleRadius;
-
-        const dMatrix3* pTriRot = (const dMatrix3*)dGeomGetRotation(TriMesh);
-        memcpy(mTriMeshRot,pTriRot,sizeof(dMatrix3));
-
-        const dVector3* pTriPos = (const dVector3*)dGeomGetPosition(TriMesh);
-        memcpy(mTriMeshPos,pTriPos,sizeof(dVector3));   
-
-        // global info for contact creation
-        iStride                 =skip;
-        iFlags                  =flags;
-        ContactGeoms    =contact;
-
-        // reset contact counter
-        ctContacts = 0; 
-
-        // reset best depth
-        fBestDepth  = - MAX_REAL;
-        fBestCenter = 0;
-        fBestrt     = 0;
-
-
-
-
-        // reset collision normal
-        vNormal[0] = REAL(0.0);
-        vNormal[1] = REAL(0.0);
-        vNormal[2] = REAL(0.0);
-
-        // Will it better to use LSS here? -> confirm Pierre.
-         OBBCollider& Collider = TriMesh->_OBBCollider;
-
-         // It is a potential issue to explicitly cast to float 
-         // if custom width floating point type is introduced in OPCODE.
-         // It is necessary to make a typedef and cast to it
-         // (e.g. typedef float opc_float;)
-         // However I'm not sure in what header it should be added.
-         
-         Point cCenter(/*(float)*/ vCapsulePosition[0], /*(float)*/ vCapsulePosition[1], /*(float)*/ vCapsulePosition[2]);
-         Point cExtents(/*(float)*/ vCapsuleRadius, /*(float)*/ vCapsuleRadius,/*(float)*/ fCapsuleSize/2);
-         
-         Matrix3x3 obbRot;
-
-         obbRot[0][0] = /*(float)*/ mCapsuleRotation[0];
-         obbRot[1][0] = /*(float)*/ mCapsuleRotation[1];
-         obbRot[2][0] = /*(float)*/ mCapsuleRotation[2];
-
-         obbRot[0][1] = /*(float)*/ mCapsuleRotation[4];
-         obbRot[1][1] = /*(float)*/ mCapsuleRotation[5];
-         obbRot[2][1] = /*(float)*/ mCapsuleRotation[6];
-
-         obbRot[0][2] = /*(float)*/ mCapsuleRotation[8];
-         obbRot[1][2] = /*(float)*/ mCapsuleRotation[9];
-         obbRot[2][2] = /*(float)*/ mCapsuleRotation[10];
-
-         OBB obbCapsule(cCenter,cExtents,obbRot);
-
-         Matrix4x4 CapsuleMatrix;
-         MakeMatrix(vCapsulePosition, mCapsuleRotation, CapsuleMatrix);
-
-         Matrix4x4 MeshMatrix;
-         MakeMatrix(mTriMeshPos, mTriMeshRot, MeshMatrix);
-
-         // TC results
-         if (TriMesh->doBoxTC) {
-                 dxTriMesh::BoxTC* BoxTC = 0;
-                 for (int i = 0; i < TriMesh->BoxTCCache.size(); i++){
-                         if (TriMesh->BoxTCCache[i].Geom == gCylinder){
-                                 BoxTC = &TriMesh->BoxTCCache[i];
-                                 break;
-                         }
-                 }
-                 if (!BoxTC){
-                         TriMesh->BoxTCCache.push(dxTriMesh::BoxTC());
-
-                         BoxTC = &TriMesh->BoxTCCache[TriMesh->BoxTCCache.size() - 1];
-                         BoxTC->Geom = gCylinder;
-                         BoxTC->FatCoeff = 1.0f;
-                 }
-
-                 // Intersect
-                 Collider.SetTemporalCoherence(true);
-                 Collider.Collide(*BoxTC, obbCapsule, TriMesh->Data->BVTree, null, &MeshMatrix);
-         }
-         else {
-                 Collider.SetTemporalCoherence(false);
-                 Collider.Collide(dxTriMesh::defaultBoxCache, obbCapsule, TriMesh->Data->BVTree, null,&MeshMatrix);
-         }
-         
-         if (! Collider.GetContactStatus()) {
-                // no collision occurred
-                return 0;
-         }
-
-         // Retrieve data
-         int TriCount = Collider.GetNbTouchedPrimitives();
-         const int* Triangles = (const int*)Collider.GetTouchedPrimitives();
-
-         if (TriCount != 0)
-         {
-                 if (TriMesh->ArrayCallback != null)
-                 {
-                         TriMesh->ArrayCallback(TriMesh, gCylinder, Triangles, TriCount);
-                 }
-
-                // allocate buffer for local contacts on stack
-                gLocalContacts = (sLocalContactData*)dALLOCA16(sizeof(sLocalContactData)*(iFlags & NUMC_MASK));
-
-            unsigned int ctContacts0 = ctContacts;
-
-                uint8* UseFlags = TriMesh->Data->UseFlags;
-
-                // loop through all intersecting triangles
-                for (int i = 0; i < TriCount; i++)
-                {
-                        const int Triint = Triangles[i];
-                        if (!Callback(TriMesh, gCylinder, Triint)) continue;
-
-
-                        dVector3 dv[3];
-                        FetchTriangle(TriMesh, Triint, mTriMeshPos, mTriMeshRot, dv);
-
-                        uint8 flags = UseFlags ? UseFlags[Triint] : dxTriMeshData::kUseAll;
-
-                        // test this triangle
-                        _cldTestOneTriangleVSCapsule(dv[0],dv[1],dv[2], flags);
-                        
-                        // fill-in tri index for generated contacts
-                        for (; ctContacts0<ctContacts; ctContacts0++)
-                                gLocalContacts[ctContacts0].triIndex = Triint;
-
-                        // Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
-                        if(ctContacts>=(iFlags & NUMC_MASK)) 
-                        {
-                                break;
-                        }
-                        
-                }
-         }
-
-        return _ProcessLocalContacts();
-}
-#endif
-
-// GIMPACT version
-#if dTRIMESH_GIMPACT
-#define nCAPSULE_AXIS 2
-// capsule - trimesh  By francisco leon
-int dCollideCCTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));
-        dIASSERT (o1->type == dTriMeshClass);
-        dIASSERT (o2->type == dCapsuleClass);
-        dIASSERT ((flags & NUMC_MASK) >= 1);
-        
-        dxTriMesh* TriMesh = (dxTriMesh*)o1;
-        dxGeom*    gCylinder = o2;
-
-    //Get capsule params
-    dMatrix3  mCapsuleRotation;
-    dVector3   vCapsulePosition;
-    dVector3   vCapsuleAxis;
-    dReal      vCapsuleRadius;
-    dReal      fCapsuleSize;
-    dMatrix3* pRot = (dMatrix3*) dGeomGetRotation(gCylinder);
-        memcpy(mCapsuleRotation,pRot,sizeof(dMatrix3));
-        dVector3* pDst = (dVector3*)dGeomGetPosition(gCylinder);
-        memcpy(vCapsulePosition,pDst,sizeof(dVector3));
-        //Axis
-        vCapsuleAxis[0] = mCapsuleRotation[0*4 + nCAPSULE_AXIS];
-        vCapsuleAxis[1] = mCapsuleRotation[1*4 + nCAPSULE_AXIS];
-        vCapsuleAxis[2] = mCapsuleRotation[2*4 + nCAPSULE_AXIS];
-        // Get size of CCylinder
-        dGeomCCylinderGetParams(gCylinder,&vCapsuleRadius,&fCapsuleSize);
-        fCapsuleSize*=0.5f;
-        //Set Capsule params
-        GIM_CAPSULE_DATA capsule;
-
-        capsule.m_radius = vCapsuleRadius;
-        VEC_SCALE(capsule.m_point1,fCapsuleSize,vCapsuleAxis);
-        VEC_SUM(capsule.m_point1,vCapsulePosition,capsule.m_point1);
-        VEC_SCALE(capsule.m_point2,-fCapsuleSize,vCapsuleAxis);
-        VEC_SUM(capsule.m_point2,vCapsulePosition,capsule.m_point2);
-
-
-//Create contact list
-    GDYNAMIC_ARRAY trimeshcontacts;
-    GIM_CREATE_CONTACT_LIST(trimeshcontacts);
-
-    //Collide trimeshe vs capsule
-    gim_trimesh_capsule_collision(&TriMesh->m_collision_trimesh,&capsule,&trimeshcontacts);
-
-
-    if(trimeshcontacts.m_size == 0)
-    {
-        GIM_DYNARRAY_DESTROY(trimeshcontacts);
-        return 0;
-    }
-
-    GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);
-
-        unsigned contactcount = trimeshcontacts.m_size;
-        unsigned contactmax = (unsigned)(flags & NUMC_MASK);
-        if (contactcount > contactmax)
-        {
-                contactcount = contactmax;
-        }
-
-    dContactGeom* pcontact;
-        unsigned i;
-
-        for (i=0;i<contactcount;i++)
-        {
-        pcontact = SAFECONTACT(flags, contact, i, skip);
-
-        pcontact->pos[0] = ptrimeshcontacts->m_point[0];
-        pcontact->pos[1] = ptrimeshcontacts->m_point[1];
-        pcontact->pos[2] = ptrimeshcontacts->m_point[2];
-        pcontact->pos[3] = 1.0f;
-
-        pcontact->normal[0] = ptrimeshcontacts->m_normal[0];
-        pcontact->normal[1] = ptrimeshcontacts->m_normal[1];
-        pcontact->normal[2] = ptrimeshcontacts->m_normal[2];
-        pcontact->normal[3] = 0;
-
-        pcontact->depth = ptrimeshcontacts->m_depth;
-        pcontact->g1 = TriMesh;
-        pcontact->g2 = gCylinder;
-
-        ptrimeshcontacts++;
-        }
-
-        GIM_DYNARRAY_DESTROY(trimeshcontacts);
-
-    return (int)contactcount;
-}
-#endif
-
-#endif // dTRIMESH_ENABLED
diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_distance.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_distance.cpp
deleted file mode 100644
index 717c763..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_distance.cpp
+++ /dev/null
@@ -1,1255 +0,0 @@
-// This file contains some code based on the code from Magic Software.
-// That code is available under a Free Source License Agreement
-// that can be found at http://www.magic-software.com/License/free.pdf
- 
-#include <ode/common.h>
-#include <ode/odemath.h>
-#include <ode/collision.h>
-#define TRIMESH_INTERNAL
-#include "collision_trimesh_internal.h"
-
-//------------------------------------------------------------------------------
-/**
-  @brief Finds the shortest distance squared between a point and a triangle.
-  
-  @param pfSParam  Barycentric coordinate of triangle at point closest to p (u)
-  @param pfTParam  Barycentric coordinate of triangle at point closest to p (v)
-  @return Shortest distance squared.
-  
-  The third Barycentric coordinate is implicit, ie. w = 1.0 - u - v
-  
-  Taken from:
-  Magic Software, Inc.
-  http://www.magic-software.com
-*/
-dReal SqrDistancePointTri( const dVector3 p, const dVector3 triOrigin, 
-                           const dVector3 triEdge0, const dVector3 triEdge1,
-                           dReal* pfSParam, dReal* pfTParam )
-{
-  dVector3 kDiff;
-  Vector3Subtract( triOrigin, p, kDiff );
-  dReal fA00 = dDOT( triEdge0, triEdge0 );
-  dReal fA01 = dDOT( triEdge0, triEdge1 );
-  dReal fA11 = dDOT( triEdge1, triEdge1 );
-  dReal fB0 = dDOT( kDiff, triEdge0 );
-  dReal fB1 = dDOT( kDiff, triEdge1 );
-  dReal fC = dDOT( kDiff, kDiff );
-  dReal fDet = dReal(fabs(fA00*fA11-fA01*fA01));
-  dReal fS = fA01*fB1-fA11*fB0;
-  dReal fT = fA01*fB0-fA00*fB1;
-  dReal fSqrDist;
-
-  if ( fS + fT <= fDet )
-  {
-    if ( fS < REAL(0.0) )
-    {
-      if ( fT < REAL(0.0) )  // region 4
-      {
-        if ( fB0 < REAL(0.0) )
-        {
-          fT = REAL(0.0);
-          if ( -fB0 >= fA00 )
-          {
-            fS = REAL(1.0);
-            fSqrDist = fA00+REAL(2.0)*fB0+fC;
-          }
-          else
-          {
-            fS = -fB0/fA00;
-            fSqrDist = fB0*fS+fC;
-          }
-        }
-        else
-        {
-          fS = REAL(0.0);
-          if ( fB1 >= REAL(0.0) )
-          {
-            fT = REAL(0.0);
-            fSqrDist = fC;
-          }
-          else if ( -fB1 >= fA11 )
-          {
-            fT = REAL(1.0);
-            fSqrDist = fA11+REAL(2.0)*fB1+fC;
-          }
-          else
-          {
-            fT = -fB1/fA11;
-            fSqrDist = fB1*fT+fC;
-          }
-        }
-      }
-      else  // region 3
-      {
-        fS = REAL(0.0);
-        if ( fB1 >= REAL(0.0) )
-        {
-          fT = REAL(0.0);
-          fSqrDist = fC;
-        }
-        else if ( -fB1 >= fA11 )
-        {
-          fT = REAL(1.0);
-          fSqrDist = fA11+REAL(2.0)*fB1+fC;
-        }
-        else
-        {
-          fT = -fB1/fA11;
-          fSqrDist = fB1*fT+fC;
-        }
-      }
-    }
-    else if ( fT < REAL(0.0) )  // region 5
-    {
-      fT = REAL(0.0);
-      if ( fB0 >= REAL(0.0) )
-      {
-        fS = REAL(0.0);
-        fSqrDist = fC;
-      }
-      else if ( -fB0 >= fA00 )
-      {
-        fS = REAL(1.0);
-        fSqrDist = fA00+REAL(2.0)*fB0+fC;
-      }
-      else
-      {
-        fS = -fB0/fA00;
-        fSqrDist = fB0*fS+fC;
-      }
-    }
-    else  // region 0
-    {
-      // minimum at interior point
-      if ( fDet == REAL(0.0) )
-      {
-        fS = REAL(0.0);
-        fT = REAL(0.0);
-        fSqrDist = dInfinity;
-      } 
-      else
-      {
-        dReal fInvDet = REAL(1.0)/fDet;
-        fS *= fInvDet;
-        fT *= fInvDet;
-        fSqrDist = fS*(fA00*fS+fA01*fT+REAL(2.0)*fB0) +
-                   fT*(fA01*fS+fA11*fT+REAL(2.0)*fB1)+fC;
-      }
-    }
-  }
-  else
-  {
-    dReal fTmp0, fTmp1, fNumer, fDenom;
-
-    if ( fS < REAL(0.0) )  // region 2
-    {
-      fTmp0 = fA01 + fB0;
-      fTmp1 = fA11 + fB1;
-      if ( fTmp1 > fTmp0 )
-      {
-        fNumer = fTmp1 - fTmp0;
-        fDenom = fA00-REAL(2.0)*fA01+fA11;
-        if ( fNumer >= fDenom )
-        {
-          fS = REAL(1.0);
-          fT = REAL(0.0);
-          fSqrDist = fA00+REAL(2.0)*fB0+fC;
-        }
-        else
-        {
-          fS = fNumer/fDenom;
-          fT = REAL(1.0) - fS;
-          fSqrDist = fS*(fA00*fS+fA01*fT+REAL(2.0)*fB0) +
-                     fT*(fA01*fS+fA11*fT+REAL(2.0)*fB1)+fC;
-        }
-      }
-      else
-      {
-        fS = REAL(0.0);
-        if ( fTmp1 <= REAL(0.0) )
-        {
-          fT = REAL(1.0);
-          fSqrDist = fA11+REAL(2.0)*fB1+fC;
-        }
-        else if ( fB1 >= REAL(0.0) )
-        {
-          fT = REAL(0.0);
-          fSqrDist = fC;
-        }
-        else
-        {
-          fT = -fB1/fA11;
-          fSqrDist = fB1*fT+fC;
-        }
-      }
-    }
-    else if ( fT < REAL(0.0) )  // region 6
-    {
-      fTmp0 = fA01 + fB1;
-      fTmp1 = fA00 + fB0;
-      if ( fTmp1 > fTmp0 )
-      {
-        fNumer = fTmp1 - fTmp0;
-        fDenom = fA00-REAL(2.0)*fA01+fA11;
-        if ( fNumer >= fDenom )
-        {
-          fT = REAL(1.0);
-          fS = REAL(0.0);
-          fSqrDist = fA11+REAL(2.0)*fB1+fC;
-        }
-        else
-        {
-          fT = fNumer/fDenom;
-          fS = REAL(1.0) - fT;
-          fSqrDist = fS*(fA00*fS+fA01*fT+REAL(2.0)*fB0) +
-                     fT*(fA01*fS+fA11*fT+REAL(2.0)*fB1)+fC;
-        }
-      }
-      else
-      {
-        fT = REAL(0.0);
-        if ( fTmp1 <= REAL(0.0) )
-        {
-          fS = REAL(1.0);
-          fSqrDist = fA00+REAL(2.0)*fB0+fC;
-        }
-        else if ( fB0 >= REAL(0.0) )
-        {
-          fS = REAL(0.0);
-          fSqrDist = fC;
-        }
-        else
-        {
-          fS = -fB0/fA00;
-          fSqrDist = fB0*fS+fC;
-        }
-      }
-    }
-    else  // region 1
-    {
-      fNumer = fA11 + fB1 - fA01 - fB0;
-      if ( fNumer <= REAL(0.0) )
-      {
-        fS = REAL(0.0);
-        fT = REAL(1.0);
-        fSqrDist = fA11+REAL(2.0)*fB1+fC;
-      }
-      else
-      {
-        fDenom = fA00-REAL(2.0)*fA01+fA11;
-        if ( fNumer >= fDenom )
-        {
-          fS = REAL(1.0);
-          fT = REAL(0.0);
-          fSqrDist = fA00+REAL(2.0)*fB0+fC;
-        }
-        else
-        {
-          fS = fNumer/fDenom;
-          fT = REAL(1.0) - fS;
-          fSqrDist = fS*(fA00*fS+fA01*fT+REAL(2.0)*fB0) +
-                     fT*(fA01*fS+fA11*fT+REAL(2.0)*fB1)+fC;
-        }
-      }
-    }
-  }
-
-  if ( pfSParam )
-      *pfSParam = (float)fS;
-
-  if ( pfTParam )
-      *pfTParam = (float)fT;
-
-  return dReal(fabs(fSqrDist));
-}
-
-//------------------------------------------------------------------------------
-/**
-  @brief Finds the shortest distance squared between two line segments.
-  @param pfSegP0  t value for seg1 where the shortest distance between
-                  the segments exists.
-  @param pfSegP0  t value for seg2 where the shortest distance between
-                  the segments exists.
-  @return Shortest distance squared.
-  
-  Taken from:
-  Magic Software, Inc.
-  http://www.magic-software.com
-*/
-dReal SqrDistanceSegments( const dVector3 seg1Origin, const dVector3 seg1Direction, 
-                           const dVector3 seg2Origin, const dVector3 seg2Direction,
-                           dReal* pfSegP0, dReal* pfSegP1 )
-{
-  const dReal gs_fTolerance = 1e-05f;
-  dVector3 kDiff, kNegDiff, seg1NegDirection;
-  Vector3Subtract( seg1Origin, seg2Origin, kDiff );
-  Vector3Negate( kDiff, kNegDiff );
-  dReal fA00 = dDOT( seg1Direction, seg1Direction );
-  Vector3Negate( seg1Direction, seg1NegDirection );
-  dReal fA01 = dDOT( seg1NegDirection, seg2Direction );
-  dReal fA11 = dDOT( seg2Direction, seg2Direction );
-  dReal fB0 = dDOT( kDiff, seg1Direction );
-  dReal fC = dDOT( kDiff, kDiff );
-  dReal fDet = dReal(fabs(fA00*fA11-fA01*fA01));
-  dReal fB1, fS, fT, fSqrDist, fTmp;
-
-  if ( fDet >= gs_fTolerance )
-  {
-    // line segments are not parallel
-    fB1 = dDOT( kNegDiff, seg2Direction );
-    fS = fA01*fB1-fA11*fB0;
-    fT = fA01*fB0-fA00*fB1;
-        
-    if ( fS >= REAL(0.0) )
-    {
-      if ( fS <= fDet )
-      {
-        if ( fT >= REAL(0.0) )
-        {
-          if ( fT <= fDet )  // region 0 (interior)
-          {
-            // minimum at two interior points of 3D lines
-            dReal fInvDet = REAL(1.0)/fDet;
-            fS *= fInvDet;
-            fT *= fInvDet;
-            fSqrDist = fS*(fA00*fS+fA01*fT+REAL(2.0)*fB0) +
-                       fT*(fA01*fS+fA11*fT+REAL(2.0)*fB1)+fC;
-          }
-          else  // region 3 (side)
-          {
-            fT = REAL(1.0);
-            fTmp = fA01+fB0;
-            if ( fTmp >= REAL(0.0) )
-            {
-              fS = REAL(0.0);
-              fSqrDist = fA11+REAL(2.0)*fB1+fC;
-            }
-            else if ( -fTmp >= fA00 )
-            {
-              fS = REAL(1.0);
-              fSqrDist = fA00+fA11+fC+REAL(2.0)*(fB1+fTmp);
-            }
-            else
-            {
-              fS = -fTmp/fA00;
-              fSqrDist = fTmp*fS+fA11+REAL(2.0)*fB1+fC;
-            }
-          }
-        }
-        else  // region 7 (side)
-        {
-          fT = REAL(0.0);
-          if ( fB0 >= REAL(0.0) )
-          {
-            fS = REAL(0.0);
-            fSqrDist = fC;
-          }
-          else if ( -fB0 >= fA00 )
-          {
-            fS = REAL(1.0);
-            fSqrDist = fA00+REAL(2.0)*fB0+fC;
-          }
-          else
-          {
-            fS = -fB0/fA00;
-            fSqrDist = fB0*fS+fC;
-          }
-        }
-      }
-      else
-      {
-        if ( fT >= REAL(0.0) )
-        {
-          if ( fT <= fDet )  // region 1 (side)
-          {
-            fS = REAL(1.0);
-            fTmp = fA01+fB1;
-            if ( fTmp >= REAL(0.0) )
-            {
-              fT = REAL(0.0);
-              fSqrDist = fA00+REAL(2.0)*fB0+fC;
-            }
-            else if ( -fTmp >= fA11 )
-            {
-              fT = REAL(1.0);
-              fSqrDist = fA00+fA11+fC+REAL(2.0)*(fB0+fTmp);
-            }
-            else
-            {
-              fT = -fTmp/fA11;
-              fSqrDist = fTmp*fT+fA00+REAL(2.0)*fB0+fC;
-            }
-          }
-          else  // region 2 (corner)
-          {
-            fTmp = fA01+fB0;
-            if ( -fTmp <= fA00 )
-            {
-              fT = REAL(1.0);
-              if ( fTmp >= REAL(0.0) )
-              {
-                fS = REAL(0.0);
-                fSqrDist = fA11+REAL(2.0)*fB1+fC;
-              }
-              else
-              {
-                fS = -fTmp/fA00;
-                fSqrDist = fTmp*fS+fA11+REAL(2.0)*fB1+fC;
-              }
-            }
-            else
-            {
-              fS = REAL(1.0);
-              fTmp = fA01+fB1;
-              if ( fTmp >= REAL(0.0) )
-              {
-                fT = REAL(0.0);
-                fSqrDist = fA00+REAL(2.0)*fB0+fC;
-              }
-              else if ( -fTmp >= fA11 )
-              {
-                fT = REAL(1.0);
-                fSqrDist = fA00+fA11+fC+REAL(2.0)*(fB0+fTmp);
-              }
-              else
-              {
-                fT = -fTmp/fA11;
-                fSqrDist = fTmp*fT+fA00+REAL(2.0)*fB0+fC;
-              }
-            }
-          }
-        }
-        else  // region 8 (corner)
-        {
-          if ( -fB0 < fA00 )
-          { 
-            fT = REAL(0.0);
-            if ( fB0 >= REAL(0.0) )
-            {
-              fS = REAL(0.0);
-              fSqrDist = fC;
-            }
-            else
-            {
-              fS = -fB0/fA00;
-              fSqrDist = fB0*fS+fC;
-            }
-          }
-          else
-          {
-            fS = REAL(1.0);
-            fTmp = fA01+fB1;
-            if ( fTmp >= REAL(0.0) )
-            {
-              fT = REAL(0.0);
-              fSqrDist = fA00+REAL(2.0)*fB0+fC;
-            }
-            else if ( -fTmp >= fA11 )
-            {
-              fT = REAL(1.0);
-              fSqrDist = fA00+fA11+fC+REAL(2.0)*(fB0+fTmp);
-            }
-            else
-            {
-              fT = -fTmp/fA11;
-              fSqrDist = fTmp*fT+fA00+REAL(2.0)*fB0+fC;
-            }
-          }
-        }
-      }
-    }
-    else 
-    {
-      if ( fT >= REAL(0.0) )
-      {
-        if ( fT <= fDet )  // region 5 (side)
-        {
-          fS = REAL(0.0);
-          if ( fB1 >= REAL(0.0) )
-          {
-            fT = REAL(0.0);
-            fSqrDist = fC;
-          }
-          else if ( -fB1 >= fA11 )
-          {
-            fT = REAL(1.0);
-            fSqrDist = fA11+REAL(2.0)*fB1+fC;
-          }
-          else
-          {
-            fT = -fB1/fA11;
-            fSqrDist = fB1*fT+fC;
-          }
-        }
-        else  // region 4 (corner)
-        {
-          fTmp = fA01+fB0;
-          if ( fTmp < REAL(0.0) )
-          {
-            fT = REAL(1.0);
-            if ( -fTmp >= fA00 )
-            {
-              fS = REAL(1.0);
-              fSqrDist = fA00+fA11+fC+REAL(2.0)*(fB1+fTmp);
-            }
-            else
-            {
-              fS = -fTmp/fA00;
-              fSqrDist = fTmp*fS+fA11+REAL(2.0)*fB1+fC;
-            }
-          }
-          else
-          {
-            fS = REAL(0.0);
-            if ( fB1 >= REAL(0.0) )
-            {
-              fT = REAL(0.0);
-              fSqrDist = fC;
-            }
-            else if ( -fB1 >= fA11 )
-            {
-              fT = REAL(1.0);
-              fSqrDist = fA11+REAL(2.0)*fB1+fC;
-            }
-            else
-            {
-              fT = -fB1/fA11;
-              fSqrDist = fB1*fT+fC;
-            }
-          }
-        }
-      }
-      else   // region 6 (corner)
-      {
-        if ( fB0 < REAL(0.0) )
-        {
-          fT = REAL(0.0);
-          if ( -fB0 >= fA00 )
-          {
-            fS = REAL(1.0);
-            fSqrDist = fA00+REAL(2.0)*fB0+fC;
-          }
-          else
-          {
-            fS = -fB0/fA00;
-            fSqrDist = fB0*fS+fC;
-          }
-        }
-        else
-        {
-          fS = REAL(0.0);
-          if ( fB1 >= REAL(0.0) )
-          {
-            fT = REAL(0.0);
-            fSqrDist = fC;
-          }
-          else if ( -fB1 >= fA11 )
-          {
-            fT = REAL(1.0);
-            fSqrDist = fA11+REAL(2.0)*fB1+fC;
-          }
-          else
-          {
-            fT = -fB1/fA11;
-            fSqrDist = fB1*fT+fC;
-          }
-        }
-      }
-    }
-  }
-  else
-  {
-    // line segments are parallel
-    if ( fA01 > REAL(0.0) )
-    {
-      // direction vectors form an obtuse angle
-      if ( fB0 >= REAL(0.0) )
-      {
-        fS = REAL(0.0);
-        fT = REAL(0.0);
-        fSqrDist = fC;
-      }
-      else if ( -fB0 <= fA00 )
-      {
-        fS = -fB0/fA00;
-        fT = REAL(0.0);
-        fSqrDist = fB0*fS+fC;
-      }
-      else
-      {
-        //fB1 = -kDiff % seg2.m;
-        fB1 = dDOT( kNegDiff, seg2Direction );
-        fS = REAL(1.0);
-        fTmp = fA00+fB0;
-        if ( -fTmp >= fA01 )
-        {
-          fT = REAL(1.0);
-          fSqrDist = fA00+fA11+fC+REAL(2.0)*(fA01+fB0+fB1);
-        }
-        else
-        {
-          fT = -fTmp/fA01;
-          fSqrDist = fA00+REAL(2.0)*fB0+fC+fT*(fA11*fT+REAL(2.0)*(fA01+fB1));
-        }
-      }
-    }
-    else
-    {
-      // direction vectors form an acute angle
-      if ( -fB0 >= fA00 )
-      {
-        fS = REAL(1.0);
-        fT = REAL(0.0);
-        fSqrDist = fA00+REAL(2.0)*fB0+fC;
-      }
-      else if ( fB0 <= REAL(0.0) )
-      {
-        fS = -fB0/fA00;
-        fT = REAL(0.0);
-        fSqrDist = fB0*fS+fC;
-      }
-      else
-      {
-        fB1 = dDOT( kNegDiff, seg2Direction );
-        fS = REAL(0.0);
-        if ( fB0 >= -fA01 )
-        {
-          fT = REAL(1.0);
-          fSqrDist = fA11+REAL(2.0)*fB1+fC;
-        }
-        else
-        {
-          fT = -fB0/fA01;
-          fSqrDist = fC+fT*(REAL(2.0)*fB1+fA11*fT);
-        }
-      }
-    }
-  }
-    
-  if ( pfSegP0 )
-    *pfSegP0 = fS;
-  
-  if ( pfSegP1 )
-    *pfSegP1 = fT;
-    
-  return dReal(fabs(fSqrDist));
-}
-
-//------------------------------------------------------------------------------
-/**
-  @brief Finds the shortest distance squared between a line segment and 
-         a triangle.
-         
-  @param pfSegP   t value for the line segment where the shortest distance between
-                  the segment and the triangle occurs.
-                  So the point along the segment that is the shortest distance
-                  away from the triangle can be obtained by (seg.end - seg.start) * t.
-  @param pfTriP0  Barycentric coordinate of triangle at point closest to seg (u)
-  @param pfTriP1  Barycentric coordinate of triangle at point closest to seg (v)
-  @return Shortest distance squared.
-  
-  The third Barycentric coordinate is implicit, ie. w = 1.0 - u - v
-         
-  Taken from:
-  Magic Software, Inc.
-  http://www.magic-software.com
-*/
-dReal SqrDistanceSegTri( const dVector3 segOrigin, const dVector3 segEnd, 
-                         const dVector3 triOrigin, 
-                         const dVector3 triEdge0, const dVector3 triEdge1,
-                         dReal* pfSegP, dReal* pfTriP0, dReal* pfTriP1 )
-{
-  const dReal gs_fTolerance = 1e-06f;
-  dVector3 segDirection, segNegDirection, kDiff, kNegDiff;
-  Vector3Subtract( segEnd, segOrigin, segDirection );
-  Vector3Negate( segDirection, segNegDirection );
-  Vector3Subtract( triOrigin, segOrigin, kDiff );
-  Vector3Negate( kDiff, kNegDiff );
-  dReal fA00 = dDOT( segDirection, segDirection );
-  dReal fA01 = dDOT( segNegDirection, triEdge0 );
-  dReal fA02 = dDOT( segNegDirection, triEdge1 );
-  dReal fA11 = dDOT( triEdge0, triEdge0 );
-  dReal fA12 = dDOT( triEdge0, triEdge1 );
-  dReal fA22 = dDOT( triEdge1, triEdge1 );
-  dReal fB0  = dDOT( kNegDiff, segDirection );
-  dReal fB1  = dDOT( kDiff, triEdge0 );
-  dReal fB2  = dDOT( kDiff, triEdge1 );
-
-  dVector3 kTriSegOrigin, kTriSegDirection, kPt;
-  dReal fSqrDist, fSqrDist0, fR, fS, fT, fR0, fS0, fT0;
-
-  // Set up for a relative error test on the angle between ray direction
-  // and triangle normal to determine parallel/nonparallel status.
-  dVector3 kN;
-  dCROSS( kN, =, triEdge0, triEdge1 );
-  dReal fNSqrLen = dDOT( kN, kN );
-  dReal fDot = dDOT( segDirection, kN );
-  bool bNotParallel = (fDot*fDot >= gs_fTolerance*fA00*fNSqrLen);
-
-  if ( bNotParallel )
-  {
-    dReal fCof00 = fA11*fA22-fA12*fA12;
-    dReal fCof01 = fA02*fA12-fA01*fA22;
-    dReal fCof02 = fA01*fA12-fA02*fA11;
-    dReal fCof11 = fA00*fA22-fA02*fA02;
-    dReal fCof12 = fA02*fA01-fA00*fA12;
-    dReal fCof22 = fA00*fA11-fA01*fA01;
-    dReal fInvDet = REAL(1.0)/(fA00*fCof00+fA01*fCof01+fA02*fCof02);
-    dReal fRhs0 = -fB0*fInvDet;
-    dReal fRhs1 = -fB1*fInvDet;
-    dReal fRhs2 = -fB2*fInvDet;
-
-    fR = fCof00*fRhs0+fCof01*fRhs1+fCof02*fRhs2;
-    fS = fCof01*fRhs0+fCof11*fRhs1+fCof12*fRhs2;
-    fT = fCof02*fRhs0+fCof12*fRhs1+fCof22*fRhs2;
-
-    if ( fR < REAL(0.0) )
-    {
-      if ( fS+fT <= REAL(1.0) )
-      {
-        if ( fS < REAL(0.0) )
-        {
-          if ( fT < REAL(0.0) )  // region 4m
-          {
-            // min on face s=0 or t=0 or r=0
-            Vector3Copy( triOrigin, kTriSegOrigin );
-            Vector3Copy( triEdge1, kTriSegDirection );
-            fSqrDist = SqrDistanceSegments( segOrigin, segDirection, 
-                                            kTriSegOrigin, kTriSegDirection, 
-                                            &fR, &fT );
-            fS = REAL(0.0);
-            Vector3Copy( triOrigin, kTriSegOrigin );
-            Vector3Copy( triEdge0, kTriSegDirection );
-            fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection, 
-                                             kTriSegOrigin, kTriSegDirection, 
-                                             &fR0, &fS0 );
-            fT0 = REAL(0.0);
-            if ( fSqrDist0 < fSqrDist )
-            {
-              fSqrDist = fSqrDist0;
-              fR = fR0;
-              fS = fS0;
-              fT = fT0;
-            }
-            fSqrDist0 = SqrDistancePointTri( segOrigin, triOrigin, triEdge0, triEdge1, 
-                                             &fS0, &fT0 );
-            fR0 = REAL(0.0);
-            if ( fSqrDist0 < fSqrDist )
-            {
-              fSqrDist = fSqrDist0;
-              fR = fR0;
-              fS = fS0;
-              fT = fT0;
-            }
-          }
-          else  // region 3m
-          {
-            // min on face s=0 or r=0
-            Vector3Copy( triOrigin, kTriSegOrigin );
-            Vector3Copy( triEdge1, kTriSegDirection );
-            fSqrDist = SqrDistanceSegments( segOrigin, segDirection, 
-                                            kTriSegOrigin, kTriSegDirection,
-                                            &fR,&fT );
-            fS = REAL(0.0);
-            fSqrDist0 = SqrDistancePointTri( segOrigin, triOrigin, triEdge0, triEdge1,
-                                             &fS0, &fT0 );
-            fR0 = REAL(0.0);
-            if ( fSqrDist0 < fSqrDist )
-            {
-              fSqrDist = fSqrDist0;
-              fR = fR0;
-              fS = fS0;
-              fT = fT0;
-            }
-          }
-        }
-        else if ( fT < REAL(0.0) )  // region 5m
-        {
-          // min on face t=0 or r=0
-          Vector3Copy( triOrigin, kTriSegOrigin );
-          Vector3Copy( triEdge0, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection, 
-                                          kTriSegOrigin, kTriSegDirection, 
-                                          &fR, &fS );
-          fT = REAL(0.0);
-          fSqrDist0 = SqrDistancePointTri( segOrigin, triOrigin, triEdge0, triEdge1,
-                                           &fS0, &fT0 );
-          fR0 = REAL(0.0);
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-        else  // region 0m
-        {
-          // min on face r=0
-          fSqrDist = SqrDistancePointTri( segOrigin, triOrigin, triEdge0, triEdge1, 
-                                          &fS, &fT );
-          fR = REAL(0.0);
-        }
-      }
-      else
-      {
-        if ( fS < REAL(0.0) )  // region 2m
-        {
-          // min on face s=0 or s+t=1 or r=0
-          Vector3Copy( triOrigin, kTriSegOrigin );
-          Vector3Copy( triEdge1, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fT );
-          fS = REAL(0.0);
-          Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-          Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-          fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection, 
-                                           kTriSegOrigin, kTriSegDirection,
-                                           &fR0, &fT0 );
-          fS0 = REAL(1.0) - fT0;
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-          fSqrDist0 = SqrDistancePointTri( segOrigin, triOrigin, triEdge0, triEdge1,
-                                           &fS0, &fT0 );
-          fR0 = REAL(0.0);
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-        else if ( fT < REAL(0.0) )  // region 6m
-        {
-          // min on face t=0 or s+t=1 or r=0
-          Vector3Copy( triOrigin, kTriSegOrigin );
-          Vector3Copy( triEdge0, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection, 
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fS );
-          fT = REAL(0.0);
-          Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-          Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-          fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection,
-                                           kTriSegOrigin, kTriSegDirection,
-                                           &fR0, &fT0 );
-          fS0 = REAL(1.0) - fT0;
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-          fSqrDist0 = SqrDistancePointTri( segOrigin, triOrigin, triEdge0, triEdge1,
-                                           &fS0, &fT0 );
-          fR0 = REAL(0.0);
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-        else  // region 1m
-        {
-          // min on face s+t=1 or r=0
-          Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-          Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fT );
-          fS = REAL(1.0) - fT;
-          fSqrDist0 = SqrDistancePointTri( segOrigin, triOrigin, triEdge0, triEdge1,
-                                           &fS0, &fT0 );
-          fR0 = REAL(0.0);
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-      }
-    }
-    else if ( fR <= REAL(1.0) )
-    {
-      if ( fS+fT <= REAL(1.0) )
-      {
-        if ( fS < REAL(0.0) )
-        {
-          if ( fT < REAL(0.0) )  // region 4
-          {
-            // min on face s=0 or t=0
-            Vector3Copy( triOrigin, kTriSegOrigin );
-            Vector3Copy( triEdge1, kTriSegDirection );
-            fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                            kTriSegOrigin, kTriSegDirection,
-                                            &fR, &fT );
-            fS = REAL(0.0);
-            Vector3Copy( triOrigin, kTriSegOrigin );
-            Vector3Copy( triEdge0, kTriSegDirection );
-            fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection, 
-                                             kTriSegOrigin, kTriSegDirection,
-                                             &fR0, &fS0 );
-            fT0 = REAL(0.0);
-            if ( fSqrDist0 < fSqrDist )
-            {
-              fSqrDist = fSqrDist0;
-              fR = fR0;
-              fS = fS0;
-              fT = fT0;
-            }
-          }
-          else  // region 3
-          {
-            // min on face s=0
-            Vector3Copy( triOrigin, kTriSegOrigin );
-            Vector3Copy( triEdge1, kTriSegDirection );
-            fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                            kTriSegOrigin, kTriSegDirection,
-                                            &fR, &fT );
-            fS = REAL(0.0);
-          }
-        }
-        else if ( fT < REAL(0.0) )  // region 5
-        {
-          // min on face t=0
-          Vector3Copy( triOrigin, kTriSegOrigin );
-          Vector3Copy( triEdge0, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fS );
-          fT = REAL(0.0);
-        }
-        else  // region 0
-        {
-          // global minimum is interior, done
-          fSqrDist = REAL(0.0);
-        }
-      }
-      else
-      {
-        if ( fS < REAL(0.0) )  // region 2
-        {
-          // min on face s=0 or s+t=1
-          Vector3Copy( triOrigin, kTriSegOrigin );
-          Vector3Copy( triEdge1, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fT );
-          fS = REAL(0.0);
-          Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-          Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-          fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection,
-                                           kTriSegOrigin, kTriSegDirection,
-                                           &fR0, &fT0 );
-          fS0 = REAL(1.0) - fT0;
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-        else if ( fT < REAL(0.0) )  // region 6
-        {
-          // min on face t=0 or s+t=1
-          Vector3Copy( triOrigin, kTriSegOrigin );
-          Vector3Copy( triEdge0, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fS );
-          fT = REAL(0.0);
-          Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-          Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-          fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection,
-                                           kTriSegOrigin, kTriSegDirection,
-                                           &fR0, &fT0 );
-          fS0 = REAL(1.0) - fT0;
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-        else  // region 1
-        {
-          // min on face s+t=1
-          Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-          Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fT );
-          fS = REAL(1.0) - fT;
-        }
-      }
-    }
-    else  // fR > 1
-    {
-      if ( fS+fT <= REAL(1.0) )
-      {
-        if ( fS < REAL(0.0) )
-        {
-          if ( fT < REAL(0.0) )  // region 4p
-          {
-            // min on face s=0 or t=0 or r=1
-            Vector3Copy( triOrigin, kTriSegOrigin );
-            Vector3Copy( triEdge1, kTriSegDirection );
-            fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                            kTriSegOrigin, kTriSegDirection,
-                                            &fR, &fT );
-            fS = REAL(0.0);
-            Vector3Copy( triOrigin, kTriSegOrigin );
-            Vector3Copy( triEdge0, kTriSegDirection );
-            fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection,
-                                             kTriSegOrigin, kTriSegDirection,
-                                             &fR0, &fS0 );
-            fT0 = REAL(0.0);
-            if ( fSqrDist0 < fSqrDist )
-            {
-              fSqrDist = fSqrDist0;
-              fR = fR0;
-              fS = fS0;
-              fT = fT0;
-            }
-            Vector3Add( segOrigin, segDirection, kPt );
-            fSqrDist0 = SqrDistancePointTri( kPt, triOrigin, triEdge0, triEdge1,
-                                             &fS0, &fT0 );
-            fR0 = REAL(1.0);
-            if ( fSqrDist0 < fSqrDist )
-            {
-              fSqrDist = fSqrDist0;
-              fR = fR0;
-              fS = fS0;
-              fT = fT0;
-            }
-          }
-          else  // region 3p
-          {
-            // min on face s=0 or r=1
-            Vector3Copy( triOrigin, kTriSegOrigin );
-            Vector3Copy( triEdge1, kTriSegDirection );
-            fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                            kTriSegOrigin, kTriSegDirection,
-                                            &fR, &fT );
-            fS = REAL(0.0);
-            Vector3Add( segOrigin, segDirection, kPt );
-            fSqrDist0 = SqrDistancePointTri( kPt, triOrigin, triEdge0, triEdge1,
-                                             &fS0, &fT0 );
-            fR0 = REAL(1.0);
-            if ( fSqrDist0 < fSqrDist )
-            {
-              fSqrDist = fSqrDist0;
-              fR = fR0;
-              fS = fS0;
-              fT = fT0;
-            }
-          }
-        }
-        else if ( fT < REAL(0.0) )  // region 5p
-        {
-          // min on face t=0 or r=1
-          Vector3Copy( triOrigin, kTriSegOrigin );
-          Vector3Copy( triEdge0, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fS );
-          fT = REAL(0.0);
-          Vector3Add( segOrigin, segDirection, kPt );
-          fSqrDist0 = SqrDistancePointTri( kPt, triOrigin, triEdge0, triEdge1,
-                                           &fS0, &fT0 );
-          fR0 = REAL(1.0);
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-        else  // region 0p
-        {
-          // min face on r=1
-          Vector3Add( segOrigin, segDirection, kPt );
-          fSqrDist = SqrDistancePointTri( kPt, triOrigin, triEdge0, triEdge1,
-                                          &fS, &fT );
-          fR = REAL(1.0);
-        }
-      }
-      else
-      {
-        if ( fS < REAL(0.0) )  // region 2p
-        {
-          // min on face s=0 or s+t=1 or r=1
-          Vector3Copy( triOrigin, kTriSegOrigin );
-          Vector3Copy( triEdge1, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fT );
-          fS = REAL(0.0);
-          Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-          Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-          fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection,
-                                           kTriSegOrigin, kTriSegDirection,
-                                           &fR0, &fT0 );
-          fS0 = REAL(1.0) - fT0;
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-          Vector3Add( segOrigin, segDirection, kPt );
-          fSqrDist0 = SqrDistancePointTri( kPt, triOrigin, triEdge0, triEdge1,
-                                           &fS0, &fT0 );
-          fR0 = REAL(1.0);
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-        else if ( fT < REAL(0.0) )  // region 6p
-        {
-          // min on face t=0 or s+t=1 or r=1
-          Vector3Copy( triOrigin, kTriSegOrigin );
-          Vector3Copy( triEdge0, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fS );
-          fT = REAL(0.0);
-          Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-          Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-          fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection,
-                                           kTriSegOrigin, kTriSegDirection,
-                                           &fR0, &fT0 );
-          fS0 = REAL(1.0) - fT0;
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-          Vector3Add( segOrigin, segDirection, kPt );
-          fSqrDist0 = SqrDistancePointTri( kPt, triOrigin, triEdge0, triEdge1,
-                                           &fS0, &fT0 );
-          fR0 = REAL(1.0);
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-        else  // region 1p
-        {
-          // min on face s+t=1 or r=1
-          Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-          Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-          fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                          kTriSegOrigin, kTriSegDirection,
-                                          &fR, &fT );
-          fS = REAL(1.0) - fT;
-          Vector3Add( segOrigin, segDirection, kPt );
-          fSqrDist0 = SqrDistancePointTri( kPt, triOrigin, triEdge0, triEdge1, 
-                                           &fS0, &fT0 );
-          fR0 = REAL(1.0);
-          if ( fSqrDist0 < fSqrDist )
-          {
-            fSqrDist = fSqrDist0;
-            fR = fR0;
-            fS = fS0;
-            fT = fT0;
-          }
-        }
-      }
-    }
-  }
-  else
-  {
-    // segment and triangle are parallel
-    Vector3Copy( triOrigin, kTriSegOrigin );
-    Vector3Copy( triEdge0, kTriSegDirection );
-    fSqrDist = SqrDistanceSegments( segOrigin, segDirection,
-                                    kTriSegOrigin, kTriSegDirection, &fR, &fS );
-    fT = REAL(0.0);
-
-    Vector3Copy( triEdge1, kTriSegDirection );
-    fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection,
-                                     kTriSegOrigin, kTriSegDirection,
-                                     &fR0, &fT0 );
-    fS0 = REAL(0.0);
-    if ( fSqrDist0 < fSqrDist )
-    {
-      fSqrDist = fSqrDist0;
-      fR = fR0;
-      fS = fS0;
-      fT = fT0;
-    }
-
-    Vector3Add( triOrigin, triEdge0, kTriSegOrigin );
-    Vector3Subtract( triEdge1, triEdge0, kTriSegDirection );
-    fSqrDist0 = SqrDistanceSegments( segOrigin, segDirection,
-                                     kTriSegOrigin, kTriSegDirection, &fR0, &fT0 );
-    fS0 = REAL(1.0) - fT0;
-    if ( fSqrDist0 < fSqrDist )
-    {
-      fSqrDist = fSqrDist0;
-      fR = fR0;
-      fS = fS0;
-      fT = fT0;
-    }
-
-    fSqrDist0 = SqrDistancePointTri( segOrigin, triOrigin, triEdge0, triEdge1, 
-                                     &fS0, &fT0 );
-    fR0 = REAL(0.0);
-    if ( fSqrDist0 < fSqrDist )
-    {
-      fSqrDist = fSqrDist0;
-      fR = fR0;
-      fS = fS0;
-      fT = fT0;
-    }
-
-    Vector3Add( segOrigin, segDirection, kPt );
-    fSqrDist0 = SqrDistancePointTri( kPt, triOrigin, triEdge0, triEdge1, 
-                                     &fS0, &fT0 );
-    fR0 = REAL(1.0);
-    if ( fSqrDist0 < fSqrDist )
-    {
-      fSqrDist = fSqrDist0;
-      fR = fR0;
-      fS = fS0;
-      fT = fT0;
-    }
-  }
-
-  if ( pfSegP )
-    *pfSegP = fR;
-
-  if ( pfTriP0 )
-    *pfTriP0 = fS;
-
-  if ( pfTriP1 )
-    *pfTriP1 = fT;
-
-  return fSqrDist;
-}
diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_gimpact.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_gimpact.cpp
deleted file mode 100644
index 229966b..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_gimpact.cpp
+++ /dev/null
@@ -1,456 +0,0 @@
-/*************************************************************************

- *                                                                       *

- * Open Dynamics Engine, Copyright (C) 2001-2003 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/collision.h>

-#include <ode/matrix.h>

-#include <ode/rotation.h>

-#include <ode/odemath.h>

-

-#if dTRIMESH_ENABLED

-

-#include "collision_util.h"

-#define TRIMESH_INTERNAL

-#include "collision_trimesh_internal.h"

-

-#if dTRIMESH_GIMPACT

-

-void dxTriMeshData::Preprocess(){       // stub

-}

-

-dTriMeshDataID dGeomTriMeshDataCreate(){

-    return new dxTriMeshData();

-}

-

-void dGeomTriMeshDataDestroy(dTriMeshDataID g){

-    delete g;

-}

-

-void dGeomTriMeshSetLastTransform( dxGeom* g, dMatrix4 last_trans ) { //stub

-}

-

-dReal* dGeomTriMeshGetLastTransform( dxGeom* g ) {

-        return NULL; // stub

-}

-

-void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data) { //stub

-}

-

-void*  dGeomTriMeshDataGet(dTriMeshDataID g, int data_id) {

-    dUASSERT(g, "argument not trimesh data");

-        return NULL; // stub

-}

-

-void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,

-                                  const void* Vertices, int VertexStride, int VertexCount,

-                                  const void* Indices, int IndexCount, int TriStride,

-                                  const void* Normals)

-{

-    dUASSERT(g, "argument not trimesh data");

-    dIASSERT(Vertices);

-    dIASSERT(Indices);

-

-    g->Build(Vertices, VertexStride, VertexCount,

-             Indices, IndexCount, TriStride,

-             Normals,

-             true);

-}

-

-

-void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,

-                                 const void* Vertices, int VertexStride, int VertexCount,

-                                 const void* Indices, int IndexCount, int TriStride)

-{

-    dGeomTriMeshDataBuildSingle1(g, Vertices, VertexStride, VertexCount,

-                                 Indices, IndexCount, TriStride, (void*)NULL);

-}

-

-

-void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,

-                                  const void* Vertices, int VertexStride, int VertexCount,

-                                 const void* Indices, int IndexCount, int TriStride,

-                                 const void* Normals)

-{

-    dUASSERT(g, "argument not trimesh data");

-

-    g->Build(Vertices, VertexStride, VertexCount,

-             Indices, IndexCount, TriStride,

-             Normals,

-             false);

-}

-

-

-void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,

-                                 const void* Vertices, int VertexStride, int VertexCount,

-                                 const void* Indices, int IndexCount, int TriStride) {

-    dGeomTriMeshDataBuildDouble1(g, Vertices, VertexStride, VertexCount,

-                                 Indices, IndexCount, TriStride, NULL);

-}

-

-

-void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,

-                                  const dReal* Vertices, int VertexCount,

-                                 const int* Indices, int IndexCount,

-                                 const int* Normals){

-#ifdef dSINGLE

-    dGeomTriMeshDataBuildSingle1(g,

-                                Vertices, 4 * sizeof(dReal), VertexCount,

-                                Indices, IndexCount, 3 * sizeof(unsigned int),

-                                Normals);

-#else

-    dGeomTriMeshDataBuildDouble1(g, Vertices, 4 * sizeof(dReal), VertexCount,

-                                Indices, IndexCount, 3 * sizeof(unsigned int),

-                                Normals);

-#endif

-}

-

-

-void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,

-                                 const dReal* Vertices, int VertexCount,

-                                 const int* Indices, int IndexCount) {

-    dGeomTriMeshDataBuildSimple1(g,

-                                 Vertices, VertexCount, Indices, IndexCount,

-                                 (const int*)NULL);

-}

-

-void dGeomTriMeshDataPreprocess(dTriMeshDataID g)

-{

-    dUASSERT(g, "argument not trimesh data");

-        g->Preprocess();

-}

-

-void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen)

-{

-    dUASSERT(g, "argument not trimesh data");

-        *buf = NULL;

-        *bufLen = 0;

-}

-

-void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf)

-{

-    dUASSERT(g, "argument not trimesh data");

-//      g->UseFlags = buf;

-}

-

-

-// Trimesh

-

-dxTriMesh::dxTriMesh(dSpaceID Space, dTriMeshDataID Data) : dxGeom(Space, 1){

-    type = dTriMeshClass;

-

-    dGeomTriMeshSetData(this,Data);

-

-        /* TC has speed/space 'issues' that don't make it a clear

-           win by default on spheres/boxes. */

-        this->doSphereTC = true;

-        this->doBoxTC = true;

-        this->doCapsuleTC = true;

-

-}

-

-dxTriMesh::~dxTriMesh(){

-

-    //Terminate Trimesh

-    gim_trimesh_destroy(&m_collision_trimesh);

-}

-

-

-void dxTriMesh::ClearTCCache(){

-

-}

-

-

-int dxTriMesh::AABBTest(dxGeom* g, dReal aabb[6]){

-    return 1;

-}

-

-

-void dxTriMesh::computeAABB()

-{

-    //update trimesh transform

-    mat4f transform;

-    IDENTIFY_MATRIX_4X4(transform);

-    MakeMatrix(this, transform);

-    gim_trimesh_set_tranform(&m_collision_trimesh,transform);

-

-    //Update trimesh boxes

-    gim_trimesh_update(&m_collision_trimesh);

-

-    memcpy(aabb,&m_collision_trimesh.m_aabbset.m_global_bound,6*sizeof(GREAL));

-}

-

-

-void dxTriMeshData::UpdateData()

-{

-//  BVTree.Refit();

-}

-

-

-dGeomID dCreateTriMesh(dSpaceID space,

-                       dTriMeshDataID Data,

-                       dTriCallback* Callback,

-                       dTriArrayCallback* ArrayCallback,

-                       dTriRayCallback* RayCallback)

-{

-    dxTriMesh* Geom = new dxTriMesh(space, Data);

-    Geom->Callback = Callback;

-    Geom->ArrayCallback = ArrayCallback;

-    Geom->RayCallback = RayCallback;

-

-    return Geom;

-}

-

-void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback)

-{

-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-        ((dxTriMesh*)g)->Callback = Callback;

-}

-

-dTriCallback* dGeomTriMeshGetCallback(dGeomID g)

-{

-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-        return ((dxTriMesh*)g)->Callback;

-}

-

-void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback)

-{

-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-        ((dxTriMesh*)g)->ArrayCallback = ArrayCallback;

-}

-

-dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g)

-{

-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-        return ((dxTriMesh*)g)->ArrayCallback;

-}

-

-void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback)

-{

-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-        ((dxTriMesh*)g)->RayCallback = Callback;

-}

-

-dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g)

-{

-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-        return ((dxTriMesh*)g)->RayCallback;

-}

-

-void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data)

-{

-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-        dxTriMesh* mesh = (dxTriMesh*) g;

-        mesh->Data = Data;

-        // I changed my data -- I know nothing about my own AABB anymore.

-        ((dxTriMesh*)g)->gflags |= (GEOM_DIRTY|GEOM_AABB_BAD);

-

-        // GIMPACT only supports stride 12, so we need to catch the error early.

-        dUASSERT

-        (

-          Data->m_VertexStride == 3*sizeof(dReal) && Data->m_TriStride == 3*sizeof(int),

-          "Gimpact trimesh only supports a stride of 3 dReal/int\n"

-          "This means that you cannot use dGeomTriMeshDataBuildSimple() with Gimpact.\n"

-          "Change the stride, or use Opcode trimeshes instead.\n"

-        );

-

-        //Create trimesh

-        if ( Data->m_Vertices )

-          gim_trimesh_create_from_data

-          (

-            &mesh->m_collision_trimesh,         // gimpact mesh

-            ( vec3f *)(&Data->m_Vertices[0]),   // vertices

-            Data->m_VertexCount,                // nr of verts

-            0,                                  // copy verts?

-            ( GUINT *)(&Data->m_Indices[0]),    // indices

-            Data->m_TriangleCount*3,            // nr of indices

-            0,                                  // copy indices?

-            1                                   // transformed reply

-          );

-}

-

-dTriMeshDataID dGeomTriMeshGetData(dGeomID g)

-{

-  dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-  return ((dxTriMesh*)g)->Data;

-}

-

-

-

-void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable)

-{

-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-

-        switch (geomClass)

-        {

-                case dSphereClass:

-                        ((dxTriMesh*)g)->doSphereTC = (1 == enable);

-                        break;

-                case dBoxClass:

-                        ((dxTriMesh*)g)->doBoxTC = (1 == enable);

-                        break;

-                case dCapsuleClass:

-//              case dCCylinderClass:

-                        ((dxTriMesh*)g)->doCapsuleTC = (1 == enable);

-                        break;

-        }

-}

-

-int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass)

-{

-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-

-        switch (geomClass)

-        {

-                case dSphereClass:

-                        if (((dxTriMesh*)g)->doSphereTC)

-                                return 1;

-                        break;

-                case dBoxClass:

-                        if (((dxTriMesh*)g)->doBoxTC)

-                                return 1;

-                        break;

-                case dCapsuleClass:

-                        if (((dxTriMesh*)g)->doCapsuleTC)

-                                return 1;

-                        break;

-        }

-        return 0;

-}

-

-void dGeomTriMeshClearTCCache(dGeomID g){

-    dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-

-    dxTriMesh* Geom = (dxTriMesh*)g;

-    Geom->ClearTCCache();

-}

-

-/*

- * returns the TriMeshDataID

- */

-dTriMeshDataID

-dGeomTriMeshGetTriMeshDataID(dGeomID g)

-{

-    dxTriMesh* Geom = (dxTriMesh*) g;

-    return Geom->Data;

-}

-

-// Getting data

-void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2)

-{

-    dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-

-    dxTriMesh* Geom = (dxTriMesh*)g;

-        gim_trimesh_locks_work_data(&Geom->m_collision_trimesh);        

-        gim_trimesh_get_triangle_vertices(&Geom->m_collision_trimesh, Index, (*v0),(*v1),(*v2));        

-        gim_trimesh_unlocks_work_data(&Geom->m_collision_trimesh);

- 

-}

-

-void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out){

-    dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");

-

-    dxTriMesh* Geom = (dxTriMesh*)g;

-    dVector3 dv[3];

-        gim_trimesh_locks_work_data(&Geom->m_collision_trimesh);        

-        gim_trimesh_get_triangle_vertices(&Geom->m_collision_trimesh, Index, dv[0],dv[1],dv[2]);

-    GetPointFromBarycentric(dv, u, v, Out);

-        gim_trimesh_unlocks_work_data(&Geom->m_collision_trimesh);

-}

-

-int dGeomTriMeshGetTriangleCount (dGeomID g)

-{

-    dxTriMesh* Geom = (dxTriMesh*)g;    

-        return gim_trimesh_get_triangle_count(&Geom->m_collision_trimesh);

-}

-

-void dGeomTriMeshDataUpdate(dTriMeshDataID g) {

-    dUASSERT(g, "argument not trimesh data");

-    g->UpdateData();

-}

-

-

-//

-// GIMPACT TRIMESH-TRIMESH COLLIDER

-//

-

-int dCollideTTL(dxGeom* g1, dxGeom* g2, int Flags, dContactGeom* Contacts, int Stride)

-{

-        dIASSERT (Stride >= (int)sizeof(dContactGeom));

-        dIASSERT (g1->type == dTriMeshClass);

-        dIASSERT (g2->type == dTriMeshClass);

-        dIASSERT ((Flags & NUMC_MASK) >= 1);

-

-    dxTriMesh* TriMesh1 = (dxTriMesh*) g1;

-    dxTriMesh* TriMesh2 = (dxTriMesh*) g2;

-    //Create contact list

-    GDYNAMIC_ARRAY trimeshcontacts;

-    GIM_CREATE_CONTACT_LIST(trimeshcontacts);

-

-    //Collide trimeshes

-    gim_trimesh_trimesh_collision(&TriMesh1->m_collision_trimesh,&TriMesh2->m_collision_trimesh,&trimeshcontacts);

-

-    if(trimeshcontacts.m_size == 0)

-    {

-        GIM_DYNARRAY_DESTROY(trimeshcontacts);

-        return 0;

-    }

-

-    GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);

-

-

-        unsigned contactcount = trimeshcontacts.m_size;

-        unsigned maxcontacts = (unsigned)(Flags & NUMC_MASK);

-        if (contactcount > maxcontacts)

-        {

-                contactcount = maxcontacts;

-        }

-

-    dContactGeom* pcontact;

-        unsigned i;

-

-        for (i=0;i<contactcount;i++)

-        {

-        pcontact = SAFECONTACT(Flags, Contacts, i, Stride);

-

-        pcontact->pos[0] = ptrimeshcontacts->m_point[0];

-        pcontact->pos[1] = ptrimeshcontacts->m_point[1];

-        pcontact->pos[2] = ptrimeshcontacts->m_point[2];

-        pcontact->pos[3] = 1.0f;

-

-        pcontact->normal[0] = ptrimeshcontacts->m_normal[0];

-        pcontact->normal[1] = ptrimeshcontacts->m_normal[1];

-        pcontact->normal[2] = ptrimeshcontacts->m_normal[2];

-        pcontact->normal[3] = 0;

-

-        pcontact->depth = ptrimeshcontacts->m_depth;

-        pcontact->g1 = g1;

-        pcontact->g2 = g2;

-

-        ptrimeshcontacts++;

-        }

-

-        GIM_DYNARRAY_DESTROY(trimeshcontacts);

-

-    return (int)contactcount;

-}

-

-#endif // dTRIMESH_GIMPACT

-#endif // dTRIMESH_ENABLED

diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_internal.h b/libraries/ode-0.9/ode/src/collision_trimesh_internal.h
deleted file mode 100644
index bf474a2..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_internal.h
+++ /dev/null
@@ -1,495 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-// TriMesh code by Erwin de Vries.
-// Modified for FreeSOLID Compatibility by Rodrigo Hernandez
-
-#ifndef _ODE_COLLISION_TRIMESH_INTERNAL_H_
-#define _ODE_COLLISION_TRIMESH_INTERNAL_H_
-
-int dCollideCylinderTrimesh(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-int dCollideTrimeshPlane(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-
-int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-int dCollideBTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-int dCollideRTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-int dCollideTTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-int dCollideCCTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
-
-PURE_INLINE int dCollideRayTrimesh( dxGeom *ray, dxGeom *trimesh, int flags,
-                                                                        dContactGeom *contact, int skip )
-{
-        // Swapped case, for code that needs it (heightfield initially)
-        // The other ray-geom colliders take geoms in a swapped order to the
-        // dCollideRTL function which is annoying when using function pointers.
-        return dCollideRTL( trimesh, ray, flags, contact, skip );
-}
-
-//****************************************************************************
-// dxTriMesh class
-
-#ifdef TRIMESH_INTERNAL
-
-#include "collision_kernel.h"
-#include <ode/collision_trimesh.h>
-
-#if dTRIMESH_OPCODE
-#define BAN_OPCODE_AUTOLINK
-#include "Opcode.h"
-using namespace Opcode;
-#endif // dTRIMESH_OPCODE
-
-#if dTRIMESH_GIMPACT
-#include <GIMPACT/gimpact.h>
-#endif
-
-struct dxTriMeshData  : public dBase 
-{
-    /* Array of flags for which edges and verts should be used on each triangle */
-    enum UseFlags
-    {
-        kEdge0 = 0x1,
-        kEdge1 = 0x2,
-        kEdge2 = 0x4,
-        kVert0 = 0x8,
-        kVert1 = 0x10,
-        kVert2 = 0x20,
-
-        kUseAll = 0xFF,
-    };
-
-    /* Setup the UseFlags array */
-    void Preprocess();
-    /* For when app changes the vertices */
-    void UpdateData();
-
-#if dTRIMESH_OPCODE
-        Model BVTree;
-        MeshInterface Mesh;
-
-    dxTriMeshData();
-    ~dxTriMeshData();
-    
-    void Build(const void* Vertices, int VertexStide, int VertexCount, 
-               const void* Indices, int IndexCount, int TriStride, 
-               const void* Normals, 
-               bool Single);
-    
-        /* aabb in model space */
-        dVector3 AABBCenter;
-        dVector3 AABBExtents;
-
-    // data for use in collision resolution
-    const void* Normals;
-    uint8* UseFlags;
-#endif  // dTRIMESH_OPCODE
-
-#if dTRIMESH_GIMPACT
-        const char* m_Vertices;
-        int m_VertexStride;
-        int m_VertexCount;
-        const char* m_Indices;
-        int m_TriangleCount;
-        int m_TriStride;
-        bool m_single;
-
-   dxTriMeshData()
-        {
-                m_Vertices=NULL;
-                m_VertexStride = 12;
-                m_VertexCount = 0;
-                m_Indices = 0;
-                m_TriangleCount = 0;
-                m_TriStride = 12;
-                m_single = true;
-        }
-
-    void Build(const void* Vertices, int VertexStride, int VertexCount,
-               const void* Indices, int IndexCount, int TriStride,
-               const void* Normals,
-              bool Single)
-        {
-                dIASSERT(Vertices);
-                dIASSERT(Indices);
-                dIASSERT(VertexStride);
-                dIASSERT(TriStride);
-                dIASSERT(IndexCount);
-                m_Vertices=(const char *)Vertices;
-                m_VertexStride = VertexStride;
-                m_VertexCount = VertexCount;
-                m_Indices = (const char *)Indices;
-                m_TriangleCount = IndexCount/3;
-                m_TriStride = TriStride;
-                m_single = Single;
-        }
-
-        inline void GetVertex(unsigned int i, dVector3 Out)
-        {
-                if(m_single)
-                {
-                        const float * fverts = (const float * )(m_Vertices + m_VertexStride*i);
-                        Out[0] = fverts[0];
-                        Out[1] = fverts[1];
-                        Out[2] = fverts[2];
-                        Out[3] = 1.0f;
-                }
-                else
-                {
-                        const double * dverts = (const double * )(m_Vertices + m_VertexStride*i);
-                        Out[0] = (float)dverts[0];
-                        Out[1] = (float)dverts[1];
-                        Out[2] = (float)dverts[2];
-                        Out[3] = 1.0f;
-
-                }
-        }
-
-        inline void GetTriIndices(unsigned int itriangle, unsigned int triindices[3])
-        {
-                const unsigned int * ind = (const unsigned int * )(m_Indices + m_TriStride*itriangle);
-                triindices[0] = ind[0];
-                triindices[1] = ind[1];
-                triindices[2] = ind[2];
-        }
-#endif  // dTRIMESH_GIMPACT
-};
-
-
-struct dxTriMesh : public dxGeom{
-        // Callbacks
-        dTriCallback* Callback;
-        dTriArrayCallback* ArrayCallback;
-        dTriRayCallback* RayCallback;
-
-        // Data types
-        dxTriMeshData* Data;
-
-        bool doSphereTC;
-        bool doBoxTC;
-        bool doCapsuleTC;
-
-        // Functions
-        dxTriMesh(dSpaceID Space, dTriMeshDataID Data);
-        ~dxTriMesh();
-
-        void ClearTCCache();
-
-        int AABBTest(dxGeom* g, dReal aabb[6]);
-        void computeAABB();
-
-#if dTRIMESH_OPCODE
-        // Instance data for last transform.
-    dMatrix4 last_trans;
-
-        // Colliders
-        static PlanesCollider _PlanesCollider;
-        static SphereCollider _SphereCollider;
-        static OBBCollider _OBBCollider;
-        static RayCollider _RayCollider;
-        static AABBTreeCollider _AABBTreeCollider;
-        static LSSCollider _LSSCollider;
-
-        // Some constants
-        static CollisionFaces Faces;
-        // Temporal coherence
-        struct SphereTC : public SphereCache{
-                dxGeom* Geom;
-        };
-        dArray<SphereTC> SphereTCCache;
-        static SphereCache defaultSphereCache;
-
-        struct BoxTC : public OBBCache{
-                dxGeom* Geom;
-        };
-        dArray<BoxTC> BoxTCCache;
-        static OBBCache defaultBoxCache;
-        
-        struct CapsuleTC : public LSSCache{
-                dxGeom* Geom;
-        };
-        dArray<CapsuleTC> CapsuleTCCache;
-        static LSSCache defaultCapsuleCache;
-#endif // dTRIMESH_OPCODE
-
-#if dTRIMESH_GIMPACT
-    GIM_TRIMESH  m_collision_trimesh;
-#endif  // dTRIMESH_GIMPACT
-};
-
-#if 0
-#include "collision_kernel.h"
-// Fetches a contact
-inline dContactGeom* SAFECONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
-        dIASSERT(Index >= 0 && Index < (Flags & NUMC_MASK));
-        return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
-}
-#endif
-
-#if dTRIMESH_OPCODE
-inline void FetchTriangle(dxTriMesh* TriMesh, int Index, dVector3 Out[3]){
-        VertexPointers VP;
-        TriMesh->Data->Mesh.GetTriangle(VP, Index);
-        for (int i = 0; i < 3; i++){
-                Out[i][0] = VP.Vertex[i]->x;
-                Out[i][1] = VP.Vertex[i]->y;
-                Out[i][2] = VP.Vertex[i]->z;
-                Out[i][3] = 0;
-        }
-}
-
-inline void FetchTriangle(dxTriMesh* TriMesh, int Index, const dVector3 Position, const dMatrix3 Rotation, dVector3 Out[3]){
-        VertexPointers VP;
-        TriMesh->Data->Mesh.GetTriangle(VP, Index);
-        for (int i = 0; i < 3; i++){
-                dVector3 v;
-                v[0] = VP.Vertex[i]->x;
-                v[1] = VP.Vertex[i]->y;
-                v[2] = VP.Vertex[i]->z;
-                v[3] = 0;
-
-                dMULTIPLY0_331(Out[i], Rotation, v);
-                Out[i][0] += Position[0];
-                Out[i][1] += Position[1];
-                Out[i][2] += Position[2];
-                Out[i][3] = 0;
-        }
-}
-
-inline Matrix4x4& MakeMatrix(const dVector3 Position, const dMatrix3 Rotation, Matrix4x4& Out){
-        Out.m[0][0] = (float) Rotation[0];
-        Out.m[1][0] = (float) Rotation[1];
-        Out.m[2][0] = (float) Rotation[2];
-
-        Out.m[0][1] = (float) Rotation[4];
-        Out.m[1][1] = (float) Rotation[5];
-        Out.m[2][1] = (float) Rotation[6];
-
-        Out.m[0][2] = (float) Rotation[8];
-        Out.m[1][2] = (float) Rotation[9];
-        Out.m[2][2] = (float) Rotation[10];
-
-        Out.m[3][0] = (float) Position[0];
-        Out.m[3][1] = (float) Position[1];
-        Out.m[3][2] = (float) Position[2];
-
-        Out.m[0][3] = 0.0f;
-        Out.m[1][3] = 0.0f;
-        Out.m[2][3] = 0.0f;
-        Out.m[3][3] = 1.0f;
-
-        return Out;
-}
-
-inline Matrix4x4& MakeMatrix(dxGeom* g, Matrix4x4& Out){
-        const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
-        const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
-        return MakeMatrix(Position, Rotation, Out);
-}
-#endif // dTRIMESH_OPCODE
-
-#if dTRIMESH_GIMPACT
-inline void FetchTriangle(dxTriMesh* TriMesh, int Index, const dVector3 Position, const dMatrix3 Rotation, dVector3 Out[3]){
-        // why is this not implemented?
-        dAASSERT(false);
-}
-
-inline void MakeMatrix(const dVector3 Position, const dMatrix3 Rotation, mat4f m)
-{
-        m[0][0] = (float) Rotation[0];
-        m[0][1] = (float) Rotation[1];
-        m[0][2] = (float) Rotation[2];
-
-        m[1][0] = (float) Rotation[4];
-        m[1][1] = (float) Rotation[5];
-        m[1][2] = (float) Rotation[6];
-
-        m[2][0] = (float) Rotation[8];
-        m[2][1] = (float) Rotation[9];
-        m[2][2] = (float) Rotation[10];
-
-        m[0][3] = (float) Position[0];
-        m[1][3] = (float) Position[1];
-        m[2][3] = (float) Position[2];
-
-}
-
-inline void MakeMatrix(dxGeom* g, mat4f Out){
-        const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
-        const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
-        MakeMatrix(Position, Rotation, Out);
-}
-#endif // dTRIMESH_GIMPACT
-
-// Outputs a matrix to 3 vectors
-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] = REAL(0.0);
-        Up[0] = Matrix[0 * 4 + 1];
-        Up[1] = Matrix[1 * 4 + 1];
-        Up[2] = Matrix[2 * 4 + 1];
-        Up[3] = REAL(0.0);
-        Direction[0] = Matrix[0 * 4 + 2];
-        Direction[1] = Matrix[1 * 4 + 2];
-        Direction[2] = Matrix[2 * 4 + 2];
-        Direction[3] = REAL(0.0);
-}
-
-// Outputs a matrix to 3 vectors
-inline void Decompose(const dMatrix3 Matrix, dVector3 Vectors[3]){
-        Decompose(Matrix, Vectors[0], Vectors[1], Vectors[2]);
-}
-
-// Finds barycentric
-inline void GetPointFromBarycentric(const dVector3 dv[3], dReal u, dReal v, dVector3 Out){
-        dReal w = REAL(1.0) - u - v;
-
-        Out[0] = (dv[0][0] * w) + (dv[1][0] * u) + (dv[2][0] * v);
-        Out[1] = (dv[0][1] * w) + (dv[1][1] * u) + (dv[2][1] * v);
-        Out[2] = (dv[0][2] * w) + (dv[1][2] * u) + (dv[2][2] * v);
-        Out[3] = (dv[0][3] * w) + (dv[1][3] * u) + (dv[2][3] * v);
-}
-
-// Performs a callback
-inline bool Callback(dxTriMesh* TriMesh, dxGeom* Object, int TriIndex){
-        if (TriMesh->Callback != NULL){
-                return (TriMesh->Callback(TriMesh, Object, TriIndex)!=0);
-        }
-        else return true;
-}
-
-// Some utilities
-template<class T> const T& dcMAX(const T& x, const T& y){
-        return x > y ? x : y;
-}
-
-template<class T> const T& dcMIN(const T& x, const T& y){
-        return x < y ? x : y;
-}
-
-dReal SqrDistancePointTri( const dVector3 p, const dVector3 triOrigin, 
-                           const dVector3 triEdge1, const dVector3 triEdge2,
-                           dReal* pfSParam = 0, dReal* pfTParam = 0 );
-
-dReal SqrDistanceSegments( const dVector3 seg1Origin, const dVector3 seg1Direction, 
-                           const dVector3 seg2Origin, const dVector3 seg2Direction,
-                           dReal* pfSegP0 = 0, dReal* pfSegP1 = 0 );
-
-dReal SqrDistanceSegTri( const dVector3 segOrigin, const dVector3 segEnd, 
-                         const dVector3 triOrigin, 
-                         const dVector3 triEdge1, const dVector3 triEdge2,
-                         dReal* t = 0, dReal* u = 0, dReal* v = 0 );
-
-inline
-void Vector3Subtract( const dVector3 left, const dVector3 right, dVector3 result )
-{
-    result[0] = left[0] - right[0];
-    result[1] = left[1] - right[1];
-    result[2] = left[2] - right[2];
-    result[3] = REAL(0.0);
-}
-
-inline
-void Vector3Add( const dVector3 left, const dVector3 right, dVector3 result )
-{
-    result[0] = left[0] + right[0];
-    result[1] = left[1] + right[1];
-    result[2] = left[2] + right[2];
-    result[3] = REAL(0.0);
-}
-
-inline
-void Vector3Negate( const dVector3 in, dVector3 out )
-{
-    out[0] = -in[0];
-    out[1] = -in[1];
-    out[2] = -in[2];
-    out[3] = REAL(0.0);
-}
-
-inline
-void Vector3Copy( const dVector3 in, dVector3 out )
-{
-    out[0] = in[0];
-    out[1] = in[1];
-    out[2] = in[2];
-    out[3] = REAL(0.0);
-}
-
-inline
-void Vector3Multiply( const dVector3 in, dReal scalar, dVector3 out )
-{
-    out[0] = in[0] * scalar;
-    out[1] = in[1] * scalar;
-    out[2] = in[2] * scalar;
-    out[3] = REAL(0.0);
-}
-
-inline
-void TransformVector3( const dVector3 in, 
-                       const dMatrix3 orientation, const dVector3 position, 
-                       dVector3 out )
-{
-    dMULTIPLY0_331( out, orientation, in );
-    out[0] += position[0];
-    out[1] += position[1];
-    out[2] += position[2];
-}
-
-//------------------------------------------------------------------------------
-/**
-  @brief Check for intersection between triangle and capsule.
-  
-  @param dist [out] Shortest distance squared between the triangle and 
-                    the capsule segment (central axis).
-  @param t    [out] t value of point on segment that's the shortest distance 
-                    away from the triangle, the coordinates of this point 
-                    can be found by (cap.seg.end - cap.seg.start) * t,
-                    or cap.seg.ipol(t).
-  @param u    [out] Barycentric coord on triangle.
-  @param v    [out] Barycentric coord on triangle.
-  @return True if intersection exists.
-  
-  The third Barycentric coord is implicit, ie. w = 1.0 - u - v
-  The Barycentric coords give the location of the point on the triangle
-  closest to the capsule (where the distance between the two shapes
-  is the shortest).
-*/
-inline
-bool IntersectCapsuleTri( const dVector3 segOrigin, const dVector3 segEnd, 
-                          const dReal radius, const dVector3 triOrigin, 
-                          const dVector3 triEdge0, const dVector3 triEdge1,
-                          dReal* dist, dReal* t, dReal* u, dReal* v )
-{
-    dReal sqrDist = SqrDistanceSegTri( segOrigin, segEnd, triOrigin, triEdge0, triEdge1, 
-                                       t, u, v );
-  
-    if ( dist )
-      *dist = sqrDist;
-    
-    return ( sqrDist <= (radius * radius) );
-}
-
-#endif  //TRIMESH_INTERNAL
-
-#endif  //_ODE_COLLISION_TRIMESH_INTERNAL_H_
diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_opcode.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_opcode.cpp
deleted file mode 100644
index 07f3f8a..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_opcode.cpp
+++ /dev/null
@@ -1,833 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-// TriMesh code by Erwin de Vries.
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_util.h"
-#define TRIMESH_INTERNAL
-#include "collision_trimesh_internal.h"
-
-#if dTRIMESH_ENABLED
-#if dTRIMESH_OPCODE
-
-// Trimesh data
-dxTriMeshData::dxTriMeshData() : UseFlags( NULL )
-{
-#if !dTRIMESH_ENABLED
-  dUASSERT(false, "dTRIMESH_ENABLED is not defined. Trimesh geoms will not work");
-#endif
-}
-
-dxTriMeshData::~dxTriMeshData()
-{
-        if ( UseFlags )
-                delete [] UseFlags;
-}
-
-void 
-dxTriMeshData::Build(const void* Vertices, int VertexStide, int VertexCount,
-                     const void* Indices, int IndexCount, int TriStride,
-                     const void* in_Normals,
-                     bool Single)
-{
-#if dTRIMESH_ENABLED
-
-    Mesh.SetNbTriangles(IndexCount / 3);
-    Mesh.SetNbVertices(VertexCount);
-    Mesh.SetPointers((IndexedTriangle*)Indices, (Point*)Vertices);
-    Mesh.SetStrides(TriStride, VertexStide);
-    Mesh.Single = Single;
-    
-    // Build tree
-    BuildSettings Settings;
-    // recommended in Opcode User Manual
-    //Settings.mRules = SPLIT_COMPLETE | SPLIT_SPLATTERPOINTS | SPLIT_GEOMCENTER;
-    // used in ODE, why?
-    //Settings.mRules = SPLIT_BEST_AXIS;
-
-    // best compromise?
-    Settings.mRules = SPLIT_BEST_AXIS | SPLIT_SPLATTER_POINTS | SPLIT_GEOM_CENTER;
-
-
-    OPCODECREATE TreeBuilder;
-    TreeBuilder.mIMesh = &Mesh;
-
-    TreeBuilder.mSettings = Settings;
-    TreeBuilder.mNoLeaf = true;
-    TreeBuilder.mQuantized = false;
-
-    TreeBuilder.mKeepOriginal = false;
-    TreeBuilder.mCanRemap = false;
-
-
-
-    BVTree.Build(TreeBuilder);
-
-    // compute model space AABB
-    dVector3 AABBMax, AABBMin;
-    AABBMax[0] = AABBMax[1] = AABBMax[2] = (dReal) -dInfinity;
-    AABBMin[0] = AABBMin[1] = AABBMin[2] = (dReal) dInfinity;
-    if( Single ) {
-        const char* verts = (const char*)Vertices;
-        for( int i = 0; i < VertexCount; ++i ) {
-        const float* v = (const float*)verts;
-        if( v[0] > AABBMax[0] ) AABBMax[0] = v[0];
-        if( v[1] > AABBMax[1] ) AABBMax[1] = v[1];
-        if( v[2] > AABBMax[2] ) AABBMax[2] = v[2];
-        if( v[0] < AABBMin[0] ) AABBMin[0] = v[0];
-        if( v[1] < AABBMin[1] ) AABBMin[1] = v[1];
-        if( v[2] < AABBMin[2] ) AABBMin[2] = v[2];
-        verts += VertexStide;
-        }
-    } else {
-        const char* verts = (const char*)Vertices;
-        for( int i = 0; i < VertexCount; ++i ) {
-        const double* v = (const double*)verts;
-        if( v[0] > AABBMax[0] ) AABBMax[0] = (dReal) v[0];
-        if( v[1] > AABBMax[1] ) AABBMax[1] = (dReal) v[1];
-        if( v[2] > AABBMax[2] ) AABBMax[2] = (dReal) v[2];
-        if( v[0] < AABBMin[0] ) AABBMin[0] = (dReal) v[0];
-        if( v[1] < AABBMin[1] ) AABBMin[1] = (dReal) v[1];
-        if( v[2] < AABBMin[2] ) AABBMin[2] = (dReal) v[2];
-        verts += VertexStide;
-        }
-    }
-    AABBCenter[0] = (AABBMin[0] + AABBMax[0]) * REAL(0.5);
-    AABBCenter[1] = (AABBMin[1] + AABBMax[1]) * REAL(0.5);
-    AABBCenter[2] = (AABBMin[2] + AABBMax[2]) * REAL(0.5);
-    AABBExtents[0] = AABBMax[0] - AABBCenter[0];
-    AABBExtents[1] = AABBMax[1] - AABBCenter[1];
-    AABBExtents[2] = AABBMax[2] - AABBCenter[2];
-
-    // user data (not used by OPCODE)
-    Normals = (dReal *) in_Normals;
-
-        UseFlags = 0;
-
-#endif // dTRIMESH_ENABLED
-}
-
-struct EdgeRecord
-{
-        int VertIdx1;   // Index into vertex array for this edges vertices
-        int VertIdx2;
-        int TriIdx;             // Index into triangle array for triangle this edge belongs to
-
-        uint8 EdgeFlags;        
-        uint8 Vert1Flags;
-        uint8 Vert2Flags;
-        bool Concave;
-};
-
-// Edge comparison function for qsort
-static int EdgeCompare(const void* edge1, const void* edge2)
-{
-        EdgeRecord* e1 = (EdgeRecord*)edge1;
-        EdgeRecord* e2 = (EdgeRecord*)edge2;
-
-        if (e1->VertIdx1 == e2->VertIdx1)
-                return e1->VertIdx2 - e2->VertIdx2;
-        else
-                return e1->VertIdx1 - e2->VertIdx1;
-}
-
-void SetupEdge(EdgeRecord* edge, int edgeIdx, int triIdx, const unsigned int* vertIdxs)
-{
-        if (edgeIdx == 0)
-        {
-                edge->EdgeFlags  = dxTriMeshData::kEdge0;
-                edge->Vert1Flags = dxTriMeshData::kVert0;
-                edge->Vert2Flags = dxTriMeshData::kVert1;
-                edge->VertIdx1 = vertIdxs[0];
-                edge->VertIdx2 = vertIdxs[1];
-        }
-        else if (edgeIdx == 1)
-        {
-                edge->EdgeFlags  = dxTriMeshData::kEdge1;
-                edge->Vert1Flags = dxTriMeshData::kVert1;
-                edge->Vert2Flags = dxTriMeshData::kVert2;
-                edge->VertIdx1 = vertIdxs[1];
-                edge->VertIdx2 = vertIdxs[2];
-        }
-        else if (edgeIdx == 2)
-        {
-                edge->EdgeFlags  = dxTriMeshData::kEdge2;
-                edge->Vert1Flags = dxTriMeshData::kVert2;
-                edge->Vert2Flags = dxTriMeshData::kVert0;
-                edge->VertIdx1 = vertIdxs[2];
-                edge->VertIdx2 = vertIdxs[0];
-        }
-
-        // Make sure vert index 1 is less than index 2 (for easier sorting)
-        if (edge->VertIdx1 > edge->VertIdx2)
-        {
-                unsigned int tempIdx = edge->VertIdx1;
-                edge->VertIdx1 = edge->VertIdx2;
-                edge->VertIdx2 = tempIdx;
-
-                uint8 tempFlags = edge->Vert1Flags;
-                edge->Vert1Flags = edge->Vert2Flags;
-                edge->Vert2Flags = tempFlags;
-        }
-
-        edge->TriIdx = triIdx;
-        edge->Concave = false;
-}
-
-#if dTRIMESH_ENABLED
-
-// Get the vertex opposite this edge in the triangle
-inline Point GetOppositeVert(EdgeRecord* edge, const Point* vertices[])
-{
-        if ((edge->Vert1Flags == dxTriMeshData::kVert0 && edge->Vert2Flags == dxTriMeshData::kVert1) ||
-                (edge->Vert1Flags == dxTriMeshData::kVert1 && edge->Vert2Flags == dxTriMeshData::kVert0))
-        {
-                return *vertices[2];
-        }
-        else if ((edge->Vert1Flags == dxTriMeshData::kVert1 && edge->Vert2Flags == dxTriMeshData::kVert2) ||
-                (edge->Vert1Flags == dxTriMeshData::kVert2 && edge->Vert2Flags == dxTriMeshData::kVert1))
-        {
-                return *vertices[0];
-        }
-        else
-                return *vertices[1];
-}
-
-#endif // dTRIMESH_ENABLED
-
-void dxTriMeshData::Preprocess()
-{
-
-#if dTRIMESH_ENABLED
-
-        // If this mesh has already been preprocessed, exit
-        if (UseFlags)
-                return;
-
-        udword numTris = Mesh.GetNbTriangles();
-        udword numEdges = numTris * 3;
-
-        UseFlags = new uint8[numTris];
-        memset(UseFlags, 0, sizeof(uint8) * numTris);
-
-        EdgeRecord* records = new EdgeRecord[numEdges];
-
-        // Make a list of every edge in the mesh
-        const IndexedTriangle* tris = Mesh.GetTris();
-    for (unsigned int i = 0; i < numTris; i++)
-        {
-                SetupEdge(&records[i*3],   0, i, tris->mVRef);
-                SetupEdge(&records[i*3+1], 1, i, tris->mVRef);
-                SetupEdge(&records[i*3+2], 2, i, tris->mVRef);
-
-                tris = (const IndexedTriangle*)(((uint8*)tris) + Mesh.GetTriStride());
-        }
-
-        // Sort the edges, so the ones sharing the same verts are beside each other
-        qsort(records, numEdges, sizeof(EdgeRecord), EdgeCompare);
-
-        // Go through the sorted list of edges and flag all the edges and vertices that we need to use
-        for (unsigned int i = 0; i < numEdges; i++)
-        {
-                EdgeRecord* rec1 = &records[i];
-                EdgeRecord* rec2 = 0;
-                if (i < numEdges - 1)
-                        rec2 = &records[i+1];
-
-                if (rec2 &&
-                        rec1->VertIdx1 == rec2->VertIdx1 &&
-                        rec1->VertIdx2 == rec2->VertIdx2)
-                {
-                        VertexPointers vp;
-                        Mesh.GetTriangle(vp, rec1->TriIdx);
-
-                        // Get the normal of the first triangle
-                        Point triNorm = (*vp.Vertex[2] - *vp.Vertex[1]) ^ (*vp.Vertex[0] - *vp.Vertex[1]);
-                        triNorm.Normalize();
-
-                        // Get the vert opposite this edge in the first triangle
-                        Point oppositeVert1 = GetOppositeVert(rec1, vp.Vertex);
-
-                        // Get the vert opposite this edge in the second triangle
-                        Mesh.GetTriangle(vp, rec2->TriIdx);
-                        Point oppositeVert2 = GetOppositeVert(rec2, vp.Vertex);
-
-                        float dot = triNorm.Dot((oppositeVert2 - oppositeVert1).Normalize());
-
-                        // We let the dot threshold for concavity get slightly negative to allow for rounding errors
-                        static const float kConcaveThresh = -0.000001f;
-
-                        // This is a concave edge, leave it for the next pass
-                        if (dot >= kConcaveThresh)
-                                rec1->Concave = true;
-                        // If this is a convex edge, mark its vertices and edge as used
-                        else
-                                UseFlags[rec1->TriIdx] |= rec1->Vert1Flags | rec1->Vert2Flags | rec1->EdgeFlags;
-
-                        // Skip the second edge
-                        i++;
-                }
-                // This is a boundary edge
-                else
-                {
-                        UseFlags[rec1->TriIdx] |= rec1->Vert1Flags | rec1->Vert2Flags | rec1->EdgeFlags;
-                }
-        }
-
-        // Go through the list once more, and take any edge we marked as concave and
-        // clear it's vertices flags in any triangles they're used in
-        for (unsigned int i = 0; i < numEdges; i++)
-        {
-                EdgeRecord& er = records[i];
-
-                if (er.Concave)
-                {
-                        for (unsigned int j = 0; j < numEdges; j++)
-                        {
-                                EdgeRecord& curER = records[j];
-
-                                if (curER.VertIdx1 == er.VertIdx1 ||
-                                        curER.VertIdx1 == er.VertIdx2)
-                                        UseFlags[curER.TriIdx] &= ~curER.Vert1Flags;
-
-                                if (curER.VertIdx2 == er.VertIdx1 ||
-                                        curER.VertIdx2 == er.VertIdx2)
-                                        UseFlags[curER.TriIdx] &= ~curER.Vert2Flags;
-                        }
-                }
-        }
-
-        delete [] records;
-
-#endif // dTRIMESH_ENABLED
-
-}
-
-dTriMeshDataID dGeomTriMeshDataCreate(){
-    return new dxTriMeshData();
-}
-
-void dGeomTriMeshDataDestroy(dTriMeshDataID g){
-    delete g;
-}
-
-
-
-
-void dGeomTriMeshSetLastTransform( dxGeom* g, dMatrix4 last_trans )
-{
-        dAASSERT(g)
-    dUASSERT(g->type == dTriMeshClass, "geom not trimesh");
-
-    for (int i=0; i<16; i++)
-        (((dxTriMesh*)g)->last_trans)[ i ] = last_trans[ i ];
-
-    return;
-}
-
-
-dReal* dGeomTriMeshGetLastTransform( dxGeom* g )
-{
-        dAASSERT(g)
-    dUASSERT(g->type == dTriMeshClass, "geom not trimesh");
-
-    return (dReal*)(((dxTriMesh*)g)->last_trans);
-}
-
-
-
-
-void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data)
-{
-    dUASSERT(g, "argument not trimesh data");
-
-    switch (data_id)
-        {
-    case TRIMESH_FACE_NORMALS:
-                g->Normals = (dReal *) in_data;
-                break;
-
-    default:
-                dUASSERT(data_id, "invalid data type");
-                break;
-    }
-
-    return;
-}
-
-
-
-void*  dGeomTriMeshDataGet(dTriMeshDataID g, int data_id)
-{
-    dUASSERT(g, "argument not trimesh data");
-
-    switch (data_id)
-        {
-    case TRIMESH_FACE_NORMALS:
-        return (void *) g->Normals;
-        break;
-
-        default:
-        dUASSERT(data_id, "invalid data type");
-        break;
-    }
-    
-    return NULL;
-}
-
-
-void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
-                                  const void* Vertices, int VertexStride, int VertexCount, 
-                                  const void* Indices, int IndexCount, int TriStride,
-                                  const void* Normals)
-{
-    dUASSERT(g, "argument not trimesh data");
-    
-    g->Build(Vertices, VertexStride, VertexCount, 
-             Indices, IndexCount, TriStride, 
-             Normals, 
-             true);
-}
-
-
-void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
-                                 const void* Vertices, int VertexStride, int VertexCount, 
-                                 const void* Indices, int IndexCount, int TriStride)
-{
-    dGeomTriMeshDataBuildSingle1(g, Vertices, VertexStride, VertexCount,
-                                 Indices, IndexCount, TriStride, (void*)NULL);
-}
-
-
-void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,
-                                  const void* Vertices, int VertexStride, int VertexCount, 
-                                 const void* Indices, int IndexCount, int TriStride,
-                                 const void* Normals)
-{
-    dUASSERT(g, "argument not trimesh data");
-    
-    g->Build(Vertices, VertexStride, VertexCount, 
-             Indices, IndexCount, TriStride, 
-             Normals, 
-             false);
-}
-
-
-void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
-                                 const void* Vertices, int VertexStride, int VertexCount, 
-                                 const void* Indices, int IndexCount, int TriStride) {
-    dGeomTriMeshDataBuildDouble1(g, Vertices, VertexStride, VertexCount,
-                                 Indices, IndexCount, TriStride, NULL);
-}
-
-
-void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
-                                  const dReal* Vertices, int VertexCount, 
-                                 const int* Indices, int IndexCount,
-                                 const int* Normals){
-#ifdef dSINGLE
-    dGeomTriMeshDataBuildSingle1(g,
-                                Vertices, 4 * sizeof(dReal), VertexCount, 
-                                Indices, IndexCount, 3 * sizeof(unsigned int),
-                                Normals);
-#else
-    dGeomTriMeshDataBuildDouble1(g, Vertices, 4 * sizeof(dReal), VertexCount, 
-                                Indices, IndexCount, 3 * sizeof(unsigned int),
-                                Normals);
-#endif
-}
-
-
-void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
-                                 const dReal* Vertices, int VertexCount, 
-                                 const int* Indices, int IndexCount) {
-    dGeomTriMeshDataBuildSimple1(g,
-                                 Vertices, VertexCount, Indices, IndexCount,
-                                 (const int*)NULL);
-}
-
-void dGeomTriMeshDataPreprocess(dTriMeshDataID g)
-{
-    dUASSERT(g, "argument not trimesh data");
-        g->Preprocess();
-}
-
-void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen)
-{
-    dUASSERT(g, "argument not trimesh data");
-#if dTRIMESH_ENABLED
-        *buf = g->UseFlags;
-        *bufLen = g->Mesh.GetNbTriangles();
-#endif // dTRIMESH_ENABLED
-}
-
-void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf)
-{
-    dUASSERT(g, "argument not trimesh data");
-        g->UseFlags = buf;
-}
-
-
-#if dTRIMESH_ENABLED
-
-// Trimesh Class Statics
-PlanesCollider dxTriMesh::_PlanesCollider;
-SphereCollider dxTriMesh::_SphereCollider;
-OBBCollider dxTriMesh::_OBBCollider;
-RayCollider dxTriMesh::_RayCollider;
-AABBTreeCollider dxTriMesh::_AABBTreeCollider;
-LSSCollider dxTriMesh::_LSSCollider;
-
-SphereCache dxTriMesh::defaultSphereCache;
-OBBCache dxTriMesh::defaultBoxCache;
-LSSCache dxTriMesh::defaultCapsuleCache;
-
-CollisionFaces dxTriMesh::Faces;
-
-#endif // dTRIMESH_ENABLED
-
-
-dxTriMesh::dxTriMesh(dSpaceID Space, dTriMeshDataID Data) : dxGeom(Space, 1)
-{
-    type = dTriMeshClass;
-
-    this->Data = Data;
-
-#if dTRIMESH_ENABLED
-
-        _RayCollider.SetDestination(&Faces);
-
-    _PlanesCollider.SetTemporalCoherence(true);
-
-        _SphereCollider.SetTemporalCoherence(true);
-        _SphereCollider.SetPrimitiveTests(false);
-
-    _OBBCollider.SetTemporalCoherence(true);
-
-    // no first-contact test (i.e. return full contact info)
-        _AABBTreeCollider.SetFirstContact( false );     
-    // temporal coherence only works with "first conact" tests
-    _AABBTreeCollider.SetTemporalCoherence(false);
-    // Perform full BV-BV tests (true) or SAT-lite tests (false)
-        _AABBTreeCollider.SetFullBoxBoxTest( true );
-    // Perform full Primitive-BV tests (true) or SAT-lite tests (false)
-        _AABBTreeCollider.SetFullPrimBoxTest( true );
-        _LSSCollider.SetTemporalCoherence(false);
-
-#endif // dTRIMESH_ENABLED
-
-        /* TC has speed/space 'issues' that don't make it a clear
-           win by default on spheres/boxes. */
-        this->doSphereTC = false;
-        this->doBoxTC = false;
-        this->doCapsuleTC = false;
-
-#if dTRIMESH_ENABLED
-
-    const char* msg;
-    if ((msg =_AABBTreeCollider.ValidateSettings()))
-        dDebug (d_ERR_UASSERT, msg, " (%s:%d)", __FILE__,__LINE__);
-        _LSSCollider.SetPrimitiveTests(false);
-        _LSSCollider.SetFirstContact(false);
-
-#endif // dTRIMESH_ENABLED
-
-    for (int i=0; i<16; i++)
-        last_trans[i] = REAL( 0.0 );
-}
-
-dxTriMesh::~dxTriMesh(){
-    //
-}
-
-// Cleanup for allocations when shutting down ODE
-void opcode_collider_cleanup()
-{
-#if dTRIMESH_ENABLED
-        
-        // Clear TC caches
-        dxTriMesh::Faces.Empty();
-        dxTriMesh::defaultSphereCache.TouchedPrimitives.Empty();
-        dxTriMesh::defaultBoxCache.TouchedPrimitives.Empty();
-        dxTriMesh::defaultCapsuleCache.TouchedPrimitives.Empty();
-
-#endif // dTRIMESH_ENABLED
-}
-
-
-
-void dxTriMesh::ClearTCCache()
-{
-#if dTRIMESH_ENABLED
-  /* dxTriMesh::ClearTCCache uses dArray's setSize(0) to clear the caches -
-     but the destructor isn't called when doing this, so we would leak.
-     So, call the previous caches' containers' destructors by hand first. */
-    int i, n;
-    n = SphereTCCache.size();
-    for( i = 0; i < n; ++i ) {
-        SphereTCCache[i].~SphereTC();
-    }
-    SphereTCCache.setSize(0);
-    n = BoxTCCache.size();
-    for( i = 0; i < n; ++i ) {
-        BoxTCCache[i].~BoxTC();
-    }
-    BoxTCCache.setSize(0);
-        n = CapsuleTCCache.size();
-        for( i = 0; i < n; ++i ) {
-          CapsuleTCCache[i].~CapsuleTC();
-        }
-        CapsuleTCCache.setSize(0);
-#endif // dTRIMESH_ENABLED
-}
-
-
-int dxTriMesh::AABBTest(dxGeom* g, dReal aabb[6]){
-    return 1;
-}
-
-
-void dxTriMesh::computeAABB() {
-    const dxTriMeshData* d = Data;
-    dVector3 c;
-    const dMatrix3& R = final_posr->R;
-    const dVector3& pos = final_posr->pos;
-    
-    dMULTIPLY0_331( c, R, d->AABBCenter );
-    
-    dReal xrange = dFabs(R[0] * Data->AABBExtents[0]) +
-        dFabs(R[1] * Data->AABBExtents[1]) + 
-        dFabs(R[2] * Data->AABBExtents[2]);
-    dReal yrange = dFabs(R[4] * Data->AABBExtents[0]) +
-        dFabs(R[5] * Data->AABBExtents[1]) + 
-        dFabs(R[6] * Data->AABBExtents[2]);
-    dReal zrange = dFabs(R[8] * Data->AABBExtents[0]) +
-        dFabs(R[9] * Data->AABBExtents[1]) + 
-        dFabs(R[10] * Data->AABBExtents[2]);
-
-    aabb[0] = c[0] + pos[0] - xrange;
-    aabb[1] = c[0] + pos[0] + xrange;
-    aabb[2] = c[1] + pos[1] - yrange;
-    aabb[3] = c[1] + pos[1] + yrange;
-    aabb[4] = c[2] + pos[2] - zrange;
-    aabb[5] = c[2] + pos[2] + zrange;
-}
-
-
-void dxTriMeshData::UpdateData()
-{
-#if  dTRIMESH_ENABLED
-        BVTree.Refit();
-#endif // dTRIMESH_ENABLED
-}
-
-
-dGeomID dCreateTriMesh(dSpaceID space, 
-                       dTriMeshDataID Data,
-                       dTriCallback* Callback,
-                       dTriArrayCallback* ArrayCallback,
-                       dTriRayCallback* RayCallback)
-{
-    dxTriMesh* Geom = new dxTriMesh(space, Data);
-    Geom->Callback = Callback;
-    Geom->ArrayCallback = ArrayCallback;
-    Geom->RayCallback = RayCallback;
-
-    return Geom;
-}
-
-void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback)
-{
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-        ((dxTriMesh*)g)->Callback = Callback;
-}
-
-dTriCallback* dGeomTriMeshGetCallback(dGeomID g)
-{
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-        return ((dxTriMesh*)g)->Callback;
-}
-
-void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback)
-{
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-        ((dxTriMesh*)g)->ArrayCallback = ArrayCallback;
-}
-
-dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g)
-{
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-        return ((dxTriMesh*)g)->ArrayCallback;
-}
-
-void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback)
-{
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-        ((dxTriMesh*)g)->RayCallback = Callback;
-}
-
-dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g)
-{
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");      
-        return ((dxTriMesh*)g)->RayCallback;
-}
-
-void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data)
-{
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-        ((dxTriMesh*)g)->Data = Data;
-        // I changed my data -- I know nothing about my own AABB anymore.
-        ((dxTriMesh*)g)->gflags |= (GEOM_DIRTY|GEOM_AABB_BAD);
-}
-
-dTriMeshDataID dGeomTriMeshGetData(dGeomID g)
-{
-  dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-  return ((dxTriMesh*)g)->Data;
-}
-
-
-
-void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable)
-{
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-  
-        switch (geomClass)
-        {
-                case dSphereClass: 
-                        ((dxTriMesh*)g)->doSphereTC = (1 == enable);
-                        break;
-                case dBoxClass:
-                        ((dxTriMesh*)g)->doBoxTC = (1 == enable);
-                        break;
-                case dCapsuleClass:
-                        ((dxTriMesh*)g)->doCapsuleTC = (1 == enable);
-                        break;
-        }
-}
-
-int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass)
-{
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-  
-        switch (geomClass)
-        {
-                case dSphereClass:
-                        if (((dxTriMesh*)g)->doSphereTC)
-                                return 1;
-                        break;
-                case dBoxClass:
-                        if (((dxTriMesh*)g)->doBoxTC)
-                                return 1;
-                        break;
-                case dCapsuleClass:
-                        if (((dxTriMesh*)g)->doCapsuleTC)
-                                return 1;
-                        break;
-        }
-        return 0;
-}
-
-void dGeomTriMeshClearTCCache(dGeomID g){
-    dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-
-    dxTriMesh* Geom = (dxTriMesh*)g;
-    Geom->ClearTCCache();
-}
-
-/*
- * returns the TriMeshDataID
- */
-dTriMeshDataID
-dGeomTriMeshGetTriMeshDataID(dGeomID g)
-{
-    dxTriMesh* Geom = (dxTriMesh*) g;
-    return Geom->Data;
-}
-
-// Getting data
-void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2){
-    dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-
-    dxTriMesh* Geom = (dxTriMesh*)g;
-
-    const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
-    const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
-
-    dVector3 v[3];
-        FetchTriangle(Geom, Index, Position, Rotation, v);
-
-    if (v0){
-        (*v0)[0] = v[0][0];
-        (*v0)[1] = v[0][1];
-        (*v0)[2] = v[0][2];
-        (*v0)[3] = v[0][3];
-    }
-    if (v1){
-        (*v1)[0] = v[1][0];
-        (*v1)[1] = v[1][1];
-        (*v1)[2] = v[1][2];
-        (*v1)[3] = v[1][3];
-    }
-    if (v2){
-        (*v2)[0] = v[2][0];
-        (*v2)[1] = v[2][1];
-        (*v2)[2] = v[2][2];
-        (*v2)[3] = v[2][3];
-    }
-}
-
-void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out){
-    dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-
-    dxTriMesh* Geom = (dxTriMesh*)g;
-
-    const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
-    const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
-
-    dVector3 dv[3];
-    FetchTriangle(Geom, Index, Position, Rotation, dv);
-
-    GetPointFromBarycentric(dv, u, v, Out);
-}
-
-int dGeomTriMeshGetTriangleCount (dGeomID g)            
-{               
-#if dTRIMESH_ENABLED
-    dxTriMesh* Geom = (dxTriMesh*)g;            
-    return Geom->Data->Mesh.GetNbTriangles();           
-#else
-        return 0;
-#endif // dTRIMESH_ENABLED
-}
-
-void dGeomTriMeshDataUpdate(dTriMeshDataID g) {
-    dUASSERT(g, "argument not trimesh data");
-    g->UpdateData();
-}
-
-#endif // dTRIMESH_OPCODE
-#endif // dTRIMESH_ENABLED
diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_plane.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_plane.cpp
deleted file mode 100644
index 54034aa..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_plane.cpp
+++ /dev/null
@@ -1,213 +0,0 @@
-/*************************************************************************

- *                                                                       *

- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *

- *                                                                       *

- *************************************************************************/

-

-// TriMesh - Plane collider by David Walters, July 2006

-

-#include <ode/collision.h>

-#include <ode/matrix.h>

-#include <ode/rotation.h>

-#include <ode/odemath.h>

-

-#if dTRIMESH_ENABLED

-

-#include "collision_util.h"

-#include "collision_std.h"

-

-#define TRIMESH_INTERNAL

-#include "collision_trimesh_internal.h"

-

-#if dTRIMESH_OPCODE

-int dCollideTrimeshPlane( dxGeom *o1, dxGeom *o2, int flags, dContactGeom* contacts, int skip )

-{

-        dIASSERT( skip >= (int)sizeof( dContactGeom ) );

-        dIASSERT( o1->type == dTriMeshClass );

-        dIASSERT( o2->type == dPlaneClass );

-        dIASSERT ((flags & NUMC_MASK) >= 1);

-

-        // Alias pointers to the plane and trimesh

-        dxTriMesh* trimesh = (dxTriMesh*)( o1 );

-        dxPlane* plane = (dxPlane*)( o2 );

-

-        int contact_count = 0;

-

-        // Cache the maximum contact count.

-        const int contact_max = ( flags & NUMC_MASK );

-

-        // Cache trimesh position and rotation.

-        const dVector3& trimesh_pos = *(const dVector3*)dGeomGetPosition( trimesh );

-        const dMatrix3& trimesh_R = *(const dMatrix3*)dGeomGetRotation( trimesh );

-

-        //

-        // For all triangles.

-        //

-

-        // Cache the triangle count.

-        const int tri_count = trimesh->Data->Mesh.GetNbTriangles();

-

-        VertexPointers VP;

-        dReal alpha;

-        dVector3 vertex;

-

-#if !defined(dSINGLE) || 1

-        dVector3 int_vertex;            // Intermediate vertex for double precision mode.

-#endif // dSINGLE

-

-        // For each triangle

-        for ( int t = 0; t < tri_count; ++t )

-        {

-                // Get triangle, which should also use callback.

-                trimesh->Data->Mesh.GetTriangle( VP, t );

-

-                // For each vertex.

-                for ( int v = 0; v < 3; ++v )

-                {

-                        //

-                        // Get Vertex

-                        //

-

-#if defined(dSINGLE) && 0 // Always assign via intermediate array as otherwise it is an incapsulation violation

-

-                        dMULTIPLY0_331( vertex, trimesh_R, (float*)( VP.Vertex[ v ] ) );

-

-#else // dDOUBLE || 1

-

-                        // OPCODE data is in single precision format.

-                        int_vertex[ 0 ] = VP.Vertex[ v ]->x;

-                        int_vertex[ 1 ] = VP.Vertex[ v ]->y;

-                        int_vertex[ 2 ] = VP.Vertex[ v ]->z;

-

-                        dMULTIPLY0_331( vertex, trimesh_R, int_vertex );

-

-#endif // dSINGLE/dDOUBLE

-                        

-                        vertex[ 0 ] += trimesh_pos[ 0 ];

-                        vertex[ 1 ] += trimesh_pos[ 1 ];

-                        vertex[ 2 ] += trimesh_pos[ 2 ];

-

-

-                        //

-                        // Collision?

-                        //

-

-                        // If alpha < 0 then point is if front of plane. i.e. no contact

-                        // If alpha = 0 then the point is on the plane

-                        alpha = plane->p[ 3 ] - dDOT( plane->p, vertex );

-      

-                        // If alpha > 0 the point is behind the plane. CONTACT!

-                        if ( alpha > 0 )

-                        {

-                                // Alias the contact

-                dContactGeom* contact = SAFECONTACT( flags, contacts, contact_count, skip );

-

-                                contact->pos[ 0 ] = vertex[ 0 ];

-                                contact->pos[ 1 ] = vertex[ 1 ];

-                                contact->pos[ 2 ] = vertex[ 2 ];

-

-                                contact->normal[ 0 ] = plane->p[ 0 ];

-                                contact->normal[ 1 ] = plane->p[ 1 ];

-                                contact->normal[ 2 ] = plane->p[ 2 ];

-

-                                contact->depth = alpha;

-                                contact->g1 = plane;

-                                contact->g2 = trimesh;

-

-                                ++contact_count;

-

-                                // All contact slots are full?

-                                if ( contact_count >= contact_max )

-                                        return contact_count; // <=== STOP HERE

-                        }

-                }

-        }

-

-        // Return contact count.

-        return contact_count;

-}

-#endif // dTRIMESH_OPCODE

-

-#if dTRIMESH_GIMPACT

-int dCollideTrimeshPlane( dxGeom *o1, dxGeom *o2, int flags, dContactGeom* contacts, int skip )

-{

-        dIASSERT( skip >= (int)sizeof( dContactGeom ) );

-        dIASSERT( o1->type == dTriMeshClass );

-        dIASSERT( o2->type == dPlaneClass );

-        dIASSERT ((flags & NUMC_MASK) >= 1);

-

-        // Alias pointers to the plane and trimesh

-        dxTriMesh* trimesh = (dxTriMesh*)( o1 );

-        vec4f plane;

-        dGeomPlaneGetParams(o2, plane);

-

-        //Find collision

-

-        GDYNAMIC_ARRAY collision_result;

-        GIM_CREATE_TRIMESHPLANE_CONTACTS(collision_result);

-

-        gim_trimesh_plane_collision(&trimesh->m_collision_trimesh,plane,&collision_result);

-

-        if(collision_result.m_size == 0 )

-        {

-            GIM_DYNARRAY_DESTROY(collision_result);

-            return 0;

-        }

-

-

-        unsigned int contactcount = collision_result.m_size;

-        unsigned int contactmax = (unsigned int)(flags & NUMC_MASK);

-        if (contactcount > contactmax)

-        {

-                contactcount = contactmax;

-        }

-

-        dContactGeom* pcontact;

-        vec4f * planecontact_results = GIM_DYNARRAY_POINTER(vec4f,collision_result);

-

-    for(unsigned int i = 0; i < contactcount; i++ )

-        {

-        pcontact = SAFECONTACT(flags, contacts, i, skip);

-

-        pcontact->pos[0] = (*planecontact_results)[0];

-        pcontact->pos[1] = (*planecontact_results)[1];

-        pcontact->pos[2] = (*planecontact_results)[2];

-        pcontact->pos[3] = REAL(1.0);

-

-        pcontact->normal[0] = plane[0];

-        pcontact->normal[1] = plane[1];

-        pcontact->normal[2] = plane[2];

-        pcontact->normal[3] = 0;

-

-        pcontact->depth = (*planecontact_results)[3];

-        pcontact->g1 = o1;

-        pcontact->g2 = o2;

-

-        planecontact_results++;

-         }

-

-         GIM_DYNARRAY_DESTROY(collision_result);

-

-        return (int)contactcount;

-}

-#endif // dTRIMESH_GIMPACT

-

-

-#endif // dTRIMESH_ENABLED

-

diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_ray.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_ray.cpp
deleted file mode 100644
index c0b97ca..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_ray.cpp
+++ /dev/null
@@ -1,198 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-// TriMesh code by Erwin de Vries.
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-
-#if dTRIMESH_ENABLED
-
-#include "collision_util.h"
-
-#define TRIMESH_INTERNAL
-#include "collision_trimesh_internal.h"
-
-#if dTRIMESH_OPCODE
-int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride){
-        dIASSERT (Stride >= (int)sizeof(dContactGeom));
-        dIASSERT (g1->type == dTriMeshClass);
-        dIASSERT (RayGeom->type == dRayClass);
-        dIASSERT ((Flags & NUMC_MASK) >= 1);
-
-        dxTriMesh* TriMesh = (dxTriMesh*)g1;
-
-        const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
-        const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
-
-        RayCollider& Collider = TriMesh->_RayCollider;
-
-        dReal Length = dGeomRayGetLength(RayGeom);
-
-        int FirstContact, BackfaceCull;
-        dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
-        int ClosestHit = dGeomRayGetClosestHit(RayGeom);
-
-        Collider.SetFirstContact(FirstContact != 0);
-        Collider.SetClosestHit(ClosestHit != 0);
-        Collider.SetCulling(BackfaceCull != 0);
-        Collider.SetMaxDist(Length);
-
-        dVector3 Origin, Direction;
-        dGeomRayGet(RayGeom, Origin, Direction);
-
-        /* Make Ray */
-        Ray WorldRay;
-        WorldRay.mOrig.x = Origin[0];
-        WorldRay.mOrig.y = Origin[1];
-        WorldRay.mOrig.z = Origin[2];
-        WorldRay.mDir.x = Direction[0];
-        WorldRay.mDir.y = Direction[1];
-        WorldRay.mDir.z = Direction[2];
-
-        /* Intersect */
-        Matrix4x4 amatrix;
-        int TriCount = 0;
-        if (Collider.Collide(WorldRay, TriMesh->Data->BVTree, &MakeMatrix(TLPosition, TLRotation, amatrix))) {
-                TriCount = TriMesh->Faces.GetNbFaces();
-        }
-
-        if (TriCount == 0) {
-                return 0;
-        }
-        
-        const CollisionFace* Faces = TriMesh->Faces.GetFaces();
-
-        int OutTriCount = 0;
-        for (int i = 0; i < TriCount; i++) {
-                if (TriMesh->RayCallback == null ||
-                    TriMesh->RayCallback(TriMesh, RayGeom, Faces[i].mFaceID,
-                                         Faces[i].mU, Faces[i].mV)) {
-                        const int& TriIndex = Faces[i].mFaceID;
-                        if (!Callback(TriMesh, RayGeom, TriIndex)) {
-                                continue;
-                        }
-
-                        dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);
-
-                        dVector3 dv[3];
-                        FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);
-
-                        // No sense to save on single type conversion in algorithm of this size.
-                        // If there would be a custom typedef for distance type it could be used 
-                        // instead of dReal. However using float directly is the loss of abstraction 
-                        // and possible loss of precision in future.
-                        /*float*/ dReal T = Faces[i].mDistance;
-                        Contact->pos[0] = Origin[0] + (Direction[0] * T);
-                        Contact->pos[1] = Origin[1] + (Direction[1] * T);
-                        Contact->pos[2] = Origin[2] + (Direction[2] * T);
-                        Contact->pos[3] = REAL(0.0);
-                                
-                        dVector3 vu;
-                        vu[0] = dv[1][0] - dv[0][0];
-                        vu[1] = dv[1][1] - dv[0][1];
-                        vu[2] = dv[1][2] - dv[0][2];
-                        vu[3] = REAL(0.0);
-                                
-                        dVector3 vv;
-                        vv[0] = dv[2][0] - dv[0][0];
-                        vv[1] = dv[2][1] - dv[0][1];
-                        vv[2] = dv[2][2] - dv[0][2];
-                        vv[3] = REAL(0.0);
-
-                        dCROSS(Contact->normal, =, vv, vu);     // Reversed
-
-                        dNormalize3(Contact->normal);
-
-                        Contact->depth = T;
-                        Contact->g1 = TriMesh;
-                        Contact->g2 = RayGeom;
-                                
-                        OutTriCount++;
-
-                        // Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
-                        if (OutTriCount >= (Flags & NUMC_MASK)) {
-                                break;
-                        }
-                }
-        }
-        return OutTriCount;
-}
-#endif // dTRIMESH_OPCODE
-
-#if dTRIMESH_GIMPACT
-int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride)
-{
-        dIASSERT (Stride >= (int)sizeof(dContactGeom));
-        dIASSERT (g1->type == dTriMeshClass);
-        dIASSERT (RayGeom->type == dRayClass);
-        dIASSERT ((Flags & NUMC_MASK) >= 1);
-        
-        dxTriMesh* TriMesh = (dxTriMesh*)g1;
-
-    dReal Length = dGeomRayGetLength(RayGeom);
-        int FirstContact, BackfaceCull;
-        dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
-        int ClosestHit = dGeomRayGetClosestHit(RayGeom);
-        dVector3 Origin, Direction;
-        dGeomRayGet(RayGeom, Origin, Direction);
-
-    char intersect=0;
-    GIM_TRIANGLE_RAY_CONTACT_DATA contact_data;
-
-        if(ClosestHit)
-        {
-                intersect = gim_trimesh_ray_closest_collision(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
-        }
-        else
-        {
-            intersect = gim_trimesh_ray_collision(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
-        }
-
-    if(intersect == 0)
-        {
-        return 0;
-    }
-
-        int OutTriCount = 0;
-
-        if(!TriMesh->RayCallback || 
-                TriMesh->RayCallback(TriMesh, RayGeom, contact_data.m_face_id, contact_data.u , contact_data.v))
-        {
-                dContactGeom* Contact = SAFECONTACT(Flags, Contacts, (OutTriCount-1), Stride);
-        VEC_COPY(Contact->pos,contact_data.m_point);
-        VEC_COPY(Contact->normal,contact_data.m_normal);
-        Contact->depth = contact_data.tparam;
-        Contact->g1 = TriMesh;
-        Contact->g2 = RayGeom;
-                
-                OutTriCount = 1;
-        }
-
-        return OutTriCount;
-}
-#endif  // dTRIMESH_GIMPACT
-
-#endif // dTRIMESH_ENABLED
-
diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_sphere.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_sphere.cpp
deleted file mode 100644
index 7ee9b4b..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_sphere.cpp
+++ /dev/null
@@ -1,573 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-// TriMesh code by Erwin de Vries.
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-#include "collision_util.h"
-
-#if dTRIMESH_ENABLED
-
-#define TRIMESH_INTERNAL
-#include "collision_trimesh_internal.h"
-
-#if dTRIMESH_OPCODE
-#define MERGECONTACTS
-
-// Ripped from Opcode 1.1.
-static bool GetContactData(const dVector3& Center, dReal Radius, const dVector3 Origin, const dVector3 Edge0, const dVector3 Edge1, dReal& Dist, dReal& u, dReal& v){
-  
-        // now onto the bulk of the collision...
-
-        dVector3 Diff;
-        Diff[0] = Origin[0] - Center[0];
-        Diff[1] = Origin[1] - Center[1];
-        Diff[2] = Origin[2] - Center[2];
-        Diff[3] = Origin[3] - Center[3];
-
-        dReal A00 = dDOT(Edge0, Edge0);
-        dReal A01 = dDOT(Edge0, Edge1);
-        dReal A11 = dDOT(Edge1, Edge1);
-
-        dReal B0 = dDOT(Diff, Edge0);
-        dReal B1 = dDOT(Diff, Edge1);
-
-        dReal C = dDOT(Diff, Diff);
-
-        dReal Det = dFabs(A00 * A11 - A01 * A01);
-        u = A01 * B1 - A11 * B0;
-        v = A01 * B0 - A00 * B1;
-
-        dReal DistSq;
-
-        if (u + v <= Det){
-                if(u < REAL(0.0)){
-                        if(v < REAL(0.0)){  // region 4
-                                if(B0 < REAL(0.0)){
-                                        v = REAL(0.0);
-                                        if (-B0 >= A00){
-                                                u = REAL(1.0);
-                                                DistSq = A00 + REAL(2.0) * B0 + C;
-                                        }
-                                        else{
-                                                u = -B0 / A00;
-                                                DistSq = B0 * u + C;
-                                        }
-                                }
-                                else{
-                                        u = REAL(0.0);
-                                        if(B1 >= REAL(0.0)){
-                                                v = REAL(0.0);
-                                                DistSq = C;
-                                        }
-                                        else if(-B1 >= A11){
-                                                v = REAL(1.0);
-                                                DistSq = A11 + REAL(2.0) * B1 + C;
-                                        }
-                                        else{
-                                                v = -B1 / A11;
-                                                DistSq = B1 * v + C;
-                                        }
-                                }
-                        }
-                        else{  // region 3
-                                u = REAL(0.0);
-                                if(B1 >= REAL(0.0)){
-                                        v = REAL(0.0);
-                                        DistSq = C;
-                                }
-                                else if(-B1 >= A11){
-                                        v = REAL(1.0);
-                                        DistSq = A11 + REAL(2.0) * B1 + C;
-                                }
-                                else{
-                                        v = -B1 / A11;
-                                        DistSq = B1 * v + C;
-                                }
-                        }
-                }
-                else if(v < REAL(0.0)){  // region 5
-                        v = REAL(0.0);
-                        if (B0 >= REAL(0.0)){
-                                u = REAL(0.0);
-                                DistSq = C;
-                        }
-                        else if (-B0 >= A00){
-                                u = REAL(1.0);
-                                DistSq = A00 + REAL(2.0) * B0 + C;
-                        }
-                        else{
-                                u = -B0 / A00;
-                                DistSq = B0 * u + C;
-                        }
-                }
-                else{  // region 0
-                        // minimum at interior point
-                        if (Det == REAL(0.0)){
-                                u = REAL(0.0);
-                                v = REAL(0.0);
-                                DistSq = FLT_MAX;
-                        }
-                        else{
-                                dReal InvDet = REAL(1.0) / Det;
-                                u *= InvDet;
-                                v *= InvDet;
-                                DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
-                        }
-                }
-        }
-        else{
-                dReal Tmp0, Tmp1, Numer, Denom;
-
-                if(u < REAL(0.0)){  // region 2
-                        Tmp0 = A01 + B0;
-                        Tmp1 = A11 + B1;
-                        if (Tmp1 > Tmp0){
-                                Numer = Tmp1 - Tmp0;
-                                Denom = A00 - REAL(2.0) * A01 + A11;
-                                if (Numer >= Denom){
-                                        u = REAL(1.0);
-                                        v = REAL(0.0);
-                                        DistSq = A00 + REAL(2.0) * B0 + C;
-                                }
-                                else{
-                                        u = Numer / Denom;
-                                        v = REAL(1.0) - u;
-                                        DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
-                                }
-                        }
-                        else{
-                                u = REAL(0.0);
-                                if(Tmp1 <= REAL(0.0)){
-                                        v = REAL(1.0);
-                                        DistSq = A11 + REAL(2.0) * B1 + C;
-                                }
-                                else if(B1 >= REAL(0.0)){
-                                        v = REAL(0.0);
-                                        DistSq = C;
-                                }
-                                else{
-                                        v = -B1 / A11;
-                                        DistSq = B1 * v + C;
-                                }
-                        }
-                }
-                else if(v < REAL(0.0)){  // region 6
-                        Tmp0 = A01 + B1;
-                        Tmp1 = A00 + B0;
-                        if (Tmp1 > Tmp0){
-                                Numer = Tmp1 - Tmp0;
-                                Denom = A00 - REAL(2.0) * A01 + A11;
-                                if (Numer >= Denom){
-                                        v = REAL(1.0);
-                                        u = REAL(0.0);
-                                        DistSq = A11 + REAL(2.0) * B1 + C;
-                                }
-                                else{
-                                        v = Numer / Denom;
-                                        u = REAL(1.0) - v;
-                                        DistSq =  u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
-                                }
-                        }
-                        else{
-                                v = REAL(0.0);
-                                if (Tmp1 <= REAL(0.0)){
-                                        u = REAL(1.0);
-                                        DistSq = A00 + REAL(2.0) * B0 + C;
-                                }
-                                else if(B0 >= REAL(0.0)){
-                                        u = REAL(0.0);
-                                        DistSq = C;
-                                }
-                                else{
-                                        u = -B0 / A00;
-                                        DistSq = B0 * u + C;
-                                }
-                        }
-                }
-                else{  // region 1
-                        Numer = A11 + B1 - A01 - B0;
-                        if (Numer <= REAL(0.0)){
-                                u = REAL(0.0);
-                                v = REAL(1.0);
-                                DistSq = A11 + REAL(2.0) * B1 + C;
-                        }
-                        else{
-                                Denom = A00 - REAL(2.0) * A01 + A11;
-                                if (Numer >= Denom){
-                                        u = REAL(1.0);
-                                        v = REAL(0.0);
-                                        DistSq = A00 + REAL(2.0) * B0 + C;
-                                }
-                                else{
-                                        u = Numer / Denom;
-                                        v = REAL(1.0) - u;
-                                        DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
-                                }
-                        }
-                }
-        }
-
-        Dist = dSqrt(dFabs(DistSq));
-
-        if (Dist <= Radius){
-                Dist = Radius - Dist;
-                return true;
-        }
-        else return false;
-}
-
-int dCollideSTL(dxGeom* g1, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){
-        dIASSERT (Stride >= (int)sizeof(dContactGeom));
-        dIASSERT (g1->type == dTriMeshClass);
-        dIASSERT (SphereGeom->type == dSphereClass);
-        dIASSERT ((Flags & NUMC_MASK) >= 1);
-
-        dxTriMesh* TriMesh = (dxTriMesh*)g1;
-
-        // Init
-        const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
-        const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
-
-        SphereCollider& Collider = TriMesh->_SphereCollider;
-
-        const dVector3& Position = *(const dVector3*)dGeomGetPosition(SphereGeom);
-        dReal Radius = dGeomSphereGetRadius(SphereGeom);
-
-        // Sphere
-        Sphere Sphere;
-        Sphere.mCenter.x = Position[0];
-        Sphere.mCenter.y = Position[1];
-        Sphere.mCenter.z = Position[2];
-        Sphere.mRadius = Radius;
-
-        Matrix4x4 amatrix;
-
-        // TC results
-        if (TriMesh->doSphereTC) {
-                dxTriMesh::SphereTC* sphereTC = 0;
-                for (int i = 0; i < TriMesh->SphereTCCache.size(); i++){
-                        if (TriMesh->SphereTCCache[i].Geom == SphereGeom){
-                                sphereTC = &TriMesh->SphereTCCache[i];
-                                break;
-                        }
-                }
-
-                if (!sphereTC){
-                        TriMesh->SphereTCCache.push(dxTriMesh::SphereTC());
-
-                        sphereTC = &TriMesh->SphereTCCache[TriMesh->SphereTCCache.size() - 1];
-                        sphereTC->Geom = SphereGeom;
-                }
-                
-                // Intersect
-                Collider.SetTemporalCoherence(true);
-                Collider.Collide(*sphereTC, Sphere, TriMesh->Data->BVTree, null, 
-                                                 &MakeMatrix(TLPosition, TLRotation, amatrix));
-        }
-        else {
-                Collider.SetTemporalCoherence(false);
-                Collider.Collide(dxTriMesh::defaultSphereCache, Sphere, TriMesh->Data->BVTree, null, 
-                                                 &MakeMatrix(TLPosition, TLRotation, amatrix));
-        }
-
-        if (! Collider.GetContactStatus()) {
-                // no collision occurred
-                return 0;
-        }
-
-        // get results
-        int TriCount = Collider.GetNbTouchedPrimitives();
-        const int* Triangles = (const int*)Collider.GetTouchedPrimitives();
-
-        if (TriCount != 0){
-                if (TriMesh->ArrayCallback != null){
-                        TriMesh->ArrayCallback(TriMesh, SphereGeom, Triangles, TriCount);
-                }
-
-                int OutTriCount = 0;
-                for (int i = 0; i < TriCount; i++){
-                        if (OutTriCount == (Flags & NUMC_MASK)){
-                                break;
-                        }
-
-                        const int TriIndex = Triangles[i];
-
-                        dVector3 dv[3];
-                        if (!Callback(TriMesh, SphereGeom, TriIndex))
-                                continue;
-                        FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);
-
-                        dVector3& v0 = dv[0];
-                        dVector3& v1 = dv[1];
-                        dVector3& v2 = dv[2];
-
-                        dVector3 vu;
-                        vu[0] = v1[0] - v0[0];
-                        vu[1] = v1[1] - v0[1];
-                        vu[2] = v1[2] - v0[2];
-                        vu[3] = REAL(0.0);
-
-                        dVector3 vv;
-                        vv[0] = v2[0] - v0[0];
-                        vv[1] = v2[1] - v0[1];
-                        vv[2] = v2[2] - v0[2];
-                        vv[3] = REAL(0.0);
-
-                        // Get plane coefficients
-                        dVector4 Plane;
-                        dCROSS(Plane, =, vu, vv);
-
-                        dReal Area = dSqrt(dDOT(Plane, Plane)); // We can use this later
-                        Plane[0] /= Area;
-                        Plane[1] /= Area;
-                        Plane[2] /= Area;
-
-                        Plane[3] = dDOT(Plane, v0);     
-
-                        /* If the center of the sphere is within the positive halfspace of the
-                                * triangle's plane, allow a contact to be generated.
-                                * If the center of the sphere made it into the positive halfspace of a
-                                * back-facing triangle, then the physics update and/or velocity needs
-                                * to be adjusted (penetration has occured anyway).
-                                */
-                  
-                        dReal side = dDOT(Plane,Position) - Plane[3];
-
-                        if(side < REAL(0.0)) {
-                                continue;
-                        }
-
-                        dReal Depth;
-                        dReal u, v;
-                        if (!GetContactData(Position, Radius, v0, vu, vv, Depth, u, v)){
-                                continue;       // Sphere doesn't hit triangle
-                        }
-
-                        if (Depth < REAL(0.0)){
-                                Depth = REAL(0.0);
-                        }
-
-                        dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);
-
-                        dReal w = REAL(1.0) - u - v;
-                        Contact->pos[0] = (v0[0] * w) + (v1[0] * u) + (v2[0] * v);
-                        Contact->pos[1] = (v0[1] * w) + (v1[1] * u) + (v2[1] * v);
-                        Contact->pos[2] = (v0[2] * w) + (v1[2] * u) + (v2[2] * v);
-                        Contact->pos[3] = REAL(0.0);
-
-                        // Using normal as plane (reversed)
-                        Contact->normal[0] = -Plane[0];
-                        Contact->normal[1] = -Plane[1];
-                        Contact->normal[2] = -Plane[2];
-                        Contact->normal[3] = REAL(0.0);
-
-                        // Depth returned from GetContactData is depth along 
-                        // contact point - sphere center direction
-                        // we'll project it to contact normal
-                        dVector3 dir;
-                        dir[0] = Position[0]-Contact->pos[0];
-                        dir[1] = Position[1]-Contact->pos[1];
-                        dir[2] = Position[2]-Contact->pos[2];
-                        dReal dirProj = dDOT(dir, Plane) / dSqrt(dDOT(dir, dir));
-                        Contact->depth = Depth * dirProj;
-                        //Contact->depth = Radius - side; // (mg) penetration depth is distance along normal not shortest distance
-                        Contact->side1 = TriIndex;
-
-                        //Contact->g1 = TriMesh;
-                        //Contact->g2 = SphereGeom;
-                        
-                        OutTriCount++;
-                }
-#ifdef MERGECONTACTS    // Merge all contacts into 1
-                if (OutTriCount != 0){
-                        dContactGeom* Contact = SAFECONTACT(Flags, Contacts, 0, Stride);
-                        
-                        if (OutTriCount != 1 && !(Flags & CONTACTS_UNIMPORTANT)){
-                                Contact->normal[0] *= Contact->depth;
-                                Contact->normal[1] *= Contact->depth;
-                                Contact->normal[2] *= Contact->depth;
-                                Contact->normal[3] *= Contact->depth;
-
-                                for (int i = 1; i < OutTriCount; i++){
-                                        dContactGeom* TempContact = SAFECONTACT(Flags, Contacts, i, Stride);
-                                        
-                                        Contact->pos[0] += TempContact->pos[0];
-                                        Contact->pos[1] += TempContact->pos[1];
-                                        Contact->pos[2] += TempContact->pos[2];
-                                        Contact->pos[3] += TempContact->pos[3];
-                                        
-                                        Contact->normal[0] += TempContact->normal[0] * TempContact->depth;
-                                        Contact->normal[1] += TempContact->normal[1] * TempContact->depth;
-                                        Contact->normal[2] += TempContact->normal[2] * TempContact->depth;
-                                        Contact->normal[3] += TempContact->normal[3] * TempContact->depth;
-                                }
-                        
-                                Contact->pos[0] /= OutTriCount;
-                                Contact->pos[1] /= OutTriCount;
-                                Contact->pos[2] /= OutTriCount;
-                                Contact->pos[3] /= OutTriCount;
-                                
-                                // Remember to divide in square space.
-                                Contact->depth = dSqrt(dDOT(Contact->normal, Contact->normal) / OutTriCount);
-
-                                dNormalize3(Contact->normal);
-                        }
-
-                        Contact->g1 = TriMesh;
-                        Contact->g2 = SphereGeom;
-
-                        // TODO:
-                        // Side1 now contains index of triangle that gave first hit
-                        // Probably we should find index of triangle with deepest penetration
-
-                        return 1;
-                }
-                else return 0;
-#elif defined MERGECONTACTNORMALS       // Merge all normals, and distribute between all contacts
-                if (OutTriCount != 0){
-                        if (OutTriCount != 1 && !(Flags & CONTACTS_UNIMPORTANT)){
-                                dVector3& Normal = SAFECONTACT(Flags, Contacts, 0, Stride)->normal;
-                                Normal[0] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
-                                Normal[1] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
-                                Normal[2] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
-                                Normal[3] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
-
-                                for (int i = 1; i < OutTriCount; i++){
-                                        dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride);
-
-                                        Normal[0] += Contact->normal[0] * Contact->depth;
-                                        Normal[1] += Contact->normal[1] * Contact->depth;
-                                        Normal[2] += Contact->normal[2] * Contact->depth;
-                                        Normal[3] += Contact->normal[3] * Contact->depth;
-                                }
-                                dNormalize3(Normal);
-
-                                for (int i = 1; i < OutTriCount; i++){
-                                        dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride);
-
-                                        Contact->normal[0] = Normal[0];
-                                        Contact->normal[1] = Normal[1];
-                                        Contact->normal[2] = Normal[2];
-                                        Contact->normal[3] = Normal[3];
-
-                                        Contact->g1 = TriMesh;
-                                        Contact->g2 = SphereGeom;
-                                }
-                        }
-                        else{
-                                SAFECONTACT(Flags, Contacts, 0, Stride)->g1 = TriMesh;
-                                SAFECONTACT(Flags, Contacts, 0, Stride)->g2 = SphereGeom;
-                        }
-
-                        return OutTriCount;
-                }
-                else return 0;
-#else   //MERGECONTACTNORMALS   // Just gather penetration depths and return
-                for (int i = 0; i < OutTriCount; i++){
-                        dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride);
-
-                        //Contact->depth = dSqrt(dDOT(Contact->normal, Contact->normal));
-
-                        /*Contact->normal[0] /= Contact->depth;
-                        Contact->normal[1] /= Contact->depth;
-                        Contact->normal[2] /= Contact->depth;
-                        Contact->normal[3] /= Contact->depth;*/
-
-                        Contact->g1 = TriMesh;
-                        Contact->g2 = SphereGeom;
-                }
-
-                return OutTriCount;
-#endif  // MERGECONTACTS
-        }
-        else return 0;
-}
-#endif // dTRIMESH_OPCODE
-
-#if dTRIMESH_GIMPACT
-int dCollideSTL(dxGeom* g1, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride)
-{
-        dIASSERT (Stride >= (int)sizeof(dContactGeom));
-        dIASSERT (g1->type == dTriMeshClass);
-        dIASSERT (SphereGeom->type == dSphereClass);
-        dIASSERT ((Flags & NUMC_MASK) >= 1);
-        
-        dxTriMesh* TriMesh = (dxTriMesh*)g1;
-    dVector3& Position = *(dVector3*)dGeomGetPosition(SphereGeom);
-        dReal Radius = dGeomSphereGetRadius(SphereGeom);
- //Create contact list
-    GDYNAMIC_ARRAY trimeshcontacts;
-    GIM_CREATE_CONTACT_LIST(trimeshcontacts);
-
-    //Collide trimeshes
-    gim_trimesh_sphere_collision(&TriMesh->m_collision_trimesh,Position,Radius,&trimeshcontacts);
-
-    if(trimeshcontacts.m_size == 0)
-    {
-        GIM_DYNARRAY_DESTROY(trimeshcontacts);
-        return 0;
-    }
-
-    GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);
-
-        unsigned contactcount = trimeshcontacts.m_size;
-        unsigned maxcontacts = (unsigned)(Flags & NUMC_MASK);
-        if (contactcount > maxcontacts)
-        {
-                contactcount = maxcontacts;
-        }
-
-    dContactGeom* pcontact;
-        unsigned i;
-        
-        for (i=0;i<contactcount;i++)
-        {
-        pcontact = SAFECONTACT(Flags, Contacts, i, Stride);
-
-        pcontact->pos[0] = ptrimeshcontacts->m_point[0];
-        pcontact->pos[1] = ptrimeshcontacts->m_point[1];
-        pcontact->pos[2] = ptrimeshcontacts->m_point[2];
-        pcontact->pos[3] = REAL(1.0);
-
-        pcontact->normal[0] = ptrimeshcontacts->m_normal[0];
-        pcontact->normal[1] = ptrimeshcontacts->m_normal[1];
-        pcontact->normal[2] = ptrimeshcontacts->m_normal[2];
-        pcontact->normal[3] = 0;
-
-        pcontact->depth = ptrimeshcontacts->m_depth;
-        pcontact->g1 = g1;
-        pcontact->g2 = SphereGeom;
-
-        ptrimeshcontacts++;
-        }
-
-        GIM_DYNARRAY_DESTROY(trimeshcontacts);
-
-    return (int)contactcount;
-}
-#endif // dTRIMESH_GIMPACT
-
-#endif // dTRIMESH_ENABLED
diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_trimesh.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_trimesh.cpp
deleted file mode 100644
index c9f209e..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_trimesh.cpp
+++ /dev/null
@@ -1,2033 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-// OPCODE TriMesh/TriMesh collision code by Jeff Smith (c) 2004
-
-#ifdef _MSC_VER
-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
-#endif
-
-#include <ode/collision.h>
-#include <ode/matrix.h>
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-
-// Classic Implementation
-#if !dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER
-
-#if dTRIMESH_ENABLED
-
-#include "collision_util.h"
-#define TRIMESH_INTERNAL
-#include "collision_trimesh_internal.h"
-
-#if dTRIMESH_OPCODE
-
-#define SMALL_ELT           REAL(2.5e-4)
-#define EXPANDED_ELT_THRESH REAL(1.0e-3)
-#define DISTANCE_EPSILON    REAL(1.0e-8)
-#define VELOCITY_EPSILON    REAL(1.0e-5)
-#define TINY_PENETRATION    REAL(5.0e-6)
-
-struct LineContactSet
-{
-        enum
-        {
-                MAX_POINTS = 8
-        };
-
-    dVector3 Points[MAX_POINTS];
-    int      Count;
-};
-
-
-static void GetTriangleGeometryCallback(udword, VertexPointers&, udword);
-static void GenerateContact(int, dContactGeom*, int, dxTriMesh*,  dxTriMesh*, 
-                            const dVector3, const dVector3, dReal, int&);
-static int TriTriIntersectWithIsectLine(dReal V0[3],dReal V1[3],dReal V2[3],
-                                        dReal U0[3],dReal U1[3],dReal U2[3],int *coplanar,
-                                        dReal isectpt1[3],dReal isectpt2[3]);
-inline void dMakeMatrix4(const dVector3 Position, const dMatrix3 Rotation, dMatrix4 &B);
-static void dInvertMatrix4( dMatrix4& B, dMatrix4& Binv );
-static int IntersectLineSegmentRay(dVector3, dVector3, dVector3, dVector3,  dVector3);
-static bool FindTriSolidIntrsection(const dVector3 Tri[3], 
-                                    const dVector4 Planes[6], int numSides,
-                                    LineContactSet& ClippedPolygon );
-static void ClipConvexPolygonAgainstPlane( const dVector3, dReal, LineContactSet& );
-static bool SimpleUnclippedTest(dVector3 in_CoplanarPt, dVector3 in_v, dVector3 in_elt,
-                                dVector3 in_n, dVector3* in_col_v, dReal &out_depth);
-static int ExamineContactPoint(dVector3* v_col, dVector3 in_n, dVector3 in_point);
-static int RayTriangleIntersect(const dVector3 orig, const dVector3 dir,
-                                const dVector3 vert0, const dVector3 vert1,const dVector3 vert2,
-                                dReal *t,dReal *u,dReal *v);
-
-
-
-
-/* some math macros */
-#define CROSS(dest,v1,v2) { dest[0]=v1[1]*v2[2]-v1[2]*v2[1]; \
-                            dest[1]=v1[2]*v2[0]-v1[0]*v2[2]; \
-                            dest[2]=v1[0]*v2[1]-v1[1]*v2[0]; }
-
-#define DOT(v1,v2) (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])
-
-#define SUB(dest,v1,v2) { dest[0]=v1[0]-v2[0]; dest[1]=v1[1]-v2[1]; dest[2]=v1[2]-v2[2]; }
-
-#define ADD(dest,v1,v2) { dest[0]=v1[0]+v2[0]; dest[1]=v1[1]+v2[1]; dest[2]=v1[2]+v2[2]; }
-
-#define MULT(dest,v,factor) { dest[0]=factor*v[0]; dest[1]=factor*v[1]; dest[2]=factor*v[2]; }
-
-#define SET(dest,src) { dest[0]=src[0]; dest[1]=src[1]; dest[2]=src[2]; }
-
-#define SMULT(p,q,s) { p[0]=q[0]*s; p[1]=q[1]*s; p[2]=q[2]*s; }
-
-#define COMBO(combo,p,t,q) { combo[0]=p[0]+t*q[0]; combo[1]=p[1]+t*q[1]; combo[2]=p[2]+t*q[2]; }
-
-#define LENGTH(x)  ((dReal) dSqrt(dDOT(x, x)))
-
-#define DEPTH(d, p, q, n) d = (p[0] - q[0])*n[0] +  (p[1] - q[1])*n[1] +  (p[2] - q[2])*n[2];
-
-inline const dReal dMin(const dReal x, const dReal y)
-{
-    return x < y ? x : y;
-}
-
-
-inline void
-SwapNormals(dVector3 *&pen_v, dVector3 *&col_v, dVector3* v1, dVector3* v2,
-            dVector3 *&pen_elt, dVector3 *elt_f1, dVector3 *elt_f2,
-            dVector3 n, dVector3 n1, dVector3 n2)
-{
-    if (pen_v == v1) {
-        pen_v = v2;
-        pen_elt = elt_f2;
-        col_v = v1;
-        SET(n, n1);
-    }
-    else {
-        pen_v = v1;
-        pen_elt = elt_f1;
-        col_v = v2;
-        SET(n, n2);
-    }
-}
-
-
-
-
-int 
-dCollideTTL(dxGeom* g1, dxGeom* g2, int Flags, dContactGeom* Contacts, int Stride)
-{
-        dIASSERT (Stride >= (int)sizeof(dContactGeom));
-        dIASSERT (g1->type == dTriMeshClass);
-        dIASSERT (g2->type == dTriMeshClass);
-        dIASSERT ((Flags & NUMC_MASK) >= 1);
-
-    dxTriMesh* TriMesh1 = (dxTriMesh*) g1;
-    dxTriMesh* TriMesh2 = (dxTriMesh*) g2;
-
-    dReal * TriNormals1 = (dReal *) TriMesh1->Data->Normals;
-    dReal * TriNormals2 = (dReal *) TriMesh2->Data->Normals;
-
-    const dVector3& TLPosition1 = *(const dVector3*) dGeomGetPosition(TriMesh1);
-    // TLRotation1 = column-major order
-    const dMatrix3& TLRotation1 = *(const dMatrix3*) dGeomGetRotation(TriMesh1);
-
-    const dVector3& TLPosition2 = *(const dVector3*) dGeomGetPosition(TriMesh2);
-    // TLRotation2 = column-major order
-    const dMatrix3& TLRotation2 = *(const dMatrix3*) dGeomGetRotation(TriMesh2);
-
-    AABBTreeCollider& Collider = TriMesh1->_AABBTreeCollider;
-
-    static BVTCache ColCache;
-    ColCache.Model0 = &TriMesh1->Data->BVTree;
-    ColCache.Model1 = &TriMesh2->Data->BVTree;
-
-    // Collision query
-    Matrix4x4 amatrix, bmatrix;
-    BOOL IsOk = Collider.Collide(ColCache,
-                                 &MakeMatrix(TLPosition1, TLRotation1, amatrix),
-                                 &MakeMatrix(TLPosition2, TLRotation2, bmatrix) );
-    
-
-    // Make "double" versions of these matrices, if appropriate
-    dMatrix4 A, B;
-    dMakeMatrix4(TLPosition1, TLRotation1, A);
-    dMakeMatrix4(TLPosition2, TLRotation2, B);
-
-
-    if (IsOk) {
-        // Get collision status => if true, objects overlap
-        if ( Collider.GetContactStatus() ) {
-            // Number of colliding pairs and list of pairs
-            int TriCount = Collider.GetNbPairs();
-            const Pair* CollidingPairs = Collider.GetPairs();
-
-            if (TriCount > 0) {
-                // step through the pairs, adding contacts
-                int             id1, id2;
-                int             OutTriCount = 0;
-                dVector3        v1[3], v2[3], CoplanarPt;
-                dVector3        e1, e2, e3, n1, n2, n, ContactNormal;
-                dReal           depth;
-                dVector3        orig_pos, old_pos1, old_pos2, elt1, elt2, elt_sum;
-                dVector3        elt_f1[3], elt_f2[3];
-                dReal          contact_elt_length = SMALL_ELT;
-                LineContactSet  firstClippedTri, secondClippedTri;
-                dVector3       *firstClippedElt = new dVector3[LineContactSet::MAX_POINTS];
-                dVector3       *secondClippedElt = new dVector3[LineContactSet::MAX_POINTS];
-                
-
-                // only do these expensive inversions once
-                dMatrix4 InvMatrix1, InvMatrix2;
-                dInvertMatrix4(A, InvMatrix1);
-                dInvertMatrix4(B, InvMatrix2);
-
-                
-                for (int i = 0; i < TriCount; i++) {
-                        
-                        id1 = CollidingPairs[i].id0;
-                        id2 = CollidingPairs[i].id1;
-                        
-                        // grab the colliding triangles
-                        FetchTriangle((dxTriMesh*) g1, id1, TLPosition1, TLRotation1, v1);
-                        FetchTriangle((dxTriMesh*) g2, id2, TLPosition2, TLRotation2, v2);
-                        // Since we'll be doing matrix transfomrations, we need to
-                        //  make sure that all vertices have four elements
-                        for (int j=0; j<3; j++) {
-                            v1[j][3] = 1.0;
-                            v2[j][3] = 1.0;
-                        }
-                            
-                        
-                        int IsCoplanar = 0;
-                        dReal IsectPt1[3], IsectPt2[3];
-
-                        // Sometimes OPCODE makes mistakes, so we look at the return
-                        //  value for TriTriIntersectWithIsectLine.  A retcode of "0"
-                        //  means no intersection took place
-                        if ( TriTriIntersectWithIsectLine( v1[0], v1[1], v1[2], v2[0], v2[1], v2[2],
-                                                           &IsCoplanar,
-                                                           IsectPt1, IsectPt2) ) {
-                            
-                            // Compute the normals of the colliding faces
-                            //
-                            if (TriNormals1 == NULL) {
-                                SUB( e1, v1[1], v1[0] );
-                                SUB( e2, v1[2], v1[0] );
-                                CROSS( n1, e1, e2 );
-                                dNormalize3(n1);
-                            }
-                            else {
-                                // If we were passed normals, we need to adjust them to take into
-                                //  account the objects' current rotations
-                                e1[0] = TriNormals1[id1*3];
-                                e1[1] = TriNormals1[id1*3 + 1];
-                                e1[2] = TriNormals1[id1*3 + 2];
-                                e1[3] = 0.0;
-                                
-                                //dMultiply1(n1, TLRotation1, e1, 3, 3, 1);
-                                dMultiply0(n1, TLRotation1, e1, 3, 3, 1);
-                                n1[3] = 1.0;
-                            }
-                            
-                            if (TriNormals2 == NULL)  {
-                                SUB( e1, v2[1], v2[0] );
-                                SUB( e2, v2[2], v2[0] );
-                                CROSS( n2, e1, e2);
-                                dNormalize3(n2);
-                            }
-                            else {
-                                // If we were passed normals, we need to adjust them to take into
-                                //  account the objects' current rotations
-                                e2[0] = TriNormals2[id2*3];
-                                e2[1] = TriNormals2[id2*3 + 1];
-                                e2[2] = TriNormals2[id2*3 + 2];
-                                e2[3] = 0.0;
-                                
-                                //dMultiply1(n2, TLRotation2, e2, 3, 3, 1);
-                                dMultiply0(n2, TLRotation2, e2, 3, 3, 1);
-                                n2[3] = 1.0;
-                            }
-                            
-
-                            if (IsCoplanar) {
-                                // We can reach this case if the faces are coplanar, OR
-                                //  if they don't actually intersect.  (OPCODE can make
-                                //  mistakes)
-                                if (dFabs(dDOT(n1, n2)) > REAL(0.999)) {
-                                    // If the faces are coplanar, we declare that the point of
-                                    //  contact is at the average location of the vertices of
-                                    //  both faces
-                                    dVector3 ContactPt;
-                                    for (int j=0; j<3; j++) {
-                                        ContactPt[j] = 0.0;
-                                        for (int k=0; k<3; k++)
-                                            ContactPt[j] += v1[k][j] + v2[k][j];
-                                        ContactPt[j] /= 6.0;
-                                    }
-                                    ContactPt[3] = 1.0;
-                                    
-                                    // and the contact normal is the normal of face 2
-                                    //  (could be face 1, because they are the same)
-                                    SET(n, n2);
-                                    
-                                    // and the penetration depth is the co-normal
-                                    // distance between any two vertices A and B,
-                                    // i.e.  d = DOT(n, (A-B))
-                                    DEPTH(depth, v1[1], v2[1], n);
-                                    if (depth < 0)
-                                        depth *= -1.0;
-                                    
-                                    GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                    ContactPt, n, depth, OutTriCount);
-                                }
-                            }
-                            else {
-                                // Otherwise (in non-co-planar cases), we create a coplanar 
-                                //  point -- the middle of the line of intersection -- that
-                                //   will be used for various computations down the road
-                                for (int j=0; j<3; j++)
-                                    CoplanarPt[j] = ( (IsectPt1[j] + IsectPt2[j]) / REAL(2.0) );
-                                CoplanarPt[3] = 1.0;
-                                
-                                // Find the ELT of the coplanar point
-                                //
-                                dMultiply1(orig_pos, InvMatrix1, CoplanarPt, 4, 4, 1);
-                                dMultiply1(old_pos1, ((dxTriMesh*)g1)->last_trans, orig_pos, 4, 4, 1);
-                                SUB(elt1, CoplanarPt, old_pos1);
-                                
-                                dMultiply1(orig_pos, InvMatrix2, CoplanarPt, 4, 4, 1);
-                                dMultiply1(old_pos2, ((dxTriMesh*)g2)->last_trans, orig_pos, 4, 4, 1);
-                                SUB(elt2, CoplanarPt, old_pos2);
-                                
-                                SUB(elt_sum, elt1, elt2);  // net motion of the coplanar point
-                                
-                                
-                                // Calculate how much the vertices of each face moved in the
-                                //  direction of the opposite face's normal
-                                //
-                                dReal    total_dp1, total_dp2;
-                                total_dp1 = 0.0;
-                                total_dp2 = 0.0;
-                                
-                                for (int ii=0; ii<3; ii++) {
-                                    // find the estimated linear translation (ELT) of the vertices
-                                    //  on face 1, wrt to the center of face 2. 
-                                    
-                                    // un-transform this vertex by the current transform
-                                    dMultiply1(orig_pos, InvMatrix1, v1[ii], 4, 4, 1 );
-                                    
-                                    // re-transform this vertex by last_trans (to get its old
-                                    //  position)
-                                    dMultiply1(old_pos1, ((dxTriMesh*)g1)->last_trans, orig_pos, 4, 4, 1);
-                                    
-                                    // Then subtract this position from our current one to find
-                                    //  the elapsed linear translation (ELT)
-                                    for (int k=0; k<3; k++) {
-                                        elt_f1[ii][k] = (v1[ii][k] - old_pos1[k]) - elt2[k];
-                                    }
-                                    
-                                    // Take the dot product of the ELT  for each vertex (wrt the
-                                    //  center of face2)
-                                    total_dp1 += dFabs( dDOT(elt_f1[ii], n2) );
-                                }
-                                
-                                for (int ii=0; ii<3; ii++) {
-                                    // find the estimated linear translation (ELT) of the vertices
-                                    //  on face 2, wrt to the center of face 1. 
-                                    dMultiply1(orig_pos, InvMatrix2, v2[ii], 4, 4, 1);
-                                    dMultiply1(old_pos2, ((dxTriMesh*)g2)->last_trans, orig_pos, 4, 4, 1);
-                                    for (int k=0; k<3; k++) {
-                                        elt_f2[ii][k] = (v2[ii][k] - old_pos2[k]) - elt1[k];
-                                    }
-                                    
-                                    // Take the dot product of the ELT  for each vertex (wrt the
-                                    //  center of face2) and add them
-                                    total_dp2 += dFabs( dDOT(elt_f2[ii], n1) );
-                                }
-                                
-                                
-                                ////////
-                                // Estimate the penetration depth.  
-                                //                            
-                                dReal    dp;
-                                BOOL      badPen = true;
-                                dVector3 *pen_v;   // the "penetrating vertices"
-                                dVector3 *pen_elt; // the elt_f of the penetrating face
-                                dVector3 *col_v;   // the "collision vertices" (the penetrated face)
-                                
-                                SMULT(n2, n2, -1.0); // SF PATCH #1335183
-                                depth = 0.0;
-                                if ((total_dp1 > DISTANCE_EPSILON) || (total_dp2 > DISTANCE_EPSILON)) {
-                                    ////////
-                                    // Find the collision normal, by finding the face
-                                    //  that is pointed "most" in the direction of travel
-                                    //  of the two triangles
-                                    //
-                                    if (total_dp2 > total_dp1) {
-                                        pen_v = v2;
-                                        pen_elt = elt_f2;
-                                        col_v = v1;
-                                        SET(n, n1);
-                                    }
-                                    else {
-                                        pen_v = v1;
-                                        pen_elt = elt_f1;
-                                        col_v = v2;
-                                        SET(n, n2);
-                                    }
-                                }
-                                else {
-                                    // the total_dp is very small, so let's fall back
-                                    //  to a different test
-                                    if (LENGTH(elt2) > LENGTH(elt1)) {
-                                        pen_v = v2;
-                                        pen_elt = elt_f2;
-                                        col_v = v1;
-                                        SET(n, n1);
-                                    }
-                                    else {
-                                        pen_v = v1;
-                                        pen_elt = elt_f1;
-                                        col_v = v2;
-                                        SET(n, n2);
-                                    }
-                                }
-                                
-
-                                for (int j=0; j<3; j++)
-                                    if (SimpleUnclippedTest(CoplanarPt, pen_v[j], pen_elt[j], n, col_v, depth)) {
-                                        GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                        pen_v[j], n, depth, OutTriCount);
-                                        badPen = false;
-
-                                                                                if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                                                                                        break;
-                                                                                }
-                                    }
-                                
-
-                                if (badPen) {
-                                    // try the other normal
-                                    SwapNormals(pen_v, col_v, v1, v2, pen_elt, elt_f1, elt_f2, n, n1, n2);
-
-                                    for (int j=0; j<3; j++)
-                                        if (SimpleUnclippedTest(CoplanarPt, pen_v[j], pen_elt[j], n, col_v, depth)) {
-                                            GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                            pen_v[j], n, depth, OutTriCount);
-                                            badPen = false;
-
-                                                                                        if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                                                                                                break;
-                                                                                        }
-                                    }
-                                }
-
-
-
-                                ////////////////////////////////////////
-                                //
-                                // If we haven't found a good penetration, then we're probably straddling
-                                //  the edge of one of the objects, or the penetraing face is big
-                                //  enough that all of its vertices are outside the bounds of the
-                                //  penetrated face.
-                                // In these cases, we do a more expensive test. We clip the penetrating
-                                //  triangle with a solid defined by the penetrated triangle, and repeat
-                                //  the tests above on this new polygon
-                                if (badPen) {
-      
-                                    // Switch pen_v and n back again
-                                    SwapNormals(pen_v, col_v, v1, v2, pen_elt, elt_f1, elt_f2, n, n1, n2);
-                                    
-                                    
-                                    // Find the three sides (no top or bottom) of the solid defined by 
-                                    //  the edges of the penetrated triangle.
-                                    
-                                    // The dVector4 "plane" structures contain the following information:
-                                    //  [0]-[2]: The normal of the face, pointing INWARDS (i.e.
-                                    //           the inverse normal
-                                    //  [3]: The distance between the face and the center of the
-                                    //       solid, along the normal
-                                    dVector4 SolidPlanes[3];
-                                    dVector3 tmp1;
-                                    dVector3 sn;
-
-                                    for (int j=0; j<3; j++) {
-                                        e1[j] = col_v[1][j] - col_v[0][j];
-                                        e2[j] = col_v[0][j] - col_v[2][j];
-                                        e3[j] = col_v[2][j] - col_v[1][j];
-                                    }
-                                    
-                                    // side 1
-                                    CROSS(sn, e1, n);
-                                    dNormalize3(sn);
-                                    SMULT( SolidPlanes[0], sn, -1.0 );
-                                    
-                                    ADD(tmp1, col_v[0], col_v[1]); 
-                                    SMULT(tmp1, tmp1, 0.5); // center of edge
-                                    // distance from center to edge along normal
-                                    SolidPlanes[0][3] = dDOT(tmp1, SolidPlanes[0]);
-                                    
-                                    
-                                    // side 2
-                                    CROSS(sn, e2, n);
-                                    dNormalize3(sn);
-                                    SMULT( SolidPlanes[1], sn, -1.0 );
-                                    
-                                    ADD(tmp1, col_v[0], col_v[2]); 
-                                    SMULT(tmp1, tmp1, 0.5); // center of edge
-                                    // distance from center to edge along normal
-                                    SolidPlanes[1][3] = dDOT(tmp1, SolidPlanes[1]);
-                                    
-                                    
-                                    // side 3
-                                    CROSS(sn, e3, n);
-                                    dNormalize3(sn);
-                                    SMULT( SolidPlanes[2], sn, -1.0 );
-                                    
-                                    ADD(tmp1, col_v[2], col_v[1]); 
-                                    SMULT(tmp1, tmp1, 0.5); // center of edge
-                                    // distance from center to edge along normal
-                                    SolidPlanes[2][3] = dDOT(tmp1, SolidPlanes[2]);
-                                    
-
-                                    FindTriSolidIntrsection(pen_v, SolidPlanes, 3, firstClippedTri);
-
-                                    for (int j=0; j<firstClippedTri.Count; j++) {
-                                        firstClippedTri.Points[j][3] = 1.0; // because we will be doing matrix mults
-
-                                        DEPTH(dp, CoplanarPt, firstClippedTri.Points[j], n);
-                                        
-                                        // if the penetration depth (calculated above) is more than the contact
-                                        //  point's ELT, then we've chosen the wrong face and should switch faces
-                                        if (pen_v == v1) {
-                                            dMultiply1(orig_pos, InvMatrix1, firstClippedTri.Points[j], 4, 4, 1);
-                                            dMultiply1(old_pos1, ((dxTriMesh*)g1)->last_trans, orig_pos, 4, 4, 1);
-                                            for (int k=0; k<3; k++) {
-                                                firstClippedElt[j][k] = (firstClippedTri.Points[j][k] - old_pos1[k]) - elt2[k];
-                                            }
-                                        }
-                                        else {
-                                            dMultiply1(orig_pos, InvMatrix2, firstClippedTri.Points[j], 4, 4, 1);
-                                            dMultiply1(old_pos2, ((dxTriMesh*)g2)->last_trans, orig_pos, 4, 4, 1);
-                                            for (int k=0; k<3; k++) {
-                                                firstClippedElt[j][k] = (firstClippedTri.Points[j][k] - old_pos2[k]) - elt1[k];
-                                            }
-                                        }
-
-                                        if (dp >= 0.0) {
-                                                contact_elt_length = dFabs(dDOT(firstClippedElt[j], n));
-                                        
-                                            depth = dp;
-                                            if (depth == 0.0)
-                                                depth = dMin(DISTANCE_EPSILON, contact_elt_length);
-                                            
-                                            if ((contact_elt_length < SMALL_ELT) && (depth < EXPANDED_ELT_THRESH))
-                                                depth = contact_elt_length;
-                                            
-                                            if (depth <= contact_elt_length) {
-                                                // Add a contact
-                                                GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                                firstClippedTri.Points[j], n, depth, OutTriCount);
-                                                badPen = false;
-
-                                                                                                if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                                                                                                        break;
-                                                                                                }
-                                            }
-                                        }
-
-                                    }
-                                }
-                                
-                                if (badPen) {
-                                    // Switch pen_v and n (again!)
-                                    SwapNormals(pen_v, col_v, v1, v2, pen_elt, elt_f1, elt_f2, n, n1, n2);
-                                    
-                                    
-                                    // Find the three sides (no top or bottom) of the solid created by 
-                                    //  the penetrated triangle.
-                                    // The dVector4 "plane" structures contain the following information:
-                                    //  [0]-[2]: The normal of the face, pointing INWARDS (i.e.
-                                    //           the inverse normal
-                                    //  [3]: The distance between the face and the center of the
-                                    //       solid, along the normal
-                                    dVector4 SolidPlanes[3];
-                                    dVector3 tmp1;
-                                
-                                    dVector3 sn;
-                                    for (int j=0; j<3; j++) {
-                                        e1[j] = col_v[1][j] - col_v[0][j];
-                                        e2[j] = col_v[0][j] - col_v[2][j];
-                                        e3[j] = col_v[2][j] - col_v[1][j];
-                                    }
-                                    
-                                    // side 1
-                                    CROSS(sn, e1, n);
-                                    dNormalize3(sn);
-                                    SMULT( SolidPlanes[0], sn, -1.0 );
-                                    
-                                    ADD(tmp1, col_v[0], col_v[1]); 
-                                    SMULT(tmp1, tmp1, 0.5); // center of edge
-                                    // distance from center to edge along normal
-                                    SolidPlanes[0][3] = dDOT(tmp1, SolidPlanes[0]);
-                                    
-                                    
-                                    // side 2
-                                    CROSS(sn, e2, n);
-                                    dNormalize3(sn);
-                                    SMULT( SolidPlanes[1], sn, -1.0 );
-                                    
-                                    ADD(tmp1, col_v[0], col_v[2]); 
-                                    SMULT(tmp1, tmp1, 0.5); // center of edge
-                                    // distance from center to edge along normal
-                                    SolidPlanes[1][3] = dDOT(tmp1, SolidPlanes[1]);
-                                    
-                                    
-                                    // side 3
-                                    CROSS(sn, e3, n);
-                                    dNormalize3(sn);
-                                    SMULT( SolidPlanes[2], sn, -1.0 );
-                                    
-                                    ADD(tmp1, col_v[2], col_v[1]); 
-                                    SMULT(tmp1, tmp1, 0.5); // center of edge
-                                    // distance from center to edge along normal
-                                    SolidPlanes[2][3] = dDOT(tmp1, SolidPlanes[2]);
-                                    
-                                    FindTriSolidIntrsection(pen_v, SolidPlanes, 3, secondClippedTri);
-                                    
-                                    for (int j=0; j<secondClippedTri.Count; j++) {
-                                        secondClippedTri.Points[j][3] = 1.0; // because we will be doing matrix mults
-                                        
-                                        DEPTH(dp, CoplanarPt, secondClippedTri.Points[j], n);
-                                        
-                                        if (pen_v == v1) {
-                                            dMultiply1(orig_pos, InvMatrix1, secondClippedTri.Points[j], 4, 4, 1);
-                                            dMultiply1(old_pos1, ((dxTriMesh*)g1)->last_trans, orig_pos, 4, 4, 1);
-                                            for (int k=0; k<3; k++) {
-                                                secondClippedElt[j][k] = (secondClippedTri.Points[j][k] - old_pos1[k]) - elt2[k];
-                                            }
-                                        }
-                                        else {
-                                            dMultiply1(orig_pos, InvMatrix2, secondClippedTri.Points[j], 4, 4, 1);
-                                            dMultiply1(old_pos2, ((dxTriMesh*)g2)->last_trans, orig_pos, 4, 4, 1);
-                                            for (int k=0; k<3; k++) {
-                                                secondClippedElt[j][k] = (secondClippedTri.Points[j][k] - old_pos2[k]) - elt1[k];
-                                            }
-                                        }
-
-
-                                        if (dp >= 0.0) {
-                                                                                        contact_elt_length = dFabs(dDOT(secondClippedElt[j],n));
-                                                                                        
-                                            depth = dp;
-                                            if (depth == 0.0)
-                                                depth = dMin(DISTANCE_EPSILON, contact_elt_length);
-                                            
-                                            if ((contact_elt_length < SMALL_ELT) && (depth < EXPANDED_ELT_THRESH))
-                                                depth = contact_elt_length;
-                                            
-                                            if (depth <= contact_elt_length) {
-                                                // Add a contact
-                                                GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                                secondClippedTri.Points[j], n, depth, OutTriCount);
-                                                badPen = false;
-
-                                                                                                if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                                                                                                        break;
-                                                                                                }
-                                            }
-                                        }
-                                        
-                                        
-                                    }
-                                }
-
-
-                                
-                                /////////////////
-                                // All conventional tests have failed at this point, so now we deal with
-                                //  cases on a more "heuristic" basis
-                                //
-
-                                if (badPen) {
-                                    // Switch pen_v and n (for the fourth time, so they're
-                                    //  what my original guess said they were)
-                                    SwapNormals(pen_v, col_v, v1, v2, pen_elt, elt_f1, elt_f2, n, n1, n2);
-                                    
-                                                                        if (dFabs(dDOT(n1, n2)) < REAL(0.01)) {
-                                        // If we reach this point, we have (close to) perpindicular
-                                        //  faces, either resting on each other or sliding in a
-                                        // direction orthogonal to both surface normals.
-                                        if (LENGTH(elt_sum) < DISTANCE_EPSILON) {
-                                            depth = dFabs(dDOT(n, elt_sum));
-                                            
-                                            if (depth > REAL(1e-12)) {
-                                                dNormalize3(n);
-                                                GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                                CoplanarPt, n, depth, OutTriCount);
-                                                badPen = false;
-                                            }
-                                            else {
-                                                // If the two faces are (nearly) perfectly at rest with
-                                                //  respect to each other, then we ignore the contact,
-                                                //  allowing the objects to slip a little in the hopes
-                                                //  that next frame, they'll give us something to work
-                                                //  with.
-                                                badPen = false;
-                                            }
-                                        }
-                                        else {
-                                            // The faces are perpindicular, but moving significantly
-                                            //  This can be sliding, or an unusual edge-straddling 
-                                            //  penetration.
-                                            dVector3 cn;
-                                            
-                                            CROSS(cn, n1, n2);
-                                            dNormalize3(cn);
-                                            SET(n, cn);
-                                            
-                                            // The shallowest ineterpenetration of the faces
-                                            //  is the depth
-                                            dVector3 ContactPt;
-                                            dVector3 dvTmp;
-                                            dReal    rTmp;
-                                            depth = dInfinity;
-                                            for (int j=0; j<3; j++) {
-                                                for (int k=0; k<3; k++) {
-                                                    SUB(dvTmp, col_v[k], pen_v[j]);
-                                                    
-                                                    rTmp = dDOT(dvTmp, n);
-                                                    if ( dFabs(rTmp) < dFabs(depth) ) {
-                                                        depth = rTmp;
-                                                        SET( ContactPt, pen_v[j] );
-                                                        contact_elt_length = dFabs(dDOT(pen_elt[j], n));
-                                                    }
-                                                }
-                                            }
-                                            if (depth < 0.0) {
-                                                SMULT(n, n, -1.0);
-                                                depth *= -1.0;
-                                            }
-                                            
-                                            if ((depth > 0.0) && (depth <= contact_elt_length)) {
-                                                GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                                ContactPt, n, depth, OutTriCount);
-                                                badPen = false;
-                                            }
-                                            
-                                        }
-                                    }
-                                }
-                                
-
-                                if (badPen) {
-                                    // Use as the normal the direction of travel, rather than any particular
-                                    //  face normal
-                                    //
-                                    dVector3 esn;
-                                    
-                                    if (pen_v == v1) {
-                                        SMULT(esn, elt_sum, -1.0);
-                                    }
-                                    else {
-                                        SET(esn, elt_sum);
-                                    }
-                                    dNormalize3(esn);
-
-
-                                    // The shallowest ineterpenetration of the faces
-                                    //  is the depth
-                                    dVector3 ContactPt;
-                                    depth = dInfinity;
-                                    for (int j=0; j<3; j++) {
-                                        for (int k=0; k<3; k++) {
-                                            DEPTH(dp, col_v[k], pen_v[j], esn);
-                                            if ( (ExamineContactPoint(col_v, esn, pen_v[j])) &&
-                                                 ( dFabs(dp) < dFabs(depth)) ) {
-                                                depth = dp;
-                                                SET( ContactPt, pen_v[j] );
-                                                contact_elt_length = dFabs(dDOT(pen_elt[j], esn));
-                                            }
-                                        }
-                                    }
-                                    
-                                    if ((depth > 0.0) && (depth <= contact_elt_length)) {
-                                        GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                        ContactPt, esn, depth, OutTriCount);
-                                        badPen = false;
-                                    }
-                                }
-
-                                
-                                if (badPen) {
-                                    // If the direction of motion is perpindicular to both normals
-                                    if ( (dFabs(dDOT(n1, elt_sum)) < REAL(0.01)) && (dFabs(dDOT(n2, elt_sum)) < REAL(0.01)) ) {
-                                        dVector3 esn;
-                                        if (pen_v == v1) {
-                                            SMULT(esn, elt_sum, -1.0);
-                                        }
-                                        else {
-                                            SET(esn, elt_sum);
-                                        }
-                                        
-                                        dNormalize3(esn);
-
-                                        
-                                        // Look at the clipped points again, checking them against this
-                                        //  new normal
-                                        for (int j=0; j<firstClippedTri.Count; j++) {
-                                            DEPTH(dp, CoplanarPt, firstClippedTri.Points[j], esn);
-                                            
-                                            if (dp >= 0.0) {
-                                                contact_elt_length = dFabs(dDOT(firstClippedElt[j], esn));
-                                                
-                                                depth = dp;
-                                                //if (depth == 0.0)
-                                                //depth = dMin(DISTANCE_EPSILON, contact_elt_length);
-                                                
-                                                if ((contact_elt_length < SMALL_ELT) && (depth < EXPANDED_ELT_THRESH))
-                                                    depth = contact_elt_length;
-                                                
-                                                if (depth <= contact_elt_length) {
-                                                    // Add a contact
-                                                    GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                                    firstClippedTri.Points[j], esn, depth, OutTriCount);
-                                                    badPen = false;
-
-                                                                                                        if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                                                                                                                break;
-                                                                                                        }
-                                                }
-                                            }
-                                        }
-                                        
-                                        if (badPen) {
-                                            // If this test failed, try it with the second set of clipped faces
-                                            for (int j=0; j<secondClippedTri.Count; j++) {
-                                                DEPTH(dp, CoplanarPt, secondClippedTri.Points[j], esn);
-                                                
-                                                if (dp >= 0.0) {
-                                                    contact_elt_length = dFabs(dDOT(secondClippedElt[j], esn));
-                                                    
-                                                    depth = dp;
-                                                    //if (depth == 0.0)
-                                                    //depth = dMin(DISTANCE_EPSILON, contact_elt_length);
-                                                    
-                                                    if ((contact_elt_length < SMALL_ELT) && (depth < EXPANDED_ELT_THRESH))
-                                                        depth = contact_elt_length;
-                                                    
-                                                    if (depth <= contact_elt_length) {
-                                                        // Add a contact
-                                                        GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                                        secondClippedTri.Points[j], esn, depth, OutTriCount);
-                                                        badPen = false;
-
-                                                                                                                if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                                                                                                                        break;
-                                                                                                                }
-                                                    }
-                                                }
-                                            }
-                                        }
-                                    }
-                                }
-
-
-                                
-                                if (badPen) {
-                                    // if we have very little motion, we're dealing with resting contact
-                                    //  and shouldn't reference the ELTs at all
-                                    //
-                                    if (LENGTH(elt_sum) < VELOCITY_EPSILON) {
-                                        
-                                        // instead of a "contact_elt_length" threshhold, we'll use an
-                                        //  arbitrary, small one
-                                        for (int j=0; j<3; j++) {
-                                            DEPTH(dp, CoplanarPt, pen_v[j], n);
-                                            
-                                            if (dp == 0.0)
-                                                dp = TINY_PENETRATION;
-                                            
-                                            if ( (dp > 0.0) && (dp <= SMALL_ELT)) {
-                                                // Add a contact
-                                                GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                                pen_v[j], n, dp, OutTriCount);
-                                                badPen = false;
-
-                                                                                                if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                                                                                                        break;
-                                                                                                }
-                                            }
-                                        }
-                                        
-
-                                        if (badPen) {
-                                            // try the other normal
-                                            SwapNormals(pen_v, col_v, v1, v2, pen_elt, elt_f1, elt_f2, n, n1, n2);
-
-                                            for (int j=0; j<3; j++) {
-                                                DEPTH(dp, CoplanarPt, pen_v[j], n);
-                                                
-                                                if (dp == 0.0)
-                                                    dp = TINY_PENETRATION;
-
-                                                if ( (dp > 0.0) && (dp <= SMALL_ELT)) {
-                                                    GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                                    pen_v[j], n, dp, OutTriCount);
-                                                    badPen = false;
-
-                                                                                                        if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                                                                                                                break;
-                                                                                                        }
-                                                }
-                                            }
-                                        }
-                                        
-                                        
-
-                                    }
-                                }
-                                    
-                                if (badPen) {
-                                    // find the nearest existing contact, and replicate it's
-                                    //  normal and depth
-                                    //
-                                    dContactGeom*  Contact;
-                                    dVector3       pos_diff;
-                                    dReal          min_dist, dist;
-
-                                    min_dist = dInfinity;
-                                    depth = 0.0;
-                                    for (int j=0; j<OutTriCount; j++) {
-                                        Contact = SAFECONTACT(Flags, Contacts, j, Stride);
-                                        
-                                        SUB(pos_diff,  Contact->pos, CoplanarPt);
-
-                                        dist = dDOT(pos_diff, pos_diff);
-                                        if (dist < min_dist) {
-                                            min_dist = dist;
-                                            depth = Contact->depth;
-                                            SMULT(ContactNormal, Contact->normal, -1.0);
-                                        }
-                                    }
-                                 
-                                    if (depth > 0.0) {
-                                        // Add a tiny contact at the coplanar point
-                                        GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                        CoplanarPt, ContactNormal, depth, OutTriCount);
-                                        badPen = false;
-                                    }
-                                }
-
-
-                                if (badPen) {
-                                    // Add a tiny contact at the coplanar point                                    
-                                    if (-dDOT(elt_sum, n1) > -dDOT(elt_sum, n2)) {
-                                        SET(ContactNormal, n1);
-                                    }
-                                    else {
-                                        SET(ContactNormal, n2);
-                                    }
-
-                                    GenerateContact(Flags, Contacts, Stride,  TriMesh1,  TriMesh2,
-                                                    CoplanarPt, ContactNormal, TINY_PENETRATION, OutTriCount);
-                                    badPen = false;
-                                }
-
-                                
-                            } // not coplanar (main loop)
-                        } // TriTriIntersectWithIsectLine
-                
-                                                if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
-                                                        break;
-                                                }
-              }
-
-                                // Free memory
-                                delete[] firstClippedElt;
-                                delete[] secondClippedElt;      
-
-                          // Return the number of contacts
-                return OutTriCount; 
-            }
-        }
-    }
-
-    
-    // There was some kind of failure during the Collide call or
-    // there are no faces overlapping
-    return 0;    
-}
-
-
-
-static void
-GetTriangleGeometryCallback(udword triangleindex, VertexPointers& triangle, udword user_data)
-{
-    dVector3 Out[3];
-
-    FetchTriangle((dxTriMesh*) user_data, (int) triangleindex, Out);
-
-    for (int i = 0; i < 3; i++)
-        triangle.Vertex[i] =  (const Point*) ((dReal*) Out[i]);
-}
-
-
-//
-//
-//
-#define B11   B[0]
-#define B12   B[1]
-#define B13   B[2]
-#define B14   B[3]
-#define B21   B[4]
-#define B22   B[5]
-#define B23   B[6]
-#define B24   B[7]
-#define B31   B[8]
-#define B32   B[9]
-#define B33   B[10]
-#define B34   B[11]
-#define B41   B[12]
-#define B42   B[13]
-#define B43   B[14]
-#define B44   B[15]
-
-#define Binv11   Binv[0]
-#define Binv12   Binv[1]
-#define Binv13   Binv[2]
-#define Binv14   Binv[3]
-#define Binv21   Binv[4]
-#define Binv22   Binv[5]
-#define Binv23   Binv[6]
-#define Binv24   Binv[7]
-#define Binv31   Binv[8]
-#define Binv32   Binv[9]
-#define Binv33   Binv[10]
-#define Binv34   Binv[11]
-#define Binv41   Binv[12]
-#define Binv42   Binv[13]
-#define Binv43   Binv[14]
-#define Binv44   Binv[15]
-
-inline void
-dMakeMatrix4(const dVector3 Position, const dMatrix3 Rotation, dMatrix4 &B)
-{
-        B11 = Rotation[0]; B21 = Rotation[1]; B31 = Rotation[2];    B41 = Position[0]; 
-        B12 = Rotation[4]; B22 = Rotation[5]; B32 = Rotation[6];    B42 = Position[1];
-        B13 = Rotation[8]; B23 = Rotation[9]; B33 = Rotation[10];   B43 = Position[2];
-
-    B14 = 0.0;         B24 = 0.0;         B34 = 0.0;            B44 = 1.0;
-}
-
-
-static void
-dInvertMatrix4( dMatrix4& B, dMatrix4& Binv )
-{
-    dReal det =  (B11 * B22 - B12 * B21) * (B33 * B44 - B34 * B43)
-        -(B11 * B23 - B13 * B21) * (B32 * B44 - B34 * B42)
-        +(B11 * B24 - B14 * B21) * (B32 * B43 - B33 * B42)
-        +(B12 * B23 - B13 * B22) * (B31 * B44 - B34 * B41)
-        -(B12 * B24 - B14 * B22) * (B31 * B43 - B33 * B41)
-        +(B13 * B24 - B14 * B23) * (B31 * B42 - B32 * B41);
-    
-    dAASSERT (det != 0.0);    
-    
-    det = 1.0 / det;
-
-    Binv11 = (dReal) (det * ((B22 * B33) - (B23 * B32)));
-    Binv12 = (dReal) (det * ((B32 * B13) - (B33 * B12)));
-    Binv13 = (dReal) (det * ((B12 * B23) - (B13 * B22)));
-    Binv14 = 0.0f;
-    Binv21 = (dReal) (det * ((B23 * B31) - (B21 * B33)));
-    Binv22 = (dReal) (det * ((B33 * B11) - (B31 * B13)));
-    Binv23 = (dReal) (det * ((B13 * B21) - (B11 * B23)));
-    Binv24 = 0.0f;
-    Binv31 = (dReal) (det * ((B21 * B32) - (B22 * B31)));
-    Binv32 = (dReal) (det * ((B31 * B12) - (B32 * B11)));
-    Binv33 = (dReal) (det * ((B11 * B22) - (B12 * B21)));
-    Binv34 = 0.0f;
-    Binv41 = (dReal) (det * (B21*(B33*B42 - B32*B43) + B22*(B31*B43 - B33*B41) + B23*(B32*B41 - B31*B42)));
-    Binv42 = (dReal) (det * (B31*(B13*B42 - B12*B43) + B32*(B11*B43 - B13*B41) + B33*(B12*B41 - B11*B42)));
-    Binv43 = (dReal) (det * (B41*(B13*B22 - B12*B23) + B42*(B11*B23 - B13*B21) + B43*(B12*B21 - B11*B22)));
-    Binv44 = 1.0f;
-}
-
-
-
-/////////////////////////////////////////////////
-//
-// Triangle/Triangle intersection utilities
-//
-// From the article "A Fast Triangle-Triangle Intersection Test",
-// Journal of Graphics Tools, 2(2), 1997
-//
-// Some of this functionality is duplicated in OPCODE (see
-//  OPC_TriTriOverlap.h) but we have replicated it here so we don't
-//  have to mess with the internals of OPCODE, as well as so we can
-//  further optimize some of the functions.
-// 
-//  This version computes the line of intersection as well (if they
-//  are not coplanar):
-//  int TriTriIntersectWithIsectLine(dReal V0[3],dReal V1[3],dReal V2[3], 
-//                                   dReal U0[3],dReal U1[3],dReal U2[3],
-//                                   int *coplanar,
-//                                   dReal isectpt1[3],dReal isectpt2[3]);
-//
-//  parameters: vertices of triangle 1: V0,V1,V2
-//              vertices of triangle 2: U0,U1,U2
-//
-//  result    : returns 1 if the triangles intersect, otherwise 0
-//              "coplanar" returns whether the tris are coplanar
-//              isectpt1, isectpt2 are the endpoints of the line of
-//              intersection
-// 
-
-
-
-/* if USE_EPSILON_TEST is true then we do a check: 
-         if |dv|<EPSILON then dv=0.0;
-   else no check is done (which is less robust)
-*/
-#define USE_EPSILON_TEST TRUE  
-#define EPSILON REAL(0.000001)
-
-
-/* sort so that a<=b */
-#define SORT(a,b)       \
-             if(a>b)    \
-             {          \
-               dReal c; \
-               c=a;     \
-               a=b;     \
-               b=c;     \
-             }
-
-#define ISECT(VV0,VV1,VV2,D0,D1,D2,isect0,isect1) \
-              isect0=VV0+(VV1-VV0)*D0/(D0-D1);    \
-              isect1=VV0+(VV2-VV0)*D0/(D0-D2);
-
-
-#define COMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,isect0,isect1) \
-  if(D0D1>0.0f)                                         \
-  {                                                     \
-    /* here we know that D0D2<=0.0 */                   \
-    /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
-    ISECT(VV2,VV0,VV1,D2,D0,D1,isect0,isect1);          \
-  }                                                     \
-  else if(D0D2>0.0f)                                    \
-  {                                                     \
-    /* here we know that d0d1<=0.0 */                   \
-    ISECT(VV1,VV0,VV2,D1,D0,D2,isect0,isect1);          \
-  }                                                     \
-  else if(D1*D2>0.0f || D0!=0.0f)                       \
-  {                                                     \
-    /* here we know that d0d1<=0.0 or that D0!=0.0 */   \
-    ISECT(VV0,VV1,VV2,D0,D1,D2,isect0,isect1);          \
-  }                                                     \
-  else if(D1!=0.0f)                                     \
-  {                                                     \
-    ISECT(VV1,VV0,VV2,D1,D0,D2,isect0,isect1);          \
-  }                                                     \
-  else if(D2!=0.0f)                                     \
-  {                                                     \
-    ISECT(VV2,VV0,VV1,D2,D0,D1,isect0,isect1);          \
-  }                                                     \
-  else                                                  \
-  {                                                     \
-    /* triangles are coplanar */                        \
-    return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2);      \
-  }
-
-
-
-/* this edge to edge test is based on Franlin Antonio's gem:
-   "Faster Line Segment Intersection", in Graphics Gems III,
-   pp. 199-202 */ 
-#define EDGE_EDGE_TEST(V0,U0,U1)                      \
-  Bx=U0[i0]-U1[i0];                                   \
-  By=U0[i1]-U1[i1];                                   \
-  Cx=V0[i0]-U0[i0];                                   \
-  Cy=V0[i1]-U0[i1];                                   \
-  f=Ay*Bx-Ax*By;                                      \
-  d=By*Cx-Bx*Cy;                                      \
-  if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f))  \
-  {                                                   \
-    e=Ax*Cy-Ay*Cx;                                    \
-    if(f>0)                                           \
-    {                                                 \
-      if(e>=0 && e<=f) return 1;                      \
-    }                                                 \
-    else                                              \
-    {                                                 \
-      if(e<=0 && e>=f) return 1;                      \
-    }                                                 \
-  }                                
-
-#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \
-{                                              \
-  dReal Ax,Ay,Bx,By,Cx,Cy,e,d,f;               \
-  Ax=V1[i0]-V0[i0];                            \
-  Ay=V1[i1]-V0[i1];                            \
-  /* test edge U0,U1 against V0,V1 */          \
-  EDGE_EDGE_TEST(V0,U0,U1);                    \
-  /* test edge U1,U2 against V0,V1 */          \
-  EDGE_EDGE_TEST(V0,U1,U2);                    \
-  /* test edge U2,U1 against V0,V1 */          \
-  EDGE_EDGE_TEST(V0,U2,U0);                    \
-}
-
-#define POINT_IN_TRI(V0,U0,U1,U2)           \
-{                                           \
-  dReal a,b,c,d0,d1,d2;                     \
-  /* is T1 completly inside T2? */          \
-  /* check if V0 is inside tri(U0,U1,U2) */ \
-  a=U1[i1]-U0[i1];                          \
-  b=-(U1[i0]-U0[i0]);                       \
-  c=-a*U0[i0]-b*U0[i1];                     \
-  d0=a*V0[i0]+b*V0[i1]+c;                   \
-                                            \
-  a=U2[i1]-U1[i1];                          \
-  b=-(U2[i0]-U1[i0]);                       \
-  c=-a*U1[i0]-b*U1[i1];                     \
-  d1=a*V0[i0]+b*V0[i1]+c;                   \
-                                            \
-  a=U0[i1]-U2[i1];                          \
-  b=-(U0[i0]-U2[i0]);                       \
-  c=-a*U2[i0]-b*U2[i1];                     \
-  d2=a*V0[i0]+b*V0[i1]+c;                   \
-  if(d0*d1>0.0)                             \
-  {                                         \
-    if(d0*d2>0.0) return 1;                 \
-  }                                         \
-}
-
-int coplanar_tri_tri(dReal N[3],dReal V0[3],dReal V1[3],dReal V2[3],
-                     dReal U0[3],dReal U1[3],dReal U2[3])
-{
-   dReal A[3];
-   short i0,i1;
-   /* first project onto an axis-aligned plane, that maximizes the area */
-   /* of the triangles, compute indices: i0,i1. */
-   A[0]= dFabs(N[0]);
-   A[1]= dFabs(N[1]);
-   A[2]= dFabs(N[2]);
-   if(A[0]>A[1])
-   {
-      if(A[0]>A[2])  
-      {
-          i0=1;      /* A[0] is greatest */
-          i1=2;
-      }
-      else
-      {
-          i0=0;      /* A[2] is greatest */
-          i1=1;
-      }
-   }
-   else   /* A[0]<=A[1] */
-   {
-      if(A[2]>A[1])
-      {
-          i0=0;      /* A[2] is greatest */
-          i1=1;                                           
-      }
-      else
-      {
-          i0=0;      /* A[1] is greatest */
-          i1=2;
-      }
-    }               
-                
-    /* test all edges of triangle 1 against the edges of triangle 2 */
-    EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2);
-    EDGE_AGAINST_TRI_EDGES(V1,V2,U0,U1,U2);
-    EDGE_AGAINST_TRI_EDGES(V2,V0,U0,U1,U2);
-                
-    /* finally, test if tri1 is totally contained in tri2 or vice versa */
-    POINT_IN_TRI(V0,U0,U1,U2);
-    POINT_IN_TRI(U0,V0,V1,V2);
-
-    return 0;
-}
-
-
-
-#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \
-{ \
-        if(D0D1>0.0f) \
-        { \
-                /* here we know that D0D2<=0.0 */ \
-            /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
-                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
-        } \
-        else if(D0D2>0.0f)\
-        { \
-                /* here we know that d0d1<=0.0 */ \
-            A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
-        } \
-        else if(D1*D2>0.0f || D0!=0.0f) \
-        { \
-                /* here we know that d0d1<=0.0 or that D0!=0.0 */ \
-                A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \
-        } \
-        else if(D1!=0.0f) \
-        { \
-                A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
-        } \
-        else if(D2!=0.0f) \
-        { \
-                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
-        } \
-        else \
-        { \
-                /* triangles are coplanar */ \
-                return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2); \
-        } \
-}
-
-
-
-
-/* sort so that a<=b */
-#define SORT2(a,b,smallest)       \
-             if(a>b)       \
-             {             \
-               dReal c;    \
-               c=a;        \
-               a=b;        \
-               b=c;        \
-               smallest=1; \
-             }             \
-             else smallest=0;
-
-
-inline void isect2(dReal VTX0[3],dReal VTX1[3],dReal VTX2[3],dReal VV0,dReal VV1,dReal VV2,
-        dReal D0,dReal D1,dReal D2,dReal *isect0,dReal *isect1,dReal isectpoint0[3],dReal isectpoint1[3]) 
-{
-  dReal tmp=D0/(D0-D1);          
-  dReal diff[3];
-  *isect0=VV0+(VV1-VV0)*tmp;         
-  SUB(diff,VTX1,VTX0);              
-  MULT(diff,diff,tmp);               
-  ADD(isectpoint0,diff,VTX0);        
-  tmp=D0/(D0-D2);                    
-  *isect1=VV0+(VV2-VV0)*tmp;          
-  SUB(diff,VTX2,VTX0);                   
-  MULT(diff,diff,tmp);                 
-  ADD(isectpoint1,VTX0,diff);          
-}
-
-
-#if 0
-#define ISECT2(VTX0,VTX1,VTX2,VV0,VV1,VV2,D0,D1,D2,isect0,isect1,isectpoint0,isectpoint1) \
-              tmp=D0/(D0-D1);                \
-              isect0=VV0+(VV1-VV0)*tmp;      \
-          SUB(diff,VTX1,VTX0);               \
-          MULT(diff,diff,tmp);               \
-              ADD(isectpoint0,diff,VTX0);    \
-              tmp=D0/(D0-D2);
-/*              isect1=VV0+(VV2-VV0)*tmp;          \ */
-/*              SUB(diff,VTX2,VTX0);               \ */
-/*              MULT(diff,diff,tmp);               \ */
-/*              ADD(isectpoint1,VTX0,diff);          */
-#endif
-
-inline int compute_intervals_isectline(dReal VERT0[3],dReal VERT1[3],dReal VERT2[3],
-                       dReal VV0,dReal VV1,dReal VV2,dReal D0,dReal D1,dReal D2,
-                       dReal D0D1,dReal D0D2,dReal *isect0,dReal *isect1,
-                       dReal isectpoint0[3],dReal isectpoint1[3])
-{
-  if(D0D1>0.0f)                                        
-  {                                                    
-    /* here we know that D0D2<=0.0 */                  
-    /* that is D0, D1 are on the same side, D2 on the other or on the plane */
-    isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,isect0,isect1,isectpoint0,isectpoint1);
-  } 
-  else if(D0D2>0.0f)                                   
-    {                                                   
-    /* here we know that d0d1<=0.0 */             
-    isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,isect0,isect1,isectpoint0,isectpoint1);
-  }                                                  
-  else if(D1*D2>0.0f || D0!=0.0f)   
-  {                                   
-    /* here we know that d0d1<=0.0 or that D0!=0.0 */
-    isect2(VERT0,VERT1,VERT2,VV0,VV1,VV2,D0,D1,D2,isect0,isect1,isectpoint0,isectpoint1);   
-  }                                                  
-  else if(D1!=0.0f)                                  
-  {                                               
-    isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,isect0,isect1,isectpoint0,isectpoint1); 
-  }                                         
-  else if(D2!=0.0f)                                  
-  {                                                   
-    isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,isect0,isect1,isectpoint0,isectpoint1);     
-  }                                                 
-  else                                               
-  {                                                   
-    /* triangles are coplanar */    
-    return 1;
-  }
-  return 0;
-}
-
-#define COMPUTE_INTERVALS_ISECTLINE(VERT0,VERT1,VERT2,VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,isect0,isect1,isectpoint0,isectpoint1) \
-  if(D0D1>0.0f)                                         \
-  {                                                     \
-    /* here we know that D0D2<=0.0 */                   \
-    /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
-    isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,&isect0,&isect1,isectpoint0,isectpoint1);          \
-  }                                                     
-#if 0
-  else if(D0D2>0.0f)                                    \
-  {                                                     \
-    /* here we know that d0d1<=0.0 */                   \
-    isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,&isect0,&isect1,isectpoint0,isectpoint1);          \
-  }                                                     \
-  else if(D1*D2>0.0f || D0!=0.0f)                       \
-  {                                                     \
-    /* here we know that d0d1<=0.0 or that D0!=0.0 */   \
-    isect2(VERT0,VERT1,VERT2,VV0,VV1,VV2,D0,D1,D2,&isect0,&isect1,isectpoint0,isectpoint1);          \
-  }                                                     \
-  else if(D1!=0.0f)                                     \
-  {                                                     \
-    isect2(VERT1,VERT0,VERT2,VV1,VV0,VV2,D1,D0,D2,&isect0,&isect1,isectpoint0,isectpoint1);          \
-  }                                                     \
-  else if(D2!=0.0f)                                     \
-  {                                                     \
-    isect2(VERT2,VERT0,VERT1,VV2,VV0,VV1,D2,D0,D1,&isect0,&isect1,isectpoint0,isectpoint1);          \
-  }                                                     \
-  else                                                  \
-  {                                                     \
-    /* triangles are coplanar */                        \
-    coplanar=1;                                         \
-    return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2);      \
-  }
-#endif
-
-
-
-static int TriTriIntersectWithIsectLine(dReal V0[3],dReal V1[3],dReal V2[3],
-                                        dReal U0[3],dReal U1[3],dReal U2[3],int *coplanar,
-                                        dReal isectpt1[3],dReal isectpt2[3])
-{
-  dReal E1[3],E2[3];
-  dReal N1[3],N2[3],d1,d2;
-  dReal du0,du1,du2,dv0,dv1,dv2;
-  dReal D[3];
-  dReal isect1[2], isect2[2];
-  dReal isectpointA1[3],isectpointA2[3];
-  dReal isectpointB1[3],isectpointB2[3];
-  dReal du0du1,du0du2,dv0dv1,dv0dv2;
-  short index;
-  dReal vp0,vp1,vp2;
-  dReal up0,up1,up2;
-  dReal b,c,max;
-  int smallest1,smallest2;
-  
-  /* compute plane equation of triangle(V0,V1,V2) */
-  SUB(E1,V1,V0);
-  SUB(E2,V2,V0);
-  CROSS(N1,E1,E2);
-  d1=-DOT(N1,V0);
-  /* plane equation 1: N1.X+d1=0 */
-
-  /* put U0,U1,U2 into plane equation 1 to compute signed distances to the plane*/
-  du0=DOT(N1,U0)+d1;
-  du1=DOT(N1,U1)+d1;
-  du2=DOT(N1,U2)+d1;
-
-  /* coplanarity robustness check */
-#if USE_EPSILON_TEST==TRUE
-  if(dFabs(du0)<EPSILON) du0=0.0;
-  if(dFabs(du1)<EPSILON) du1=0.0;
-  if(dFabs(du2)<EPSILON) du2=0.0;
-#endif
-  du0du1=du0*du1;
-  du0du2=du0*du2;
-
-  if(du0du1>0.0f && du0du2>0.0f) /* same sign on all of them + not equal 0 ? */
-    return 0;                    /* no intersection occurs */
-
-  /* compute plane of triangle (U0,U1,U2) */
-  SUB(E1,U1,U0);
-  SUB(E2,U2,U0);
-  CROSS(N2,E1,E2);
-  d2=-DOT(N2,U0);
-  /* plane equation 2: N2.X+d2=0 */
-
-  /* put V0,V1,V2 into plane equation 2 */
-  dv0=DOT(N2,V0)+d2;
-  dv1=DOT(N2,V1)+d2;
-  dv2=DOT(N2,V2)+d2;
-
-#if USE_EPSILON_TEST==TRUE
-  if(dFabs(dv0)<EPSILON) dv0=0.0;
-  if(dFabs(dv1)<EPSILON) dv1=0.0;
-  if(dFabs(dv2)<EPSILON) dv2=0.0;
-#endif
-
-  dv0dv1=dv0*dv1;
-  dv0dv2=dv0*dv2;
-        
-  if(dv0dv1>0.0f && dv0dv2>0.0f) /* same sign on all of them + not equal 0 ? */
-    return 0;                    /* no intersection occurs */
-
-  /* compute direction of intersection line */
-  CROSS(D,N1,N2);
-
-  /* compute and index to the largest component of D */
-  max= dFabs(D[0]);
-  index=0;
-  b= dFabs(D[1]);
-  c= dFabs(D[2]);
-  if(b>max) max=b,index=1;
-  if(c>max) max=c,index=2;
-
-  /* this is the simplified projection onto L*/
-  vp0=V0[index];
-  vp1=V1[index];
-  vp2=V2[index];
-  
-  up0=U0[index];
-  up1=U1[index];
-  up2=U2[index];
-
-  /* compute interval for triangle 1 */
-  *coplanar=compute_intervals_isectline(V0,V1,V2,vp0,vp1,vp2,dv0,dv1,dv2,
-                                        dv0dv1,dv0dv2,&isect1[0],&isect1[1],isectpointA1,isectpointA2);
-  if(*coplanar) return coplanar_tri_tri(N1,V0,V1,V2,U0,U1,U2);     
-
-
-  /* compute interval for triangle 2 */
-  compute_intervals_isectline(U0,U1,U2,up0,up1,up2,du0,du1,du2,
-                              du0du1,du0du2,&isect2[0],&isect2[1],isectpointB1,isectpointB2);
-
-  SORT2(isect1[0],isect1[1],smallest1);
-  SORT2(isect2[0],isect2[1],smallest2);
-
-  if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;
-
-  /* at this point, we know that the triangles intersect */
-
-  if(isect2[0]<isect1[0])
-  {
-    if(smallest1==0) { SET(isectpt1,isectpointA1); }
-    else { SET(isectpt1,isectpointA2); }
-
-    if(isect2[1]<isect1[1])
-    {
-      if(smallest2==0) { SET(isectpt2,isectpointB2); }
-      else { SET(isectpt2,isectpointB1); }
-    }
-    else
-    {
-      if(smallest1==0) { SET(isectpt2,isectpointA2); }
-      else { SET(isectpt2,isectpointA1); }
-    }
-  }
-  else
-  {
-    if(smallest2==0) { SET(isectpt1,isectpointB1); }
-    else { SET(isectpt1,isectpointB2); }
-
-    if(isect2[1]>isect1[1])
-    {
-      if(smallest1==0) { SET(isectpt2,isectpointA2); }
-      else { SET(isectpt2,isectpointA1); }      
-    }
-    else
-    {
-      if(smallest2==0) { SET(isectpt2,isectpointB2); }
-      else { SET(isectpt2,isectpointB1); } 
-    }
-  }
-  return 1;
-}
-
-
-
-
-
-// Find the intersectiojn point between a coplanar line segement,
-// defined by X1 and X2, and a ray defined by X3 and direction N.
-//
-// This forumla for this calculation is:
-//               (c x b) . (a x b)
-//   Q = x1 + a -------------------
-//                  | a x b | ^2
-//
-// where a = x2 - x1
-//       b = x4 - x3
-//       c = x3 - x1
-// x1 and x2 are the edges of the triangle, and x3 is CoplanarPt
-//  and x4 is (CoplanarPt - n)
-static int
-IntersectLineSegmentRay(dVector3 x1, dVector3 x2, dVector3 x3, dVector3 n, 
-                        dVector3 out_pt)
-{
-    dVector3 a, b, c, x4;
-
-    ADD(x4, x3, n);  // x4 = x3 + n
-    
-    SUB(a, x2, x1);  // a = x2 - x1
-    SUB(b, x4, x3);
-    SUB(c, x3, x1);
-    
-    dVector3 tmp1, tmp2;
-    CROSS(tmp1, c, b);
-    CROSS(tmp2, a, b);
-
-    dReal num, denom;
-    num = dDOT(tmp1, tmp2);
-    denom = LENGTH( tmp2 ); 
-
-    dReal s;
-    s = num /(denom*denom);
-    
-    for (int i=0; i<3; i++)
-        out_pt[i] = x1[i] + a[i]*s;
-
-    // Test if this intersection is "behind" x3, w.r.t. n
-    SUB(a, x3, out_pt);
-    if (dDOT(a, n) > 0.0)
-        return 0;
-
-    // Test if this intersection point is outside the edge limits,
-    //  if (dot( (out_pt-x1), (out_pt-x2) ) < 0) it's inside
-    //  else outside
-    SUB(a, out_pt, x1);
-    SUB(b, out_pt, x2);
-    if (dDOT(a,b) < 0.0)
-        return 1;
-    else
-        return 0;
-}
-
-
-// FindTriSolidIntersection - Clips the input trinagle TRI with the 
-//  sides of a convex bounding solid, described by PLANES, returning
-//  the (convex) clipped polygon in CLIPPEDPOLYGON
-//
-static bool
-FindTriSolidIntrsection(const dVector3 Tri[3], 
-                        const dVector4 Planes[6], int numSides,
-                        LineContactSet& ClippedPolygon )
-{ 
-    // Set up the LineContactSet structure
-    for (int k=0; k<3; k++) {
-        SET(ClippedPolygon.Points[k], Tri[k]);
-    }
-    ClippedPolygon.Count = 3;
-
-    // Clip wrt the sides
-    for ( int i = 0; i < numSides; i++ )
-        ClipConvexPolygonAgainstPlane( Planes[i], Planes[i][3], ClippedPolygon );
-    
-    return (ClippedPolygon.Count > 0);
-}
-
-
-
-
-// ClipConvexPolygonAgainstPlane - Clip a a convex polygon, described by
-//  CONTACTS, with a plane (described by N and C).  Note:  the input 
-//  vertices are assumed to be in counterclockwise order.  
-//
-// This code is taken from The Nebula Device:
-//  http://nebuladevice.sourceforge.net/cgi-bin/twiki/view/Nebula/WebHome
-// and is licensed under the following license:
-//  http://nebuladevice.sourceforge.net/doc/source/license.txt
-//
-static void
-ClipConvexPolygonAgainstPlane( const dVector3 N, dReal C, 
-                               LineContactSet& Contacts )
-{
-    // test on which side of line are the vertices
-    int Positive = 0, Negative = 0, PIndex = -1;
-    int Quantity = Contacts.Count;
-    
-    dReal Test[8];
-    for ( int i = 0; i < Contacts.Count; i++ ) {
-        // An epsilon is used here because it is possible for the dot product
-        // and C to be exactly equal to each other (in theory), but differ
-        // slightly because of floating point problems.  Thus, add a little
-        // to the test number to push actually equal numbers over the edge
-        // towards the positive.  This should probably be somehow a relative
-        // tolerance, and I don't think multiplying by the constant is the best
-        // way to do this.
-        Test[i] = dDOT(N, Contacts.Points[i]) - C + dFabs(C)*REAL(1e-08);
-            
-        if (Test[i] >= REAL(0.0)) {
-            Positive++;
-            if (PIndex < 0) {
-                PIndex = i;
-            }
-        }
-        else Negative++;
-    }
-    
-    if (Positive > 0) {
-        if (Negative > 0) {
-            // plane transversely intersects polygon
-            dVector3 CV[8];
-            int CQuantity = 0, Cur, Prv;
-            dReal T;
-            
-            if (PIndex > 0) {
-                // first clip vertex on line
-                Cur = PIndex;
-                Prv = Cur - 1;
-                T = Test[Cur] / (Test[Cur] - Test[Prv]);
-                CV[CQuantity][0] = Contacts.Points[Cur][0] 
-                    + T * (Contacts.Points[Prv][0] - Contacts.Points[Cur][0]);
-                CV[CQuantity][1] = Contacts.Points[Cur][1] 
-                    + T * (Contacts.Points[Prv][1] - Contacts.Points[Cur][1]);
-                CV[CQuantity][2] = Contacts.Points[Cur][2] 
-                    + T * (Contacts.Points[Prv][2] - Contacts.Points[Cur][2]);
-                CV[CQuantity][3] = Contacts.Points[Cur][3] 
-                    + T * (Contacts.Points[Prv][3] - Contacts.Points[Cur][3]);
-                CQuantity++;
-                
-                // vertices on positive side of line
-                while (Cur < Quantity && Test[Cur] >= REAL(0.0)) {
-                    CV[CQuantity][0] = Contacts.Points[Cur][0];
-                    CV[CQuantity][1] = Contacts.Points[Cur][1];
-                    CV[CQuantity][2] = Contacts.Points[Cur][2];
-                    CV[CQuantity][3] = Contacts.Points[Cur][3];
-                    CQuantity++;
-                    Cur++;
-                }
-                
-                // last clip vertex on line
-                if (Cur < Quantity) {
-                    Prv = Cur - 1;
-                }
-                else {
-                    Cur = 0;
-                    Prv = Quantity - 1;
-                }
-                
-                T = Test[Cur] / (Test[Cur] - Test[Prv]);
-                CV[CQuantity][0] = Contacts.Points[Cur][0] 
-                    + T * (Contacts.Points[Prv][0] - Contacts.Points[Cur][0]);
-                CV[CQuantity][1] = Contacts.Points[Cur][1] 
-                    + T * (Contacts.Points[Prv][1] - Contacts.Points[Cur][1]);
-                CV[CQuantity][2] = Contacts.Points[Cur][2] 
-                    + T * (Contacts.Points[Prv][2] - Contacts.Points[Cur][2]);
-                CV[CQuantity][3] = Contacts.Points[Cur][3] 
-                    + T * (Contacts.Points[Prv][3] - Contacts.Points[Cur][3]);
-                CQuantity++;
-            }
-            else {
-                // iPIndex is 0
-                // vertices on positive side of line
-                Cur = 0;
-                while (Cur < Quantity && Test[Cur] >= REAL(0.0)) {
-                    CV[CQuantity][0] = Contacts.Points[Cur][0];
-                    CV[CQuantity][1] = Contacts.Points[Cur][1];
-                    CV[CQuantity][2] = Contacts.Points[Cur][2];
-                    CV[CQuantity][3] = Contacts.Points[Cur][3];
-                    CQuantity++;
-                    Cur++;
-                }
-                
-                // last clip vertex on line
-                Prv = Cur - 1;
-                T = Test[Cur] / (Test[Cur] - Test[Prv]);
-                CV[CQuantity][0] = Contacts.Points[Cur][0] 
-                    + T * (Contacts.Points[Prv][0] - Contacts.Points[Cur][0]);
-                CV[CQuantity][1] = Contacts.Points[Cur][1] 
-                    + T * (Contacts.Points[Prv][1] - Contacts.Points[Cur][1]);
-                CV[CQuantity][2] = Contacts.Points[Cur][2] 
-                    + T * (Contacts.Points[Prv][2] - Contacts.Points[Cur][2]);
-                CV[CQuantity][3] = Contacts.Points[Cur][3] 
-                    + T * (Contacts.Points[Prv][3] - Contacts.Points[Cur][3]);
-                CQuantity++;
-                
-                // skip vertices on negative side
-                while (Cur < Quantity && Test[Cur] < REAL(0.0)) {
-                    Cur++;
-                }
-          
-                // first clip vertex on line
-                if (Cur < Quantity) {
-                    Prv = Cur - 1;
-                    T = Test[Cur] / (Test[Cur] - Test[Prv]);
-                    CV[CQuantity][0] = Contacts.Points[Cur][0] 
-                        + T * (Contacts.Points[Prv][0] - Contacts.Points[Cur][0]);
-                    CV[CQuantity][1] = Contacts.Points[Cur][1] 
-                              + T * (Contacts.Points[Prv][1] - Contacts.Points[Cur][1]);
-                    CV[CQuantity][2] = Contacts.Points[Cur][2] 
-                        + T * (Contacts.Points[Prv][2] - Contacts.Points[Cur][2]);
-                    CV[CQuantity][3] = Contacts.Points[Cur][3] 
-                        + T * (Contacts.Points[Prv][3] - Contacts.Points[Cur][3]);
-                    CQuantity++;
-            
-                    // vertices on positive side of line
-                    while (Cur < Quantity && Test[Cur] >= REAL(0.0)) {
-                        CV[CQuantity][0] = Contacts.Points[Cur][0];
-                        CV[CQuantity][1] = Contacts.Points[Cur][1];
-                        CV[CQuantity][2] = Contacts.Points[Cur][2];
-                        CV[CQuantity][3] = Contacts.Points[Cur][3];
-                        CQuantity++;
-                        Cur++;
-                    }
-                }
-                else {
-                    // iCur = 0
-                    Prv = Quantity - 1;
-                    T = Test[0] / (Test[0] - Test[Prv]);
-                    CV[CQuantity][0] = Contacts.Points[0][0] 
-                        + T * (Contacts.Points[Prv][0] - Contacts.Points[0][0]);
-                    CV[CQuantity][1] = Contacts.Points[0][1] 
-                              + T * (Contacts.Points[Prv][1] - Contacts.Points[0][1]);
-                    CV[CQuantity][2] = Contacts.Points[0][2] 
-                        + T * (Contacts.Points[Prv][2] - Contacts.Points[0][2]);
-                    CV[CQuantity][3] = Contacts.Points[0][3] 
-                        + T * (Contacts.Points[Prv][3] - Contacts.Points[0][3]);
-                    CQuantity++;
-                }
-            }
-            Quantity = CQuantity;
-            memcpy( Contacts.Points, CV, CQuantity * sizeof(dVector3) );
-        }
-        // else polygon fully on positive side of plane, nothing to do    
-        Contacts.Count = Quantity;
-    }
-    else {
-        Contacts.Count = 0; // This should not happen, but for safety
-    }
-
-}
-
-
-
-// Determine if a potential collision point is 
-//
-//
-static int
-ExamineContactPoint(dVector3* v_col, dVector3 in_n, dVector3 in_point)
-{
-    // Cast a ray from in_point, along the collison normal. Does it intersect the
-    //  collision face.
-    dReal t, u, v;
-    
-    if (!RayTriangleIntersect(in_point, in_n, v_col[0], v_col[1], v_col[2],
-                              &t, &u, &v))
-        return 0;
-    else
-    return 1;
-}
-
-
-
-// RayTriangleIntersect - If an intersection is found, t contains the
-//   distance along the ray (dir) and u/v contain u/v coordinates into
-//   the triangle.  Returns 0 if no hit is found
-//   From "Real-Time Rendering," page 305
-//
-static int
-RayTriangleIntersect(const dVector3 orig, const dVector3 dir,
-                     const dVector3 vert0, const dVector3 vert1,const dVector3 vert2,
-                     dReal *t,dReal *u,dReal *v)
-
-{
-    dReal edge1[3], edge2[3], tvec[3], pvec[3], qvec[3];
-    dReal det,inv_det;
-    
-    // find vectors for two edges sharing vert0
-    SUB(edge1, vert1, vert0);
-    SUB(edge2, vert2, vert0);
-    
-    // begin calculating determinant - also used to calculate U parameter
-    CROSS(pvec, dir, edge2);
-
-    // if determinant is near zero, ray lies in plane of triangle
-    det = DOT(edge1, pvec);
-
-    if ((det > REAL(-0.001)) && (det < REAL(0.001)))
-        return 0;
-    inv_det = 1.0 / det;
-
-    // calculate distance from vert0 to ray origin 
-    SUB(tvec, orig, vert0);
-
-    // calculate U parameter and test bounds
-    *u = DOT(tvec, pvec) * inv_det;
-    if ((*u < 0.0) || (*u > 1.0))
-        return 0;
-
-    // prepare to test V parameter
-    CROSS(qvec, tvec, edge1);
-
-    // calculate V parameter and test bounds
-    *v = DOT(dir, qvec) * inv_det;
-    if ((*v < 0.0) || ((*u + *v) > 1.0))
-        return 0;
-
-    // calculate t, ray intersects triangle
-    *t = DOT(edge2, qvec) * inv_det;
-
-    return 1;
-}
-
-
-
-static bool
-SimpleUnclippedTest(dVector3 in_CoplanarPt, dVector3 in_v, dVector3 in_elt,
-                    dVector3 in_n, dVector3* in_col_v, dReal &out_depth)
-{
-    dReal dp = 0.0;
-    dReal contact_elt_length;
-
-    DEPTH(dp, in_CoplanarPt, in_v, in_n);
-    
-    if (dp >= 0.0) {
-        // if the penetration depth (calculated above) is more than
-        //  the contact point's ELT, then we've chosen the wrong face
-        //  and should switch faces
-        contact_elt_length = dFabs(dDOT(in_elt, in_n));
-        
-        if (dp == 0.0)
-            dp = dMin(DISTANCE_EPSILON, contact_elt_length);
-        
-        if ((contact_elt_length < SMALL_ELT) && (dp < EXPANDED_ELT_THRESH))
-            dp = contact_elt_length;
-        
-        if ( (dp > 0.0) && (dp <= contact_elt_length)) {
-            // Add a contact
-            
-            if ( ExamineContactPoint(in_col_v, in_n, in_v) ) {
-                out_depth = dp;
-                return true;
-            }
-        }
-    }
-
-    return false;
-}
-
-
-
-
-// Generate a "unique" contact.  A unique contact has a unique
-//   position or normal.  If the potential contact has the same
-//   position and normal as an existing contact, but a larger
-//   penetration depth, this new depth is used instead
-//
-static void
-GenerateContact(int in_Flags, dContactGeom* in_Contacts, int in_Stride,  
-                dxTriMesh* in_TriMesh1,  dxTriMesh* in_TriMesh2,
-                const dVector3 in_ContactPos, const dVector3 in_Normal, dReal in_Depth,
-                int& OutTriCount)
-{
-        /*
-                NOTE by Oleh_Derevenko:
-                This function is called after maximal number of contacts has already been 
-                collected because it has a side effect of replacing penetration depth of
-                existing contact with larger penetration depth of another matching normal contact.
-                If this logic is not necessary any more, you can bail out on reach of contact
-                number maximum immediately in dCollideTTL(). You will also need to correct 
-                conditional statements after invocations of GenerateContact() in dCollideTTL().
-        */
-        dIASSERT(in_Depth >= 0.0);
-    //if (in_Depth < 0.0) -- the function is always called with depth >= 0
-    //    return;
-
-        do 
-        {
-                dContactGeom* Contact;
-                dVector3 diff;
-
-                if (!(in_Flags & CONTACTS_UNIMPORTANT))
-                {
-                        bool duplicate = false;
-
-                        for (int i=0; i<OutTriCount; i++) 
-                        {
-                                Contact = SAFECONTACT(in_Flags, in_Contacts, i, in_Stride);
-
-                                // same position?
-                                SUB(diff, in_ContactPos, Contact->pos);
-                                if (dDOT(diff, diff) < dEpsilon) 
-                                {
-                                        // same normal?
-                                        if (dFabs(dDOT(in_Normal, Contact->normal)) > (REAL(1.0)-dEpsilon))
-                                        {
-                                                if (in_Depth > Contact->depth) {
-                                                        Contact->depth = in_Depth;
-                                                        SMULT( Contact->normal, in_Normal, -1.0);
-                                                        Contact->normal[3] = 0.0;
-                                                }
-                                                duplicate = true;
-                                                /*
-                                                        NOTE by Oleh_Derevenko:
-                                                        There may be a case when two normals are close to each other but no duplicate
-                                                        while third normal is detected to be duplicate for both of them.
-                                                        This is the only reason I can think of, there is no "break" statement.
-                                                        Perhaps author considered it to be logical that the third normal would 
-                                                        replace the depth in both of initial contacts. 
-                                                        However, I consider it a questionable practice which should not
-                                                        be applied without deep understanding of underlaying physics.
-                                                        Even more, is this situation with close normal triplet acceptable at all?
-                                                        Should not be two initial contacts reduced to one (replaced with the latter)?
-                                                        If you know the answers for these questions, you may want to change this code.
-                                                        See the same statement in GenerateContact() of collision_trimesh_box.cpp
-                                                */
-                                        }
-                                }
-                        }
-
-                        if (duplicate || OutTriCount == (in_Flags & NUMC_MASK))
-                        {
-                                break;
-                        }
-                }
-                else 
-                {
-                        dIASSERT(OutTriCount < (in_Flags & NUMC_MASK));
-                }
-    
-                // Add a new contact
-                Contact = SAFECONTACT(in_Flags, in_Contacts, OutTriCount, in_Stride);
-
-                SET( Contact->pos, in_ContactPos );
-                Contact->pos[3] = 0.0;
-    
-                SMULT( Contact->normal, in_Normal, -1.0);
-                Contact->normal[3] = 0.0;
-    
-                Contact->depth = in_Depth;
-
-                Contact->g1 = in_TriMesh1;
-                Contact->g2 = in_TriMesh2;
-    
-                OutTriCount++;
-        }
-        while (false);
-}
-
-#endif // dTRIMESH_OPCODE
-#endif // !dTRIMESH_USE_NEW_TRIMESH_TRIMESH_COLLIDER
-#endif // dTRIMESH_ENABLED
diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_trimesh_new.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_trimesh_new.cpp
deleted file mode 100644
index c4af41c..0000000
--- a/libraries/ode-0.9/ode/src/collision_trimesh_trimesh_new.cpp
+++ /dev/null
@@ -1,1304 +0,0 @@
-/*************************************************************************

- *                                                                       *

- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *

- *                                                                       *

- *************************************************************************/

-

-// OPCODE TriMesh/TriMesh collision code

-// Written at 2006-10-28 by Francisco León (http://gimpact.sourceforge.net)

-

-#ifdef _MSC_VER

-#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints

-#endif

-

-#include <ode/collision.h>

-#include <ode/matrix.h>

-#include <ode/rotation.h>

-#include <ode/odemath.h>

-

-// New Implementation

-#if dTRIMESH_OPCODE_USE_NEW_TRIMESH_TRIMESH_COLLIDER

-

-#if dTRIMESH_ENABLED

-

-#include "collision_util.h"

-#define TRIMESH_INTERNAL

-#include "collision_trimesh_internal.h"

-

-#if dTRIMESH_OPCODE

-

-#define SMALL_ELT           REAL(2.5e-4)

-#define EXPANDED_ELT_THRESH REAL(1.0e-3)

-#define DISTANCE_EPSILON    REAL(1.0e-8)

-#define VELOCITY_EPSILON    REAL(1.0e-5)

-#define TINY_PENETRATION    REAL(5.0e-6)

-

-struct LineContactSet

-{

-        enum

-        {

-                MAX_POINTS = 8

-        };

-

-    dVector3 Points[MAX_POINTS];

-    int      Count;

-};

-

-

-static void GetTriangleGeometryCallback(udword, VertexPointers&, udword);

-inline void dMakeMatrix4(const dVector3 Position, const dMatrix3 Rotation, dMatrix4 &B);

-static void dInvertMatrix4( dMatrix4& B, dMatrix4& Binv );

-static int IntersectLineSegmentRay(dVector3, dVector3, dVector3, dVector3,  dVector3);

-static void ClipConvexPolygonAgainstPlane( const dVector3, dReal, LineContactSet& );

-static int RayTriangleIntersect(const dVector3 orig, const dVector3 dir,

-                                const dVector3 vert0, const dVector3 vert1,const dVector3 vert2,

-                                dReal *t,dReal *u,dReal *v);

-

-

-///returns the penetration depth

-static dReal MostDeepPoints(

-                                                        LineContactSet & points,

-                                                        const dVector3 plane_normal,

-                                                        dReal plane_dist,

-                                                        LineContactSet & deep_points);

-///returns the penetration depth

-static dReal FindMostDeepPointsInTetra(

-                                                        LineContactSet contact_points,

-                                                        const dVector3 sourcetri[3],///triangle which contains contact_points

-                                                        const dVector3 tetra[4],

-                                                        const dVector4 tetraplanes[4],

-                                                        dVector3 separating_normal,

-                                                        LineContactSet deep_points);

-

-static bool ClipTriByTetra(const dVector3 tri[3],

-                                                   const dVector3 tetra[4],

-                                                   LineContactSet& Contacts);

-static bool TriTriContacts(const dVector3 tr1[3],

-                                                         const dVector3 tr2[3],

-                                                         dxGeom* g1, dxGeom* g2, int Flags,

-                                                         dContactGeom* Contacts, int Stride,

-                                                         int &contactcount);

-

-

-/* some math macros */

-#define CROSS(dest,v1,v2) { dest[0]=v1[1]*v2[2]-v1[2]*v2[1]; \

-        dest[1]=v1[2]*v2[0]-v1[0]*v2[2]; \

-        dest[2]=v1[0]*v2[1]-v1[1]*v2[0]; }

-

-#define DOT(v1,v2) (v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2])

-

-#define SUB(dest,v1,v2) { dest[0]=v1[0]-v2[0]; dest[1]=v1[1]-v2[1]; dest[2]=v1[2]-v2[2]; }

-

-#define ADD(dest,v1,v2) { dest[0]=v1[0]+v2[0]; dest[1]=v1[1]+v2[1]; dest[2]=v1[2]+v2[2]; }

-

-#define MULT(dest,v,factor) { dest[0]=factor*v[0]; dest[1]=factor*v[1]; dest[2]=factor*v[2]; }

-

-#define SET(dest,src) { dest[0]=src[0]; dest[1]=src[1]; dest[2]=src[2]; }

-

-#define SMULT(p,q,s) { p[0]=q[0]*s; p[1]=q[1]*s; p[2]=q[2]*s; }

-

-#define COMBO(combo,p,t,q) { combo[0]=p[0]+t*q[0]; combo[1]=p[1]+t*q[1]; combo[2]=p[2]+t*q[2]; }

-

-#define LENGTH(x)  ((dReal) 1.0f/InvSqrt(dDOT(x, x)))

-

-#define DEPTH(d, p, q, n) d = (p[0] - q[0])*n[0] +  (p[1] - q[1])*n[1] +  (p[2] - q[2])*n[2];

-

-inline const dReal dMin(const dReal x, const dReal y)

-{

-    return x < y ? x : y;

-}

-

-

-inline void

-SwapNormals(dVector3 *&pen_v, dVector3 *&col_v, dVector3* v1, dVector3* v2,

-            dVector3 *&pen_elt, dVector3 *elt_f1, dVector3 *elt_f2,

-            dVector3 n, dVector3 n1, dVector3 n2)

-{

-    if (pen_v == v1) {

-        pen_v = v2;

-        pen_elt = elt_f2;

-        col_v = v1;

-        SET(n, n1);

-    }

-    else {

-        pen_v = v1;

-        pen_elt = elt_f1;

-        col_v = v2;

-        SET(n, n2);

-    }

-}

-

-///////////////////////MECHANISM FOR AVOID CONTACT REDUNDANCE///////////////////////////////

-////* Written by Francisco León (http://gimpact.sourceforge.net) *///

-#define CONTACT_DIFF_EPSILON REAL(0.00001)

-#if defined(dDOUBLE)

-#define CONTACT_NORMAL_ZERO REAL(0.0000001)

-#else // if defined(dSINGLE)

-#define CONTACT_NORMAL_ZERO REAL(0.00001)

-#endif

-#define CONTACT_POS_HASH_QUOTIENT REAL(10000.0)

-#define dSQRT3  REAL(1.7320508075688773)

-

-struct CONTACT_KEY

-{

-        dContactGeom * m_contact;

-        unsigned int m_key;

-};

-

-#define MAXCONTACT_X_NODE 4

-struct CONTACT_KEY_HASH_NODE

-{

-        CONTACT_KEY m_keyarray[MAXCONTACT_X_NODE];

-        int m_keycount;

-};

-

-#define CONTACTS_HASHSIZE 256

-CONTACT_KEY_HASH_NODE g_hashcontactset[CONTACTS_HASHSIZE];

-

-

-

-void UpdateContactKey(CONTACT_KEY & key, dContactGeom * contact)

-{

-        key.m_contact = contact;

-

-        unsigned int hash=0;

-

-        int i = 0;

-

-        while (true)

-        {

-                dReal coord = contact->pos[i];

-                coord = dFloor(coord * CONTACT_POS_HASH_QUOTIENT);

-

-                unsigned int hash_input = ((unsigned int *)&coord)[0];

-                if (sizeof(dReal) / sizeof(unsigned int) != 1)

-                {

-                        dIASSERT(sizeof(dReal) / sizeof(unsigned int) == 2);

-                        hash_input ^= ((unsigned int *)&coord)[1];

-                }

-

-                hash = (( hash << 4 ) + (hash_input >> 24)) ^ ( hash >> 28 );

-                hash = (( hash << 4 ) + ((hash_input >> 16) & 0xFF)) ^ ( hash >> 28 );

-                hash = (( hash << 4 ) + ((hash_input >> 8) & 0xFF)) ^ ( hash >> 28 );

-                hash = (( hash << 4 ) + (hash_input & 0xFF)) ^ ( hash >> 28 );

-

-                if (++i == 3)

-                {

-                        break;

-                }

-

-                hash = (hash << 11) | (hash >> 21);

-        }

-

-        key.m_key = hash;

-}

-

-

-static inline unsigned int MakeContactIndex(unsigned int key)

-{

-        dIASSERT(CONTACTS_HASHSIZE == 256);

-

-        unsigned int index = key ^ (key >> 16);

-        index = (index ^ (index >> 8)) & 0xFF;

-        return index;

-}

-

-dContactGeom *AddContactToNode(const CONTACT_KEY * contactkey,CONTACT_KEY_HASH_NODE * node)

-{

-        for(int i=0;i<node->m_keycount;i++)

-        {

-                if(node->m_keyarray[i].m_key == contactkey->m_key)

-                {

-                        dContactGeom *contactfound = node->m_keyarray[i].m_contact;

-                        if (dDISTANCE(contactfound->pos, contactkey->m_contact->pos) < REAL(1.00001) /*for comp. errors*/ * dSQRT3 / CONTACT_POS_HASH_QUOTIENT /*cube diagonal*/)

-                        {

-                                return contactfound;

-                        }

-                }

-        }

-

-        if (node->m_keycount < MAXCONTACT_X_NODE)

-        {

-                node->m_keyarray[node->m_keycount].m_contact = contactkey->m_contact;

-                node->m_keyarray[node->m_keycount].m_key = contactkey->m_key;

-                node->m_keycount++;

-        }

-        else

-        {

-                dDEBUGMSG("Trimesh-trimesh contach hash table bucket overflow - close contacts might not be culled");

-        }

-

-        return contactkey->m_contact;

-}

-

-void RemoveNewContactFromNode(const CONTACT_KEY * contactkey, CONTACT_KEY_HASH_NODE * node)

-{

-        dIASSERT(node->m_keycount > 0);

-

-        if (node->m_keyarray[node->m_keycount - 1].m_contact == contactkey->m_contact)

-        {

-                node->m_keycount -= 1;

-        }

-        else

-        {

-                dIASSERT(node->m_keycount == MAXCONTACT_X_NODE);

-        }

-}

-

-void RemoveArbitraryContactFromNode(const CONTACT_KEY *contactkey, CONTACT_KEY_HASH_NODE *node)

-{

-        dIASSERT(node->m_keycount > 0);

-

-        int keyindex, lastkeyindex = node->m_keycount - 1;

-

-        // Do not check the last contact

-        for (keyindex = 0; keyindex < lastkeyindex; keyindex++)

-        {

-                if (node->m_keyarray[keyindex].m_contact == contactkey->m_contact)

-                {

-                        node->m_keyarray[keyindex] = node->m_keyarray[lastkeyindex];

-                        break;

-                }

-        }

-

-        dIASSERT(keyindex < lastkeyindex || 

-                node->m_keyarray[keyindex].m_contact == contactkey->m_contact); // It has been either the break from loop or last element should match

-

-        node->m_keycount = lastkeyindex;

-}

-

-void UpdateArbitraryContactInNode(const CONTACT_KEY *contactkey, CONTACT_KEY_HASH_NODE *node,

-        dContactGeom *pwithcontact)

-{

-        dIASSERT(node->m_keycount > 0);

-

-        int keyindex, lastkeyindex = node->m_keycount - 1;

-

-        // Do not check the last contact

-        for (keyindex = 0; keyindex < lastkeyindex; keyindex++)

-        {

-                if (node->m_keyarray[keyindex].m_contact == contactkey->m_contact)

-                {

-                        break;

-                }

-        }

-

-        dIASSERT(keyindex < lastkeyindex || 

-                node->m_keyarray[keyindex].m_contact == contactkey->m_contact); // It has been either the break from loop or last element should match

-

-        node->m_keyarray[keyindex].m_contact = pwithcontact;

-}

-

-void ClearContactSet()

-{

-        memset(g_hashcontactset,0,sizeof(CONTACT_KEY_HASH_NODE)*CONTACTS_HASHSIZE);

-}

-

-//return true if found

-dContactGeom *InsertContactInSet(const CONTACT_KEY &newkey)

-{

-        unsigned int index = MakeContactIndex(newkey.m_key);

-

-        return AddContactToNode(&newkey, &g_hashcontactset[index]);

-}

-

-void RemoveNewContactFromSet(const CONTACT_KEY &contactkey)

-{

-        unsigned int index = MakeContactIndex(contactkey.m_key);

-        

-        RemoveNewContactFromNode(&contactkey, &g_hashcontactset[index]);

-}

-

-void RemoveArbitraryContactFromSet(const CONTACT_KEY &contactkey)

-{

-        unsigned int index = MakeContactIndex(contactkey.m_key);

-

-        RemoveArbitraryContactFromNode(&contactkey, &g_hashcontactset[index]);

-}

-

-void UpdateArbitraryContactInSet(const CONTACT_KEY &contactkey, 

-        dContactGeom *pwithcontact)

-{

-        unsigned int index = MakeContactIndex(contactkey.m_key);

-

-        UpdateArbitraryContactInNode(&contactkey, &g_hashcontactset[index], pwithcontact);

-}

-

-bool AllocNewContact(

-                        const dVector3 newpoint, dContactGeom *& out_pcontact,

-                        int Flags, dContactGeom* Contacts,

-                        int Stride,  int &contactcount)

-{

-        bool allocated_new = false;

-

-        dContactGeom dLocalContact;

-

-        dContactGeom * pcontact = contactcount != (Flags & NUMC_MASK) ? 

-                SAFECONTACT(Flags, Contacts, contactcount, Stride) : &dLocalContact;

-

-        pcontact->pos[0] = newpoint[0];

-        pcontact->pos[1] = newpoint[1];

-        pcontact->pos[2] = newpoint[2];

-        pcontact->pos[3] = 1.0f;

-

-        CONTACT_KEY newkey;

-        UpdateContactKey(newkey, pcontact);

-        

-        dContactGeom *pcontactfound = InsertContactInSet(newkey);

-        if (pcontactfound == pcontact)

-        {

-                if (pcontactfound != &dLocalContact)

-                {

-                        contactcount++;

-                }

-                else

-                {

-                        RemoveNewContactFromSet(newkey);

-                        pcontactfound = NULL;

-                }

-                

-                allocated_new = true;

-        }

-

-        out_pcontact = pcontactfound;

-        return allocated_new;

-}

-

-void FreeExistingContact(dContactGeom *pcontact,

-        int Flags, dContactGeom *Contacts, 

-        int Stride, int &contactcount)

-{

-        CONTACT_KEY contactKey;

-        UpdateContactKey(contactKey, pcontact);

-

-        RemoveArbitraryContactFromSet(contactKey);

-

-        int lastContactIndex = contactcount - 1;

-        dContactGeom *plastContact = SAFECONTACT(Flags, Contacts, lastContactIndex, Stride);

-

-        if (pcontact != plastContact)

-        {

-                *pcontact = *plastContact;

-

-                CONTACT_KEY lastContactKey;

-                UpdateContactKey(lastContactKey, plastContact);

-                

-                UpdateArbitraryContactInSet(lastContactKey, pcontact);

-        }

-

-        contactcount = lastContactIndex;

-}

-

-

-dContactGeom *  PushNewContact( dxGeom* g1, dxGeom* g2,

-                                                           const dVector3 point,

-                                                           dVector3 normal,

-                                                           dReal  depth,

-                                                           int Flags,

-                                                         dContactGeom* Contacts, int Stride,

-                                                         int &contactcount)

-{

-        dIASSERT(dFabs(dVector3Length((const dVector3 &)(*normal)) - REAL(1.0)) < REAL(1e-6)); // This assumption is used in the code

-

-        dContactGeom * pcontact;

-

-        if (!AllocNewContact(point, pcontact, Flags, Contacts, Stride, contactcount))

-        {

-                const dReal depthDifference = depth - pcontact->depth;

-

-                if (depthDifference > CONTACT_DIFF_EPSILON)

-                {

-                        pcontact->normal[0] = normal[0];

-                        pcontact->normal[1] = normal[1];

-                        pcontact->normal[2] = normal[2];

-                        pcontact->normal[3] = REAL(1.0); // used to store length of vector sum for averaging

-                        pcontact->depth = depth;

-

-                        pcontact->g1 = g1;

-                        pcontact->g2 = g2;

-                }

-                else if (depthDifference >= -CONTACT_DIFF_EPSILON) ///average

-                {

-                        if(pcontact->g1 == g2)

-                        {

-                                MULT(normal,normal, REAL(-1.0));

-                        }

-

-                        const dReal oldLen = pcontact->normal[3];

-                        COMBO(pcontact->normal, normal, oldLen, pcontact->normal);

-

-                        const dReal len = LENGTH(pcontact->normal);

-                        if (len > CONTACT_NORMAL_ZERO)

-                        {

-                                MULT(pcontact->normal, pcontact->normal, REAL(1.0) / len);

-                                pcontact->normal[3] = len;

-                        }

-                        else

-                        {

-                                FreeExistingContact(pcontact, Flags, Contacts, Stride, contactcount);

-                        }

-                }

-        }

-        // Contact can be not available if buffer is full

-        else if (pcontact)

-        {

-                pcontact->normal[0] = normal[0];

-                pcontact->normal[1] = normal[1];

-                pcontact->normal[2] = normal[2];

-                pcontact->normal[3] = REAL(1.0); // used to store length of vector sum for averaging

-                pcontact->depth = depth;

-                pcontact->g1 = g1;

-                pcontact->g2 = g2;

-        }

-

-        return pcontact;

-}

-

-////////////////////////////////////////////////////////////////////////////////////////////

-

-

-

-

-

-int

-dCollideTTL(dxGeom* g1, dxGeom* g2, int Flags, dContactGeom* Contacts, int Stride)

-{

-        dIASSERT (Stride >= (int)sizeof(dContactGeom));

-        dIASSERT (g1->type == dTriMeshClass);

-        dIASSERT (g2->type == dTriMeshClass);

-        dIASSERT ((Flags & NUMC_MASK) >= 1);

-        

-    dxTriMesh* TriMesh1 = (dxTriMesh*) g1;

-    dxTriMesh* TriMesh2 = (dxTriMesh*) g2;

-

-    dReal * TriNormals1 = (dReal *) TriMesh1->Data->Normals;

-    dReal * TriNormals2 = (dReal *) TriMesh2->Data->Normals;

-

-    const dVector3& TLPosition1 = *(const dVector3*) dGeomGetPosition(TriMesh1);

-    // TLRotation1 = column-major order

-    const dMatrix3& TLRotation1 = *(const dMatrix3*) dGeomGetRotation(TriMesh1);

-

-    const dVector3& TLPosition2 = *(const dVector3*) dGeomGetPosition(TriMesh2);

-    // TLRotation2 = column-major order

-    const dMatrix3& TLRotation2 = *(const dMatrix3*) dGeomGetRotation(TriMesh2);

-

-    AABBTreeCollider& Collider = TriMesh1->_AABBTreeCollider;

-

-

-    static BVTCache ColCache;

-    ColCache.Model0 = &TriMesh1->Data->BVTree;

-    ColCache.Model1 = &TriMesh2->Data->BVTree;

-

-        ////Prepare contact list

-        ClearContactSet();

-

-    // Collision query

-    Matrix4x4 amatrix, bmatrix;

-    BOOL IsOk = Collider.Collide(ColCache,

-                                 &MakeMatrix(TLPosition1, TLRotation1, amatrix),

-                                 &MakeMatrix(TLPosition2, TLRotation2, bmatrix) );

-

-

-    // Make "double" versions of these matrices, if appropriate

-    dMatrix4 A, B;

-    dMakeMatrix4(TLPosition1, TLRotation1, A);

-    dMakeMatrix4(TLPosition2, TLRotation2, B);

-

-

-

-

-    if (IsOk) {

-        // Get collision status => if true, objects overlap

-        if ( Collider.GetContactStatus() ) {

-            // Number of colliding pairs and list of pairs

-            int TriCount = Collider.GetNbPairs();

-            const Pair* CollidingPairs = Collider.GetPairs();

-

-            if (TriCount > 0) {

-                // step through the pairs, adding contacts

-                int             id1, id2;

-                int             OutTriCount = 0;

-                dVector3        v1[3], v2[3];

-

-                // only do these expensive inversions once

-                /*dMatrix4 InvMatrix1, InvMatrix2;

-                dInvertMatrix4(A, InvMatrix1);

-                dInvertMatrix4(B, InvMatrix2);*/

-

-

-                for (int i = 0; i < TriCount; i++)

-                                {

-                    id1 = CollidingPairs[i].id0;

-                    id2 = CollidingPairs[i].id1;

-

-                    // grab the colliding triangles

-                    FetchTriangle((dxTriMesh*) g1, id1, TLPosition1, TLRotation1, v1);

-                    FetchTriangle((dxTriMesh*) g2, id2, TLPosition2, TLRotation2, v2);

-                    // Since we'll be doing matrix transformations, we need to

-                    //  make sure that all vertices have four elements

-                    for (int j=0; j<3; j++) {

-                        v1[j][3] = 1.0;

-                        v2[j][3] = 1.0;

-                    }

-

-                                        TriTriContacts(v1,v2,

-                                                  g1, g2, Flags,

-                                                 Contacts,Stride,OutTriCount);

-                                        

-                                        // Continue loop even after contacts are full 

-                                        // as existing contacts' normals/depths might be updated

-                                        // Break only if contacts are not important

-                                        if ((OutTriCount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT)))

-                                        {

-                                                break;

-                                        }

-                                }

-

-                // Return the number of contacts

-                return OutTriCount;

-

-            }

-        }

-    }

-

-

-    // There was some kind of failure during the Collide call or

-    // there are no faces overlapping

-    return 0;

-}

-

-

-

-static void

-GetTriangleGeometryCallback(udword triangleindex, VertexPointers& triangle, udword user_data)

-{

-    dVector3 Out[3];

-

-    FetchTriangle((dxTriMesh*) user_data, (int) triangleindex, Out);

-

-    for (int i = 0; i < 3; i++)

-        triangle.Vertex[i] =  (const Point*) ((dReal*) Out[i]);

-}

-

-

-//

-//

-//

-#define B11   B[0]

-#define B12   B[1]

-#define B13   B[2]

-#define B14   B[3]

-#define B21   B[4]

-#define B22   B[5]

-#define B23   B[6]

-#define B24   B[7]

-#define B31   B[8]

-#define B32   B[9]

-#define B33   B[10]

-#define B34   B[11]

-#define B41   B[12]

-#define B42   B[13]

-#define B43   B[14]

-#define B44   B[15]

-

-#define Binv11   Binv[0]

-#define Binv12   Binv[1]

-#define Binv13   Binv[2]

-#define Binv14   Binv[3]

-#define Binv21   Binv[4]

-#define Binv22   Binv[5]

-#define Binv23   Binv[6]

-#define Binv24   Binv[7]

-#define Binv31   Binv[8]

-#define Binv32   Binv[9]

-#define Binv33   Binv[10]

-#define Binv34   Binv[11]

-#define Binv41   Binv[12]

-#define Binv42   Binv[13]

-#define Binv43   Binv[14]

-#define Binv44   Binv[15]

-

-inline void

-dMakeMatrix4(const dVector3 Position, const dMatrix3 Rotation, dMatrix4 &B)

-{

-        B11 = Rotation[0]; B21 = Rotation[1]; B31 = Rotation[2];    B41 = Position[0];

-        B12 = Rotation[4]; B22 = Rotation[5]; B32 = Rotation[6];    B42 = Position[1];

-        B13 = Rotation[8]; B23 = Rotation[9]; B33 = Rotation[10];   B43 = Position[2];

-

-    B14 = 0.0;         B24 = 0.0;         B34 = 0.0;            B44 = 1.0;

-}

-

-

-static void

-dInvertMatrix4( dMatrix4& B, dMatrix4& Binv )

-{

-    dReal det =  (B11 * B22 - B12 * B21) * (B33 * B44 - B34 * B43)

-        -(B11 * B23 - B13 * B21) * (B32 * B44 - B34 * B42)

-        +(B11 * B24 - B14 * B21) * (B32 * B43 - B33 * B42)

-        +(B12 * B23 - B13 * B22) * (B31 * B44 - B34 * B41)

-        -(B12 * B24 - B14 * B22) * (B31 * B43 - B33 * B41)

-        +(B13 * B24 - B14 * B23) * (B31 * B42 - B32 * B41);

-

-    dAASSERT (det != 0.0);

-

-    det = 1.0 / det;

-

-    Binv11 = (dReal) (det * ((B22 * B33) - (B23 * B32)));

-    Binv12 = (dReal) (det * ((B32 * B13) - (B33 * B12)));

-    Binv13 = (dReal) (det * ((B12 * B23) - (B13 * B22)));

-    Binv14 = 0.0f;

-    Binv21 = (dReal) (det * ((B23 * B31) - (B21 * B33)));

-    Binv22 = (dReal) (det * ((B33 * B11) - (B31 * B13)));

-    Binv23 = (dReal) (det * ((B13 * B21) - (B11 * B23)));

-    Binv24 = 0.0f;

-    Binv31 = (dReal) (det * ((B21 * B32) - (B22 * B31)));

-    Binv32 = (dReal) (det * ((B31 * B12) - (B32 * B11)));

-    Binv33 = (dReal) (det * ((B11 * B22) - (B12 * B21)));

-    Binv34 = 0.0f;

-    Binv41 = (dReal) (det * (B21*(B33*B42 - B32*B43) + B22*(B31*B43 - B33*B41) + B23*(B32*B41 - B31*B42)));

-    Binv42 = (dReal) (det * (B31*(B13*B42 - B12*B43) + B32*(B11*B43 - B13*B41) + B33*(B12*B41 - B11*B42)));

-    Binv43 = (dReal) (det * (B41*(B13*B22 - B12*B23) + B42*(B11*B23 - B13*B21) + B43*(B12*B21 - B11*B22)));

-    Binv44 = 1.0f;

-}

-

-

-

-// Find the intersectiojn point between a coplanar line segement,

-// defined by X1 and X2, and a ray defined by X3 and direction N.

-//

-// This forumla for this calculation is:

-//               (c x b) . (a x b)

-//   Q = x1 + a -------------------

-//                  | a x b | ^2

-//

-// where a = x2 - x1

-//       b = x4 - x3

-//       c = x3 - x1

-// x1 and x2 are the edges of the triangle, and x3 is CoplanarPt

-//  and x4 is (CoplanarPt - n)

-static int

-IntersectLineSegmentRay(dVector3 x1, dVector3 x2, dVector3 x3, dVector3 n,

-                        dVector3 out_pt)

-{

-    dVector3 a, b, c, x4;

-

-    ADD(x4, x3, n);  // x4 = x3 + n

-

-    SUB(a, x2, x1);  // a = x2 - x1

-    SUB(b, x4, x3);

-    SUB(c, x3, x1);

-

-    dVector3 tmp1, tmp2;

-    CROSS(tmp1, c, b);

-    CROSS(tmp2, a, b);

-

-    dReal num, denom;

-    num = dDOT(tmp1, tmp2);

-    denom = LENGTH( tmp2 );

-

-    dReal s;

-    s = num /(denom*denom);

-

-    for (int i=0; i<3; i++)

-        out_pt[i] = x1[i] + a[i]*s;

-

-    // Test if this intersection is "behind" x3, w.r.t. n

-    SUB(a, x3, out_pt);

-    if (dDOT(a, n) > 0.0)

-        return 0;

-

-    // Test if this intersection point is outside the edge limits,

-    //  if (dot( (out_pt-x1), (out_pt-x2) ) < 0) it's inside

-    //  else outside

-    SUB(a, out_pt, x1);

-    SUB(b, out_pt, x2);

-    if (dDOT(a,b) < 0.0)

-        return 1;

-    else

-        return 0;

-}

-

-

-

-void PlaneClipSegment( const dVector3  s1, const dVector3  s2,

-                                           const dVector3  N, dReal C, dVector3  clipped)

-{

-        dReal dis1,dis2;

-        dis1 = DOT(s1,N)-C;

-        SUB(clipped,s2,s1);

-        dis2 = DOT(clipped,N);

-        MULT(clipped,clipped,-dis1/dis2);

-        ADD(clipped,clipped,s1);

-        clipped[3] = 1.0f;

-}

-

-/* ClipConvexPolygonAgainstPlane - Clip a a convex polygon, described by

-  CONTACTS, with a plane (described by N and C distance from origin).

-  Note:  the input vertices are assumed to be in invcounterclockwise order.

-   changed by Francisco Leon (http://gimpact.sourceforge.net) */

-static void

-ClipConvexPolygonAgainstPlane( const dVector3 N, dReal C,

-                               LineContactSet& Contacts )

-{

-    int  i, vi, prevclassif=32000, classif;

-        /*

-        classif 0 : back, 1 : front

-        */

-

-        dReal d;

-        dVector3 clipped[8];

-        int clippedcount =0;

-

-        if(Contacts.Count==0)

-        {

-                return;

-        }

-        for(i=0;i<=Contacts.Count;i++)

-        {

-                vi = i%Contacts.Count;

-

-                d = DOT(N,Contacts.Points[vi]) - C;

-                ////classify point

-                if(d>REAL(1.0e-8))      classif =  1;

-                else  classif =  0;

-

-                if(classif == 0)//back

-                {

-                        if(i>0)

-                        {

-                                if(prevclassif==1)///in front

-                                {

-

-                                        ///add clipped point

-                                        if(clippedcount<8)

-                                        {

-                                                PlaneClipSegment(Contacts.Points[i-1],Contacts.Points[vi],

-                                                N,C,clipped[clippedcount]);

-                                                clippedcount++;

-                                        }

-                                }

-                        }

-                        ///add point

-                        if(clippedcount<8&&i<Contacts.Count)

-                        {

-                                clipped[clippedcount][0] = Contacts.Points[vi][0];

-                                clipped[clippedcount][1] = Contacts.Points[vi][1];

-                                clipped[clippedcount][2] = Contacts.Points[vi][2];

-                                clipped[clippedcount][3] = 1.0f;

-                                clippedcount++;

-                        }

-                }

-                else

-                {

-

-                        if(i>0)

-                        {

-                                if(prevclassif==0)

-                                {

-                                        ///add point

-                                        if(clippedcount<8)

-                                        {

-                                                PlaneClipSegment(Contacts.Points[i-1],Contacts.Points[vi],

-                                                N,C,clipped[clippedcount]);

-                                                clippedcount++;

-                                        }

-                                }

-                        }

-                }

-

-                prevclassif     = classif;

-        }

-

-        if(clippedcount==0)

-        {

-                Contacts.Count = 0;

-                return;

-        }

-        Contacts.Count = clippedcount;

-        memcpy( Contacts.Points, clipped, clippedcount * sizeof(dVector3) );

-        return;

-}

-

-

-bool BuildPlane(const dVector3 s0, const dVector3 s1,const dVector3 s2,

-                                dVector3 Normal, dReal & Dist)

-{

-        dVector3 e0,e1;

-        SUB(e0,s1,s0);

-        SUB(e1,s2,s0);

-

-        CROSS(Normal,e0,e1);

-

-        if (!dSafeNormalize3(Normal))

-        {

-                return false;

-        }

-

-        Dist = DOT(Normal,s0);

-        return true;

-

-}

-

-bool BuildEdgesDir(const dVector3 s0, const dVector3 s1,

-                                        const dVector3 t0, const dVector3 t1,

-                                        dVector3 crossdir)

-{

-        dVector3 e0,e1;

-

-        SUB(e0,s1,s0);

-        SUB(e1,t1,t0);

-        CROSS(crossdir,e0,e1);

-

-        if (!dSafeNormalize3(crossdir))

-        {

-                return false;

-        }

-        return true;

-}

-

-

-

-bool BuildEdgePlane(

-                                        const dVector3 s0, const dVector3 s1,

-                                        const dVector3 normal,

-                                        dVector3 plane_normal,

-                                        dReal & plane_dist)

-{

-        dVector3 e0;

-

-        SUB(e0,s1,s0);

-        CROSS(plane_normal,e0,normal);

-        if (!dSafeNormalize3(plane_normal))

-        {

-                return false;

-        }

-        plane_dist = DOT(plane_normal,s0);

-        return true;

-}

-

-

-

-

-/*

-Positive penetration

-Negative number: they are separated

-*/

-dReal IntervalPenetration(dReal &vmin1,dReal &vmax1,

-                                                  dReal &vmin2,dReal &vmax2)

-{

-        if(vmax1<=vmin2)

-        {

-                return -(vmin2-vmax1);

-        }

-        else

-        {

-                if(vmax2<=vmin1)

-                {

-                        return -(vmin1-vmax2);

-                }

-                else

-                {

-                        if(vmax1<=vmax2)

-                        {

-                                return vmax1-vmin2;

-                        }

-

-                        return vmax2-vmin1;

-                }

-

-        }

-        return 0;

-}

-

-void FindInterval(

-                                  const dVector3 * vertices, int verticecount,

-                                  dVector3 dir,dReal &vmin,dReal &vmax)

-{

-

-        dReal dist;

-        int i;

-        vmin = DOT(vertices[0],dir);

-        vmax = vmin;

-        for(i=1;i<verticecount;i++)

-        {

-                dist = DOT(vertices[i],dir);

-                if(vmin>dist) vmin=dist;

-                else if(vmax<dist) vmax=dist;

-        }

-}

-

-///returns the penetration depth

-dReal MostDeepPoints(

-                                        LineContactSet & points,

-                                        const dVector3 plane_normal,

-                                        dReal plane_dist,

-                                        LineContactSet & deep_points)

-{

-        int i;

-        int max_candidates[8];

-        dReal maxdeep=-dInfinity;

-        dReal dist;

-

-        deep_points.Count = 0;

-        for(i=0;i<points.Count;i++)

-        {

-                dist = DOT(plane_normal,points.Points[i]) - plane_dist;

-                dist *= -1.0f;

-                if(dist>maxdeep)

-                {

-                        maxdeep = dist;

-                        deep_points.Count=1;

-                        max_candidates[deep_points.Count-1] = i;

-                }

-                else if(dist+REAL(0.000001)>=maxdeep)

-                {

-                        deep_points.Count++;

-                        max_candidates[deep_points.Count-1] = i;

-                }

-        }

-

-        for(i=0;i<deep_points.Count;i++)

-        {

-                SET(deep_points.Points[i],points.Points[max_candidates[i]]);

-        }

-        return maxdeep;

-

-}

-

-void ClipPointsByTri(

-                                          const dVector3 * points, int pointcount,

-                                          const dVector3 tri[3],

-                                          const dVector3 triplanenormal,

-                                          dReal triplanedist,

-                                          LineContactSet & clipped_points,

-                                          bool triplane_clips)

-{

-        ///build edges planes

-        int i;

-        dVector4 plane;

-

-        clipped_points.Count = pointcount;

-        memcpy(&clipped_points.Points[0],&points[0],pointcount*sizeof(dVector3));

-        for(i=0;i<3;i++)

-        {

-                if (BuildEdgePlane(

-                        tri[i],tri[(i+1)%3],triplanenormal,

-                        plane,plane[3]))

-                {

-                        ClipConvexPolygonAgainstPlane(

-                                plane,

-                                plane[3],

-                                clipped_points);

-                }

-        }

-

-        if(triplane_clips)

-        {

-                ClipConvexPolygonAgainstPlane(

-                        triplanenormal,

-                        triplanedist,

-                        clipped_points);

-        }

-}

-

-

-///returns the penetration depth

-dReal FindTriangleTriangleCollision(

-                                                        const dVector3 tri1[3],

-                                                        const dVector3 tri2[3],

-                                                        dVector3 separating_normal,

-                                                        LineContactSet & deep_points)

-{

-        dReal maxdeep=dInfinity;

-        dReal dist;

-        int mostdir=0,mostface = 0, currdir=0;

-//      dReal vmin1,vmax1,vmin2,vmax2;

-//      dVector3 crossdir, pt1,pt2;

-        dVector4 tri1plane,tri2plane;

-        separating_normal[3] = 0.0f;

-        bool bl;

-        LineContactSet clipped_points1,clipped_points2;

-        LineContactSet deep_points1,deep_points2;

-        ////find interval face1

-

-        bl = BuildPlane(tri1[0],tri1[1],tri1[2],

-                tri1plane,tri1plane[3]);

-        clipped_points1.Count = 0;

-

-        if(bl)

-        {

-                ClipPointsByTri(

-                                          tri2, 3,

-                                          tri1,

-                                          tri1plane,

-                                          tri1plane[3],

-                                          clipped_points1,false);

-

-

-

-                maxdeep = MostDeepPoints(

-                                        clipped_points1,

-                                        tri1plane,

-                                        tri1plane[3],

-                                        deep_points1);

-                SET(separating_normal,tri1plane);

-

-        }

-        currdir++;

-

-        ////find interval face2

-

-        bl = BuildPlane(tri2[0],tri2[1],tri2[2],

-                tri2plane,tri2plane[3]);

-

-

-        clipped_points2.Count = 0;

-        if(bl)

-        {

-                ClipPointsByTri(

-                                          tri1, 3,

-                                          tri2,

-                                          tri2plane,

-                                          tri2plane[3],

-                                          clipped_points2,false);

-

-

-

-                dist = MostDeepPoints(

-                                        clipped_points2,

-                                        tri2plane,

-                                        tri2plane[3],

-                                        deep_points2);

-

-

-

-                if(dist<maxdeep)

-                {

-                        maxdeep = dist;

-                        mostdir = currdir;

-                        mostface = 1;

-                        SET(separating_normal,tri2plane);

-                }

-        }

-        currdir++;

-

-

-        ///find edge edge distances

-        ///test each edge plane

-

-        /*for(i=0;i<3;i++)

-        {

-

-

-                for(j=0;j<3;j++)

-                {

-

-

-                        bl = BuildEdgesDir(

-                                tri1[i],tri1[(i+1)%3],

-                                tri2[j],tri2[(j+1)%3],

-                                crossdir);

-

-                        ////find plane distance

-

-                        if(bl)

-                        {

-                                FindInterval(tri1,3,crossdir,vmin1,vmax1);

-                                FindInterval(tri2,3,crossdir,vmin2,vmax2);

-

-                                dist = IntervalPenetration(

-                                        vmin1,

-                                        vmax1,

-                                        vmin2,

-                                        vmax2);

-                                if(dist<maxdeep)

-                                {

-                                        maxdeep = dist;

-                                        mostdir = currdir;

-                                        SET(separating_normal,crossdir);

-                                }

-                        }

-                        currdir++;

-                }

-        }*/

-

-

-        ////check most dir for contacts

-        if(mostdir==0)

-        {

-                ///find most deep points

-                deep_points.Count = deep_points1.Count;

-                memcpy(

-                        &deep_points.Points[0],

-                        &deep_points1.Points[0],

-                        deep_points1.Count*sizeof(dVector3));

-

-                ///invert normal for point to tri1

-                MULT(separating_normal,separating_normal,-1.0f);

-        }

-        else if(mostdir==1)

-        {

-                deep_points.Count = deep_points2.Count;

-                memcpy(

-                        &deep_points.Points[0],

-                        &deep_points2.Points[0],

-                        deep_points2.Count*sizeof(dVector3));

-

-        }

-        /*else

-        {///edge separation

-                mostdir -= 2;

-

-                //edge 2

-                j = mostdir%3;

-                //edge 1

-                i = mostdir/3;

-

-                ///find edge closest points

-                dClosestLineSegmentPoints(

-                        tri1[i],tri1[(i+1)%3],

-                        tri2[j],tri2[(j+1)%3],

-                        pt1,pt2);

-                ///find correct direction

-

-                SUB(crossdir,pt2,pt1);

-

-                vmin1 = LENGTH(crossdir);

-                if(vmin1<REAL(0.000001))

-                {

-

-                        if(mostface==0)

-                        {

-                                vmin1 = DOT(separating_normal,tri1plane);

-                                if(vmin1>0.0)

-                                {

-                                        MULT(separating_normal,separating_normal,-1.0f);

-                                        deep_points.Count = 1;

-                                        SET(deep_points.Points[0],pt2);

-                                }

-                                else

-                                {

-                                        deep_points.Count = 1;

-                                        SET(deep_points.Points[0],pt2);

-                                }

-

-                        }

-                        else

-                        {

-                                vmin1 = DOT(separating_normal,tri2plane);

-                                if(vmin1<0.0)

-                                {

-                                        MULT(separating_normal,separating_normal,-1.0f);

-                                        deep_points.Count = 1;

-                                        SET(deep_points.Points[0],pt2);

-                                }

-                                else

-                                {

-                                        deep_points.Count = 1;

-                                        SET(deep_points.Points[0],pt2);

-                                }

-

-                        }

-

-

-

-

-                }

-                else

-                {

-                        MULT(separating_normal,crossdir,1.0f/vmin1);

-

-                        vmin1 = DOT(separating_normal,tri1plane);

-                        if(vmin1>0.0)

-                        {

-                                MULT(separating_normal,separating_normal,-1.0f);

-                                deep_points.Count = 1;

-                                SET(deep_points.Points[0],pt2);

-                        }

-                        else

-                        {

-                                deep_points.Count = 1;

-                                SET(deep_points.Points[0],pt2);

-                        }

-

-

-                }

-

-

-        }*/

-        return maxdeep;

-}

-

-

-

-///SUPPORT UP TO 8 CONTACTS

-bool TriTriContacts(const dVector3 tr1[3],

-                                                         const dVector3 tr2[3],

-                                                          dxGeom* g1, dxGeom* g2, int Flags,

-                                                         dContactGeom* Contacts, int Stride,

-                                                         int &contactcount)

-{

-

-

-        dVector4 normal;

-        dReal depth;

-        ///Test Tri Vs Tri

-//      dContactGeom* pcontact;

-        int ccount = 0;

-        LineContactSet contactpoints;

-        contactpoints.Count = 0;

-

-

-

-        ///find best direction

-

-        depth = FindTriangleTriangleCollision(

-                                                        tr1,

-                                                        tr2,

-                                                        normal,

-                                                        contactpoints);

-

-

-

-        if(depth<0.0f) return false;

-

-        ccount = 0;

-        while (ccount<contactpoints.Count)

-        {

-                PushNewContact( g1,  g2,

-                                        contactpoints.Points[ccount],

-                                        normal, depth, Flags,

-                                        Contacts,Stride,contactcount);

-

-                // Continue loop even after contacts are full 

-                // as existing contacts' normals/depths might be updated

-                // Break only if contacts are not important

-                if ((contactcount | CONTACTS_UNIMPORTANT) == (Flags & (NUMC_MASK | CONTACTS_UNIMPORTANT)))

-                {

-                        break;

-                }

-

-                ccount++;

-        }

-        return true;

-}

-

-#endif // dTRIMESH_OPCODE

-#endif // dTRIMESH_USE_NEW_TRIMESH_TRIMESH_COLLIDER

-#endif // dTRIMESH_ENABLED

diff --git a/libraries/ode-0.9/ode/src/collision_util.cpp b/libraries/ode-0.9/ode/src/collision_util.cpp
deleted file mode 100644
index 460cc20..0000000
--- a/libraries/ode-0.9/ode/src/collision_util.cpp
+++ /dev/null
@@ -1,612 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-some useful collision utility stuff. this includes some API utility
-functions that are defined in the public header files.
-
-*/
-
-#include <ode/common.h>
-#include <ode/collision.h>
-#include <ode/odemath.h>
-#include "collision_util.h"
-
-//****************************************************************************
-
-int dCollideSpheres (dVector3 p1, dReal r1,
-                     dVector3 p2, dReal r2, dContactGeom *c)
-{
-  // printf ("d=%.2f  (%.2f %.2f %.2f) (%.2f %.2f %.2f) r1=%.2f r2=%.2f\n",
-  //      d,p1[0],p1[1],p1[2],p2[0],p2[1],p2[2],r1,r2);
-
-  dReal d = dDISTANCE (p1,p2);
-  if (d > (r1 + r2)) return 0;
-  if (d <= 0) {
-    c->pos[0] = p1[0];
-    c->pos[1] = p1[1];
-    c->pos[2] = p1[2];
-    c->normal[0] = 1;
-    c->normal[1] = 0;
-    c->normal[2] = 0;
-    c->depth = r1 + r2;
-  }
-  else {
-    dReal d1 = dRecip (d);
-    c->normal[0] = (p1[0]-p2[0])*d1;
-    c->normal[1] = (p1[1]-p2[1])*d1;
-    c->normal[2] = (p1[2]-p2[2])*d1;
-    dReal k = REAL(0.5) * (r2 - r1 - d);
-    c->pos[0] = p1[0] + c->normal[0]*k;
-    c->pos[1] = p1[1] + c->normal[1]*k;
-    c->pos[2] = p1[2] + c->normal[2]*k;
-    c->depth = r1 + r2 - d;
-  }
-  return 1;
-}
-
-
-void dLineClosestApproach (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 <= REAL(0.0001)) {
-    // @@@ 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;
-  }
-}
-
-
-// given two line segments A and B with endpoints a1-a2 and b1-b2, return the
-// points on A and B that are closest to each other (in cp1 and cp2).
-// in the case of parallel lines where there are multiple solutions, a
-// solution involving the endpoint of at least one line will be returned.
-// this will work correctly for zero length lines, e.g. if a1==a2 and/or
-// b1==b2.
-//
-// the algorithm works by applying the voronoi clipping rule to the features
-// of the line segments. the three features of each line segment are the two
-// endpoints and the line between them. the voronoi clipping rule states that,
-// for feature X on line A and feature Y on line B, the closest points PA and
-// PB between X and Y are globally the closest points if PA is in V(Y) and
-// PB is in V(X), where V(X) is the voronoi region of X.
-
-void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
-                                const dVector3 b1, const dVector3 b2,
-                                dVector3 cp1, dVector3 cp2)
-{
-  dVector3 a1a2,b1b2,a1b1,a1b2,a2b1,a2b2,n;
-  dReal la,lb,k,da1,da2,da3,da4,db1,db2,db3,db4,det;
-
-#define SET2(a,b) a[0]=b[0]; a[1]=b[1]; a[2]=b[2];
-#define SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2];
-
-  // check vertex-vertex features
-
-  SET3 (a1a2,a2,-,a1);
-  SET3 (b1b2,b2,-,b1);
-  SET3 (a1b1,b1,-,a1);
-  da1 = dDOT(a1a2,a1b1);
-  db1 = dDOT(b1b2,a1b1);
-  if (da1 <= 0 && db1 >= 0) {
-    SET2 (cp1,a1);
-    SET2 (cp2,b1);
-    return;
-  }
-
-  SET3 (a1b2,b2,-,a1);
-  da2 = dDOT(a1a2,a1b2);
-  db2 = dDOT(b1b2,a1b2);
-  if (da2 <= 0 && db2 <= 0) {
-    SET2 (cp1,a1);
-    SET2 (cp2,b2);
-    return;
-  }
-
-  SET3 (a2b1,b1,-,a2);
-  da3 = dDOT(a1a2,a2b1);
-  db3 = dDOT(b1b2,a2b1);
-  if (da3 >= 0 && db3 >= 0) {
-    SET2 (cp1,a2);
-    SET2 (cp2,b1);
-    return;
-  }
-
-  SET3 (a2b2,b2,-,a2);
-  da4 = dDOT(a1a2,a2b2);
-  db4 = dDOT(b1b2,a2b2);
-  if (da4 >= 0 && db4 <= 0) {
-    SET2 (cp1,a2);
-    SET2 (cp2,b2);
-    return;
-  }
-
-  // check edge-vertex features.
-  // if one or both of the lines has zero length, we will never get to here,
-  // so we do not have to worry about the following divisions by zero.
-
-  la = dDOT(a1a2,a1a2);
-  if (da1 >= 0 && da3 <= 0) {
-    k = da1 / la;
-    SET3 (n,a1b1,-,k*a1a2);
-    if (dDOT(b1b2,n) >= 0) {
-      SET3 (cp1,a1,+,k*a1a2);
-      SET2 (cp2,b1);
-      return;
-    }
-  }
-
-  if (da2 >= 0 && da4 <= 0) {
-    k = da2 / la;
-    SET3 (n,a1b2,-,k*a1a2);
-    if (dDOT(b1b2,n) <= 0) {
-      SET3 (cp1,a1,+,k*a1a2);
-      SET2 (cp2,b2);
-      return;
-    }
-  }
-
-  lb = dDOT(b1b2,b1b2);
-  if (db1 <= 0 && db2 >= 0) {
-    k = -db1 / lb;
-    SET3 (n,-a1b1,-,k*b1b2);
-    if (dDOT(a1a2,n) >= 0) {
-      SET2 (cp1,a1);
-      SET3 (cp2,b1,+,k*b1b2);
-      return;
-    }
-  }
-
-  if (db3 <= 0 && db4 >= 0) {
-    k = -db3 / lb;
-    SET3 (n,-a2b1,-,k*b1b2);
-    if (dDOT(a1a2,n) <= 0) {
-      SET2 (cp1,a2);
-      SET3 (cp2,b1,+,k*b1b2);
-      return;
-    }
-  }
-
-  // it must be edge-edge
-
-  k = dDOT(a1a2,b1b2);
-  det = la*lb - k*k;
-  if (det <= 0) {
-    // this should never happen, but just in case...
-    SET2(cp1,a1);
-    SET2(cp2,b1);
-    return;
-  }
-  det = dRecip (det);
-  dReal alpha = (lb*da1 -  k*db1) * det;
-  dReal beta  = ( k*da1 - la*db1) * det;
-  SET3 (cp1,a1,+,alpha*a1a2);
-  SET3 (cp2,b1,+,beta*b1b2);
-
-# undef SET2
-# undef SET3
-}
-
-
-// a simple root finding algorithm is used to find the value of 't' that
-// satisfies:
-//              d|D(t)|^2/dt = 0
-// where:
-//              |D(t)| = |p(t)-b(t)|
-// where p(t) is a point on the line parameterized by t:
-//              p(t) = p1 + t*(p2-p1)
-// and b(t) is that same point clipped to the boundary of the box. in box-
-// relative coordinates d|D(t)|^2/dt is the sum of three x,y,z components
-// each of which looks like this:
-//
-//          t_lo     /
-//            ______/    -->t
-//           /     t_hi
-//          /
-//
-// t_lo and t_hi are the t values where the line passes through the planes
-// corresponding to the sides of the box. the algorithm computes d|D(t)|^2/dt
-// in a piecewise fashion from t=0 to t=1, stopping at the point where
-// d|D(t)|^2/dt crosses from negative to positive.
-
-void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
-                            const dVector3 c, const dMatrix3 R,
-                            const dVector3 side,
-                            dVector3 lret, dVector3 bret)
-{
-  int i;
-
-  // compute the start and delta of the line p1-p2 relative to the box.
-  // we will do all subsequent computations in this box-relative coordinate
-  // system. we have to do a translation and rotation for each point.
-  dVector3 tmp,s,v;
-  tmp[0] = p1[0] - c[0];
-  tmp[1] = p1[1] - c[1];
-  tmp[2] = p1[2] - c[2];
-  dMULTIPLY1_331 (s,R,tmp);
-  tmp[0] = p2[0] - p1[0];
-  tmp[1] = p2[1] - p1[1];
-  tmp[2] = p2[2] - p1[2];
-  dMULTIPLY1_331 (v,R,tmp);
-
-  // mirror the line so that v has all components >= 0
-  dVector3 sign;
-  for (i=0; i<3; i++) {
-    if (v[i] < 0) {
-      s[i] = -s[i];
-      v[i] = -v[i];
-      sign[i] = -1;
-    }
-    else sign[i] = 1;
-  }
-
-  // compute v^2
-  dVector3 v2;
-  v2[0] = v[0]*v[0];
-  v2[1] = v[1]*v[1];
-  v2[2] = v[2]*v[2];
-
-  // compute the half-sides of the box
-  dReal h[3];
-  h[0] = REAL(0.5) * side[0];
-  h[1] = REAL(0.5) * side[1];
-  h[2] = REAL(0.5) * side[2];
-
-  // region is -1,0,+1 depending on which side of the box planes each
-  // coordinate is on. tanchor is the next t value at which there is a
-  // transition, or the last one if there are no more.
-  int region[3];
-  dReal tanchor[3];
-
-  // Denormals are a problem, because we divide by v[i], and then 
-  // multiply that by 0. Alas, infinity times 0 is infinity (!)
-  // We also use v2[i], which is v[i] squared. Here's how the epsilons 
-  // are chosen:
-  // float epsilon = 1.175494e-038 (smallest non-denormal number)
-  // double epsilon = 2.225074e-308 (smallest non-denormal number)
-  // For single precision, choose an epsilon such that v[i] squared is 
-  // not a denormal; this is for performance.
-  // For double precision, choose an epsilon such that v[i] is not a 
-  // denormal; this is for correctness. (Jon Watte on mailinglist)
-
-#if defined( dSINGLE )
-  const dReal tanchor_eps = REAL(1e-19);
-#else
-  const dReal tanchor_eps = REAL(1e-307);
-#endif
-
-  // find the region and tanchor values for p1
-  for (i=0; i<3; i++) {
-    if (v[i] > tanchor_eps) {
-      if (s[i] < -h[i]) {
-        region[i] = -1;
-        tanchor[i] = (-h[i]-s[i])/v[i];
-      }
-      else {
-        region[i] = (s[i] > h[i]);
-        tanchor[i] = (h[i]-s[i])/v[i];
-      }
-    }
-    else {
-      region[i] = 0;
-      tanchor[i] = 2;           // this will never be a valid tanchor
-    }
-  }
-
-  // compute d|d|^2/dt for t=0. if it's >= 0 then p1 is the closest point
-  dReal t=0;
-  dReal dd2dt = 0;
-  for (i=0; i<3; i++) dd2dt -= (region[i] ? v2[i] : 0) * tanchor[i];
-  if (dd2dt >= 0) goto got_answer;
-
-  do {
-    // find the point on the line that is at the next clip plane boundary
-    dReal next_t = 1;
-    for (i=0; i<3; i++) {
-      if (tanchor[i] > t && tanchor[i] < 1 && tanchor[i] < next_t)
-        next_t = tanchor[i];
-    }
-
-    // compute d|d|^2/dt for the next t
-    dReal next_dd2dt = 0;
-    for (i=0; i<3; i++) {
-      next_dd2dt += (region[i] ? v2[i] : 0) * (next_t - tanchor[i]);
-    }
-
-    // if the sign of d|d|^2/dt has changed, solution = the crossover point
-    if (next_dd2dt >= 0) {
-      dReal m = (next_dd2dt-dd2dt)/(next_t - t);
-      t -= dd2dt/m;
-      goto got_answer;
-    }
-
-    // advance to the next anchor point / region
-    for (i=0; i<3; i++) {
-      if (tanchor[i] == next_t) {
-        tanchor[i] = (h[i]-s[i])/v[i];
-        region[i]++;
-      }
-    }
-    t = next_t;
-    dd2dt = next_dd2dt;
-  }
-  while (t < 1);
-  t = 1;
-
-  got_answer:
-
-  // compute closest point on the line
-  for (i=0; i<3; i++) lret[i] = p1[i] + t*tmp[i];       // note: tmp=p2-p1
-
-  // compute closest point on the box
-  for (i=0; i<3; i++) {
-    tmp[i] = sign[i] * (s[i] + t*v[i]);
-    if (tmp[i] < -h[i]) tmp[i] = -h[i];
-    else if (tmp[i] > h[i]) tmp[i] = h[i];
-  }
-  dMULTIPLY0_331 (s,R,tmp);
-  for (i=0; i<3; i++) bret[i] = s[i] + c[i];
-}
-
-
-// given boxes (p1,R1,side1) and (p1,R1,side1), return 1 if they intersect
-// or 0 if not.
-
-int dBoxTouchesBox (const dVector3 p1, const dMatrix3 R1,
-                    const dVector3 side1, const dVector3 p2,
-                    const dMatrix3 R2, const dVector3 side2)
-{
-  // two boxes are disjoint if (and only if) there is a separating axis
-  // perpendicular to a face from one box or perpendicular to an edge from
-  // either box. the following tests are derived from:
-  //    "OBB Tree: A Hierarchical Structure for Rapid Interference Detection",
-  //    S.Gottschalk, M.C.Lin, D.Manocha., Proc of ACM Siggraph 1996.
-
-  // Rij is R1'*R2, i.e. the relative rotation between R1 and R2.
-  // Qij is abs(Rij)
-  dVector3 p,pp;
-  dReal A1,A2,A3,B1,B2,B3,R11,R12,R13,R21,R22,R23,R31,R32,R33,
-    Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33;
-
-  // 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 = side1[0]*REAL(0.5); A2 = side1[1]*REAL(0.5); A3 = side1[2]*REAL(0.5);
-  B1 = side2[0]*REAL(0.5); B2 = side2[1]*REAL(0.5); B3 = side2[2]*REAL(0.5);
-
-  // for the following tests, excluding computation of Rij, in the worst case,
-  // 15 compares, 60 adds, 81 multiplies, and 24 absolutes.
-  // notation: R1=[u1 u2 u3], R2=[v1 v2 v3]
-
-  // separating axis = u1,u2,u3
-  R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
-  Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
-  if (dFabs(pp[0]) > (A1 + B1*Q11 + B2*Q12 + B3*Q13)) return 0;
-  R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
-  Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
-  if (dFabs(pp[1]) > (A2 + B1*Q21 + B2*Q22 + B3*Q23)) return 0;
-  R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
-  Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);
-  if (dFabs(pp[2]) > (A3 + B1*Q31 + B2*Q32 + B3*Q33)) return 0;
-
-  // separating axis = v1,v2,v3
-  if (dFabs(dDOT41(R2+0,p)) > (A1*Q11 + A2*Q21 + A3*Q31 + B1)) return 0;
-  if (dFabs(dDOT41(R2+1,p)) > (A1*Q12 + A2*Q22 + A3*Q32 + B2)) return 0;
-  if (dFabs(dDOT41(R2+2,p)) > (A1*Q13 + A2*Q23 + A3*Q33 + B3)) return 0;
-
-  // separating axis = u1 x (v1,v2,v3)
-  if (dFabs(pp[2]*R21-pp[1]*R31) > A2*Q31 + A3*Q21 + B2*Q13 + B3*Q12) return 0;
-  if (dFabs(pp[2]*R22-pp[1]*R32) > A2*Q32 + A3*Q22 + B1*Q13 + B3*Q11) return 0;
-  if (dFabs(pp[2]*R23-pp[1]*R33) > A2*Q33 + A3*Q23 + B1*Q12 + B2*Q11) return 0;
-
-  // separating axis = u2 x (v1,v2,v3)
-  if (dFabs(pp[0]*R31-pp[2]*R11) > A1*Q31 + A3*Q11 + B2*Q23 + B3*Q22) return 0;
-  if (dFabs(pp[0]*R32-pp[2]*R12) > A1*Q32 + A3*Q12 + B1*Q23 + B3*Q21) return 0;
-  if (dFabs(pp[0]*R33-pp[2]*R13) > A1*Q33 + A3*Q13 + B1*Q22 + B2*Q21) return 0;
-
-  // separating axis = u3 x (v1,v2,v3)
-  if (dFabs(pp[1]*R11-pp[0]*R21) > A1*Q21 + A2*Q11 + B2*Q33 + B3*Q32) return 0;
-  if (dFabs(pp[1]*R12-pp[0]*R22) > A1*Q22 + A2*Q12 + B1*Q33 + B3*Q31) return 0;
-  if (dFabs(pp[1]*R13-pp[0]*R23) > A1*Q23 + A2*Q13 + B1*Q32 + B2*Q31) return 0;
-
-  return 1;
-}
-
-//****************************************************************************
-// other utility functions
-
-void dInfiniteAABB (dxGeom *geom, dReal aabb[6])
-{
-  aabb[0] = -dInfinity;
-  aabb[1] = dInfinity;
-  aabb[2] = -dInfinity;
-  aabb[3] = dInfinity;
-  aabb[4] = -dInfinity;
-  aabb[5] = dInfinity;
-}
-
-
-//****************************************************************************
-// Helpers for Croteam's collider - by Nguyen Binh
-
-int dClipEdgeToPlane( dVector3 &vEpnt0, dVector3 &vEpnt1, const dVector4& plPlane)
-{
-        // calculate distance of edge points to plane
-        dReal fDistance0 = dPointPlaneDistance(  vEpnt0 ,plPlane );
-        dReal fDistance1 = dPointPlaneDistance(  vEpnt1 ,plPlane );
-
-        // if both points are behind the plane
-        if ( fDistance0 < 0 && fDistance1 < 0 ) 
-        {
-                // do nothing
-                return 0;
-                // if both points in front of the plane
-        } 
-        else if ( fDistance0 > 0 && fDistance1 > 0 ) 
-        {
-                // accept them
-                return 1;
-                // if we have edge/plane intersection
-        } else if ((fDistance0 > 0 && fDistance1 < 0) || ( fDistance0 < 0 && fDistance1 > 0)) 
-        {
-
-                // find intersection point of edge and plane
-                dVector3 vIntersectionPoint;
-                vIntersectionPoint[0]= vEpnt0[0]-(vEpnt0[0]-vEpnt1[0])*fDistance0/(fDistance0-fDistance1);
-                vIntersectionPoint[1]= vEpnt0[1]-(vEpnt0[1]-vEpnt1[1])*fDistance0/(fDistance0-fDistance1);
-                vIntersectionPoint[2]= vEpnt0[2]-(vEpnt0[2]-vEpnt1[2])*fDistance0/(fDistance0-fDistance1);
-
-                // clamp correct edge to intersection point
-                if ( fDistance0 < 0 ) 
-                {
-                        dVector3Copy(vIntersectionPoint,vEpnt0);
-                } else 
-                {
-                        dVector3Copy(vIntersectionPoint,vEpnt1);
-                }
-                return 1;
-        }
-        return 1;
-}
-
-// clip polygon with plane and generate new polygon points
-void             dClipPolyToPlane( const dVector3 avArrayIn[], const int ctIn, 
-                                                          dVector3 avArrayOut[], int &ctOut, 
-                                                          const dVector4 &plPlane )
-{
-        // start with no output points
-        ctOut = 0;
-
-        int i0 = ctIn-1;
-
-        // for each edge in input polygon
-        for (int i1=0; i1<ctIn; i0=i1, i1++) {
-
-
-                // calculate distance of edge points to plane
-                dReal fDistance0 = dPointPlaneDistance(  avArrayIn[i0],plPlane );
-                dReal fDistance1 = dPointPlaneDistance(  avArrayIn[i1],plPlane );
-
-                // if first point is in front of plane
-                if( fDistance0 >= 0 ) {
-                        // emit point
-                        avArrayOut[ctOut][0] = avArrayIn[i0][0];
-                        avArrayOut[ctOut][1] = avArrayIn[i0][1];
-                        avArrayOut[ctOut][2] = avArrayIn[i0][2];
-                        ctOut++;
-                }
-
-                // if points are on different sides
-                if( (fDistance0 > 0 && fDistance1 < 0) || ( fDistance0 < 0 && fDistance1 > 0) ) {
-
-                        // find intersection point of edge and plane
-                        dVector3 vIntersectionPoint;
-                        vIntersectionPoint[0]= avArrayIn[i0][0] - 
-                                (avArrayIn[i0][0]-avArrayIn[i1][0])*fDistance0/(fDistance0-fDistance1);
-                        vIntersectionPoint[1]= avArrayIn[i0][1] - 
-                                (avArrayIn[i0][1]-avArrayIn[i1][1])*fDistance0/(fDistance0-fDistance1);
-                        vIntersectionPoint[2]= avArrayIn[i0][2] - 
-                                (avArrayIn[i0][2]-avArrayIn[i1][2])*fDistance0/(fDistance0-fDistance1);
-
-                        // emit intersection point
-                        avArrayOut[ctOut][0] = vIntersectionPoint[0];
-                        avArrayOut[ctOut][1] = vIntersectionPoint[1];
-                        avArrayOut[ctOut][2] = vIntersectionPoint[2];
-                        ctOut++;
-                }
-        }
-
-}
-
-void             dClipPolyToCircle(const dVector3 avArrayIn[], const int ctIn, 
-                                                           dVector3 avArrayOut[], int &ctOut, 
-                                                           const dVector4 &plPlane ,dReal fRadius)
-{
-        // start with no output points
-        ctOut = 0;
-
-        int i0 = ctIn-1;
-
-        // for each edge in input polygon
-        for (int i1=0; i1<ctIn; i0=i1, i1++) 
-        {
-                // calculate distance of edge points to plane
-                dReal fDistance0 = dPointPlaneDistance(  avArrayIn[i0],plPlane );
-                dReal fDistance1 = dPointPlaneDistance(  avArrayIn[i1],plPlane );
-
-                // if first point is in front of plane
-                if( fDistance0 >= 0 ) 
-                {
-                        // emit point
-                        if (dVector3Length2(avArrayIn[i0]) <= fRadius*fRadius)
-                        {
-                                avArrayOut[ctOut][0] = avArrayIn[i0][0];
-                                avArrayOut[ctOut][1] = avArrayIn[i0][1];
-                                avArrayOut[ctOut][2] = avArrayIn[i0][2];
-                                ctOut++;
-                        }
-                }
-
-                // if points are on different sides
-                if( (fDistance0 > 0 && fDistance1 < 0) || ( fDistance0 < 0 && fDistance1 > 0) ) 
-                {
-
-                        // find intersection point of edge and plane
-                        dVector3 vIntersectionPoint;
-                        vIntersectionPoint[0]= avArrayIn[i0][0] - 
-                                (avArrayIn[i0][0]-avArrayIn[i1][0])*fDistance0/(fDistance0-fDistance1);
-                        vIntersectionPoint[1]= avArrayIn[i0][1] - 
-                                (avArrayIn[i0][1]-avArrayIn[i1][1])*fDistance0/(fDistance0-fDistance1);
-                        vIntersectionPoint[2]= avArrayIn[i0][2] - 
-                                (avArrayIn[i0][2]-avArrayIn[i1][2])*fDistance0/(fDistance0-fDistance1);
-
-                        // emit intersection point
-                        if (dVector3Length2(avArrayIn[i0]) <= fRadius*fRadius)
-                        {
-                                avArrayOut[ctOut][0] = vIntersectionPoint[0];
-                                avArrayOut[ctOut][1] = vIntersectionPoint[1];
-                                avArrayOut[ctOut][2] = vIntersectionPoint[2];
-                                ctOut++;
-                        }
-                }
-        }       
-}
-
diff --git a/libraries/ode-0.9/ode/src/collision_util.h b/libraries/ode-0.9/ode/src/collision_util.h
deleted file mode 100644
index 4c479e3..0000000
--- a/libraries/ode-0.9/ode/src/collision_util.h
+++ /dev/null
@@ -1,340 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-some useful collision utility stuff.
-
-*/
-
-#ifndef _ODE_COLLISION_UTIL_H_
-#define _ODE_COLLISION_UTIL_H_
-
-#include <ode/common.h>
-#include <ode/contact.h>
-#include <ode/odemath.h>
-#include <ode/rotation.h>
-
-
-// given a pointer `p' to a dContactGeom, return the dContactGeom at
-// p + skip bytes.
-#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
-
-#if 1
-#include "collision_kernel.h"
-// Fetches a contact
-inline dContactGeom* SAFECONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
-        dIASSERT(Index >= 0 && Index < (Flags & NUMC_MASK));
-        return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
-}
-#endif
-
-
-// if the spheres (p1,r1) and (p2,r2) collide, set the contact `c' and
-// return 1, else return 0.
-
-int dCollideSpheres (dVector3 p1, dReal r1,
-                     dVector3 p2, dReal r2, dContactGeom *c);
-
-
-// given two lines
-//    qa = pa + alpha* ua
-//    qb = pb + beta * ub
-// where pa,pb are two points, ua,ub are two unit length vectors, and alpha,
-// beta go from [-inf,inf], return alpha and beta such that qa and qb are
-// as close as possible
-
-void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
-                           const dVector3 pb, const dVector3 ub,
-                           dReal *alpha, dReal *beta);
-
-
-// given a line segment p1-p2 and a box (center 'c', rotation 'R', side length
-// vector 'side'), compute the points of closest approach between the box
-// and the line. return these points in 'lret' (the point on the line) and
-// 'bret' (the point on the box). if the line actually penetrates the box
-// then the solution is not unique, but only one solution will be returned.
-// in this case the solution points will coincide.
-
-void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
-                            const dVector3 c, const dMatrix3 R,
-                            const dVector3 side,
-                            dVector3 lret, dVector3 bret);
-
-// 20 Apr 2004
-// Start code by Nguyen Binh
-int dClipEdgeToPlane(dVector3 &vEpnt0, dVector3 &vEpnt1, const dVector4& plPlane);
-// clip polygon with plane and generate new polygon points
-void dClipPolyToPlane(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane );
-
-void dClipPolyToCircle(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane ,dReal fRadius);
-
-// Some vector math
-inline void dVector3Subtract(const dVector3& a,const dVector3& b,dVector3& c)
-{
-        c[0] = a[0] - b[0];
-        c[1] = a[1] - b[1];
-        c[2] = a[2] - b[2];
-}
-
-// Some vector math
-inline void dVector3Scale(dVector3& a,dReal nScale)
-{
-        a[0] *= nScale ;
-        a[1] *= nScale ;
-        a[2] *= nScale ;
-}
-
-inline void dVector3Add(const dVector3& a,const dVector3& b,dVector3& c)
-{
-        c[0] = a[0] + b[0];
-        c[1] = a[1] + b[1];
-        c[2] = a[2] + b[2];
-}
-
-inline void dVector3Copy(const dVector3& a,dVector3& c)
-{
-        c[0] = a[0];
-        c[1] = a[1];
-        c[2] = a[2];
-}
-
-inline void dVector3Cross(const dVector3& a,const dVector3& b,dVector3& c)
-{
-        dCROSS(c,=,a,b);
-}
-
-inline dReal dVector3Length(const dVector3& a)
-{
-        return dSqrt(a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);
-}
-
-inline dReal dVector3Dot(const dVector3& a,const dVector3& b)
-{
-        return dDOT(a,b);
-}
-
-inline void dVector3Inv(dVector3& a)
-{
-        a[0] = -a[0];
-        a[1] = -a[1];
-        a[2] = -a[2];
-}
-
-inline dReal dVector3Length2(const dVector3& a)
-{
-        return (a[0]*a[0]+a[1]*a[1]+a[2]*a[2]);
-}
-
-inline void dMat3GetCol(const dMatrix3& m,const int col, dVector3& v)
-{
-        v[0] = m[col + 0];
-        v[1] = m[col + 4];
-        v[2] = m[col + 8];
-}
-
-inline void dVector3CrossMat3Col(const dMatrix3& m,const int col,const dVector3& v,dVector3& r)
-{
-        r[0] =  v[1] * m[2*4 + col] - v[2] * m[1*4 + col]; 
-        r[1] =  v[2] * m[0*4 + col] - v[0] * m[2*4 + col]; 
-        r[2] =  v[0] * m[1*4 + col] - v[1] * m[0*4 + col];
-}
-
-inline void dMat3ColCrossVector3(const dMatrix3& m,const int col,const dVector3& v,dVector3& r)
-{
-        r[0] =   v[2] * m[1*4 + col] - v[1] * m[2*4 + col]; 
-        r[1] =   v[0] * m[2*4 + col] - v[2] * m[0*4 + col]; 
-        r[2] =   v[1] * m[0*4 + col] - v[0] * m[1*4 + col];
-}
-
-inline void dMultiplyMat3Vec3(const dMatrix3& m,const dVector3& v, dVector3& r)
-{
-        dMULTIPLY0_331(r,m,v);
-}
-
-inline dReal dPointPlaneDistance(const dVector3& point,const dVector4& plane)
-{
-        return (plane[0]*point[0] + plane[1]*point[1] + plane[2]*point[2] + plane[3]);
-}
-
-inline void dConstructPlane(const dVector3& normal,const dReal& distance, dVector4& plane)
-{
-        plane[0] = normal[0];
-        plane[1] = normal[1];
-        plane[2] = normal[2];
-        plane[3] = distance;
-}
-
-inline void dMatrix3Copy(const dReal* source,dMatrix3& dest)
-{
-        dest[0] =       source[0];
-        dest[1] =       source[1];
-        dest[2] =       source[2];
-
-        dest[4] =       source[4];
-        dest[5] =       source[5];
-        dest[6] =       source[6];
-
-        dest[8] =       source[8];
-        dest[9] =       source[9];
-        dest[10]=       source[10];
-}
-
-inline dReal dMatrix3Det( const dMatrix3& mat )
-{
-        dReal det;
-
-        det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] )
-                - mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] )
-                + mat[2] * ( mat[4]*mat[9]  - mat[8]*mat[5] );
-
-        return( det );
-}
-
-
-inline void dMatrix3Inv( const dMatrix3& ma, dMatrix3& dst )
-{
-        dReal det = dMatrix3Det( ma );
-
-        if ( dFabs( det ) < REAL(0.0005) )
-        {
-                dRSetIdentity( dst );
-                return;
-        }
-
-        dst[0] =    ma[5]*ma[10] - ma[6]*ma[9]   / det;
-        dst[1] = -( ma[1]*ma[10] - ma[9]*ma[2] ) / det;
-        dst[2] =    ma[1]*ma[6]  - ma[5]*ma[2]   / det;
-
-        dst[4] = -( ma[4]*ma[10] - ma[6]*ma[8] ) / det;
-        dst[5] =    ma[0]*ma[10] - ma[8]*ma[2]   / det;
-        dst[6] = -( ma[0]*ma[6] - ma[4]*ma[2] ) / det;
-
-        dst[8] =    ma[4]*ma[9] - ma[8]*ma[5]   / det;
-        dst[9] = -( ma[0]*ma[9] - ma[8]*ma[1] ) / det;
-        dst[10] =    ma[0]*ma[5] - ma[1]*ma[4]   / det;
-}
-
-inline void dQuatTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest)
-{
-
-        // Nguyen Binh : this code seem to be the fastest.
-        dReal x0 =      source[0] * quat[0] + source[2] * quat[2] - source[1] * quat[3];
-        dReal x1 =      source[1] * quat[0] + source[0] * quat[3] - source[2] * quat[1];
-        dReal x2 =      source[2] * quat[0] + source[1] * quat[1] - source[0] * quat[2];
-        dReal x3 =      source[0] * quat[1] + source[1] * quat[2] + source[2] * quat[3];
-
-        dest[0]  =      quat[0] * x0 + quat[1] * x3 + quat[2] * x2 - quat[3] * x1;
-        dest[1]  =      quat[0] * x1 + quat[2] * x3 + quat[3] * x0 - quat[1] * x2;
-        dest[2]  =      quat[0] * x2 + quat[3] * x3 + quat[1] * x1 - quat[2] * x0;
-
-        /*
-        // nVidia SDK implementation
-        dVector3 uv, uuv; 
-        dVector3 qvec;
-        qvec[0] = quat[1];
-        qvec[1] = quat[2];
-        qvec[2] = quat[3];
-
-        dVector3Cross(qvec,source,uv);
-        dVector3Cross(qvec,uv,uuv);
-
-        dVector3Scale(uv,REAL(2.0)*quat[0]);
-        dVector3Scale(uuv,REAL(2.0));
-
-        dest[0] = source[0] + uv[0] + uuv[0];
-        dest[1] = source[1] + uv[1] + uuv[1];
-        dest[2] = source[2] + uv[2] + uuv[2];   
-        */
-}
-
-inline void dQuatInvTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest)
-{
-
-        dReal norm = quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2] + quat[3]*quat[3];
-
-        if (norm > REAL(0.0))
-        {
-                dQuaternion invQuat;
-                invQuat[0] =  quat[0] / norm;
-                invQuat[1] = -quat[1] / norm;
-                invQuat[2] = -quat[2] / norm;
-                invQuat[3] = -quat[3] / norm;   
-                
-                dQuatTransform(invQuat,source,dest);
-
-        }
-        else
-        {
-                // Singular -> return identity
-                dVector3Copy(source,dest);
-        }
-}
-
-inline void dGetEulerAngleFromRot(const dMatrix3& mRot,dReal& rX,dReal& rY,dReal& rZ)
-{
-        rY = asin(mRot[0 * 4 + 2]);
-        if (rY < M_PI /2)
-        {
-                if (rY > -M_PI /2)
-                {
-                        rX = atan2(-mRot[1*4 + 2], mRot[2*4 + 2]);
-                        rZ = atan2(-mRot[0*4 + 1], mRot[0*4 + 0]);
-                }
-                else
-                {
-                        // not unique
-                        rX = -atan2(mRot[1*4 + 0], mRot[1*4 + 1]);
-                        rZ = REAL(0.0);
-                }
-        }
-        else
-        {
-                // not unique
-                rX = atan2(mRot[1*4 + 0], mRot[1*4 + 1]);
-                rZ = REAL(0.0);
-        }
-}
-
-inline void dQuatInv(const dQuaternion& source, dQuaternion& dest)
-{
-        dReal norm = source[0]*source[0] + source[1]*source[1] + source[2]*source[2] + source[3]*source[3];
-
-        if (norm > 0.0f)
-        {
-                dest[0] = source[0] / norm;
-                dest[1] = -source[1] / norm;
-                dest[2] = -source[2] / norm;
-                dest[3] = -source[3] / norm;    
-        }
-        else
-        {
-                // Singular -> return identity
-                dest[0] = REAL(1.0);
-                dest[1] = REAL(0.0);
-                dest[2] = REAL(0.0);
-                dest[3] = REAL(0.0);
-        }
-}
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/convex.cpp b/libraries/ode-0.9/ode/src/convex.cpp
deleted file mode 100644
index db93beb..0000000
--- a/libraries/ode-0.9/ode/src/convex.cpp
+++ /dev/null
@@ -1,1294 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-Code for Convex Collision Detection
-By Rodrigo Hernandez
-*/
-//#include <algorithm>
-#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_util.h"
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-#if _MSC_VER <= 1200
-#define dMIN(A,B)  ((A)>(B) ? B : A)
-#define dMAX(A,B)  ((A)>(B) ? A : B)
-#else
-#define dMIN(A,B)  std::min(A,B)
-#define dMAX(A,B)  std::max(A,B)
-#endif
-
-//****************************************************************************
-// Convex public API
-dxConvex::dxConvex (dSpaceID space,
-                    dReal *_planes,
-                    unsigned int _planecount,
-                    dReal *_points,
-                    unsigned int _pointcount,
-                    unsigned int *_polygons) : 
-  dxGeom (space,1)
-{
-  dAASSERT (_planes != NULL);
-  dAASSERT (_points != NULL);
-  dAASSERT (_polygons != NULL);
-  //fprintf(stdout,"dxConvex Constructor planes %X\n",_planes);
-  type = dConvexClass;
-  planes = _planes;
-  planecount = _planecount;
-  // we need points as well
-  points = _points;
-  pointcount = _pointcount;
-  polygons=_polygons;
-  FillEdges();
-}
-
-
-void dxConvex::computeAABB()
-{
-  // this can, and should be optimized
-  dVector3 point;
-  dMULTIPLY0_331 (point,final_posr->R,points);
-  aabb[0] = point[0]+final_posr->pos[0];
-  aabb[1] = point[0]+final_posr->pos[0];
-  aabb[2] = point[1]+final_posr->pos[1];
-  aabb[3] = point[1]+final_posr->pos[1];
-  aabb[4] = point[2]+final_posr->pos[2];
-  aabb[5] = point[2]+final_posr->pos[2];
-  for(unsigned int i=3;i<(pointcount*3);i+=3)
-    {
-      dMULTIPLY0_331 (point,final_posr->R,&points[i]);
-      aabb[0] = dMIN(aabb[0],point[0]+final_posr->pos[0]);
-      aabb[1] = dMAX(aabb[1],point[0]+final_posr->pos[0]);
-      aabb[2] = dMIN(aabb[2],point[1]+final_posr->pos[1]);
-      aabb[3] = dMAX(aabb[3],point[1]+final_posr->pos[1]);
-      aabb[4] = dMIN(aabb[4],point[2]+final_posr->pos[2]);
-      aabb[5] = dMAX(aabb[5],point[2]+final_posr->pos[2]);
-    }
-}
-
-/*! \brief Populates the edges set, should be called only once whenever
-  the polygon array gets updated */
-void dxConvex::FillEdges()
-{
-        unsigned int *points_in_poly=polygons;
-        unsigned int *index=polygons+1;
-        for(unsigned int i=0;i<planecount;++i)
-        {
-                //fprintf(stdout,"Points in Poly: %d\n",*points_in_poly);
-                for(unsigned int j=0;j<*points_in_poly;++j)
-                {
-                        edges.insert(edge(dMIN(index[j],index[(j+1)%*points_in_poly]),
-                                dMAX(index[j],index[(j+1)%*points_in_poly])));
-                        //fprintf(stdout,"Insert %d-%d\n",index[j],index[(j+1)%*points_in_poly]);
-                }
-                points_in_poly+=(*points_in_poly+1);
-                index=points_in_poly+1;
-        }
-        /*
-        fprintf(stdout,"Edge Count: %d\n",edges.size());
-        for(std::set<edge>::iterator it=edges.begin();
-        it!=edges.end();
-        ++it)
-        {
-        fprintf(stdout,"Edge: %d-%d\n",it->first,it->second);
-        }
-        */
-}
-
-dGeomID dCreateConvex (dSpaceID space,dReal *_planes,unsigned int _planecount,
-                    dReal *_points,
-                       unsigned int _pointcount,
-                       unsigned int *_polygons)
-{
-  //fprintf(stdout,"dxConvex dCreateConvex\n");
-  return new dxConvex(space,_planes, _planecount,
-                      _points,
-                      _pointcount,
-                      _polygons);
-}
-
-void dGeomSetConvex (dGeomID g,dReal *_planes,unsigned int _planecount,
-                     dReal *_points,
-                     unsigned int _pointcount,
-                     unsigned int *_polygons)
-{
-  //fprintf(stdout,"dxConvex dGeomSetConvex\n");
-  dUASSERT (g && g->type == dConvexClass,"argument not a convex shape");
-  dxConvex *s = (dxConvex*) g;
-  s->planes = _planes;
-  s->planecount = _planecount;
-  s->points = _points;
-  s->pointcount = _pointcount;
-  s->polygons=_polygons;
-}
-
-//****************************************************************************
-// Helper Inlines
-//
-
-/*! \brief Returns Whether or not the segment ab intersects plane p
-  \param a origin of the segment
-  \param b segment destination
-  \param p plane to test for intersection
-  \param t returns the time "t" in the segment ray that gives us the intersecting 
-  point
-  \param q returns the intersection point
-  \return true if there is an intersection, otherwise false.
-*/
-bool IntersectSegmentPlane(dVector3 a, 
-                           dVector3 b, 
-                           dVector4 p, 
-                           dReal &t, 
-                           dVector3 q)
-{
-  // Compute the t value for the directed line ab intersecting the plane
-  dVector3 ab;
-  ab[0]= b[0] - a[0];
-  ab[1]= b[1] - a[1];
-  ab[2]= b[2] - a[2];
-  
-  t = (p[3] - dDOT(p,a)) / dDOT(p,ab);
-  
-  // If t in [0..1] compute and return intersection point
-  if (t >= 0.0 && t <= 1.0) 
-    {
-      q[0] = a[0] + t * ab[0];
-      q[1] = a[1] + t * ab[1];
-      q[2] = a[2] + t * ab[2];
-      return true;
-    }
-  // Else no intersection
-  return false;
-}
-
-/*! \brief Returns the Closest Point in Ray 1 to Ray 2
-  \param Origin1 The origin of Ray 1
-  \param Direction1 The direction of Ray 1
-  \param Origin1 The origin of Ray 2
-  \param Direction1 The direction of Ray 3
-  \param t the time "t" in Ray 1 that gives us the closest point 
-  (closest_point=Origin1+(Direction*t).
-  \return true if there is a closest point, false if the rays are paralell.
-*/
-inline bool ClosestPointInRay(const dVector3 Origin1,
-                              const dVector3 Direction1,
-                              const dVector3 Origin2,
-                              const dVector3 Direction2,
-                              dReal& t)
-{
-  dVector3 w = {Origin1[0]-Origin2[0],
-                Origin1[1]-Origin2[1],
-                Origin1[2]-Origin2[2]};
-  dReal a = dDOT(Direction1 , Direction1);
-  dReal b = dDOT(Direction1 , Direction2);
-  dReal c = dDOT(Direction2 , Direction2);
-  dReal d = dDOT(Direction1 , w);
-  dReal e = dDOT(Direction2 , w);
-  dReal denominator = (a*c)-(b*b);
-  if(denominator==0.0f)
-    {
-      return false;
-    }
-  t = ((a*e)-(b*d))/denominator;
-  return true;
-}
-
-/*! \brief Returns the Ray on which 2 planes intersect if they do.
-  \param p1 Plane 1
-  \param p2 Plane 2
-  \param p Contains the origin of the ray upon returning if planes intersect
-  \param d Contains the direction of the ray upon returning if planes intersect
-  \return true if the planes intersect, false if paralell.
-*/
-inline bool IntersectPlanes(const dVector4 p1, const dVector4 p2, dVector3 p, dVector3 d)
-{
-  // Compute direction of intersection line
-  //Cross(p1, p2,d);
-  dCROSS(d,=,p1,p2);
-  
-  // If d is (near) zero, the planes are parallel (and separated)
-  // or coincident, so they're not considered intersecting
-  dReal denom = dDOT(d, d);
-  if (denom < dEpsilon) return false;
-
-  dVector3 n;
-  n[0]=p1[3]*p2[0] - p2[3]*p1[0];
-  n[1]=p1[3]*p2[1] - p2[3]*p1[1];
-  n[2]=p1[3]*p2[2] - p2[3]*p1[2];
-  // Compute point on intersection line
-  //Cross(n, d,p);
-  dCROSS(p,=,n,d);
-  p[0]/=denom;
-  p[1]/=denom;
-  p[2]/=denom;
-  return true;
-}
-
-/*! \brief Finds out if a point lies inside a 2D polygon
-  \param p Point to test
-  \param polygon a pointer to the start of the convex polygon index buffer
-  \param out the closest point in the polygon if the point is not inside
-  \return true if the point lies inside of the polygon, false if not.
-*/
-inline bool IsPointInPolygon(dVector3 p,
-                             unsigned int *polygon,
-                             dxConvex *convex,
-                             dVector3 out)
-{
-  // p is the point we want to check,
-  // polygon is a pointer to the polygon we
-  // are checking against, remember it goes
-  // number of vertices then that many indexes
-  // out returns the closest point on the border of the
-  // polygon if the point is not inside it.
-  size_t pointcount=polygon[0];
-  dVector3 a;
-  dVector3 b;
-  dVector3 c;
-  dVector3 ab;
-  dVector3 ac;
-  dVector3 ap;
-  dVector3 bp;
-  dReal d1;
-  dReal d2;
-  dReal d3;
-  dReal d4;
-  dReal vc;
-  polygon++; // skip past pointcount
-  for(size_t i=0;i<pointcount;++i)
-    {
-      dMULTIPLY0_331 (a,convex->final_posr->R,&convex->points[(polygon[i]*3)]);
-      a[0]=convex->final_posr->pos[0]+a[0];
-      a[1]=convex->final_posr->pos[1]+a[1];
-      a[2]=convex->final_posr->pos[2]+a[2];
-
-      dMULTIPLY0_331 (b,convex->final_posr->R,
-                      &convex->points[(polygon[(i+1)%pointcount]*3)]);
-      b[0]=convex->final_posr->pos[0]+b[0];
-      b[1]=convex->final_posr->pos[1]+b[1];
-      b[2]=convex->final_posr->pos[2]+b[2];
-
-      dMULTIPLY0_331 (c,convex->final_posr->R,
-                      &convex->points[(polygon[(i+2)%pointcount]*3)]);
-      c[0]=convex->final_posr->pos[0]+c[0];
-      c[1]=convex->final_posr->pos[1]+c[1];
-      c[2]=convex->final_posr->pos[2]+c[2];
-
-      ab[0] = b[0] - a[0];
-      ab[1] = b[1] - a[1];
-      ab[2] = b[2] - a[2];
-      ac[0] = c[0] - a[0];
-      ac[1] = c[1] - a[1];
-      ac[2] = c[2] - a[2];
-      ap[0] = p[0] - a[0];
-      ap[1] = p[1] - a[1];
-      ap[2] = p[2] - a[2];
-      d1 = dDOT(ab,ap);
-      d2 = dDOT(ac,ap);
-      if (d1 <= 0.0f && d2 <= 0.0f)
-        {
-          out[0]=a[0];
-          out[1]=a[1];
-          out[2]=a[2];
-          return false;
-        }
-      bp[0] = p[0] - b[0];
-      bp[1] = p[1] - b[1];
-      bp[2] = p[2] - b[2];
-      d3 = dDOT(ab,bp);
-      d4 = dDOT(ac,bp);
-      if (d3 >= 0.0f && d4 <= d3)
-        {
-          out[0]=b[0];
-          out[1]=b[1];
-          out[2]=b[2];
-          return false;
-        }      
-      vc = d1*d4 - d3*d2;
-      if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f) 
-        {
-          dReal v = d1 / (d1 - d3);
-          out[0] = a[0] + (ab[0]*v);
-          out[1] = a[1] + (ab[1]*v);
-          out[2] = a[2] + (ab[2]*v);
-          return false;
-        }
-    }
-  return true;
-}
-
-int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags,
-                                                 dContactGeom *contact, int skip)
-{
-        dIASSERT (skip >= (int)sizeof(dContactGeom));

-        dIASSERT (o1->type == dConvexClass);

-        dIASSERT (o2->type == dPlaneClass);

-        dIASSERT ((flags & NUMC_MASK) >= 1);

-        

-        dxConvex *Convex = (dxConvex*) o1;
-        dxPlane *Plane = (dxPlane*) o2;
-        unsigned int contacts=0;
-        unsigned int maxc = flags & NUMC_MASK;
-        dVector3 v2;

-

-#define LTEQ_ZERO       0x10000000

-#define GTEQ_ZERO       0x20000000

-#define BOTH_SIGNS      (LTEQ_ZERO | GTEQ_ZERO)

-        dIASSERT((BOTH_SIGNS & NUMC_MASK) == 0); // used in conditional operator later

-

-        unsigned int totalsign = 0;

-        for(unsigned int i=0;i<Convex->pointcount;++i)

-        {

-                dMULTIPLY0_331 (v2,Convex->final_posr->R,&Convex->points[(i*3)]);

-                dVector3Add(Convex->final_posr->pos, v2, v2);

-                

-                unsigned int distance2sign = GTEQ_ZERO;

-                dReal distance2 = dVector3Dot(Plane->p, v2) - Plane->p[3]; // Ax + By + Cz - D

-                if((distance2 <= REAL(0.0)))

-                {

-                        distance2sign = distance2 != REAL(0.0) ? LTEQ_ZERO : BOTH_SIGNS;

-

-                        if (contacts != maxc)

-                        {

-                                dContactGeom *target = SAFECONTACT(flags, contact, contacts, skip);

-                                dVector3Copy(Plane->p, target->normal);

-                                dVector3Copy(v2, target->pos);

-                                target->depth = -distance2;

-                                target->g1 = Convex;

-                                target->g2 = Plane;

-                                contacts++;

-                        }

-                }

-

-                // Take new sign into account

-                totalsign |= distance2sign;

-                // Check if contacts are full and both signs have been already found

-                if ((contacts ^ maxc | totalsign) == BOTH_SIGNS) // harder to comprehend but requires one register less

-                {

-                        break; // Nothing can be changed any more

-                }

-        }

-        if (totalsign == BOTH_SIGNS) return contacts;

-        return 0;

-#undef BOTH_SIGNS

-#undef GTEQ_ZERO

-#undef LTEQ_ZERO

-}
-
-int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags,
-                          dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));

-  dIASSERT (o1->type == dSphereClass);

-  dIASSERT (o2->type == dConvexClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-  dxSphere *Sphere = (dxSphere*) o1;
-  dxConvex *Convex = (dxConvex*) o2;
-  dReal dist,closestdist=dInfinity;
-  dVector4 plane;
-  // dVector3 contactpoint;
-  dVector3 offsetpos,out,temp;
-  unsigned int *pPoly=Convex->polygons;
-  int closestplane;
-  bool sphereinside=true;
-  /* 
-     Do a good old sphere vs plane check first,
-     if a collision is found then check if the contact point
-     is within the polygon
-  */
-  // offset the sphere final_posr->position into the convex space
-  offsetpos[0]=Sphere->final_posr->pos[0]-Convex->final_posr->pos[0];
-  offsetpos[1]=Sphere->final_posr->pos[1]-Convex->final_posr->pos[1];
-  offsetpos[2]=Sphere->final_posr->pos[2]-Convex->final_posr->pos[2];
-  //fprintf(stdout,"Begin Check\n");  
-  for(unsigned int i=0;i<Convex->planecount;++i)
-    {
-      // apply rotation to the plane
-      dMULTIPLY0_331(plane,Convex->final_posr->R,&Convex->planes[(i*4)]);
-      plane[3]=(&Convex->planes[(i*4)])[3];
-      // Get the distance from the sphere origin to the plane
-      dist = dVector3Dot(plane, offsetpos) - plane[3]; // Ax + By + Cz - D
-      if(dist>0)
-        {
-          // if we get here, we know the center of the sphere is
-          // outside of the convex hull.
-          if(dist<Sphere->radius)
-            {
-              // if we get here we know the sphere surface penetrates
-              // the plane
-              if(IsPointInPolygon(Sphere->final_posr->pos,pPoly,Convex,out))
-                {
-                  // finally if we get here we know that the
-                  // sphere is directly touching the inside of the polyhedron
-                  //fprintf(stdout,"Contact! distance=%f\n",dist);
-                  contact->normal[0] = plane[0];
-                  contact->normal[1] = plane[1];
-                  contact->normal[2] = plane[2];
-                  contact->pos[0] = Sphere->final_posr->pos[0]+
-                    (-contact->normal[0]*Sphere->radius);
-                  contact->pos[1] = Sphere->final_posr->pos[1]+
-                    (-contact->normal[1]*Sphere->radius);
-                  contact->pos[2] = Sphere->final_posr->pos[2]+
-                    (-contact->normal[2]*Sphere->radius);
-                  contact->depth = Sphere->radius-dist;
-                  contact->g1 = Sphere;
-                  contact->g2 = Convex;
-                  return 1;
-                }
-              else
-                {
-                  // the sphere may not be directly touching
-                  // the polyhedron, but it may be touching
-                  // a point or an edge, if the distance between
-                  // the closest point on the poly (out) and the 
-                  // center of the sphere is less than the sphere 
-                  // radius we have a hit.
-                  temp[0] = (Sphere->final_posr->pos[0]-out[0]);
-                  temp[1] = (Sphere->final_posr->pos[1]-out[1]);
-                  temp[2] = (Sphere->final_posr->pos[2]-out[2]);
-                  dist=(temp[0]*temp[0])+(temp[1]*temp[1])+(temp[2]*temp[2]);
-                  // avoid the sqrt unless really necesary
-                  if(dist<(Sphere->radius*Sphere->radius))
-                    {
-                      // We got an indirect hit
-                      dist=dSqrt(dist);
-                      contact->normal[0] = temp[0]/dist;
-                      contact->normal[1] = temp[1]/dist;
-                      contact->normal[2] = temp[2]/dist;
-                      contact->pos[0] = Sphere->final_posr->pos[0]+
-                        (-contact->normal[0]*Sphere->radius);
-                      contact->pos[1] = Sphere->final_posr->pos[1]+
-                        (-contact->normal[1]*Sphere->radius);
-                      contact->pos[2] = Sphere->final_posr->pos[2]+
-                        (-contact->normal[2]*Sphere->radius);
-                      contact->depth = Sphere->radius-dist;
-                      contact->g1 = Sphere;
-                      contact->g2 = Convex;
-                      return 1;
-                    }
-                }
-            }
-          sphereinside=false;
-        }
-      if(sphereinside)
-        {
-          if(closestdist>dFabs(dist))
-            {
-              closestdist=dFabs(dist);
-              closestplane=i;
-            }
-        }
-      pPoly+=pPoly[0]+1;
-    }
-    if(sphereinside)
-      {
-        // if the center of the sphere is inside 
-        // the Convex, we need to pop it out
-        dMULTIPLY0_331(contact->normal,
-                       Convex->final_posr->R,
-                       &Convex->planes[(closestplane*4)]);
-        contact->pos[0] = Sphere->final_posr->pos[0];
-        contact->pos[1] = Sphere->final_posr->pos[1];
-        contact->pos[2] = Sphere->final_posr->pos[2];
-        contact->depth = closestdist+Sphere->radius;
-        contact->g1 = Sphere;
-        contact->g2 = Convex;
-        return 1;
-      }
-  return 0;
-}
-
-int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags,
-                       dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));

-  dIASSERT (o1->type == dConvexClass);

-  dIASSERT (o2->type == dBoxClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-  

-  dxConvex *Convex = (dxConvex*) o1;
-  dxBox *Box = (dxBox*) o2;

-  
-  return 0;
-}
-
-int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2,
-                             int flags, dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));

-  dIASSERT (o1->type == dConvexClass);

-  dIASSERT (o2->type == dCapsuleClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-  dxConvex *Convex = (dxConvex*) o1;
-  dxCapsule *Capsule = (dxCapsule*) o2;

-  
-  return 0;
-}
-
-/*!
-  \brief Retrieves the proper convex and plane index between 2 convex objects.
-
-  Seidel's Algorithm does not discriminate between 2 different Convex Hulls,
-  it only cares about planes, so we feed it the planes of Convex 1 followed
-  by the planes of Convex 2 as a single collection of planes, 
-  given an index into the single collection, 
-  this function determines the correct convex object and index to retrieve
-  the current plane.
-  
-  \param c1 Convex 1
-  \param c2 Convex 2
-  \param i Plane Index to retrieve
-  \param index contains the translated index uppon return
-  \return a pointer to the convex object containing plane index "i"
-*/
-inline dxConvex* GetPlaneIndex(dxConvex& c1, 
-                               dxConvex& c2,
-                               unsigned int i,unsigned int& index)
-{
-  if(i>=c1.planecount)
-    {
-      index = i-c1.planecount;
-      return &c2;
-    }
-  index=i;
-  return &c1;
-}
-
-inline void dumpplanes(dxConvex& cvx)
-{
-        // This is just a dummy debug function
-        dVector4 plane;
-        fprintf(stdout,"DUMP PLANES\n");
-        for (unsigned int i=0;i<cvx.planecount;++i)
-        {
-                dMULTIPLY0_331(plane,cvx.final_posr->R,&cvx.planes[(i*4)]);      
-                // Translate
-                plane[3]=
-                        (cvx.planes[(i*4)+3])+
-                        ((plane[0] * cvx.final_posr->pos[0]) + 
-                        (plane[1] * cvx.final_posr->pos[1]) + 
-                        (plane[2] * cvx.final_posr->pos[2]));
-                fprintf(stdout,"%f %f %f %f\n",plane[0],plane[1],plane[2],plane[3]);
-        }
-}
-
-// this variable is for debuggin purpuses only, should go once everything works
-static bool hit=false;
-
-/*
-  \brief Tests whether 2 convex objects collide
-
-  Seidel's algorithm is a method to solve linear programs, 
-  it finds the optimum vertex "v" of a set of functions, 
-  in our case, the set of functions are the plane functions
-  for the 2 convex objects being tested.
-  We don't really care about the value optimum vertex though,
-  but the 2 convex objects only collide if this vertex exists,
-  otherwise, the set of functions is said to be "empty" or "void".
-
-  Seidel's Original algorithm is recursive and not bound to any number
-  of dimensions, the one I present here is Iterative rather than recursive
-  and bound to 3 dimensions, which is what we care about.
-  
-  If you're interested (and you should be!) on the algorithm, the paper
-  by Raimund Seidel himself should explain a lot better than I did, you can
-  find it here: http://www.cs.berkeley.edu/~jrs/meshpapers/SeidelLP.pdf
-
-  If posible, read the section about Linear Programming in 
-  Christer Ericson's RealTime Collision Detection book.
-  
-  \note currently there seem to be some issues with this function since
-  it doesn't detect collisions except for the most simple tests :(. 
-*/
-bool SeidelLP(dxConvex& cvx1,dxConvex& cvx2)
-{
-        dVector3 c={1,0,0}; // The Objective vector can be anything
-        dVector3 solution;    // We dont really need the solution so its local
-        dxConvex *cvx;
-        unsigned int index;
-        unsigned int planecount=cvx1.planecount+cvx2.planecount;
-        dReal sum,min,max,med;
-        dVector3 c1; // ,c2;
-        dVector4 aoveral,aoveram; // these will contain cached computations
-        unsigned int l,m,n; // l and m are the axes to the zerod dimensions, n is the axe for the last dimension
-        unsigned int i,j,k;
-        dVector4 eq1,eq2,eq3; // cached equations for 3d,2d and 1d respectivelly
-        // Get the support mapping for a HUGE bounding box in direction c
-        solution[0]= (c[0]>0) ? dInfinity : -dInfinity;
-        solution[1]= (c[1]>0) ? dInfinity : -dInfinity;
-        solution[2]= (c[2]>0) ? dInfinity : -dInfinity;
-        for( i=0;i<planecount;++i)
-        {
-                // Isolate plane equation
-                cvx=GetPlaneIndex(cvx1,cvx2,i,index);
-                // Rotate
-                dMULTIPLY0_331(eq1,cvx->final_posr->R,&cvx->planes[(index*4)]);
-
-                // Translate
-                eq1[3]=(cvx->planes[(index*4)+3])+
-                        ((eq1[0] * cvx->final_posr->pos[0]) + 
-                        (eq1[1] * cvx->final_posr->pos[1]) + 
-                        (eq1[2] * cvx->final_posr->pos[2]));
-                //       if(!hit)
-                //      {
-                //        fprintf(stdout,"Plane I %d: %f %f %f %f\n",i,
-                //                cvx->planes[(index*4)+0],
-                //                cvx->planes[(index*4)+1],
-                //                cvx->planes[(index*4)+2],
-                //                cvx->planes[(index*4)+3]);
-                //        fprintf(stdout,"Transformed Plane %d: %f %f %f %f\n",i,
-                //                eq1[0],
-                //                eq1[1],eq1[2],eq1[3]);
-                //        fprintf(stdout,"POS %f,%f,%f\n",
-                //                cvx->final_posr->pos[0],
-                //                cvx->final_posr->pos[1],
-                //                cvx->final_posr->pos[2]);
-                //      }
-                // find if the solution is behind the current plane
-                sum=
-                        ((eq1[0]*solution[0])+
-                        (eq1[1]*solution[1])+
-                        (eq1[2]*solution[2]))-eq1[3];
-                // if not we need to discard the current solution
-                if(sum>0)
-                {
-                        // go down a dimension by eliminating a variable
-                        // first find l
-                        l=0;
-                        for( j=0;j<3;++j)
-                        {
-                                if(fabs(eq1[j])>fabs(eq1[l]))
-                                {
-                                        l=j;
-                                }
-                        }
-                        if(eq1[l]==0)
-                        {
-                                if(!hit) 
-                                {
-                                        fprintf(stdout,"Plane %d: %f %f %f %f is invalid\n",i,
-                                                eq1[0],eq1[1],eq1[2],eq1[3]);
-                                }
-                                return false; 
-                        }
-                        // then compute a/a[l] c1 and solution
-                        aoveral[0]=eq1[0]/eq1[l];
-                        aoveral[1]=eq1[1]/eq1[l];
-                        aoveral[2]=eq1[2]/eq1[l];
-                        aoveral[3]=eq1[3]/eq1[l];
-                        c1[0]=c[0]-((c[l]/eq1[l])*eq1[0]);
-                        c1[1]=c[1]-((c[l]/eq1[l])*eq1[1]);
-                        c1[2]=c[2]-((c[l]/eq1[l])*eq1[2]);
-                        solution[0]=solution[0]-((solution[l]/eq1[l])*eq1[0]);
-                        solution[1]=solution[1]-((solution[l]/eq1[l])*eq1[1]);
-                        solution[2]=solution[2]-((solution[l]/eq1[l])*eq1[2]);
-                        // iterate a to get the new equations with the help of a/a[l]
-                        for( j=0;j<planecount;++j)
-                        {
-                                if(i!=j)
-                                {
-                                        cvx=GetPlaneIndex(cvx1,cvx2,j,index);
-                                        // Rotate
-                                        dMULTIPLY0_331(eq2,cvx->final_posr->R,&cvx->planes[(index*4)]);
-                                        // Translate
-                                        eq2[3]=(cvx->planes[(index*4)+3])+
-                                                ((eq2[0] * cvx->final_posr->pos[0]) + 
-                                                (eq2[1] * cvx->final_posr->pos[1]) + 
-                                                (eq2[2] * cvx->final_posr->pos[2]));
-
-                                        //       if(!hit)
-                                        //      {
-                                        //        fprintf(stdout,"Plane J %d: %f %f %f %f\n",j,
-                                        //                cvx->planes[(index*4)+0],
-                                        //                cvx->planes[(index*4)+1],
-                                        //                cvx->planes[(index*4)+2],
-                                        //                cvx->planes[(index*4)+3]);
-                                        //        fprintf(stdout,"Transformed Plane %d: %f %f %f %f\n",j,
-                                        //                eq2[0],
-                                        //                eq2[1],
-                                        //                eq2[2],
-                                        //                eq2[3]);
-                                        //        fprintf(stdout,"POS %f,%f,%f\n",
-                                        //                cvx->final_posr->pos[0],
-                                        //                cvx->final_posr->pos[1],
-                                        //                cvx->final_posr->pos[2]);
-                                        //      }
-
-                                        // Take The equation down a dimension
-                                        eq2[0]-=(cvx->planes[(index*4)+l]*aoveral[0]);
-                                        eq2[1]-=(cvx->planes[(index*4)+l]*aoveral[1]);
-                                        eq2[2]-=(cvx->planes[(index*4)+l]*aoveral[2]);
-                                        eq2[3]-=(cvx->planes[(index*4)+l]*aoveral[3]);
-                                        sum=
-                                                ((eq2[0]*solution[0])+
-                                                (eq2[1]*solution[1])+
-                                                (eq2[2]*solution[2]))-eq2[3];
-                                        if(sum>0)
-                                        {
-                                                m=0;
-                                                for( k=0;k<3;++k)
-                                                {
-                                                        if(fabs(eq2[k])>fabs(eq2[m]))
-                                                        {
-                                                                m=k;
-                                                        }
-                                                }
-                                                if(eq2[m]==0)
-                                                {
-                                                        /* 
-                                                        if(!hit) fprintf(stdout,
-                                                        "Plane %d: %f %f %f %f is invalid\n",j,
-                                                        eq2[0],eq2[1],eq2[2],eq2[3]);
-                                                        */
-                                                        return false; 
-                                                }
-                                                // then compute a/a[m] c1 and solution
-                                                aoveram[0]=eq2[0]/eq2[m];
-                                                aoveram[1]=eq2[1]/eq2[m];
-                                                aoveram[2]=eq2[2]/eq2[m];
-                                                aoveram[3]=eq2[3]/eq2[m];
-                                                c1[0]=c[0]-((c[m]/eq2[m])*eq2[0]);
-                                                c1[1]=c[1]-((c[m]/eq2[m])*eq2[1]);
-                                                c1[2]=c[2]-((c[m]/eq2[m])*eq2[2]);
-                                                solution[0]=solution[0]-((solution[m]/eq2[m])*eq2[0]);
-                                                solution[1]=solution[1]-((solution[m]/eq2[m])*eq2[1]);
-                                                solution[2]=solution[2]-((solution[m]/eq2[m])*eq2[2]);
-                                                // figure out the value for n by elimination
-                                                n = (l==0) ? ((m==1)? 2:1):((m==0)?((l==1)?2:1):0);
-                                                // iterate a to get the new equations with the help of a/a[l]
-                                                min=-dInfinity;
-                                                max=med=dInfinity;
-                                                for(k=0;k<planecount;++k)
-                                                {
-                                                        if((i!=k)&&(j!=k))
-                                                        {
-                                                                cvx=GetPlaneIndex(cvx1,cvx2,k,index);
-                                                                // Rotate
-                                                                dMULTIPLY0_331(eq3,cvx->final_posr->R,&cvx->planes[(index*4)]);
-                                                                // Translate
-                                                                eq3[3]=(cvx->planes[(index*4)+3])+
-                                                                        ((eq3[0] * cvx->final_posr->pos[0]) + 
-                                                                        (eq3[1] * cvx->final_posr->pos[1]) + 
-                                                                        (eq3[2] * cvx->final_posr->pos[2]));
-                                                                //       if(!hit)
-                                                                //      {
-                                                                //        fprintf(stdout,"Plane K %d: %f %f %f %f\n",k,
-                                                                //                cvx->planes[(index*4)+0],
-                                                                //                cvx->planes[(index*4)+1],
-                                                                //                cvx->planes[(index*4)+2],
-                                                                //                cvx->planes[(index*4)+3]);
-                                                                //        fprintf(stdout,"Transformed Plane %d: %f %f %f %f\n",k,
-                                                                //                eq3[0],
-                                                                //                eq3[1],
-                                                                //                eq3[2],
-                                                                //                eq3[3]);
-                                                                //        fprintf(stdout,"POS %f,%f,%f\n",
-                                                                //                cvx->final_posr->pos[0],
-                                                                //                cvx->final_posr->pos[1],
-                                                                //                cvx->final_posr->pos[2]);
-                                                                //      }
-
-                                                                // Take the equation Down to 1D
-                                                                eq3[0]-=(cvx->planes[(index*4)+m]*aoveram[0]);
-                                                                eq3[1]-=(cvx->planes[(index*4)+m]*aoveram[1]);
-                                                                eq3[2]-=(cvx->planes[(index*4)+m]*aoveram[2]);
-                                                                eq3[3]-=(cvx->planes[(index*4)+m]*aoveram[3]);
-                                                                if(eq3[n]>0)
-                                                                {
-                                                                        max=dMIN(max,eq3[3]/eq3[n]);
-                                                                }
-                                                                else if(eq3[n]<0)
-                                                                {
-                                                                        min=dMAX(min,eq3[3]/eq3[n]);
-                                                                }
-                                                                else
-                                                                {
-                                                                        med=dMIN(med,eq3[3]);
-                                                                }
-                                                        }
-                                                }
-                                                if ((max<min)||(med<0)) 
-                                                {
-                                                        //                        if(!hit) fprintf(stdout,"((max<min)||(med<0)) ((%f<%f)||(%f<0))",max,min,med);
-                                                        if(!hit)
-                                                        {
-                                                                dumpplanes(cvx1);
-                                                                dumpplanes(cvx2);
-                                                        }
-                                                        //fprintf(stdout,"Planes %d %d\n",i,j);
-                                                        return false;
-
-                                                }
-                                                // find the value for the solution in one dimension
-                                                solution[n] = (c1[n]>=0) ? max:min;
-                                                // lift to 2D
-                                                solution[m] = (eq2[3]-(eq2[n]*solution[n]))/eq2[m];
-                                                // lift to 3D
-                                                solution[l] = (eq1[3]-(eq1[m]*solution[m]+
-                                                        eq1[n]*solution[n]))/eq1[l];
-                                        }
-                                }
-                        }
-                }
-        }
-        return true;
-}
-
-/*! \brief A Support mapping function for convex shapes
-  \param dir direction to find the Support Point for
-  \param cvx convex object to find the support point for
-  \param out the support mapping in dir.
- */
-inline void Support(dVector3 dir,dxConvex& cvx,dVector3 out)
-{
-        unsigned int index = 0;
-        dVector3 point;
-        dMULTIPLY0_331 (point,cvx.final_posr->R,cvx.points);
-        point[0]+=cvx.final_posr->pos[0];
-        point[1]+=cvx.final_posr->pos[1];
-        point[2]+=cvx.final_posr->pos[2];
-
-        dReal max = dDOT(point,dir);
-        dReal tmp;
-        for (unsigned int i = 1; i < cvx.pointcount; ++i) 
-        {
-                dMULTIPLY0_331 (point,cvx.final_posr->R,cvx.points+(i*3));
-                point[0]+=cvx.final_posr->pos[0];
-                point[1]+=cvx.final_posr->pos[1];
-                point[2]+=cvx.final_posr->pos[2];      
-                tmp = dDOT(point, dir);
-                if (tmp > max) 
-                { 
-                        out[0]=point[0];
-                        out[1]=point[1];
-                        out[2]=point[2];
-                        max = tmp; 
-                }
-        }
-}
-
-inline void ComputeInterval(dxConvex& cvx,dVector4 axis,dReal& min,dReal& max)
-{
-        dVector3 point;
-        dReal value;
-        //fprintf(stdout,"Compute Interval Axis %f,%f,%f\n",axis[0],axis[1],axis[2]);
-        dMULTIPLY0_331 (point,cvx.final_posr->R,cvx.points);
-        //fprintf(stdout,"initial point %f,%f,%f\n",point[0],point[1],point[2]);
-        point[0]+=cvx.final_posr->pos[0];
-        point[1]+=cvx.final_posr->pos[1];
-        point[2]+=cvx.final_posr->pos[2];
-        max = min = dDOT(axis,cvx.points);
-        for (unsigned int i = 1; i < cvx.pointcount; ++i) 
-        {
-                dMULTIPLY0_331 (point,cvx.final_posr->R,cvx.points+(i*3));
-                point[0]+=cvx.final_posr->pos[0];
-                point[1]+=cvx.final_posr->pos[1];
-                point[2]+=cvx.final_posr->pos[2];
-                value=dDOT(axis,point);
-                if(value<min)
-                {
-                        min=value;
-                }
-                else if(value>max)
-                {
-                        max=value;
-                }
-        }
-        //fprintf(stdout,"Compute Interval Min Max %f,%f\n",min,max);
-}
-
-/*! \brief Does an axis separation test between the 2 convex shapes
-using faces and edges */
-int TestConvexIntersection(dxConvex& cvx1,dxConvex& cvx2, int flags,
-                                                   dContactGeom *contact, int skip)
-{
-        dVector4 plane,savedplane;
-        dReal min1,max1,min2,max2,min_depth=-dInfinity;
-        dVector3 e1,e2,t;
-        int maxc = flags & NUMC_MASK; // this is causing a segfault
-        dIASSERT(maxc != 0);
-        dxConvex *g1,*g2;
-        unsigned int *pPoly;
-        dVector3 v;
-        // Test faces of cvx1 for separation
-        pPoly=cvx1.polygons;
-        for(unsigned int i=0;i<cvx1.planecount;++i)
-        {
-                // -- Apply Transforms --
-                // Rotate
-                dMULTIPLY0_331(plane,cvx1.final_posr->R,cvx1.planes+(i*4));
-                dNormalize3(plane);
-                // Translate
-                plane[3]=
-                        (cvx1.planes[(i*4)+3])+
-                        ((plane[0] * cvx1.final_posr->pos[0]) + 
-                        (plane[1] * cvx1.final_posr->pos[1]) + 
-                        (plane[2] * cvx1.final_posr->pos[2]));
-                ComputeInterval(cvx1,plane,min1,max1);
-                ComputeInterval(cvx2,plane,min2,max2);
-                //fprintf(stdout,"width %f\n",max1-min1);
-                if(max2<min1 || max1<min2) return 0;
-#if 1
-                // this one ON works
-                else if ((max1>min2)&&(max1<max2))
-                {
-                        min_depth=max1-min2;
-                        savedplane[0]=plane[0];
-                        savedplane[1]=plane[1];
-                        savedplane[2]=plane[2];
-                        savedplane[3]=plane[3];
-                        g1=&cvx2; // cvx2 moves
-                        g2=&cvx1;
-                }
-#endif
-                pPoly+=pPoly[0]+1;
-        }
-        // Test faces of cvx2 for separation
-        pPoly=cvx2.polygons;
-        for(unsigned int i=0;i<cvx2.planecount;++i)
-        {
-                //       fprintf(stdout,"Poly verts %d\n",pPoly[0]);
-                // -- Apply Transforms --
-                // Rotate
-                dMULTIPLY0_331(plane,
-                        cvx2.final_posr->R,
-                        cvx2.planes+(i*4));
-                dNormalize3(plane);
-                // Translate
-                plane[3]=
-                        (cvx2.planes[(i*4)+3])+
-                        ((plane[0] * cvx2.final_posr->pos[0]) + 
-                        (plane[1] * cvx2.final_posr->pos[1]) + 
-                        (plane[2] * cvx2.final_posr->pos[2]));
-                ComputeInterval(cvx2,plane,min1,max1);
-                ComputeInterval(cvx1,plane,min2,max2);
-                //fprintf(stdout,"width %f\n",max1-min1);
-                if(max2<min1 || max1<min2) return 0;
-#if 1
-                // this one ON does not work
-                else if ((max1>min2)&&(max1<max2))
-                {
-                        min_depth=max1-min2;
-                        savedplane[0]=plane[0];
-                        savedplane[1]=plane[1];
-                        savedplane[2]=plane[2];
-                        savedplane[3]=plane[3];
-                        g1=&cvx1; // cvx1 moves
-                        g2=&cvx2;
-                }
-#endif
-                pPoly+=pPoly[0]+1;
-        }
-        // Test cross products of pairs of edges
-        for(std::set<edge>::iterator i = cvx1.edges.begin();
-                i!= cvx1.edges.end();
-                ++i)
-        {
-                // we only need to apply rotation here
-                dMULTIPLY0_331 (t,cvx1.final_posr->R,cvx1.points+(i->first*3));
-                dMULTIPLY0_331 (e1,cvx1.final_posr->R,cvx1.points+(i->second*3));
-                e1[0]-=t[0];
-                e1[1]-=t[1];
-                e1[2]-=t[2];
-                for(std::set<edge>::iterator j = cvx2.edges.begin();
-                        j!= cvx2.edges.end();
-                        ++j)
-                {
-                        // we only need to apply rotation here
-                        dMULTIPLY0_331 (t,cvx2.final_posr->R,cvx2.points+(j->first*3));
-                        dMULTIPLY0_331 (e2,cvx2.final_posr->R,cvx2.points+(j->second*3));
-                        e2[0]-=t[0];
-                        e2[1]-=t[1];
-                        e2[2]-=t[2];
-                        dCROSS(plane,=,e1,e2);
-                        plane[3]=0;
-                        ComputeInterval(cvx1,plane,min1,max1);
-                        ComputeInterval(cvx2,plane,min2,max2);
-                        if(max2<min1 || max1 < min2) return 0;
-                }      
-        }
-/* -- uncomment if you are debugging

-        static int  cvxhit=0;

-        if(cvxhit<2)

-                fprintf(stdout,"Plane: %f,%f,%f,%f\n",

-                (double)savedplane[0],

-                (double)savedplane[1],

-                (double)savedplane[2],

-                (double)savedplane[3]);

-*/

-        // If we get here, there was a collision

-        int contacts=0;

-        for(unsigned int i=0;i<g1->pointcount;++i)
-        {
-                dMULTIPLY0_331 (v,g1->final_posr->R,&g1->points[(i*3)]);
-                dVector3Add(g1->final_posr->pos, v, v);

-
-                dReal distance = dVector3Dot(savedplane, v) - savedplane[3]; // Ax + By + Cz - D

-                if(distance<0)
-                {
-                        dContactGeom *target = SAFECONTACT(flags, contact, contacts, skip);

-                        dVector3Copy(savedplane, target->normal);

-                        dVector3Copy(v, target->pos);

-                        target->depth = -distance;

-                        target->g1 = g1;

-                        target->g2 = g2;

-/* -- uncomment if you are debugging

-                        if(cvxhit<2)
-                                fprintf(stdout,"Contact: %f,%f,%f depth %f\n",
-                                (double)target->pos[0],

-                                (double)target->pos[1],

-                                (double)target->pos[2],

-                                (double)target->depth);

-*/

-                        contacts++;

-                        if (contacts==maxc) break;
-                }
-        }
-/* -- uncomment if you are debugging

-        cvxhit++;

-*/
-

-        return contacts;
-}
-
-int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags,
-                          dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));

-  dIASSERT (o1->type == dConvexClass);

-  dIASSERT (o2->type == dConvexClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-//   if(!hit) fprintf(stdout,"dCollideConvexConvex\n");
-  dxConvex *Convex1 = (dxConvex*) o1;
-  dxConvex *Convex2 = (dxConvex*) o2;
-  int contacts;
-  if(contacts=TestConvexIntersection(*Convex1,*Convex2,flags,
-                                     contact,skip))
-    {
-      //fprintf(stdout,"We have a Hit!\n");
-    }
-  return contacts;
-}
-
-#if 0
-
-int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags, 
-                       dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));

-  dIASSERT( o1->type == dRayClass );

-  dIASSERT( o2->type == dConvexClass );

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-  dxRay* ray = (dxRay*) o1;
-  dxConvex* convex = (dxConvex*) o2;
-  dVector3 origin,destination,contactpoint,out;
-  dReal depth;
-  dVector4 plane;
-  unsigned int *pPoly=convex->polygons;
-  // Calculate ray origin and destination
-  destination[0]=0;
-  destination[1]=0;
-  destination[2]= ray->length;
-  // -- Rotate --
-  dMULTIPLY0_331(destination,ray->final_posr->R,destination);
-  origin[0]=ray->final_posr->pos[0];
-  origin[1]=ray->final_posr->pos[1];
-  origin[2]=ray->final_posr->pos[2];
-  destination[0]+=origin[0];
-  destination[1]+=origin[1];
-  destination[2]+=origin[2];
-  for(int i=0;i<convex->planecount;++i)
-    {
-      // Rotate
-      dMULTIPLY0_331(plane,convex->final_posr->R,convex->planes+(i*4));
-      // Translate
-      plane[3]=
-        (convex->planes[(i*4)+3])+
-        ((plane[0] * convex->final_posr->pos[0]) + 
-         (plane[1] * convex->final_posr->pos[1]) + 
-         (plane[2] * convex->final_posr->pos[2]));
-      if(IntersectSegmentPlane(origin, 
-                               destination, 
-                               plane, 
-                               depth, 
-                               contactpoint))
-        {
-          if(IsPointInPolygon(contactpoint,pPoly,convex,out))
-            {
-              contact->pos[0]=contactpoint[0];
-              contact->pos[1]=contactpoint[1];
-              contact->pos[2]=contactpoint[2];
-              contact->normal[0]=plane[0];
-              contact->normal[1]=plane[1];
-              contact->normal[2]=plane[2];
-              contact->depth=depth;
-              contact->g1 = ray;
-              contact->g2 = convex;
-              return 1;
-            }
-        }
-      pPoly+=pPoly[0]+1;
-    }
-  return 0;
-}
-
-#else
-
-// Ray - Convex collider by David Walters, June 2006
-int dCollideRayConvex( dxGeom *o1, dxGeom *o2,
-                                           int flags, dContactGeom *contact, int skip )
-{
-        dIASSERT( skip >= (int)sizeof(dContactGeom) );
-        dIASSERT( o1->type == dRayClass );
-        dIASSERT( o2->type == dConvexClass );

-        dIASSERT ((flags & NUMC_MASK) >= 1);

-
-        dxRay* ray = (dxRay*) o1;
-        dxConvex* convex = (dxConvex*) o2;
-
-        contact->g1 = ray;
-        contact->g2 = convex;
-
-        dReal alpha, beta, nsign;
-        int flag;
-
-        //
-        // Compute some useful info
-        //
-
-        flag = 0;       // Assume start point is behind all planes.
-
-        for ( unsigned int i = 0; i < convex->planecount; ++i )
-        {
-                // Alias this plane.
-                dReal* plane = convex->planes + ( i * 4 );
-
-                // If alpha >= 0 then start point is outside of plane.
-                alpha = dDOT( plane, ray->final_posr->pos ) - plane[3];
-
-                // If any alpha is positive, then
-                // the ray start is _outside_ of the hull
-                if ( alpha >= 0 )
-                {
-                        flag = 1;
-                        break;
-                }
-        }
-
-        // If the ray starts inside the convex hull, then everything is flipped.
-        nsign = ( flag ) ? REAL( 1.0 ) : REAL( -1.0 );
-
-
-        //
-        // Find closest contact point
-        //
-
-        // Assume no contacts.
-        contact->depth = dInfinity;
-
-        for ( unsigned int i = 0; i < convex->planecount; ++i )
-        {
-                // Alias this plane.
-                dReal* plane = convex->planes + ( i * 4 );
-
-                // If alpha >= 0 then point is outside of plane.
-                alpha = nsign * ( dDOT( plane, ray->final_posr->pos ) - plane[3] );
-
-                // Compute [ plane-normal DOT ray-normal ], (/flip)
-                beta = dDOT13( plane, ray->final_posr->R+2 ) * nsign;
-
-                // Ray is pointing at the plane? ( beta < 0 )
-                // Ray start to plane is within maximum ray length?
-                // Ray start to plane is closer than the current best distance?
-                if ( beta < -dEpsilon &&
-                         alpha >= 0 && alpha <= ray->length &&
-                         alpha < contact->depth )
-                {
-                        // Compute contact point on convex hull surface.
-                        contact->pos[0] = ray->final_posr->pos[0] + alpha * ray->final_posr->R[0*4+2];
-                        contact->pos[1] = ray->final_posr->pos[1] + alpha * ray->final_posr->R[1*4+2];
-                        contact->pos[2] = ray->final_posr->pos[2] + alpha * ray->final_posr->R[2*4+2];
-
-                        flag = 0;
-
-                        // For all _other_ planes.
-                        for ( unsigned int j = 0; j < convex->planecount; ++j )
-                        {
-                                if ( i == j )
-                                        continue;       // Skip self.
-
-                                // Alias this plane.
-                                dReal* planej = convex->planes + ( j * 4 );
-
-                                // If beta >= 0 then start is outside of plane.
-                                beta = dDOT( planej, contact->pos ) - plane[3];
-
-                                // If any beta is positive, then the contact point
-                                // is not on the surface of the convex hull - it's just
-                                // intersecting some part of its infinite extent.
-                                if ( beta > dEpsilon )
-                                {
-                                        flag = 1;
-                                        break;
-                                }
-                        }
-
-                        // Contact point isn't outside hull's surface? then it's a good contact!
-                        if ( flag == 0 )
-                        {
-                                // Store the contact normal, possibly flipped.
-                                contact->normal[0] = nsign * plane[0];
-                                contact->normal[1] = nsign * plane[1];
-                                contact->normal[2] = nsign * plane[2];
-
-                                // Store depth
-                                contact->depth = alpha;

-                                

-                                if ((flags & CONTACTS_UNIMPORTANT) && contact->depth <= ray->length )

-                                {

-                                        // Break on any contact if contacts are not important

-                                        break; 

-                                }
-                        }
-                }
-        }
-
-        // Contact?
-        return ( contact->depth <= ray->length );
-}
-
-#endif
-
-//<-- Convex Collision
diff --git a/libraries/ode-0.9/ode/src/cylinder.cpp b/libraries/ode-0.9/ode/src/cylinder.cpp
deleted file mode 100644
index 39a6cf3..0000000
--- a/libraries/ode-0.9/ode/src/cylinder.cpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-standard ODE geometry primitives: public API and pairwise collision functions.
-
-the rule is that only the low level primitive collision functions should set
-dContactGeom::g1 and dContactGeom::g2.
-
-*/
-
-#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_util.h"
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-// flat cylinder public API
-
-dxCylinder::dxCylinder (dSpaceID space, dReal _radius, dReal _length) :
-dxGeom (space,1)
-{
-        dAASSERT (_radius > 0 && _length > 0);
-        type = dCylinderClass;
-        radius = _radius;
-        lz = _length;
-}
-
-
-void dxCylinder::computeAABB()
-{
-    const dMatrix3& R = final_posr->R;
-    const dVector3& pos = final_posr->pos;
-
-        dReal xrange = dFabs (R[0] * radius) +   dFabs (R[1] * radius) + REAL(0.5)* dFabs (R[2] * 
-                lz);
-        dReal yrange = dFabs (R[4] * radius) +   dFabs (R[5] * radius) + REAL(0.5)* dFabs (R[6] * 
-                lz);
-        dReal zrange = dFabs (R[8] * radius) +   dFabs (R[9] * radius) + REAL(0.5)* dFabs (R[10] * 
-                lz);
-        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 dCreateCylinder (dSpaceID space, dReal radius, dReal length)
-{
-        return new dxCylinder (space,radius,length);
-}
-
-void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length)
-{
-        dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
-        dAASSERT (radius > 0 && length > 0);
-        dxCylinder *c = (dxCylinder*) cylinder;
-        c->radius = radius;
-        c->lz = length;
-        dGeomMoved (cylinder);
-}
-
-void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length)
-{
-        dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
-        dxCylinder *c = (dxCylinder*) cylinder;
-        *radius = c->radius;
-        *length = c->lz;
-}
-
-
diff --git a/libraries/ode-0.9/ode/src/error.cpp b/libraries/ode-0.9/ode/src/error.cpp
deleted file mode 100644
index 9b33db5..0000000
--- a/libraries/ode-0.9/ode/src/error.cpp
+++ /dev/null
@@ -1,172 +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/config.h>
-#include <ode/error.h>
-
-
-static dMessageFunction *error_function = 0;
-static dMessageFunction *debug_function = 0;
-static dMessageFunction *message_function = 0;
-
-
-extern "C" void dSetErrorHandler (dMessageFunction *fn)
-{
-  error_function = fn;
-}
-
-
-extern "C" void dSetDebugHandler (dMessageFunction *fn)
-{
-  debug_function = fn;
-}
-
-
-extern "C" void dSetMessageHandler (dMessageFunction *fn)
-{
-  message_function = fn;
-}
-
-
-extern "C" dMessageFunction *dGetErrorHandler()
-{
-  return error_function;
-}
-
-
-extern "C" dMessageFunction *dGetDebugHandler()
-{
-  return debug_function;
-}
-
-
-extern "C" dMessageFunction *dGetMessageHandler()
-{
-  return message_function;
-}
-
-
-static void printMessage (int num, const char *msg1, const char *msg2,
-                          va_list ap)
-{
-  fflush (stderr);
-  fflush (stdout);
-  if (num) fprintf (stderr,"\n%s %d: ",msg1,num);
-  else fprintf (stderr,"\n%s: ",msg1);
-  vfprintf (stderr,msg2,ap);
-  fprintf (stderr,"\n");
-  fflush (stderr);
-}
-
-//****************************************************************************
-// unix
-
-#ifndef WIN32
-
-extern "C" void dError (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (error_function) error_function (num,msg,ap);
-  else printMessage (num,"ODE Error",msg,ap);
-  exit (1);
-}
-
-
-extern "C" void dDebug (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (debug_function) debug_function (num,msg,ap);
-  else printMessage (num,"ODE INTERNAL ERROR",msg,ap);
-  // *((char *)0) = 0;   ... commit SEGVicide
-  abort();
-}
-
-
-extern "C" void dMessage (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (message_function) message_function (num,msg,ap);
-  else printMessage (num,"ODE Message",msg,ap);
-}
-
-#endif
-
-//****************************************************************************
-// windows
-
-#ifdef WIN32
-
-// isn't cygwin annoying!
-#ifdef CYGWIN
-#define _snprintf snprintf
-#define _vsnprintf vsnprintf
-#endif
-
-
-#include "windows.h"
-
-
-extern "C" void dError (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (error_function) error_function (num,msg,ap);
-  else {
-    char s[1000],title[100];
-    _snprintf (title,sizeof(title),"ODE Error %d",num);
-    _vsnprintf (s,sizeof(s),msg,ap);
-    s[sizeof(s)-1] = 0;
-    MessageBox(0,s,title,MB_OK | MB_ICONWARNING);
-  }
-  exit (1);
-}
-
-
-extern "C" void dDebug (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (debug_function) debug_function (num,msg,ap);
-  else {
-    char s[1000],title[100];
-    _snprintf (title,sizeof(title),"ODE INTERNAL ERROR %d",num);
-    _vsnprintf (s,sizeof(s),msg,ap);
-    s[sizeof(s)-1] = 0;
-    MessageBox(0,s,title,MB_OK | MB_ICONSTOP);
-  }
-  abort();
-}
-
-
-extern "C" void dMessage (int num, const char *msg, ...)
-{
-  va_list ap;
-  va_start (ap,msg);
-  if (message_function) message_function (num,msg,ap);
-  else printMessage (num,"ODE Message",msg,ap);
-}
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/export-dif.cpp b/libraries/ode-0.9/ode/src/export-dif.cpp
deleted file mode 100644
index 577d3e1..0000000
--- a/libraries/ode-0.9/ode/src/export-dif.cpp
+++ /dev/null
@@ -1,568 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
- * Export a DIF (Dynamics Interchange Format) file.
- */
-
-
-// @@@ TODO:
-//      * export all spaces, and geoms in spaces, not just ones attached to bodies
-//        (separate export function?)
-//      * say the space each geom is in, so reader can construct space heirarchy
-//      * limot --> separate out into limits and motors?
-//      * make sure ODE-specific parameters divided out
-
-
-#include "ode/ode.h"
-#include "objects.h"
-#include "joint.h"
-#include "collision_kernel.h"
-
-//***************************************************************************
-// utility
-
-struct PrintingContext {
-        FILE *file;             // file to write to
-        int precision;          // digits of precision to print
-        int indent;             // number of levels of indent
-
-        void printIndent();
-        void printReal (dReal x);
-        void print (const char *name, int x);
-        void print (const char *name, dReal x);
-        void print (const char *name, const dReal *x, int n=3);
-        void print (const char *name, const char *x=0);
-        void printNonzero (const char *name, dReal x);
-        void printNonzero (const char *name, const dReal x[3]);
-};
-
-
-void PrintingContext::printIndent()
-{
-        for (int i=0; i<indent; i++) fputc ('\t',file);
-}
-
-
-void PrintingContext::print (const char *name, int x)
-{
-        printIndent();
-        fprintf (file,"%s = %d,\n",name,x);
-}
-
-
-void PrintingContext::printReal (dReal x)
-{
-        if (x==dInfinity) {
-                fprintf (file,"inf");
-        }
-        else if (x==-dInfinity) {
-                fprintf (file,"-inf");
-        }
-        else {
-                fprintf (file,"%.*g",precision,x);
-        }
-}
-
-
-void PrintingContext::print (const char *name, dReal x)
-{
-        printIndent();
-        fprintf (file,"%s = ",name);
-        printReal (x);
-        fprintf (file,",\n");
-}
-
-
-void PrintingContext::print (const char *name, const dReal *x, int n)
-{
-        printIndent();
-        fprintf (file,"%s = {",name);
-        for (int i=0; i<n; i++) {
-                printReal (x[i]);
-                if (i < n-1) fputc (',',file);
-        }
-        fprintf (file,"},\n");
-}
-
-
-void PrintingContext::print (const char *name, const char *x)
-{
-        printIndent();
-        if (x) {
-                fprintf (file,"%s = \"%s\",\n",name,x);
-        }
-        else {
-                fprintf (file,"%s\n",name);
-        }
-}
-
-
-void PrintingContext::printNonzero (const char *name, dReal x)
-{
-        if (x != 0) print (name,x);
-}
-
-
-void PrintingContext::printNonzero (const char *name, const dReal x[3])
-{
-        if (x[0] != 0 && x[1] != 0 && x[2] != 0) print (name,x);
-}
-
-//***************************************************************************
-// joints
-
-
-static void printLimot (PrintingContext &c, dxJointLimitMotor &limot, int num)
-{
-        if (num >= 0) {
-                c.printIndent();
-                fprintf (c.file,"limit%d = {\n",num);
-        }
-        else {
-                c.print ("limit = {");
-        }
-        c.indent++;
-        c.print ("low_stop",limot.lostop);
-        c.print ("high_stop",limot.histop);
-        c.printNonzero ("bounce",limot.bounce);
-        c.print ("ODE = {");
-        c.indent++;
-        c.printNonzero ("stop_erp",limot.stop_erp);
-        c.printNonzero ("stop_cfm",limot.stop_cfm);
-        c.indent--;
-        c.print ("},");
-        c.indent--;
-        c.print ("},");
-
-        if (num >= 0) {
-                c.printIndent();
-                fprintf (c.file,"motor%d = {\n",num);
-        }
-        else {
-                c.print ("motor = {");
-        }
-        c.indent++;
-        c.printNonzero ("vel",limot.vel);
-        c.printNonzero ("fmax",limot.fmax);
-        c.print ("ODE = {");
-        c.indent++;
-        c.printNonzero ("fudge_factor",limot.fudge_factor);
-        c.printNonzero ("normal_cfm",limot.normal_cfm);
-        c.indent--;
-        c.print ("},");
-        c.indent--;
-        c.print ("},");
-}
-
-
-static const char *getJointName (dxJoint *j)
-{
-        switch (j->vtable->typenum) {
-                case dJointTypeBall: return "ball";
-                case dJointTypeHinge: return "hinge";
-                case dJointTypeSlider: return "slider";
-                case dJointTypeContact: return "contact";
-                case dJointTypeUniversal: return "universal";
-                case dJointTypeHinge2: return "ODE_hinge2";
-                case dJointTypeFixed: return "fixed";
-                case dJointTypeNull: return "null";
-                case dJointTypeAMotor: return "ODE_angular_motor";
-                case dJointTypeLMotor: return "ODE_linear_motor";
-                case dJointTypePR: return "PR";
-        }
-        return "unknown";
-}
-
-
-static void printBall (PrintingContext &c, dxJoint *j)
-{
-        dxJointBall *b = (dxJointBall*) j;
-        c.print ("anchor1",b->anchor1);
-        c.print ("anchor2",b->anchor2);
-}
-
-
-static void printHinge (PrintingContext &c, dxJoint *j)
-{
-        dxJointHinge *h = (dxJointHinge*) j;
-        c.print ("anchor1",h->anchor1);
-        c.print ("anchor2",h->anchor2);
-        c.print ("axis1",h->axis1);
-        c.print ("axis2",h->axis2);
-        c.print ("qrel",h->qrel,4);
-        printLimot (c,h->limot,-1);
-}
-
-
-static void printSlider (PrintingContext &c, dxJoint *j)
-{
-        dxJointSlider *s = (dxJointSlider*) j;
-        c.print ("axis1",s->axis1);
-        c.print ("qrel",s->qrel,4);
-        c.print ("offset",s->offset);
-        printLimot (c,s->limot,-1);
-}
-
-
-static void printContact (PrintingContext &c, dxJoint *j)
-{
-        dxJointContact *ct = (dxJointContact*) j;
-        int mode = ct->contact.surface.mode;
-        c.print ("pos",ct->contact.geom.pos);
-        c.print ("normal",ct->contact.geom.normal);
-        c.print ("depth",ct->contact.geom.depth);
-        //@@@ may want to write the geoms g1 and g2 that are involved, for debugging.
-        //    to do this we must have written out all geoms in all spaces, not just
-        //    geoms that are attached to bodies.
-        c.print ("mu",ct->contact.surface.mu);
-        if (mode & dContactMu2) c.print ("mu2",ct->contact.surface.mu2);
-        if (mode & dContactBounce) c.print ("bounce",ct->contact.surface.bounce);
-        if (mode & dContactBounce) c.print ("bounce_vel",ct->contact.surface.bounce_vel);
-        if (mode & dContactSoftERP) c.print ("soft_ERP",ct->contact.surface.soft_erp);
-        if (mode & dContactSoftCFM) c.print ("soft_CFM",ct->contact.surface.soft_cfm);
-        if (mode & dContactMotion1) c.print ("motion1",ct->contact.surface.motion1);
-        if (mode & dContactMotion2) c.print ("motion2",ct->contact.surface.motion2);
-        if (mode & dContactSlip1) c.print ("slip1",ct->contact.surface.slip1);
-        if (mode & dContactSlip2) c.print ("slip2",ct->contact.surface.slip2);
-        int fa = 0;             // friction approximation code
-        if (mode & dContactApprox1_1) fa |= 1;
-        if (mode & dContactApprox1_2) fa |= 2;
-        if (fa) c.print ("friction_approximation",fa);
-        if (mode & dContactFDir1) c.print ("fdir1",ct->contact.fdir1);
-}
-
-
-static void printUniversal (PrintingContext &c, dxJoint *j)
-{
-        dxJointUniversal *u = (dxJointUniversal*) j;
-        c.print ("anchor1",u->anchor1);
-        c.print ("anchor2",u->anchor2);
-        c.print ("axis1",u->axis1);
-        c.print ("axis2",u->axis2);
-        c.print ("qrel1",u->qrel1,4);
-        c.print ("qrel2",u->qrel2,4);
-        printLimot (c,u->limot1,1);
-        printLimot (c,u->limot2,2);
-}
-
-
-static void printHinge2 (PrintingContext &c, dxJoint *j)
-{
-        dxJointHinge2 *h = (dxJointHinge2*) j;
-        c.print ("anchor1",h->anchor1);
-        c.print ("anchor2",h->anchor2);
-        c.print ("axis1",h->axis1);
-        c.print ("axis2",h->axis2);
-        c.print ("v1",h->v1);   //@@@ much better to write out 'qrel' here, if it's available
-        c.print ("v2",h->v2);
-        c.print ("susp_erp",h->susp_erp);
-        c.print ("susp_cfm",h->susp_cfm);
-        printLimot (c,h->limot1,1);
-        printLimot (c,h->limot2,2);
-}
-
-static void printPR (PrintingContext &c, dxJoint *j)
-{
-        dxJointPR *pr = (dxJointPR*) j;
-        c.print ("anchor2",pr->anchor2);
-        c.print ("axisR1",pr->axisR1);
-        c.print ("axisR2",pr->axisR2);
-        c.print ("axisP1",pr->axisP1);
-        c.print ("qrel",pr->qrel,4);
-        c.print ("offset",pr->offset);
-        printLimot (c,pr->limotP,1);
-        printLimot (c,pr->limotR,2);
-}
-
-
-static void printFixed (PrintingContext &c, dxJoint *j)
-{
-        dxJointFixed *f = (dxJointFixed*) j;
-        c.print ("qrel",f->qrel);
-        c.print ("offset",f->offset);
-}
-
-static void printLMotor (PrintingContext &c, dxJoint *j)
-{
-       dxJointLMotor *a = (dxJointLMotor*) j;
-       c.print("num", a->num);
-       c.printIndent();
-       fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]);
-       c.print ("axis1",a->axis[0]);
-       c.print ("axis2",a->axis[1]);
-       c.print ("axis3",a->axis[2]);
-       for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1);
-}
-
-
-static void printAMotor (PrintingContext &c, dxJoint *j)
-{
-        dxJointAMotor *a = (dxJointAMotor*) j;
-        c.print ("num",a->num);
-        c.print ("mode",a->mode);
-        c.printIndent();
-        fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]);
-        c.print ("axis1",a->axis[0]);
-        c.print ("axis2",a->axis[1]);
-        c.print ("axis3",a->axis[2]);
-        for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1);
-        c.print ("angle1",a->angle[0]);
-        c.print ("angle2",a->angle[1]);
-        c.print ("angle3",a->angle[2]);
-}
-
-//***************************************************************************
-// geometry
-
-static void printGeom (PrintingContext &c, dxGeom *g);
-
-static void printSphere (PrintingContext &c, dxGeom *g)
-{
-        c.print ("type","sphere");
-        c.print ("radius",dGeomSphereGetRadius (g));
-}
-
-
-static void printBox (PrintingContext &c, dxGeom *g)
-{
-        dVector3 sides;
-        dGeomBoxGetLengths (g,sides);
-        c.print ("type","box");
-        c.print ("sides",sides);
-}
-
-
-
-static void printCapsule (PrintingContext &c, dxGeom *g)
-{
-        dReal radius,length;
-        dGeomCapsuleGetParams (g,&radius,&length);
-        c.print ("type","capsule");
-        c.print ("radius",radius);
-        c.print ("length",length);
-}
-
-
-static void printPlane (PrintingContext &c, dxGeom *g)
-{
-        dVector4 e;
-        dGeomPlaneGetParams (g,e);
-        c.print ("type","plane");
-        c.print ("normal",e);
-        c.print ("d",e[3]);
-}
-
-
-
-static void printRay (PrintingContext &c, dxGeom *g)
-{
-        dReal length = dGeomRayGetLength (g);
-        c.print ("type","ray");
-        c.print ("length",length);
-}
-
-
-
-static void printGeomTransform (PrintingContext &c, dxGeom *g)
-{
-        dxGeom *g2 = dGeomTransformGetGeom (g);
-        const dReal *pos = dGeomGetPosition (g2);
-        dQuaternion q;
-        dGeomGetQuaternion (g2,q);
-        c.print ("type","transform");
-        c.print ("pos",pos);
-        c.print ("q",q,4);
-        c.print ("geometry = {");
-        c.indent++;
-        printGeom (c,g2);
-        c.indent--;
-        c.print ("}");
-}
-
-
-
-static void printTriMesh (PrintingContext &c, dxGeom *g)
-{
-        c.print ("type","trimesh");
-        //@@@ i don't think that the trimesh accessor functions are really
-        //    sufficient to read out all the triangle data, and anyway we
-        //    should have a method of not duplicating trimesh data that is
-        //    shared.
-}
-
-
-static void printGeom (PrintingContext &c, dxGeom *g)
-{
-        unsigned long category = dGeomGetCategoryBits (g);
-        if (category != (unsigned long)(~0)) {
-                c.printIndent();
-                fprintf (c.file,"category_bits = %lu\n",category);
-        }
-        unsigned long collide = dGeomGetCollideBits (g);
-        if (collide != (unsigned long)(~0)) {
-                c.printIndent();
-                fprintf (c.file,"collide_bits = %lu\n",collide);
-        }
-        if (!dGeomIsEnabled (g)) {
-                c.print ("disabled",1);
-        }
-        switch (g->type) {
-                case dSphereClass: printSphere (c,g); break;
-                case dBoxClass: printBox (c,g); break;
-                case dCapsuleClass: printCapsule (c,g); break;
-                case dPlaneClass: printPlane (c,g); break;
-                case dRayClass: printRay (c,g); break;
-                case dGeomTransformClass: printGeomTransform (c,g); break;
-                case dTriMeshClass: printTriMesh (c,g); break;
-        }
-}
-
-//***************************************************************************
-// world
-
-void dWorldExportDIF (dWorldID w, FILE *file, const char *prefix)
-{
-        PrintingContext c;
-        c.file = file;
-#if defined(dSINGLE)
-        c.precision = 7;
-#else
-        c.precision = 15;
-#endif
-        c.indent = 1;
-
-        fprintf (file,"-- Dynamics Interchange Format v0.1\n\n%sworld = dynamics.world {\n",prefix);
-        c.print ("gravity",w->gravity);
-        c.print ("ODE = {");
-        c.indent++;
-        c.print ("ERP",w->global_erp);
-        c.print ("CFM",w->global_cfm);
-        c.print ("auto_disable = {");
-        c.indent++;
-        c.print ("linear_threshold",w->adis.linear_average_threshold);
-        c.print ("angular_threshold",w->adis.angular_average_threshold);
-        c.print ("average_samples",(int)w->adis.average_samples);
-        c.print ("idle_time",w->adis.idle_time);
-        c.print ("idle_steps",w->adis.idle_steps);
-        fprintf (file,"\t\t},\n\t},\n}\n");
-        c.indent -= 3;
-
-        // bodies
-        int num = 0;
-        fprintf (file,"%sbody = {}\n",prefix);
-        for (dxBody *b=w->firstbody; b; b=(dxBody*)b->next) {
-                b->tag = num;
-                fprintf (file,"%sbody[%d] = dynamics.body {\n\tworld = %sworld,\n",prefix,num,prefix);
-                c.indent++;
-                c.print ("pos",b->posr.pos);
-                c.print ("q",b->q,4);
-                c.print ("lvel",b->lvel);
-                c.print ("avel",b->avel);
-                c.print ("mass",b->mass.mass);
-                fprintf (file,"\tI = {{");
-                for (int i=0; i<3; i++) {
-                        for (int j=0; j<3; j++) {
-                                c.printReal (b->mass.I[i*4+j]);
-                                if (j < 2) fputc (',',file);
-                        }
-                        if (i < 2) fprintf (file,"},{");
-                }
-                fprintf (file,"}},\n");
-                c.printNonzero ("com",b->mass.c);
-                c.print ("ODE = {");
-                c.indent++;
-                if (b->flags & dxBodyFlagFiniteRotation) c.print ("finite_rotation",1);
-                if (b->flags & dxBodyDisabled) c.print ("disabled",1);
-                if (b->flags & dxBodyNoGravity) c.print ("no_gravity",1);
-                if (b->flags & dxBodyAutoDisable) {
-                        c.print ("auto_disable = {");
-                        c.indent++;
-                        c.print ("linear_threshold",b->adis.linear_average_threshold);
-                        c.print ("angular_threshold",b->adis.angular_average_threshold);
-                        c.print ("average_samples",(int)b->adis.average_samples);
-                        c.print ("idle_time",b->adis.idle_time);
-                        c.print ("idle_steps",b->adis.idle_steps);
-                        c.print ("time_left",b->adis_timeleft);
-                        c.print ("steps_left",b->adis_stepsleft);
-                        c.indent--;
-                        c.print ("},");
-                }
-                c.printNonzero ("facc",b->facc);
-                c.printNonzero ("tacc",b->tacc);
-                if (b->flags & dxBodyFlagFiniteRotationAxis) {
-                        c.print ("finite_rotation_axis",b->finite_rot_axis);
-                }
-                c.indent--;
-                c.print ("},");
-                if (b->geom) {
-                        c.print ("geometry = {");
-                        c.indent++;
-                        for (dxGeom *g=b->geom; g; g=g->body_next) {
-                                c.print ("{");
-                                c.indent++;
-                                printGeom (c,g);
-                                c.indent--;
-                                c.print ("},");
-                        }
-                        c.indent--;
-                        c.print ("},");
-                }
-                c.indent--;
-                c.print ("}");
-                num++;
-        }
-
-        // joints
-        num = 0;
-        fprintf (file,"%sjoint = {}\n",prefix);
-        for (dxJoint *j=w->firstjoint; j; j=(dxJoint*)j->next) {
-                c.indent++;
-                const char *name = getJointName (j);
-                fprintf (file,
-                        "%sjoint[%d] = dynamics.%s_joint {\n"
-                        "\tworld = %sworld,\n"
-                        "\tbody = {"
-                        ,prefix,num,name,prefix);
-
-                if ( j->node[0].body )
-                        fprintf (file,"%sbody[%d]",prefix,j->node[0].body->tag);
-                if ( j->node[1].body )
-                        fprintf (file,",%sbody[%d]",prefix,j->node[1].body->tag);
-
-                switch (j->vtable->typenum) {
-                        case dJointTypeBall: printBall (c,j); break;
-                        case dJointTypeHinge: printHinge (c,j); break;
-                        case dJointTypeSlider: printSlider (c,j); break;
-                        case dJointTypeContact: printContact (c,j); break;
-                        case dJointTypeUniversal: printUniversal (c,j); break;
-                        case dJointTypeHinge2: printHinge2 (c,j); break;
-                        case dJointTypeFixed: printFixed (c,j); break;
-                        case dJointTypeAMotor: printAMotor (c,j); break;
-                        case dJointTypeLMotor: printLMotor (c,j); break;
-                        case dJointTypePR: printPR (c,j); break;
-                }
-                c.indent--;
-                c.print ("}");
-                num++;
-        }
-}
diff --git a/libraries/ode-0.9/ode/src/fastdot.c b/libraries/ode-0.9/ode/src/fastdot.c
deleted file mode 100644
index 148d2dd..0000000
--- a/libraries/ode-0.9/ode/src/fastdot.c
+++ /dev/null
@@ -1,30 +0,0 @@
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-
-dReal dDot (const dReal *a, const dReal *b, int n)
-{  
-  dReal p0,q0,m0,p1,q1,m1,sum;
-  sum = 0;
-  n -= 2;
-  while (n >= 0) {
-    p0 = a[0]; q0 = b[0];
-    m0 = p0 * q0;
-    p1 = a[1]; q1 = b[1];
-    m1 = p1 * q1;
-    sum += m0;
-    sum += m1;
-    a += 2;
-    b += 2;
-    n -= 2;
-  }
-  n += 2;
-  while (n > 0) {
-    sum += (*a) * (*b);
-    a++;
-    b++;
-    n--;
-  }
-  return sum;
-}
diff --git a/libraries/ode-0.9/ode/src/fastldlt.c b/libraries/ode-0.9/ode/src/fastldlt.c
deleted file mode 100644
index df2ea6e..0000000
--- a/libraries/ode-0.9/ode/src/fastldlt.c
+++ /dev/null
@@ -1,381 +0,0 @@
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-/* solve L*X=B, with B containing 1 right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*1 matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of 2*2.
- * if this is in the factorizer source file, n must be a multiple of 2.
- */
-
-static void dSolveL1_1 (const dReal *L, dReal *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  dReal Z11,m11,Z21,m21,p1,q1,p2,*ex;
-  const dReal *ell;
-  int i,j;
-  /* compute all 2 x 1 blocks of X */
-  for (i=0; i < n; i+=2) {
-    /* compute all 2 x 1 block of X, from rows i..i+2-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z21=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-2; j >= 0; j -= 2) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      Z11 += m11;
-      Z21 += m21;
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[1];
-      q1=ex[1];
-      m11 = p1 * q1;
-      p2=ell[1+lskip1];
-      m21 = p2 * q1;
-      /* advance pointers */
-      ell += 2;
-      ex += 2;
-      Z11 += m11;
-      Z21 += m21;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 2;
-    for (; j > 0; j--) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-      Z11 += m11;
-      Z21 += m21;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    p1 = ell[lskip1];
-    Z21 = ex[1] - Z21 - p1*Z11;
-    ex[1] = Z21;
-    /* end of outer loop */
-  }
-}
-
-/* solve L*X=B, with B containing 2 right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*2 matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of 2*2.
- * if this is in the factorizer source file, n must be a multiple of 2.
- */
-
-static void dSolveL1_2 (const dReal *L, dReal *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  dReal Z11,m11,Z12,m12,Z21,m21,Z22,m22,p1,q1,p2,q2,*ex;
-  const dReal *ell;
-  int i,j;
-  /* compute all 2 x 2 blocks of X */
-  for (i=0; i < n; i+=2) {
-    /* compute all 2 x 2 block of X, from rows i..i+2-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z12=0;
-    Z21=0;
-    Z22=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-2; j >= 0; j -= 2) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      q2=ex[lskip1];
-      m12 = p1 * q2;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      m22 = p2 * q2;
-      Z11 += m11;
-      Z12 += m12;
-      Z21 += m21;
-      Z22 += m22;
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[1];
-      q1=ex[1];
-      m11 = p1 * q1;
-      q2=ex[1+lskip1];
-      m12 = p1 * q2;
-      p2=ell[1+lskip1];
-      m21 = p2 * q1;
-      m22 = p2 * q2;
-      /* advance pointers */
-      ell += 2;
-      ex += 2;
-      Z11 += m11;
-      Z12 += m12;
-      Z21 += m21;
-      Z22 += m22;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 2;
-    for (; j > 0; j--) {
-      /* compute outer product and add it to the Z matrix */
-      p1=ell[0];
-      q1=ex[0];
-      m11 = p1 * q1;
-      q2=ex[lskip1];
-      m12 = p1 * q2;
-      p2=ell[lskip1];
-      m21 = p2 * q1;
-      m22 = p2 * q2;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-      Z11 += m11;
-      Z12 += m12;
-      Z21 += m21;
-      Z22 += m22;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    Z12 = ex[lskip1] - Z12;
-    ex[lskip1] = Z12;
-    p1 = ell[lskip1];
-    Z21 = ex[1] - Z21 - p1*Z11;
-    ex[1] = Z21;
-    Z22 = ex[1+lskip1] - Z22 - p1*Z12;
-    ex[1+lskip1] = Z22;
-    /* end of outer loop */
-  }
-}
-
-
-void dFactorLDLT (dReal *A, dReal *d, int n, int nskip1)
-{  
-  int i,j;
-  dReal sum,*ell,*dee,dd,p1,p2,q1,q2,Z11,m11,Z21,m21,Z22,m22;
-  if (n < 1) return;
-  
-  for (i=0; i<=n-2; i += 2) {
-    /* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */
-    dSolveL1_2 (A,A+i*nskip1,i,nskip1);
-    /* scale the elements in a 2 x i block at A(i,0), and also */
-    /* compute Z = the outer product matrix that we'll need. */
-    Z11 = 0;
-    Z21 = 0;
-    Z22 = 0;
-    ell = A+i*nskip1;
-    dee = d;
-    for (j=i-6; j >= 0; j -= 6) {
-      p1 = ell[0];
-      p2 = ell[nskip1];
-      dd = dee[0];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[0] = q1;
-      ell[nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[1];
-      p2 = ell[1+nskip1];
-      dd = dee[1];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[1] = q1;
-      ell[1+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[2];
-      p2 = ell[2+nskip1];
-      dd = dee[2];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[2] = q1;
-      ell[2+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[3];
-      p2 = ell[3+nskip1];
-      dd = dee[3];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[3] = q1;
-      ell[3+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[4];
-      p2 = ell[4+nskip1];
-      dd = dee[4];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[4] = q1;
-      ell[4+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      p1 = ell[5];
-      p2 = ell[5+nskip1];
-      dd = dee[5];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[5] = q1;
-      ell[5+nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      ell += 6;
-      dee += 6;
-    }
-    /* compute left-over iterations */
-    j += 6;
-    for (; j > 0; j--) {
-      p1 = ell[0];
-      p2 = ell[nskip1];
-      dd = dee[0];
-      q1 = p1*dd;
-      q2 = p2*dd;
-      ell[0] = q1;
-      ell[nskip1] = q2;
-      m11 = p1*q1;
-      m21 = p2*q1;
-      m22 = p2*q2;
-      Z11 += m11;
-      Z21 += m21;
-      Z22 += m22;
-      ell++;
-      dee++;
-    }
-    /* solve for diagonal 2 x 2 block at A(i,i) */
-    Z11 = ell[0] - Z11;
-    Z21 = ell[nskip1] - Z21;
-    Z22 = ell[1+nskip1] - Z22;
-    dee = d + i;
-    /* factorize 2 x 2 block Z,dee */
-    /* factorize row 1 */
-    dee[0] = dRecip(Z11);
-    /* factorize row 2 */
-    sum = 0;
-    q1 = Z21;
-    q2 = q1 * dee[0];
-    Z21 = q2;
-    sum += q1*q2;
-    dee[1] = dRecip(Z22 - sum);
-    /* done factorizing 2 x 2 block */
-    ell[nskip1] = Z21;
-  }
-  /* compute the (less than 2) rows at the bottom */
-  switch (n-i) {
-    case 0:
-    break;
-    
-    case 1:
-    dSolveL1_1 (A,A+i*nskip1,i,nskip1);
-    /* scale the elements in a 1 x i block at A(i,0), and also */
-    /* compute Z = the outer product matrix that we'll need. */
-    Z11 = 0;
-    ell = A+i*nskip1;
-    dee = d;
-    for (j=i-6; j >= 0; j -= 6) {
-      p1 = ell[0];
-      dd = dee[0];
-      q1 = p1*dd;
-      ell[0] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[1];
-      dd = dee[1];
-      q1 = p1*dd;
-      ell[1] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[2];
-      dd = dee[2];
-      q1 = p1*dd;
-      ell[2] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[3];
-      dd = dee[3];
-      q1 = p1*dd;
-      ell[3] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[4];
-      dd = dee[4];
-      q1 = p1*dd;
-      ell[4] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      p1 = ell[5];
-      dd = dee[5];
-      q1 = p1*dd;
-      ell[5] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      ell += 6;
-      dee += 6;
-    }
-    /* compute left-over iterations */
-    j += 6;
-    for (; j > 0; j--) {
-      p1 = ell[0];
-      dd = dee[0];
-      q1 = p1*dd;
-      ell[0] = q1;
-      m11 = p1*q1;
-      Z11 += m11;
-      ell++;
-      dee++;
-    }
-    /* solve for diagonal 1 x 1 block at A(i,i) */
-    Z11 = ell[0] - Z11;
-    dee = d + i;
-    /* factorize 1 x 1 block Z,dee */
-    /* factorize row 1 */
-    dee[0] = dRecip(Z11);
-    /* done factorizing 1 x 1 block */
-    break;
-    
-    default: *((char*)0)=0;  /* this should never happen! */
-  }
-}
diff --git a/libraries/ode-0.9/ode/src/fastlsolve.c b/libraries/ode-0.9/ode/src/fastlsolve.c
deleted file mode 100644
index 0ae99d6..0000000
--- a/libraries/ode-0.9/ode/src/fastlsolve.c
+++ /dev/null
@@ -1,298 +0,0 @@
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-/* solve L*X=B, with B containing 1 right hand sides.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * B is an n*1 matrix that contains the right hand sides.
- * B is stored by columns and its leading dimension is also lskip.
- * B is overwritten with X.
- * this processes blocks of 4*4.
- * if this is in the factorizer source file, n must be a multiple of 4.
- */
-
-void dSolveL1 (const dReal *L, dReal *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  dReal Z11,Z21,Z31,Z41,p1,q1,p2,p3,p4,*ex;
-  const dReal *ell;
-  int lskip2,lskip3,i,j;
-  /* compute lskip values */
-  lskip2 = 2*lskip1;
-  lskip3 = 3*lskip1;
-  /* compute all 4 x 1 blocks of X */
-  for (i=0; i <= n-4; i+=4) {
-    /* compute all 4 x 1 block of X, from rows i..i+4-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z21=0;
-    Z31=0;
-    Z41=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-12; j >= 0; j -= 12) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[lskip1];
-      p3=ell[lskip2];
-      p4=ell[lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[1];
-      q1=ex[1];
-      p2=ell[1+lskip1];
-      p3=ell[1+lskip2];
-      p4=ell[1+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[2];
-      q1=ex[2];
-      p2=ell[2+lskip1];
-      p3=ell[2+lskip2];
-      p4=ell[2+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[3];
-      q1=ex[3];
-      p2=ell[3+lskip1];
-      p3=ell[3+lskip2];
-      p4=ell[3+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[4];
-      q1=ex[4];
-      p2=ell[4+lskip1];
-      p3=ell[4+lskip2];
-      p4=ell[4+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[5];
-      q1=ex[5];
-      p2=ell[5+lskip1];
-      p3=ell[5+lskip2];
-      p4=ell[5+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[6];
-      q1=ex[6];
-      p2=ell[6+lskip1];
-      p3=ell[6+lskip2];
-      p4=ell[6+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[7];
-      q1=ex[7];
-      p2=ell[7+lskip1];
-      p3=ell[7+lskip2];
-      p4=ell[7+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[8];
-      q1=ex[8];
-      p2=ell[8+lskip1];
-      p3=ell[8+lskip2];
-      p4=ell[8+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[9];
-      q1=ex[9];
-      p2=ell[9+lskip1];
-      p3=ell[9+lskip2];
-      p4=ell[9+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[10];
-      q1=ex[10];
-      p2=ell[10+lskip1];
-      p3=ell[10+lskip2];
-      p4=ell[10+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* load p and q values */
-      p1=ell[11];
-      q1=ex[11];
-      p2=ell[11+lskip1];
-      p3=ell[11+lskip2];
-      p4=ell[11+lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* advance pointers */
-      ell += 12;
-      ex += 12;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 12;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[lskip1];
-      p3=ell[lskip2];
-      p4=ell[lskip3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      Z21 += p2 * q1;
-      Z31 += p3 * q1;
-      Z41 += p4 * q1;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    p1 = ell[lskip1];
-    Z21 = ex[1] - Z21 - p1*Z11;
-    ex[1] = Z21;
-    p1 = ell[lskip2];
-    p2 = ell[1+lskip2];
-    Z31 = ex[2] - Z31 - p1*Z11 - p2*Z21;
-    ex[2] = Z31;
-    p1 = ell[lskip3];
-    p2 = ell[1+lskip3];
-    p3 = ell[2+lskip3];
-    Z41 = ex[3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
-    ex[3] = Z41;
-    /* end of outer loop */
-  }
-  /* compute rows at end that are not a multiple of block size */
-  for (; i < n; i++) {
-    /* compute all 1 x 1 block of X, from rows i..i+1-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    ell = L + i*lskip1;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-12; j >= 0; j -= 12) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[1];
-      q1=ex[1];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[2];
-      q1=ex[2];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[3];
-      q1=ex[3];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[4];
-      q1=ex[4];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[5];
-      q1=ex[5];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[6];
-      q1=ex[6];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[7];
-      q1=ex[7];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[8];
-      q1=ex[8];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[9];
-      q1=ex[9];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[10];
-      q1=ex[10];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* load p and q values */
-      p1=ell[11];
-      q1=ex[11];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* advance pointers */
-      ell += 12;
-      ex += 12;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 12;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      Z11 += p1 * q1;
-      /* advance pointers */
-      ell += 1;
-      ex += 1;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-  }
-}
diff --git a/libraries/ode-0.9/ode/src/fastltsolve.c b/libraries/ode-0.9/ode/src/fastltsolve.c
deleted file mode 100644
index eb950f6..0000000
--- a/libraries/ode-0.9/ode/src/fastltsolve.c
+++ /dev/null
@@ -1,199 +0,0 @@
-/* generated code, do not edit. */
-
-#include "ode/matrix.h"
-
-/* solve L^T * x=b, with b containing 1 right hand side.
- * L is an n*n lower triangular matrix with ones on the diagonal.
- * L is stored by rows and its leading dimension is lskip.
- * b is an n*1 matrix that contains the right hand side.
- * b is overwritten with x.
- * this processes blocks of 4.
- */
-
-void dSolveL1T (const dReal *L, dReal *B, int n, int lskip1)
-{  
-  /* declare variables - Z matrix, p and q vectors, etc */
-  dReal Z11,m11,Z21,m21,Z31,m31,Z41,m41,p1,q1,p2,p3,p4,*ex;
-  const dReal *ell;
-  int lskip2,lskip3,i,j;
-  /* special handling for L and B because we're solving L1 *transpose* */
-  L = L + (n-1)*(lskip1+1);
-  B = B + n-1;
-  lskip1 = -lskip1;
-  /* compute lskip values */
-  lskip2 = 2*lskip1;
-  lskip3 = 3*lskip1;
-  /* compute all 4 x 1 blocks of X */
-  for (i=0; i <= n-4; i+=4) {
-    /* compute all 4 x 1 block of X, from rows i..i+4-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    Z21=0;
-    Z31=0;
-    Z41=0;
-    ell = L - i;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-4; j >= 0; j -= 4) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-1];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-2];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-3];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      ex -= 4;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 4;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      p2=ell[-1];
-      p3=ell[-2];
-      p4=ell[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      m21 = p2 * q1;
-      m31 = p3 * q1;
-      m41 = p4 * q1;
-      ell += lskip1;
-      ex -= 1;
-      Z11 += m11;
-      Z21 += m21;
-      Z31 += m31;
-      Z41 += m41;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-    p1 = ell[-1];
-    Z21 = ex[-1] - Z21 - p1*Z11;
-    ex[-1] = Z21;
-    p1 = ell[-2];
-    p2 = ell[-2+lskip1];
-    Z31 = ex[-2] - Z31 - p1*Z11 - p2*Z21;
-    ex[-2] = Z31;
-    p1 = ell[-3];
-    p2 = ell[-3+lskip1];
-    p3 = ell[-3+lskip2];
-    Z41 = ex[-3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
-    ex[-3] = Z41;
-    /* end of outer loop */
-  }
-  /* compute rows at end that are not a multiple of block size */
-  for (; i < n; i++) {
-    /* compute all 1 x 1 block of X, from rows i..i+1-1 */
-    /* set the Z matrix to 0 */
-    Z11=0;
-    ell = L - i;
-    ex = B;
-    /* the inner loop that computes outer products and adds them to Z */
-    for (j=i-4; j >= 0; j -= 4) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-1];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-2];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      Z11 += m11;
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[-3];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      ex -= 4;
-      Z11 += m11;
-      /* end of inner loop */
-    }
-    /* compute left-over iterations */
-    j += 4;
-    for (; j > 0; j--) {
-      /* load p and q values */
-      p1=ell[0];
-      q1=ex[0];
-      /* compute outer product and add it to the Z matrix */
-      m11 = p1 * q1;
-      ell += lskip1;
-      ex -= 1;
-      Z11 += m11;
-    }
-    /* finish computing the X(i) block */
-    Z11 = ex[0] - Z11;
-    ex[0] = Z11;
-  }
-}
diff --git a/libraries/ode-0.9/ode/src/heightfield.cpp b/libraries/ode-0.9/ode/src/heightfield.cpp
deleted file mode 100644
index 36755fc..0000000
--- a/libraries/ode-0.9/ode/src/heightfield.cpp
+++ /dev/null
@@ -1,1812 +0,0 @@
-// dHeightfield Collider

-//  Paul Cheyrou-Lagreze aka Tuan Kuranes 2006 Speed enhancements http://www.pop-3d.com

-//  Martijn Buijs 2006 http://home.planet.nl/~buijs512/

-// Based on Terrain & Cone contrib by:

-//  Benoit CHAPEROT 2003-2004 http://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_util.h"

-#include "heightfield.h"

-

-

-

-#if dTRIMESH_ENABLED

-#include "collision_trimesh_internal.h"

-#endif // dTRIMESH_ENABLED

-

-#define TERRAINTOL REAL(0.0)

-

-#define dMIN(A,B)  ((A)>(B) ? B : A)

-#define dMAX(A,B)  ((A)>(B) ? A : B)

-

-

-// Three-way MIN and MAX

-#define dMIN3(A,B,C)    ( (A)<(B) ? dMIN((A),(C)) : dMIN((B),(C)) )

-#define dMAX3(A,B,C)    ( (A)>(B) ? dMAX((A),(C)) : dMAX((B),(C)) )

-

-#define dOPESIGN(a, op1, op2,b) \

-    (a)[0] op1 op2 ((b)[0]); \

-    (a)[1] op1 op2 ((b)[1]); \

-    (a)[2] op1 op2 ((b)[2]);

-

-#define dGeomRaySetNoNormalize(myRay, MyPoint, MyVector) {  \

-    \

-    dVector3Copy (MyPoint, myRay.final_posr->pos);   \

-    myRay.final_posr->R[2] = MyVector[0];       \

-    myRay.final_posr->R[6] = MyVector[1];       \

-    myRay.final_posr->R[10] = MyVector[2];      \

-    dGeomMoved (&myRay);                        \

-            }

-

-#define dGeomPlaneSetNoNormalize(MyPlane, MyPlaneDef) { \

-    \

-    MyPlane->p[0] = MyPlaneDef[0];  \

-    MyPlane->p[1] = MyPlaneDef[1];  \

-    MyPlane->p[2] = MyPlaneDef[2];  \

-    MyPlane->p[3] = MyPlaneDef[3];  \

-    dGeomMoved (MyPlane);           \

-                    }

-//////// Local Build Option ////////////////////////////////////////////////////

-

-// Uncomment this #define to use the (0,0) corner of the geom as the origin,

-// rather than the center. This was the way the original heightfield worked,

-// but as it does not match the way all other geometries work, so for constancy it

-// was changed to work like this.

-

-// #define DHEIGHTFIELD_CORNER_ORIGIN

-

-

-// Uncomment this #define to add heightfield triangles edge colliding

-// Code is not guaranteed and I didn't find the need to add that as 

-// colliding planes triangles and edge triangles seems enough.

-// #define _HEIGHTFIELDEDGECOLLIDING

-

-

-//////// dxHeightfieldData /////////////////////////////////////////////////////////////

-

-// dxHeightfieldData constructor

-dxHeightfieldData::dxHeightfieldData()

-{

-    //

-}

-

-

-// build Heightfield data

-void dxHeightfieldData::SetData( int nWidthSamples, int nDepthSamples,

-                                dReal fWidth, dReal fDepth,

-                                dReal fScale, dReal fOffset, dReal fThickness,

-                                int bWrapMode )

-{

-    dIASSERT( fWidth > REAL( 0.0 ) );

-    dIASSERT( fDepth > REAL( 0.0 ) );

-    dIASSERT( nWidthSamples > 0 );

-    dIASSERT( nDepthSamples > 0 );

-

-    // x,z bounds

-    m_fWidth = fWidth;

-    m_fDepth = fDepth;

-

-    // cache half x,z bounds

-    m_fHalfWidth = fWidth / REAL( 2.0 );

-    m_fHalfDepth = fDepth / REAL( 2.0 );

-

-    // scale and offset

-    m_fScale = fScale;

-    m_fOffset = fOffset;

-

-    // infinite min height bounds

-    m_fThickness = fThickness;

-

-    // number of vertices per side

-    m_nWidthSamples = nWidthSamples;

-    m_nDepthSamples = nDepthSamples;

-

-    m_fSampleWidth = m_fWidth / ( m_nWidthSamples - 1 );

-    m_fSampleDepth = m_fDepth / ( m_nDepthSamples - 1 );

-

-    m_fInvSampleWidth = 1 / m_fSampleWidth;

-    m_fInvSampleDepth = 1 / m_fSampleDepth;

-

-    // finite or repeated terrain?

-    m_bWrapMode = bWrapMode;

-}

-

-

-// recomputes heights bounds

-void dxHeightfieldData::ComputeHeightBounds()

-{

-    static int i;

-    static dReal h;

-    static unsigned char *data_byte;

-    static short *data_short;

-    static float *data_float;

-    static double *data_double;

-

-    switch ( m_nGetHeightMode )

-    {

-

-        // callback

-    case 0:

-        // change nothing, keep using default or user specified bounds

-        return;

-

-        // byte

-    case 1:

-        data_byte = (unsigned char*)m_pHeightData;

-        m_fMinHeight = dInfinity;

-        m_fMaxHeight = -dInfinity;

-

-        for (i=0; i<m_nWidthSamples*m_nDepthSamples; i++)

-        {

-            h = data_byte[i];

-            if (h < m_fMinHeight)       m_fMinHeight = h;

-            if (h > m_fMaxHeight)       m_fMaxHeight = h;

-        }

-

-        break;

-

-        // short

-    case 2:

-        data_short = (short*)m_pHeightData;

-        m_fMinHeight = dInfinity;

-        m_fMaxHeight = -dInfinity;

-

-        for (i=0; i<m_nWidthSamples*m_nDepthSamples; i++)

-        {

-            h = data_short[i];

-            if (h < m_fMinHeight)       m_fMinHeight = h;

-            if (h > m_fMaxHeight)       m_fMaxHeight = h;

-        }

-

-        break;

-

-        // float

-    case 3:

-        data_float = (float*)m_pHeightData;

-        m_fMinHeight = dInfinity;

-        m_fMaxHeight = -dInfinity;

-

-        for (i=0; i<m_nWidthSamples*m_nDepthSamples; i++)

-        {

-            h = data_float[i];

-            if (h < m_fMinHeight)       m_fMinHeight = h;

-            if (h > m_fMaxHeight)       m_fMaxHeight = h;

-        }

-

-        break;

-

-        // double

-    case 4:

-        data_double = (double*)m_pHeightData;

-        m_fMinHeight = dInfinity;

-        m_fMaxHeight = -dInfinity;

-

-        for (i=0; i<m_nWidthSamples*m_nDepthSamples; i++)

-        {

-            h = static_cast< dReal >( data_double[i] );

-            if (h < m_fMinHeight)       m_fMinHeight = h;

-            if (h > m_fMaxHeight)       m_fMaxHeight = h;

-        }

-

-        break;

-

-    }

-

-    // scale and offset

-    m_fMinHeight *= m_fScale;

-    m_fMaxHeight *= m_fScale;

-    m_fMinHeight += m_fOffset;

-    m_fMaxHeight += m_fOffset;

-

-    // add thickness

-    m_fMinHeight -= m_fThickness;

-}

-

-

-// returns whether point is over terrain Cell triangle?

-bool dxHeightfieldData::IsOnHeightfield  ( const dReal * const CellOrigin, const dReal * const pos,  const bool isABC) const

-{

-    {

-        const dReal MaxX = CellOrigin[0] + m_fSampleWidth;

-        const dReal TolX = m_fSampleWidth * TERRAINTOL;

-        if ((pos[0]<CellOrigin[0]-TolX) || (pos[0]>MaxX+TolX))  

-            return false;

-    }

-

-    {

-        const dReal MaxZ = CellOrigin[2] + m_fSampleDepth;

-        const dReal TolZ = m_fSampleDepth * TERRAINTOL;

-        if ((pos[2]<CellOrigin[2]-TolZ) || (pos[2]>MaxZ+TolZ))  

-            return false;

-    }

-

-    // add X percentage position on cell and Z percentage position on cell

-    const dReal pctTotal = (pos[0] - CellOrigin[0]) * m_fInvSampleWidth 

-        + (pos[2] - CellOrigin[2]) * m_fInvSampleDepth;

-

-    if (isABC)

-    {

-        if (pctTotal >= REAL(1.0) + TERRAINTOL) 

-            return false;

-        else    

-            return true;

-    }

-    else if (pctTotal <= REAL(1.0) - TERRAINTOL)        

-    {

-        return false;

-    }

-    return true;

-}

-// returns whether point is over terrain Cell triangle?

-bool dxHeightfieldData::IsOnHeightfield2  ( const dReal * const CellOrigin, const dReal * const pos,  const bool isABC) const

-{

-    dReal MaxX, MinX;

-    dReal MaxZ, MinZ;

-    if (isABC)

-    {

-        // point A

-        MinX = CellOrigin[0];

-        MaxX = CellOrigin[0] + m_fSampleWidth;

-

-        MinZ = CellOrigin[2];

-        MaxZ = CellOrigin[2] + m_fSampleDepth;

-    }

-    else

-    {

-        // point D

-        MinX = CellOrigin[0] - m_fSampleWidth;

-        MaxX = CellOrigin[0];

-

-        MinZ = CellOrigin[2] - m_fSampleDepth;

-        MaxZ = CellOrigin[2];

-    }

-

-    // check if inside CELL

-    {

-        const dReal TolX = m_fSampleWidth * TERRAINTOL;

-        if ((pos[0]<MinX-TolX) || (pos[0]>MaxX+TolX))   

-            return false;

-    }

-

-    {

-        const dReal TolZ = m_fSampleDepth * TERRAINTOL;

-        if ((pos[2]<MinZ-TolZ) || (pos[2]>MaxZ+TolZ))   

-            return false;

-    }

-

-    // Sum up X percentage position on cell and Z percentage position on cell

-    const dReal pctTotal = (pos[0] - MinX) * m_fInvSampleWidth 

-        + (pos[2] - MinZ) * m_fInvSampleDepth;

-

-    // check if inside respective Triangle of Cell

-    if (isABC)  

-    {

-        if (pctTotal >= REAL(1.0) + TERRAINTOL) 

-            return false;

-        else    

-            return true;

-    }

-    else if (pctTotal <= REAL(1.0) - TERRAINTOL)        

-    {

-        return false;

-    }

-    return true;

-}

-

-

-// returns height at given sample coordinates

-dReal dxHeightfieldData::GetHeight( int x, int z )

-{

-    static dReal h;

-    static unsigned char *data_byte;

-    static short *data_short;

-    static float *data_float;

-    static double *data_double;

-

-    if ( m_bWrapMode == 0 )

-    {

-        // Finite

-        if ( x < 0 ) x = 0;

-        if ( z < 0 ) z = 0;

-        if ( x > m_nWidthSamples - 1 ) x = m_nWidthSamples - 1;

-        if ( z > m_nDepthSamples - 1 ) z = m_nDepthSamples - 1;

-    }

-    else

-    {

-        // Infinite

-        x %= m_nWidthSamples - 1;

-        z %= m_nDepthSamples - 1;

-        if ( x < 0 ) x += m_nWidthSamples - 1;

-        if ( z < 0 ) z += m_nDepthSamples - 1;

-    }

-

-    switch ( m_nGetHeightMode )

-    {

-

-        // callback (dReal)

-    case 0:

-        h = (*m_pGetHeightCallback)(m_pUserData, x, z);

-        break;

-

-        // byte

-    case 1:

-        data_byte = (unsigned char*)m_pHeightData;

-        h = data_byte[x+(z * m_nWidthSamples)];

-        break;

-

-        // short

-    case 2:

-        data_short = (short*)m_pHeightData;

-        h = data_short[x+(z * m_nWidthSamples)];

-        break;

-

-        // float

-    case 3:

-        data_float = (float*)m_pHeightData;

-        h = data_float[x+(z * m_nWidthSamples)];

-        break;

-

-        // double

-    case 4:

-        data_double = (double*)m_pHeightData;

-        h = static_cast< dReal >( data_double[x+(z * m_nWidthSamples)] );

-        break;

-    }

-

-    return (h * m_fScale) + m_fOffset;

-}

-

-

-// returns height at given coordinates

-dReal dxHeightfieldData::GetHeight( dReal x, dReal z )

-{

-        dReal dnX = dFloor( x * m_fInvSampleWidth );

-        dReal dnZ = dFloor( z * m_fInvSampleDepth );

-

-    dReal dx = ( x - ( dnX * m_fSampleWidth ) ) * m_fInvSampleWidth;

-    dReal dz = ( z - ( dnZ * m_fSampleDepth ) ) * m_fInvSampleDepth;

-

-    int nX = int( dnX );

-    int nZ = int( dnZ );

-

-    //dIASSERT( ( dx + dEpsilon >= 0.0f ) && ( dx - dEpsilon <= 1.0f ) );

-    //dIASSERT( ( dz + dEpsilon >= 0.0f ) && ( dz - dEpsilon <= 1.0f ) );

-

-    dReal y, y0;

-

-    if ( dx + dz < REAL( 1.0 ) )

-    {

-        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 ) * ( REAL(1.0) - dz ) +

-            ( GetHeight( nX, nZ + 1 ) - y0 ) * ( REAL(1.0) - dx );

-    }

-

-    return y;

-}

-

-

-// dxHeightfieldData destructor

-dxHeightfieldData::~dxHeightfieldData()

-{

-    static unsigned char *data_byte;

-    static short *data_short;

-    static float *data_float;

-    static double *data_double;

-

-    dIASSERT( m_pHeightData );

-

-    if ( m_bCopyHeightData )

-    {

-        switch ( m_nGetHeightMode )

-        {

-

-            // callback

-        case 0:

-            // do nothing

-            break;

-

-            // byte

-        case 1:

-            data_byte = (unsigned char*)m_pHeightData;

-            delete [] data_byte;

-            break;

-

-            // short

-        case 2:

-            data_short = (short*)m_pHeightData;

-            delete [] data_short;

-            break;

-

-            // float

-        case 3:

-            data_float = (float*)m_pHeightData;

-            delete [] data_float;

-            break;

-

-            // double

-        case 4:

-            data_double = (double*)m_pHeightData;

-            delete [] data_double;

-            break;

-

-        }

-    }

-}

-

-

-//////// dxHeightfield /////////////////////////////////////////////////////////////////

-

-

-// dxHeightfield constructor

-dxHeightfield::dxHeightfield( dSpaceID space,

-                             dHeightfieldDataID data,

-                             int bPlaceable )                   :

-    dxGeom( space, bPlaceable ),

-    tempPlaneBuffer(0),

-        tempPlaneInstances(0),

-    tempPlaneBufferSize(0),

-    tempTriangleBuffer(0),

-    tempTriangleBufferSize(0),

-    tempHeightBuffer(0),

-        tempHeightInstances(0),

-    tempHeightBufferSizeX(0),

-    tempHeightBufferSizeZ(0)

-{

-    type = dHeightfieldClass;

-    this->m_p_data = data;

-}

-

-

-// compute axis aligned bounding box

-void dxHeightfield::computeAABB()

-{

-    const dxHeightfieldData *d = m_p_data;

-

-    if ( d->m_bWrapMode == 0 )

-    {

-        // Finite

-        if ( gflags & GEOM_PLACEABLE )

-        {

-            dReal dx[6], dy[6], dz[6];

-

-            // Y-axis

-            dy[0] = ( final_posr->R[ 1] * d->m_fMinHeight );

-            dy[1] = ( final_posr->R[ 5] * d->m_fMinHeight );

-            dy[2] = ( final_posr->R[ 9] * d->m_fMinHeight );

-            dy[3] = ( final_posr->R[ 1] * d->m_fMaxHeight );

-            dy[4] = ( final_posr->R[ 5] * d->m_fMaxHeight );

-            dy[5] = ( final_posr->R[ 9] * d->m_fMaxHeight );

-

-#ifdef DHEIGHTFIELD_CORNER_ORIGIN

-

-            // X-axis

-            dx[0] = 0;  dx[3] = ( final_posr->R[ 0] * d->m_fWidth );

-            dx[1] = 0;  dx[4] = ( final_posr->R[ 4] * d->m_fWidth );

-            dx[2] = 0;  dx[5] = ( final_posr->R[ 8] * d->m_fWidth );

-

-            // Z-axis

-            dz[0] = 0;  dz[3] = ( final_posr->R[ 2] * d->m_fDepth );

-            dz[1] = 0;  dz[4] = ( final_posr->R[ 6] * d->m_fDepth );

-            dz[2] = 0;  dz[5] = ( final_posr->R[10] * d->m_fDepth );

-

-#else // DHEIGHTFIELD_CORNER_ORIGIN

-

-            // X-axis

-            dx[0] = ( final_posr->R[ 0] * -d->m_fHalfWidth );

-            dx[1] = ( final_posr->R[ 4] * -d->m_fHalfWidth );

-            dx[2] = ( final_posr->R[ 8] * -d->m_fHalfWidth );

-            dx[3] = ( final_posr->R[ 0] * d->m_fHalfWidth );

-            dx[4] = ( final_posr->R[ 4] * d->m_fHalfWidth );

-            dx[5] = ( final_posr->R[ 8] * d->m_fHalfWidth );

-

-            // Z-axis

-            dz[0] = ( final_posr->R[ 2] * -d->m_fHalfDepth );

-            dz[1] = ( final_posr->R[ 6] * -d->m_fHalfDepth );

-            dz[2] = ( final_posr->R[10] * -d->m_fHalfDepth );

-            dz[3] = ( final_posr->R[ 2] * d->m_fHalfDepth );

-            dz[4] = ( final_posr->R[ 6] * d->m_fHalfDepth );

-            dz[5] = ( final_posr->R[10] * d->m_fHalfDepth );

-

-#endif // DHEIGHTFIELD_CORNER_ORIGIN

-

-            // X extents

-            aabb[0] = final_posr->pos[0] +

-                dMIN3( dMIN( dx[0], dx[3] ), dMIN( dy[0], dy[3] ), dMIN( dz[0], dz[3] ) );

-            aabb[1] = final_posr->pos[0] +

-                dMAX3( dMAX( dx[0], dx[3] ), dMAX( dy[0], dy[3] ), dMAX( dz[0], dz[3] ) );

-

-            // Y extents

-            aabb[2] = final_posr->pos[1] +

-                dMIN3( dMIN( dx[1], dx[4] ), dMIN( dy[1], dy[4] ), dMIN( dz[1], dz[4] ) );

-            aabb[3] = final_posr->pos[1] +

-                dMAX3( dMAX( dx[1], dx[4] ), dMAX( dy[1], dy[4] ), dMAX( dz[1], dz[4] ) );

-

-            // Z extents

-            aabb[4] = final_posr->pos[2] +

-                dMIN3( dMIN( dx[2], dx[5] ), dMIN( dy[2], dy[5] ), dMIN( dz[2], dz[5] ) );

-            aabb[5] = final_posr->pos[2] +

-                dMAX3( dMAX( dx[2], dx[5] ), dMAX( dy[2], dy[5] ), dMAX( dz[2], dz[5] ) );

-        }

-        else

-        {

-

-#ifdef DHEIGHTFIELD_CORNER_ORIGIN

-

-            aabb[0] = 0;                                        aabb[1] = d->m_fWidth;

-            aabb[2] = d->m_fMinHeight;          aabb[3] = d->m_fMaxHeight;

-            aabb[4] = 0;                                        aabb[5] = d->m_fDepth;

-

-#else // DHEIGHTFIELD_CORNER_ORIGIN

-

-            aabb[0] = -d->m_fHalfWidth;         aabb[1] = +d->m_fHalfWidth;

-            aabb[2] = d->m_fMinHeight;          aabb[3] = d->m_fMaxHeight;

-            aabb[4] = -d->m_fHalfDepth;         aabb[5] = +d->m_fHalfDepth;

-

-#endif // DHEIGHTFIELD_CORNER_ORIGIN

-

-        }

-    }

-    else

-    {

-        // Infinite

-        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] = d->m_fMinHeight;          aabb[3] = d->m_fMaxHeight;

-            aabb[4] = -dInfinity;                       aabb[5] = +dInfinity;

-        }

-    }

-

-}

-

-

-// dxHeightfield destructor

-dxHeightfield::~dxHeightfield()

-{

-        resetTriangleBuffer();

-        resetPlaneBuffer();

-        resetHeightBuffer();

-}

-

-void dxHeightfield::allocateTriangleBuffer(size_t numTri)

-{

-        size_t alignedNumTri = AlignBufferSize(numTri, TEMP_TRIANGLE_BUFFER_ELEMENT_COUNT_ALIGNMENT);

-        tempTriangleBufferSize = alignedNumTri;

-        tempTriangleBuffer = new HeightFieldTriangle[alignedNumTri];

-}

-

-void dxHeightfield::resetTriangleBuffer()

-{

-        delete[] tempTriangleBuffer;

-}

-

-void dxHeightfield::allocatePlaneBuffer(size_t numTri)

-{

-        size_t alignedNumTri = AlignBufferSize(numTri, TEMP_PLANE_BUFFER_ELEMENT_COUNT_ALIGNMENT);

-        tempPlaneBufferSize = alignedNumTri;

-        tempPlaneBuffer = new HeightFieldPlane *[alignedNumTri];

-        tempPlaneInstances = new HeightFieldPlane[alignedNumTri];

-

-        HeightFieldPlane *ptrPlaneMatrix = tempPlaneInstances;

-        for (size_t indexTri = 0; indexTri != alignedNumTri; indexTri++)

-        {

-                tempPlaneBuffer[indexTri] = ptrPlaneMatrix;

-                ptrPlaneMatrix += 1;

-        }

-}

-

-void dxHeightfield::resetPlaneBuffer()

-{

-        delete[] tempPlaneInstances;

-    delete[] tempPlaneBuffer;

-}

-

-void dxHeightfield::allocateHeightBuffer(size_t numX, size_t numZ)

-{

-        size_t alignedNumX = AlignBufferSize(numX, TEMP_HEIGHT_BUFFER_ELEMENT_COUNT_ALIGNMENT_X);

-        size_t alignedNumZ = AlignBufferSize(numZ, TEMP_HEIGHT_BUFFER_ELEMENT_COUNT_ALIGNMENT_Z);

-        tempHeightBufferSizeX = alignedNumX;

-        tempHeightBufferSizeZ = alignedNumZ;

-        tempHeightBuffer = new HeightFieldVertex *[alignedNumX];

-        size_t numCells = alignedNumX * alignedNumZ;

-        tempHeightInstances = new HeightFieldVertex [numCells];

-        

-        HeightFieldVertex *ptrHeightMatrix = tempHeightInstances;

-        for (size_t indexX = 0; indexX != alignedNumX; indexX++)

-        {

-                tempHeightBuffer[indexX] = ptrHeightMatrix;

-                ptrHeightMatrix += alignedNumZ;

-        }

-}

-

-void dxHeightfield::resetHeightBuffer()

-{

-        delete[] tempHeightInstances;

-    delete[] tempHeightBuffer;

-}

-//////// Heightfield data interface ////////////////////////////////////////////////////

-

-

-dHeightfieldDataID dGeomHeightfieldDataCreate()

-{

-    return new dxHeightfieldData();

-}

-

-

-void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,

-                                       void* pUserData, dHeightfieldGetHeight* pCallback,

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

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

-{

-    dUASSERT( d, "argument not Heightfield data" );

-    dIASSERT( pCallback );

-    dIASSERT( widthSamples >= 2 );      // Ensure we're making something with at least one cell.

-    dIASSERT( depthSamples >= 2 );

-

-    // callback

-    d->m_nGetHeightMode = 0;

-    d->m_pUserData = pUserData;

-    d->m_pGetHeightCallback = pCallback;

-

-    // set info

-    d->SetData( widthSamples, depthSamples, width, depth, scale, offset, thickness, bWrap );

-

-    // default bounds

-    d->m_fMinHeight = -dInfinity;

-    d->m_fMaxHeight = dInfinity;

-}

-

-

-void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,

-                                   const unsigned char *pHeightData, int bCopyHeightData,

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

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

-{

-    dUASSERT( d, "Argument not Heightfield data" );

-    dIASSERT( pHeightData );

-    dIASSERT( widthSamples >= 2 );      // Ensure we're making something with at least one cell.

-    dIASSERT( depthSamples >= 2 );

-

-    // set info

-    d->SetData( widthSamples, depthSamples, width, depth, scale, offset, thickness, bWrap );

-    d->m_nGetHeightMode = 1;

-    d->m_bCopyHeightData = bCopyHeightData;

-

-    if ( d->m_bCopyHeightData == 0 )

-    {

-        // Data is referenced only.

-        d->m_pHeightData = pHeightData;

-    }

-    else

-    {

-        // We own the height data, allocate storage

-        d->m_pHeightData = new unsigned char[ d->m_nWidthSamples * d->m_nDepthSamples ];

-        dIASSERT( d->m_pHeightData );

-

-        // Copy data.

-        memcpy( (void*)d->m_pHeightData, pHeightData,

-            sizeof( unsigned char ) * d->m_nWidthSamples * d->m_nDepthSamples );

-    }

-

-    // Find height bounds

-    d->ComputeHeightBounds();

-}

-

-

-void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,

-                                    const short* pHeightData, int bCopyHeightData,

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

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

-{

-    dUASSERT( d, "Argument not Heightfield data" );

-    dIASSERT( pHeightData );

-    dIASSERT( widthSamples >= 2 );      // Ensure we're making something with at least one cell.

-    dIASSERT( depthSamples >= 2 );

-

-    // set info

-    d->SetData( widthSamples, depthSamples, width, depth, scale, offset, thickness, bWrap );

-    d->m_nGetHeightMode = 2;

-    d->m_bCopyHeightData = bCopyHeightData;

-

-    if ( d->m_bCopyHeightData == 0 )

-    {

-        // Data is referenced only.

-        d->m_pHeightData = pHeightData;

-    }

-    else

-    {

-        // We own the height data, allocate storage

-        d->m_pHeightData = new short[ d->m_nWidthSamples * d->m_nDepthSamples ];

-        dIASSERT( d->m_pHeightData );

-

-        // Copy data.

-        memcpy( (void*)d->m_pHeightData, pHeightData,

-            sizeof( short ) * d->m_nWidthSamples * d->m_nDepthSamples );

-    }

-

-    // Find height bounds

-    d->ComputeHeightBounds();

-}

-

-

-void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,

-                                     const float *pHeightData, int bCopyHeightData,

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

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

-{

-    dUASSERT( d, "Argument not Heightfield data" );

-    dIASSERT( pHeightData );

-    dIASSERT( widthSamples >= 2 );      // Ensure we're making something with at least one cell.

-    dIASSERT( depthSamples >= 2 );

-

-    // set info

-    d->SetData( widthSamples, depthSamples, width, depth, scale, offset, thickness, bWrap );

-    d->m_nGetHeightMode = 3;

-    d->m_bCopyHeightData = bCopyHeightData;

-

-    if ( d->m_bCopyHeightData == 0 )

-    {

-        // Data is referenced only.

-        d->m_pHeightData = pHeightData;

-    }

-    else

-    {

-        // We own the height data, allocate storage

-        d->m_pHeightData = new float[ d->m_nWidthSamples * d->m_nDepthSamples ];

-        dIASSERT( d->m_pHeightData );

-

-        // Copy data.

-        memcpy( (void*)d->m_pHeightData, pHeightData,

-            sizeof( float ) * d->m_nWidthSamples * d->m_nDepthSamples );

-    }

-

-    // Find height bounds

-    d->ComputeHeightBounds();

-}

-

-void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,

-                                     const double *pHeightData, int bCopyHeightData,

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

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

-{

-    dUASSERT( d, "Argument not Heightfield data" );

-    dIASSERT( pHeightData );

-    dIASSERT( widthSamples >= 2 );      // Ensure we're making something with at least one cell.

-    dIASSERT( depthSamples >= 2 );

-

-    // set info

-    d->SetData( widthSamples, depthSamples, width, depth, scale, offset, thickness, bWrap );

-    d->m_nGetHeightMode = 4;

-    d->m_bCopyHeightData = bCopyHeightData;

-

-    if ( d->m_bCopyHeightData == 0 )

-    {

-        // Data is referenced only.

-        d->m_pHeightData = pHeightData;

-    }

-    else

-    {

-        // We own the height data, allocate storage

-        d->m_pHeightData = new double[ d->m_nWidthSamples * d->m_nDepthSamples ];

-        dIASSERT( d->m_pHeightData );

-

-        // Copy data.

-        memcpy( (void*)d->m_pHeightData, pHeightData,

-            sizeof( double ) * d->m_nWidthSamples * d->m_nDepthSamples );

-    }

-

-    // Find height bounds

-    d->ComputeHeightBounds();

-}

-

-

-

-

-void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d, dReal minHeight, dReal maxHeight )

-{

-    dUASSERT(d, "Argument not Heightfield data");

-    d->m_fMinHeight = ( minHeight * d->m_fScale ) + d->m_fOffset - d->m_fThickness;

-    d->m_fMaxHeight = ( maxHeight * d->m_fScale ) + d->m_fOffset;

-}

-

-

-void dGeomHeightfieldDataDestroy( dHeightfieldDataID d )

-{

-    dUASSERT(d, "argument not Heightfield data");

-    delete d;

-}

-

-

-//////// Heightfield geom interface ////////////////////////////////////////////////////

-

-

-dGeomID dCreateHeightfield( dSpaceID space, dHeightfieldDataID data, int bPlaceable )

-{

-    return new dxHeightfield( space, data, bPlaceable );

-}

-

-

-void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d )

-{

-    dxHeightfield* geom = (dxHeightfield*) g;

-    geom->data = d;

-}

-

-

-dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g )

-{

-    dxHeightfield* geom = (dxHeightfield*) g;

-    return geom->m_p_data;

-}

-

-//////// dxHeightfield /////////////////////////////////////////////////////////////////

-

-

-// Typedef for generic 'get point depth' function

-typedef dReal dGetDepthFn( dGeomID g, dReal x, dReal y, dReal z );

-

-

-#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]);

-

-static inline bool DescendingTriangleSort(const HeightFieldTriangle * const A, const HeightFieldTriangle * const B)

-{

-    return ((A->maxAAAB - B->maxAAAB) > dEpsilon);

-}

-static inline bool DescendingPlaneSort(const HeightFieldPlane * const A, const HeightFieldPlane * const B)

-{

-    return ((A->maxAAAB - B->maxAAAB) > dEpsilon);

-}

-

-void dxHeightfield::sortPlanes(const size_t numPlanes)

-{

-    bool has_swapped = true;

-    do

-    {

-        has_swapped = false;//reset flag

-        for (size_t i = 0; i < numPlanes - 1; i++)

-        {

-            //if they are in the wrong order

-            if (DescendingPlaneSort(tempPlaneBuffer[i], tempPlaneBuffer[i + 1]))

-            { 

-                //exchange them

-                HeightFieldPlane * tempPlane = tempPlaneBuffer[i];

-                tempPlaneBuffer[i] = tempPlaneBuffer[i + 1];

-                tempPlaneBuffer[i + 1] = tempPlane;

-

-                //we have swapped at least once, list may not be sorted yet

-                has_swapped = true;

-            }

-        }

-    }    //if no swaps were made during this pass, the list has been sorted

-    while (has_swapped);

-}

-

-static inline dReal DistancePointToLine(const dVector3 &_point,

-                                         const dVector3 &_pt0,

-                                         const dVector3 &_Edge,

-                                         const dReal _Edgelength)

-{

-    dVector3 v;

-    dVector3Subtract(_point, _pt0, v);

-    dVector3 s;

-    dVector3Copy (_Edge, s);

-    const dReal dot = dVector3Dot(v, _Edge) / _Edgelength;

-    dVector3Scale(s, dot);

-    dVector3Subtract(v, s, v);

-    return dVector3Length(v);

-}

-

-

-

-

-int dxHeightfield::dCollideHeightfieldZone( const int minX, const int maxX, const int minZ, const int maxZ, 

-                                           dxGeom* o2, const int numMaxContactsPossible,

-                                           int flags, dContactGeom* contact, 

-                                           int skip )

-{

-        dContactGeom *pContact = 0;

-    int  x, z;

-    // check if not above or inside terrain first

-    // while filling a heightmap partial temporary buffer

-    const unsigned int numX = (maxX - minX) + 1;

-    const unsigned int numZ = (maxZ - minZ) + 1;

-    const dReal minO2Height = o2->aabb[2];

-    const dReal maxO2Height = o2->aabb[3];

-    unsigned int x_local, z_local;

-    dReal maxY = - dInfinity;

-    dReal minY = dInfinity;

-    // localize and const for faster access

-    const dReal cfSampleWidth = m_p_data->m_fSampleWidth;

-    const dReal cfSampleDepth = m_p_data->m_fSampleDepth;

-    {

-        if (tempHeightBufferSizeX < numX || tempHeightBufferSizeZ < numZ)

-        {

-            resetHeightBuffer();

-                        allocateHeightBuffer(numX, numZ);

-        }

-

-        dReal Xpos, Ypos;

-        Xpos = minX * cfSampleWidth;

-

-

-        for ( x = minX, x_local = 0; x_local < numX; x++, x_local++)

-        {

-            const dReal c_Xpos = Xpos;

-            HeightFieldVertex *HeightFieldRow = tempHeightBuffer[x_local];

-            Ypos = minZ * cfSampleDepth;

-            for ( z = minZ, z_local = 0; z_local < numZ; z++, z_local++)

-            {

-                const dReal h = m_p_data->GetHeight(x, z);

-                HeightFieldRow[z_local].vertex[0] = c_Xpos;

-                HeightFieldRow[z_local].vertex[1] = h;

-                HeightFieldRow[z_local].vertex[2] = Ypos;

-                

-

-                maxY = dMAX(maxY, h);

-                minY = dMIN(minY, h);

-

-

-                Ypos += cfSampleDepth;

-            }

-            Xpos += cfSampleWidth;

-        }

-        if (minO2Height - maxY > -dEpsilon )

-        {

-                        //totally above heightfield

-            return 0;

-        }

-                if (minY - maxO2Height > -dEpsilon )

-                {

-                        // totally under heightfield

-                        pContact = CONTACT(contact, 0);

-

-                        pContact->pos[0] = o2->final_posr->pos[0];

-                        pContact->pos[1] = minY;

-                        pContact->pos[2] = o2->final_posr->pos[2];

-

-                        pContact->normal[0] = 0;

-                        pContact->normal[1] = - 1;

-                        pContact->normal[2] = 0;

-

-                        pContact->depth =  minY - maxO2Height;

-

-                        return 1;

-                }

-    }

-    // get All Planes that could collide against.

-    dColliderFn *geomRayNCollider;

-    dColliderFn *geomNPlaneCollider;

-    dGetDepthFn *geomNDepthGetter;

-

-    // int max_collisionContact = numMaxContactsPossible; -- not used

-    switch (o2->type)

-    {

-    case dRayClass:

-        geomRayNCollider                = NULL;

-        geomNPlaneCollider          = dCollideRayPlane;

-        geomNDepthGetter                = NULL;

-        //max_collisionContact    = 1;

-        break;

-

-    case dSphereClass:

-        geomRayNCollider                = dCollideRaySphere;

-        geomNPlaneCollider      = dCollideSpherePlane;

-        geomNDepthGetter                = dGeomSpherePointDepth;

-        //max_collisionContact    = 3;

-        break;

-

-    case dBoxClass:

-        geomRayNCollider                = dCollideRayBox;

-        geomNPlaneCollider          = dCollideBoxPlane;

-        geomNDepthGetter                = dGeomBoxPointDepth;

-        //max_collisionContact    = 8;

-        break;

-

-    case dCapsuleClass:

-        geomRayNCollider                = dCollideRayCapsule;

-        geomNPlaneCollider      = dCollideCapsulePlane;

-        geomNDepthGetter                = dGeomCapsulePointDepth;

-        // max_collisionContact    = 3;

-        break;

-

-    case dCylinderClass:

-        geomRayNCollider                = dCollideRayCylinder;

-        geomNPlaneCollider          = dCollideCylinderPlane;

-        geomNDepthGetter                = NULL;// TODO: dGeomCCylinderPointDepth

-        //max_collisionContact    = 3;

-        break;

-

-    case dConvexClass:

-        geomRayNCollider                = dCollideRayConvex;

-        geomNPlaneCollider      = dCollideConvexPlane;

-        geomNDepthGetter                = NULL;// TODO: dGeomConvexPointDepth;

-        //max_collisionContact    = 3;

-        break;

-

-#if dTRIMESH_ENABLED

-

-    case dTriMeshClass:

-        geomRayNCollider                = dCollideRayTrimesh;

-        geomNPlaneCollider          = dCollideTrimeshPlane;

-        geomNDepthGetter                = NULL;// TODO: dGeomTrimeshPointDepth;

-        //max_collisionContact    = 3;

-        break;

-

-#endif // dTRIMESH_ENABLED

-

-    default:

-        dIASSERT(0);    // Shouldn't ever get here.

-        break;

-

-    }

-

-    dxPlane myplane(0,0,0,0,0);

-    dxPlane* sliding_plane = &myplane;

-    dReal triplane[4];

-    int i;

-

-    // check some trivial case.

-    // Vector Up plane

-    if (maxY - minY < dEpsilon)

-    {

-        // it's a single plane.

-        triplane[0] = 0;

-        triplane[1] = 1;

-        triplane[2] = 0;

-        triplane[3] =  minY;

-        dGeomPlaneSetNoNormalize (sliding_plane, triplane);

-        // find collision and compute contact points

-                const int numTerrainContacts = geomNPlaneCollider (o2, sliding_plane, flags, contact, skip);

-                dIASSERT(numTerrainContacts <= numMaxContactsPossible);

-        for (i = 0; i < numTerrainContacts; i++)

-        {

-                        pContact = CONTACT(contact, i*skip);

-            dOPESIGN(pContact->normal, =, -, triplane);

-        }

-        return numTerrainContacts;

-    }

-    // unique plane

-    {

-        // check for very simple plane heightfield

-        dReal minXHeightDelta = dInfinity, maxXHeightDelta = - dInfinity;

-        dReal minZHeightDelta = dInfinity, maxZHeightDelta = - dInfinity;

-

-

-        dReal lastXHeight = tempHeightBuffer[0][0].vertex[1];

-        for ( x_local = 1; x_local < numX; x_local++)

-        {

-            HeightFieldVertex *HeightFieldRow = tempHeightBuffer[x_local];

-

-            const dReal deltaX = HeightFieldRow[0].vertex[1] - lastXHeight;

-

-            maxXHeightDelta = dMAX (maxXHeightDelta,  deltaX);

-            minXHeightDelta = dMIN (minXHeightDelta,  deltaX);

-

-            dReal lastZHeight = HeightFieldRow[0].vertex[1];

-            for ( z_local = 1; z_local < numZ; z_local++)

-            {

-                const dReal deltaZ = (HeightFieldRow[z_local].vertex[1] - lastZHeight);

-

-                maxZHeightDelta = dMAX (maxZHeightDelta,  deltaZ);

-                minZHeightDelta = dMIN (minZHeightDelta,  deltaZ);

-

-            }

-        }

-

-        if (maxZHeightDelta - minZHeightDelta < dEpsilon && 

-            maxXHeightDelta - minXHeightDelta < dEpsilon )

-        {

-            // it's a single plane.

-            const dVector3 &A = tempHeightBuffer[0][0].vertex;

-            const dVector3 &B = tempHeightBuffer[1][0].vertex;

-            const dVector3 &C = tempHeightBuffer[0][1].vertex;

-

-            // define 2 edges and a point that will define collision plane

-            {

-                dVector3 Edge1, Edge2; 

-                dVector3Subtract(C, A, Edge1);

-                dVector3Subtract(B, A, Edge2);

-                dVector3Cross(Edge1, Edge2, triplane);

-            }

-

-            // Define Plane

-            // Normalize plane normal

-            const dReal dinvlength = REAL(1.0) / dVector3Length(triplane);

-            triplane[0] *= dinvlength;

-            triplane[1] *= dinvlength;

-            triplane[2] *= dinvlength;

-            // get distance to origin from plane 

-            triplane[3] = dVector3Dot(triplane, A);

-

-            dGeomPlaneSetNoNormalize (sliding_plane, triplane);

-            // find collision and compute contact points

-            const int numTerrainContacts = geomNPlaneCollider (o2, sliding_plane, flags, contact, skip);

-                        dIASSERT(numTerrainContacts <= numMaxContactsPossible);

-            for (i = 0; i < numTerrainContacts; i++)

-            {

-                                pContact = CONTACT(contact, i*skip);

-                dOPESIGN(pContact->normal, =, -, triplane);

-            }

-            return numTerrainContacts;

-        }

-    }

-

-

-        int numTerrainContacts = 0;

-        dContactGeom *PlaneContact = m_p_data->m_contacts;

-        

-    const unsigned int numTriMax = (maxX - minX) * (maxZ - minZ) * 2;

-    if (tempTriangleBufferSize < numTriMax)

-    {

-        resetTriangleBuffer();

-                allocateTriangleBuffer(numTriMax);

-    }

-    

-    // Sorting triangle/plane  resulting from heightfield zone

-    // Perhaps that would be necessary in case of too much limited

-    // maximum contact point...

-    // or in complex mesh case (trimesh and convex)

-    // need some test or insights on this before enabling this.

-    const bool isContactNumPointsLimited = 

-        true;

-    // (numMaxContacts < 8)

-    //    || o2->type == dConvexClass

-    //    || o2->type == dTriMeshClass

-    //    || (numMaxContacts < (int)numTriMax)       

-        

-

-

-    // if small heightfield triangle related to O2 colliding

-    // or no Triangle colliding at all.

-    bool needFurtherPasses = (o2->type == dTriMeshClass);

-    //compute Ratio between Triangle size and O2 aabb size

-        // no FurtherPasses are needed in ray class

-    if (o2->type != dRayClass  && needFurtherPasses == false)

-    {

-        const dReal xratio = (o2->aabb[1] - o2->aabb[0]) * m_p_data->m_fInvSampleWidth;

-        if (xratio > REAL(1.5))

-            needFurtherPasses = true;

-        else

-        {

-            const dReal zratio = (o2->aabb[5] - o2->aabb[4]) * m_p_data->m_fInvSampleDepth;

-            if (zratio > REAL(1.5))

-                needFurtherPasses = true;

-        }

-

-    }

-

-    unsigned int numTri = 0;

-    HeightFieldVertex *A, *B, *C, *D;

-    /*    (y is up)

-         A--------B-...x

-         |       /|

-         |      / |

-         |     /  |

-         |    /   |

-         |   /    |

-         |  /     |

-         | /      |

-         |/       |

-         C--------D   

-         .

-         .

-         .

-         z

-    */  

-    // keep only triangle that does intersect geom

-    for ( x = minX, x_local = 0; x < maxX; x++, x_local++)

-    {

-        HeightFieldVertex *HeightFieldRow      = tempHeightBuffer[x_local];

-        HeightFieldVertex *HeightFieldNextRow  = tempHeightBuffer[x_local + 1];

-

-        // First A

-        C = &HeightFieldRow    [0];

-        // First B

-        D = &HeightFieldNextRow[0];

-        for ( z = minZ, z_local = 0; z < maxZ; z++, z_local++)

-        {

-            A = C;

-            B = D;

-

-            C = &HeightFieldRow    [z_local + 1];

-            D = &HeightFieldNextRow[z_local + 1];

-

-            const dReal AHeight = A->vertex[1];

-            const dReal BHeight = B->vertex[1];

-            const dReal CHeight = C->vertex[1];

-            const dReal DHeight = D->vertex[1];

-

-            const bool isACollide = 0 < AHeight - minO2Height;

-            const bool isBCollide = 0 < BHeight - minO2Height;

-            const bool isCCollide = 0 < CHeight - minO2Height;

-            const bool isDCollide = 0 < DHeight - minO2Height;

-

-            A->state = !(isACollide);

-            B->state = !(isBCollide);

-            C->state = !(isCCollide);

-            D->state = !(isCCollide);

-

-            if (isACollide || isBCollide || isCCollide)

-            {

-                HeightFieldTriangle * const CurrTriUp = &tempTriangleBuffer[numTri++];

-

-                CurrTriUp->state = false;

-

-                // changing point order here implies to change it in isOnHeightField

-                CurrTriUp->vertices[0] = A;

-                CurrTriUp->vertices[1] = B;

-                CurrTriUp->vertices[2] = C;

-

-                if (isContactNumPointsLimited)

-                    CurrTriUp->setMinMax();

-                CurrTriUp->isUp = true;

-            }

-

-            if (isBCollide || isCCollide || isDCollide)

-            {

-                HeightFieldTriangle * const CurrTriDown = &tempTriangleBuffer[numTri++];

-

-                CurrTriDown->state = false;

-                // changing point order here implies to change it in isOnHeightField

-

-                CurrTriDown->vertices[0] = D;

-                CurrTriDown->vertices[1] = B;

-                CurrTriDown->vertices[2] = C;

-

-

-                if (isContactNumPointsLimited)

-                    CurrTriDown->setMinMax();

-                CurrTriDown->isUp = false;

-            }

-

-

-            if (needFurtherPasses &&

-                (isBCollide || isCCollide)

-                &&

-                (AHeight - CHeight > 0 &&

-                 AHeight - BHeight > 0 &&

-                 DHeight - CHeight > 0 &&

-                 DHeight - BHeight > 0))

-            {

-                // That means Edge BC is concave, therefore

-                // BC Edge and B and C vertices cannot collide

-

-                B->state = true;

-                C->state = true;

-            }

-            // should find a way to check other edges (AB, BD, CD) too for concavity

-        }

-    }

-

-    // at least on triangle should intersect geom

-    dIASSERT (numTri != 0);

-    // pass1: VS triangle as Planes

-    // Group Triangle by same plane definition

-    // as Terrain often has many triangles using same plane definition

-    // then collide against that list of triangles.

-    {

-

-        dVector3 Edge1, Edge2;

-        //compute all triangles normals.

-        for (unsigned int k = 0; k < numTri; k++)

-        {

-            HeightFieldTriangle * const itTriangle = &tempTriangleBuffer[k];

-

-            // define 2 edges and a point that will define collision plane

-            dVector3Subtract(itTriangle->vertices[2]->vertex, itTriangle->vertices[0]->vertex, Edge1);

-            dVector3Subtract(itTriangle->vertices[1]->vertex, itTriangle->vertices[0]->vertex, Edge2);

-

-            // find a perpendicular vector to the triangle

-            if  (itTriangle->isUp)

-                dVector3Cross(Edge1, Edge2, triplane);

-            else

-                dVector3Cross(Edge2, Edge1, triplane);

-

-            // Define Plane

-            // Normalize plane normal

-            const dReal dinvlength = REAL(1.0) / dVector3Length(triplane);

-            triplane[0] *= dinvlength;

-            triplane[1] *= dinvlength;

-            triplane[2] *= dinvlength;

-            // get distance to origin from plane 

-            triplane[3] = dVector3Dot(triplane, itTriangle->vertices[0]->vertex);

-

-            // saves normal for collision check (planes, triangles, vertices and edges.)

-            dVector3Copy(triplane, itTriangle->planeDef);

-            // saves distance for collision check (planes, triangles, vertices and edges.)

-            itTriangle->planeDef[3] = triplane[3];

-        }

-

-        // group by Triangles by Planes sharing shame plane definition

-        if (tempPlaneBufferSize  < numTri)

-        {

-            resetPlaneBuffer();

-                        allocatePlaneBuffer(numTri);

-        }

-        unsigned int numPlanes = 0;

-        for (unsigned int k = 0; k < numTri; k++)

-        {

-            HeightFieldTriangle * const tri_base = &tempTriangleBuffer[k];

-

-            if (tri_base->state == true)

-                continue;// already tested or added to plane list.

-

-            HeightFieldPlane * const currPlane = tempPlaneBuffer[numPlanes];

-            currPlane->resetTriangleListSize(numTri - k);

-            currPlane->addTriangle(tri_base);

-            // saves normal for collision check (planes, triangles, vertices and edges.)

-            dVector3Copy(tri_base->planeDef, currPlane->planeDef);

-            // saves distance for collision check (planes, triangles, vertices and edges.)

-            currPlane->planeDef[3]= tri_base->planeDef[3];

-

-            const dReal normx = tri_base->planeDef[0];

-            const dReal normy = tri_base->planeDef[1];

-            const dReal normz = tri_base->planeDef[2];

-            const dReal dist = tri_base->planeDef[3];

-

-            for (unsigned int m = k + 1; m < numTri; m++)

-            {

-

-                HeightFieldTriangle * const tri_test = &tempTriangleBuffer[m];

-                if (tri_test->state == true)

-                    continue;// already tested or added to plane list.

-

-                // normals and distance are the same.

-                if (

-                    dFabs(normy - tri_test->planeDef[1]) < dEpsilon &&  

-                    dFabs(dist  - tri_test->planeDef[3]) < dEpsilon &&

-                    dFabs(normx - tri_test->planeDef[0]) < dEpsilon && 

-                    dFabs(normz - tri_test->planeDef[2]) < dEpsilon

-                    )

-                {

-                    currPlane->addTriangle (tri_test);

-                    tri_test->state = true;

-                }

-            }

-

-            tri_base->state = true;

-            if (isContactNumPointsLimited)

-                currPlane->setMinMax();

-

-            numPlanes++;

-        }

-

-        // sort planes

-        if (isContactNumPointsLimited)

-            sortPlanes(numPlanes);

-

-#if !defined(NO_CONTACT_CULLING_BY_ISONHEIGHTFIELD2)

-                /*

-                        Note by Oleh_Derevenko:

-                        It seems to be incorrect to limit contact count by some particular value

-                        since some of them (and even all of them) may be culled in following condition.

-                        However I do not see an easy way to fix this.

-                        If not that culling the flags modification should be changed here and

-                        additionally repeated after some contacts have been generated (in "if (didCollide)").

-                        The maximum of contacts in flags would then be set to minimum of contacts

-                        remaining and HEIGHTFIELDMAXCONTACTPERCELL.

-                */

-                int planeTestFlags = (flags & ~NUMC_MASK) | HEIGHTFIELDMAXCONTACTPERCELL;

-                dIASSERT((HEIGHTFIELDMAXCONTACTPERCELL & ~NUMC_MASK) == 0);

-#else // if defined(NO_CONTACT_CULLING_BY_ISONHEIGHTFIELD2)

-                int numMaxContactsPerPlane = dMIN(numMaxContactsPossible - numTerrainContacts, HEIGHTFIELDMAXCONTACTPERCELL);

-                int planeTestFlags = (flags & ~NUMC_MASK) | numMaxContactsPerPlane;

-                dIASSERT((HEIGHTFIELDMAXCONTACTPERCELL & ~NUMC_MASK) == 0);

-#endif        

-        

-                for (unsigned int k = 0; k < numPlanes; k++)

-        {

-            HeightFieldPlane * const itPlane = tempPlaneBuffer[k];

-

-            //set Geom

-            dGeomPlaneSetNoNormalize (sliding_plane,  itPlane->planeDef);

-            //dGeomPlaneSetParams (sliding_plane, triangle_Plane[0], triangle_Plane[1], triangle_Plane[2], triangle_Plane[3]);

-            // find collision and compute contact points

-            bool didCollide = false;

-                        const int numPlaneContacts = geomNPlaneCollider (o2, sliding_plane, planeTestFlags, PlaneContact, sizeof(dContactGeom));

-                        const size_t planeTriListSize = itPlane->trianglelistCurrentSize;

-            for (i = 0; i < numPlaneContacts; i++)

-            {

-                // Check if contact point found in plane is inside Triangle.

-                const dVector3 &pCPos = PlaneContact[i].pos;

-                for (size_t b = 0; planeTriListSize > b; b++)

-                {  

-                    if (m_p_data->IsOnHeightfield2 (itPlane->trianglelist[b]->vertices[0]->vertex, 

-                                                    pCPos, 

-                                                    itPlane->trianglelist[b]->isUp))

-                    {

-                                                pContact = CONTACT(contact, numTerrainContacts*skip);

-                                                dVector3Copy(pCPos, pContact->pos);

-                                                dOPESIGN(pContact->normal, =, -, itPlane->planeDef);

-                                                pContact->depth = PlaneContact[i].depth;

-                                                numTerrainContacts++;

-                                                if ( numTerrainContacts == numMaxContactsPossible )

-                                                        return numTerrainContacts;

-

-                                                didCollide = true;

-                                                break;

-                                        }

-                                }

-            }

-            if (didCollide)

-            {

-#if defined(NO_CONTACT_CULLING_BY_ISONHEIGHTFIELD2)

-                                /* Note by Oleh_Derevenko:

-                                        This code is not used - see another note above

-                                */

-                                numMaxContactsPerPlane = dMIN(numMaxContactsPossible - numTerrainContacts, HEIGHTFIELDMAXCONTACTPERCELL);

-                        planeTestFlags = (flags & ~NUMC_MASK) | numMaxContactsPerPlane;

-                        dIASSERT((HEIGHTFIELDMAXCONTACTPERCELL & ~NUMC_MASK) == 0);

-#endif        

-                for (size_t b = 0; planeTriListSize > b; b++)

-                {                      

-                    // flag Triangles Vertices as collided 

-                    // to prevent any collision test of those

-                    for (i = 0; i < 3; i++)

-                        itPlane->trianglelist[b]->vertices[i]->state = true;

-                }

-            }

-            else 

-            {

-                // flag triangle as not collided so that Vertices or Edge

-                // of that triangles will be checked.

-                for (size_t b = 0; planeTriListSize > b; b++)

-                { 

-                    itPlane->trianglelist[b]->state = false;

-                }

-            }

-        }

-    }

-    

-

-   

-    // pass2: VS triangle vertices

-    if (needFurtherPasses)

-    {

-        dxRay tempRay(0, 1); 

-        dReal depth;

-        bool vertexCollided;

-

-                // Only one contact is necessary for ray test

-                int rayTestFlags = (flags & ~NUMC_MASK) | 1;

-                dIASSERT((1 & ~NUMC_MASK) == 0);

-        //

-        // Find Contact Penetration Depth of each vertices

-        //

-        for (unsigned int k = 0; k < numTri; k++)

-        {

-            const HeightFieldTriangle * const itTriangle = &tempTriangleBuffer[k];

-            if (itTriangle->state == true)

-                continue;// plane triangle did already collide.

-

-            for (size_t i = 0; i < 3; i++)

-            {

-                HeightFieldVertex *vertex = itTriangle->vertices[i];

-                if (vertex->state == true)

-                    continue;// vertice did already collide.

-

-                vertexCollided = false;

-                const dVector3 &triVertex = vertex->vertex;

-                if ( geomNDepthGetter )

-                {

-                    depth = geomNDepthGetter( o2,

-                        triVertex[0], triVertex[1], triVertex[2] );

-                    if (depth + dEpsilon < 0)

-                        vertexCollided = true;

-                }

-                else

-                {

-                    // We don't have a GetDepth function, so do a ray cast instead.

-                    // NOTE: This isn't ideal, and a GetDepth function should be

-                    // written for all geom classes.

-                    tempRay.length = (minO2Height - triVertex[1]) * REAL(1000.0);

-

-                    //dGeomRaySet( &tempRay, pContact->pos[0], pContact->pos[1], pContact->pos[2],

-                    //    - itTriangle->Normal[0], - itTriangle->Normal[1], - itTriangle->Normal[2] );

-                    dGeomRaySetNoNormalize(tempRay, triVertex, itTriangle->planeDef);

-

-                    if ( geomRayNCollider( &tempRay, o2, rayTestFlags, PlaneContact, sizeof( dContactGeom ) ) )

-                    {

-                        depth = PlaneContact[0].depth;

-                        vertexCollided = true;

-                    }

-                }

-                if (vertexCollided)

-                {

-                    pContact = CONTACT(contact, numTerrainContacts*skip);

-                    //create contact using vertices

-                    dVector3Copy (triVertex, pContact->pos);

-                    //create contact using Plane Normal

-                    dOPESIGN(pContact->normal, =, -, itTriangle->planeDef);

-

-                    pContact->depth = depth;

-

-                    numTerrainContacts++;

-                    if ( numTerrainContacts == numMaxContactsPossible ) 

-                        return numTerrainContacts;

-

-                    vertex->state = true;

-                }

-            }

-        }

-    }

-

-#ifdef _HEIGHTFIELDEDGECOLLIDING

-    // pass3: VS triangle Edges

-    if (needFurtherPasses)

-    {

-        dVector3 Edge;

-        dxRay edgeRay(0, 1);

-

-                int numMaxContactsPerTri = dMIN(numMaxContactsPossible - numTerrainContacts, HEIGHTFIELDMAXCONTACTPERCELL);

-                int triTestFlags = (flags & ~NUMC_MASK) | numMaxContactsPerTri;

-                dIASSERT((HEIGHTFIELDMAXCONTACTPERCELL & ~NUMC_MASK) == 0);

-

-        for (unsigned int k = 0; k < numTri; k++)

-        {

-            const HeightFieldTriangle * const itTriangle = &tempTriangleBuffer[k];

-

-            if (itTriangle->state == true)

-                continue;// plane did already collide.

-

-            for (size_t m = 0; m < 3; m++)

-            {

-                const size_t next = (m + 1) % 3;

-                HeightFieldVertex *vertex0 = itTriangle->vertices[m];

-                HeightFieldVertex *vertex1 = itTriangle->vertices[next];

-

-                // not concave or under the AABB 

-                // nor triangle already collided against vertices

-                if (vertex0->state == true && vertex1->state == true)

-                    continue;// plane did already collide.

-               

-                dVector3Subtract(vertex1->vertex, vertex0->vertex, Edge);

-                edgeRay.length = dVector3Length (Edge);

-                dGeomRaySetNoNormalize(edgeRay, vertex1->vertex, Edge);

-                                int prevTerrainContacts = numTerrainContacts;

-                                pContact = CONTACT(contact, prevTerrainContacts*skip);

-                const int numCollision = geomRayNCollider(&edgeRay,o2,triTestFlags,pContact,skip);

-                                dIASSERT(numCollision <= numMaxContactsPerTri);

-                                

-                                if (numCollision)

-                                {

-                                        numTerrainContacts += numCollision;

-

-                                        do

-                                        {

-                                                pContact = CONTACT(contact, prevTerrainContacts*skip);

-

-                                                //create contact using Plane Normal

-                                                dOPESIGN(pContact->normal, =, -, itTriangle->planeDef);

-

-                                                pContact->depth = DistancePointToLine(pContact->pos, vertex1->vertex, Edge, edgeRay.length);

-                                        }

-                                        while (++prevTerrainContacts != numTerrainContacts);

-

-                                        if ( numTerrainContacts == numMaxContactsPossible )

-                                                return numTerrainContacts;

-

-                                        numMaxContactsPerTri = dMIN(numMaxContactsPossible - numTerrainContacts, HEIGHTFIELDMAXCONTACTPERCELL);

-                                        triTestFlags = (flags & ~NUMC_MASK) | numMaxContactsPerTri;

-                                        dIASSERT((HEIGHTFIELDMAXCONTACTPERCELL & ~NUMC_MASK) == 0);

-                                }

-            }

-

-            itTriangle->vertices[0]->state = true;

-            itTriangle->vertices[1]->state = true;

-            itTriangle->vertices[2]->state = true;

-        }

-    }

-#endif // _HEIGHTFIELDEDGECOLLIDING

-    return numTerrainContacts;

-}

-

-int dCollideHeightfield( dxGeom *o1, dxGeom *o2, int flags, dContactGeom* contact, int skip )

-{

-    dIASSERT( skip >= (int)sizeof(dContactGeom) );

-    dIASSERT( o1->type == dHeightfieldClass );

-        dIASSERT((flags & NUMC_MASK) >= 1);

-

-    int i;

-

-    // if ((flags & NUMC_MASK) == 0) -- An assertion check is made on entry

-        //      { flags = (flags & ~NUMC_MASK) | 1; dIASSERT((1 & ~NUMC_MASK) == 0); }

-

-    int numMaxTerrainContacts = (flags & NUMC_MASK);

-

-    dxHeightfield *terrain = (dxHeightfield*) o1;

-

-    dVector3 posbak;

-    dMatrix3 Rbak;

-    dReal aabbbak[6];

-    int gflagsbak;

-    dVector3 pos0,pos1;

-    dMatrix3 R1;

-

-    int numTerrainContacts = 0;

-

-    //@@ Should find a way to set reComputeAABB to false in default case

-    // aka DHEIGHTFIELD_CORNER_ORIGIN not defined and terrain not PLACEABLE

-    // so that we can free some memory and speed up things a bit

-    // while saving some precision loss 

-#ifndef DHEIGHTFIELD_CORNER_ORIGIN

-    const bool reComputeAABB = true;

-#else

-    const bool reComputeAABB = ( terrain->gflags & GEOM_PLACEABLE ) ? true : false;

-#endif //DHEIGHTFIELD_CORNER_ORIGIN

-

-    //

-    // Transform O2 into Heightfield Space

-    //

-    if (reComputeAABB)

-    {

-        // Backup original o2 position, rotation and AABB.

-        dVector3Copy( o2->final_posr->pos, posbak );

-        dMatrix3Copy( o2->final_posr->R, Rbak );

-        memcpy( aabbbak, o2->aabb, sizeof( dReal ) * 6 );

-        gflagsbak = o2->gflags;

-    }

-

-    if ( terrain->gflags & GEOM_PLACEABLE )

-    {

-        // Transform o2 into heightfield space.

-        dOP( pos0, -, o2->final_posr->pos, terrain->final_posr->pos );

-        dMULTIPLY1_331( pos1, terrain->final_posr->R, pos0 );

-        dMULTIPLY1_333( R1, terrain->final_posr->R, o2->final_posr->R );

-

-        // Update o2 with transformed position and rotation.

-        dVector3Copy( pos1, o2->final_posr->pos );

-        dMatrix3Copy( R1, o2->final_posr->R );

-    }

-

-#ifndef DHEIGHTFIELD_CORNER_ORIGIN

-    o2->final_posr->pos[ 0 ] += terrain->m_p_data->m_fHalfWidth;

-    o2->final_posr->pos[ 2 ] += terrain->m_p_data->m_fHalfDepth;

-#endif // DHEIGHTFIELD_CORNER_ORIGIN

-

-    // Rebuild AABB for O2

-    if (reComputeAABB)

-        o2->computeAABB();

-

-    //

-    // Collide

-    //

-

-    //check if inside boundaries

-    // using O2 aabb

-    //  aabb[6] is (minx, maxx, miny, maxy, minz, maxz) 

-    const bool wrapped = terrain->m_p_data->m_bWrapMode != 0;

-

-    int nMinX;

-    int nMaxX;

-    int nMinZ;

-    int nMaxZ;

-

-    if ( !wrapped )

-    {

-        if (    o2->aabb[0] > terrain->m_p_data->m_fWidth //MinX

-            &&  o2->aabb[4] > terrain->m_p_data->m_fDepth)//MinZ

-            goto dCollideHeightfieldExit;

-

-        if (    o2->aabb[1] < 0 //MaxX

-            &&  o2->aabb[5] < 0) //MaxZ

-            goto dCollideHeightfieldExit;

-

-    }

-

-    nMinX = int(dFloor(o2->aabb[0] * terrain->m_p_data->m_fInvSampleWidth));

-    nMaxX = int(dFloor(o2->aabb[1] * terrain->m_p_data->m_fInvSampleWidth)) + 1;

-    nMinZ = int(dFloor(o2->aabb[4] * terrain->m_p_data->m_fInvSampleDepth));

-    nMaxZ = int(dFloor(o2->aabb[5] * terrain->m_p_data->m_fInvSampleDepth)) + 1;

-

-    if ( !wrapped )

-    {

-        nMinX = dMAX( nMinX, 0 );

-        nMaxX = dMIN( nMaxX, terrain->m_p_data->m_nWidthSamples - 1 );

-        nMinZ = dMAX( nMinZ, 0 );

-        nMaxZ = dMIN( nMaxZ, terrain->m_p_data->m_nDepthSamples - 1 );

-

-        dIASSERT ((nMinX < nMaxX) || (nMinZ < nMaxZ))           

-    }

-

-

-

-    numTerrainContacts  += terrain->dCollideHeightfieldZone(

-        nMinX,nMaxX,nMinZ,nMaxZ,o2,numMaxTerrainContacts - numTerrainContacts,

-        flags,CONTACT(contact,numTerrainContacts*skip),skip     );

-

-        dIASSERT( numTerrainContacts <= numMaxTerrainContacts );

-

-        dContactGeom *pContact;

-        for ( i = 0; i < numTerrainContacts; ++i )

-        {

-            pContact = CONTACT(contact,i*skip);

-            pContact->g1 = o1;

-            pContact->g2 = o2;

-        }

-

-

-        //------------------------------------------------------------------------------

-

-dCollideHeightfieldExit:

-

-        if (reComputeAABB)

-        {

-            // Restore o2 position, rotation and AABB

-            dVector3Copy( posbak, o2->final_posr->pos );

-            dMatrix3Copy( Rbak, o2->final_posr->R );

-            memcpy( o2->aabb, aabbbak, sizeof(dReal)*6 );

-            o2->gflags = gflagsbak;

-

-            //

-            // Transform Contacts to World Space

-            //

-            if ( terrain->gflags & GEOM_PLACEABLE )

-            {

-                for ( i = 0; i < numTerrainContacts; ++i )

-                {

-                    pContact = CONTACT(contact,i*skip);

-                    dOPE( pos0, =, pContact->pos );

-

-#ifndef DHEIGHTFIELD_CORNER_ORIGIN

-                    pos0[ 0 ] -= terrain->m_p_data->m_fHalfWidth;

-                    pos0[ 2 ] -= terrain->m_p_data->m_fHalfDepth;

-#endif // !DHEIGHTFIELD_CORNER_ORIGIN

-

-                    dMULTIPLY0_331( pContact->pos, terrain->final_posr->R, pos0 );

-

-                    dOP( pContact->pos, +, pContact->pos, terrain->final_posr->pos );

-                    dOPE( pos0, =, pContact->normal );

-

-                    dMULTIPLY0_331( pContact->normal, terrain->final_posr->R, pos0 );

-                }

-            }

-#ifndef DHEIGHTFIELD_CORNER_ORIGIN

-            else

-            {

-                for ( i = 0; i < numTerrainContacts; ++i )

-                {

-                    pContact = CONTACT(contact,i*skip);

-                    pContact->pos[ 0 ] -= terrain->m_p_data->m_fHalfWidth;

-                    pContact->pos[ 2 ] -= terrain->m_p_data->m_fHalfDepth;

-                }

-            }

-#endif // !DHEIGHTFIELD_CORNER_ORIGIN

-        }

-        // Return contact count.

-        return numTerrainContacts;

-}

-

-

diff --git a/libraries/ode-0.9/ode/src/heightfield.h b/libraries/ode-0.9/ode/src/heightfield.h
deleted file mode 100644
index f4c5952..0000000
--- a/libraries/ode-0.9/ode/src/heightfield.h
+++ /dev/null
@@ -1,225 +0,0 @@
-// dHeightfield Collider

-//  Martijn Buijs 2006 http://home.planet.nl/~buijs512/

-// Based on Terrain & Cone contrib by:

-//  Benoit CHAPEROT 2003-2004 http://www.jstarlab.com

-

-#ifndef _DHEIGHTFIELD_H_

-#define _DHEIGHTFIELD_H_

-//------------------------------------------------------------------------------

-

-#include <ode/common.h>

-#include "collision_kernel.h"

-

-

-#define HEIGHTFIELDMAXCONTACTPERCELL 10

-

-//

-// dxHeightfieldData

-//

-// Heightfield Data structure

-//

-struct dxHeightfieldData

-{

-    dReal m_fWidth;                             // World space heightfield dimension on X axis

-    dReal m_fDepth;                             // World space heightfield dimension on Z axis

-    dReal m_fSampleWidth;               // Vertex count on X axis edge (== m_vWidth / (m_nWidthSamples-1))

-    dReal m_fSampleDepth;               // Vertex count on Z axis edge (== m_vDepth / (m_nDepthSamples-1))

-    dReal m_fInvSampleWidth;            // Cache of inverse Vertex count on X axis edge (== m_vWidth / (m_nWidthSamples-1))

-    dReal m_fInvSampleDepth;            // Cache of inverse Vertex count on Z axis edge (== m_vDepth / (m_nDepthSamples-1))

-

-    dReal m_fHalfWidth;                 // Cache of half of m_fWidth

-    dReal m_fHalfDepth;                 // Cache of half of m_fDepth

-

-    dReal m_fMinHeight;        // Min sample height value (scaled and offset)

-    dReal m_fMaxHeight;        // Max sample height value (scaled and offset)

-    dReal m_fThickness;        // Surface thickness (added to bottom AABB)

-    dReal m_fScale;            // Sample value multiplier

-    dReal m_fOffset;           // Vertical sample offset

-

-    int m_nWidthSamples;       // Vertex count on X axis edge (number of samples)

-    int m_nDepthSamples;       // Vertex count on Z axis edge (number of samples)

-    int m_bCopyHeightData;     // Do we own the sample data?

-    int m_bWrapMode;           // Heightfield wrapping mode (0=finite, 1=infinite)

-    int m_nGetHeightMode;      // GetHeight mode ( 0=callback, 1=byte, 2=short, 3=float )

-

-    const void* m_pHeightData; // Sample data array

-    void* m_pUserData;         // Callback user data

-

-    dContactGeom            m_contacts[HEIGHTFIELDMAXCONTACTPERCELL];

-

-    dHeightfieldGetHeight* m_pGetHeightCallback;                // Callback pointer.

-

-    dxHeightfieldData();

-    ~dxHeightfieldData();

-

-    void SetData( int nWidthSamples, int nDepthSamples,

-        dReal fWidth, dReal fDepth,

-        dReal fScale, dReal fOffset,

-        dReal fThickness, int bWrapMode );

-

-    void ComputeHeightBounds();

-

-    bool IsOnHeightfield  ( const dReal * const CellOrigin, const dReal * const pos,  const bool isABC) const;

-    bool IsOnHeightfield2  ( const dReal * const CellOrigin, const dReal * const pos,  const bool isABC) const;

-

-    dReal GetHeight(int x, int z);

-    dReal GetHeight(dReal x, dReal z);

-

-};

-

-class HeightFieldVertex;

-class HeightFieldEdge;

-class HeightFieldTriangle;

-

-class HeightFieldVertex

-{

-public:

-    HeightFieldVertex(){};

-

-    dVector3 vertex;

-    bool state;

-};

-

-class HeightFieldEdge

-{

-public:

-    HeightFieldEdge(){};

-

-    HeightFieldVertex   *vertices[2];

-};

-//

-// HeightFieldTriangle

-//

-// HeightFieldTriangle composing heightfield mesh

-//

-class HeightFieldTriangle

-{

-public:

-    HeightFieldTriangle(){};

-

-    inline void setMinMax()

-    {

-        maxAAAB = vertices[0]->vertex[1] > vertices[1]->vertex[1] ? vertices[0]->vertex[1] : vertices[1]->vertex[1];

-        maxAAAB = vertices[2]->vertex[1] > maxAAAB  ? vertices[2]->vertex[1] : maxAAAB;

-    };

-

-    HeightFieldVertex   *vertices[3];

-    dReal               planeDef[4];

-    dReal               maxAAAB;

-

-    bool                isUp;

-    bool                state;

-};

-//

-// HeightFieldTriangle

-//

-// HeightFieldPlane composing heightfield mesh

-//

-class HeightFieldPlane

-{

-public:

-    HeightFieldPlane():

-      trianglelist(0),

-      trianglelistReservedSize(0),

-      trianglelistCurrentSize(0)

-    {

-

-    };

-    ~HeightFieldPlane()

-    {

-        delete [] trianglelist;

-    };

-

-    inline void setMinMax()

-    {

-        const size_t asize = trianglelistCurrentSize;

-        if (asize > 0)

-        {  

-            maxAAAB = trianglelist[0]->maxAAAB;

-            for (size_t k = 1; asize > k; k++)

-            {   

-                if (trianglelist[k]->maxAAAB >  maxAAAB)

-                    maxAAAB = trianglelist[k]->maxAAAB;

-            }

-        }

-    };

-

-    void resetTriangleListSize(const size_t newSize)

-    {

-        if (trianglelistReservedSize < newSize)

-        {

-            delete [] trianglelist;

-            trianglelistReservedSize = newSize;

-            trianglelist = new HeightFieldTriangle *[newSize];

-        }

-        trianglelistCurrentSize = 0;

-    }

-

-    void addTriangle(HeightFieldTriangle *tri)

-    {

-                dIASSERT(trianglelistCurrentSize < trianglelistReservedSize);

-

-        trianglelist[trianglelistCurrentSize++] = tri;

-    }

-

-    HeightFieldTriangle **trianglelist;

-    size_t              trianglelistReservedSize;

-    size_t              trianglelistCurrentSize;

-

-    dReal   maxAAAB;

-    dReal   planeDef[4];

-};

-//

-// dxHeightfield

-//

-// Heightfield geom structure

-//

-struct dxHeightfield : public dxGeom

-{

-    dxHeightfieldData* m_p_data;

-

-    dxHeightfield( dSpaceID space, dHeightfieldDataID data, int bPlaceable );

-    ~dxHeightfield();

-

-    void computeAABB();

-

-    int dCollideHeightfieldZone( const int minX, const int maxX, const int minZ, const int maxZ,  

-        dxGeom *o2, const int numMaxContacts,

-        int flags, dContactGeom *contact, int skip );

-

-        enum

-        {

-                TEMP_PLANE_BUFFER_ELEMENT_COUNT_ALIGNMENT = 4,

-                TEMP_HEIGHT_BUFFER_ELEMENT_COUNT_ALIGNMENT_X = 4,

-                TEMP_HEIGHT_BUFFER_ELEMENT_COUNT_ALIGNMENT_Z = 4,

-                TEMP_TRIANGLE_BUFFER_ELEMENT_COUNT_ALIGNMENT = 1, // Triangles are easy to reallocate and hard to predict

-        };

-

-        static inline size_t AlignBufferSize(size_t value, size_t alignment) { dIASSERT((alignment & (alignment - 1)) == 0); return (value + (alignment - 1)) & ~(alignment - 1); }

-

-        void  allocateTriangleBuffer(size_t numTri);

-        void  resetTriangleBuffer();

-        void  allocatePlaneBuffer(size_t numTri);

-        void  resetPlaneBuffer();

-        void  allocateHeightBuffer(size_t numX, size_t numZ);

-    void  resetHeightBuffer();

-

-    void  sortPlanes(const size_t numPlanes);

-

-    HeightFieldPlane    **tempPlaneBuffer;

-    HeightFieldPlane    *tempPlaneInstances;

-    size_t              tempPlaneBufferSize;

-

-    HeightFieldTriangle *tempTriangleBuffer;

-    size_t              tempTriangleBufferSize;

-

-    HeightFieldVertex   **tempHeightBuffer;

-        HeightFieldVertex   *tempHeightInstances;

-    size_t              tempHeightBufferSizeX;

-    size_t              tempHeightBufferSizeZ;

-

-};

-

-

-//------------------------------------------------------------------------------

-#endif //_DHEIGHTFIELD_H_

diff --git a/libraries/ode-0.9/ode/src/joint.cpp b/libraries/ode-0.9/ode/src/joint.cpp
deleted file mode 100644
index d83294b..0000000
--- a/libraries/ode-0.9/ode/src/joint.cpp
+++ /dev/null
@@ -1,4065 +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/ode.h>
-#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->posr.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->posr.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->posr.pos[j] -
-                        a1[j] - joint->node[0].body->posr.pos[j]);
-    }
-  }
-  else {
-    for (int j=0; j<3; j++) {
-      info->c[j] = k * (anchor2[j] - a1[j] -
-                        joint->node[0].body->posr.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->posr.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->posr.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->posr.pos[i];
-  if (joint->node[1].body) {
-    for (i=0; i<3; i++) a2[i] += joint->node[1].body->posr.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->posr.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->posr.pos[0];
-    q[1] = y - j->node[0].body->posr.pos[1];
-    q[2] = z - j->node[0].body->posr.pos[2];
-    q[3] = 0;
-    dMULTIPLY1_331 (anchor1,j->node[0].body->posr.R,q);
-    if (j->node[1].body) {
-      q[0] = x - j->node[1].body->posr.pos[0];
-      q[1] = y - j->node[1].body->posr.pos[1];
-      q[2] = z - j->node[1].body->posr.pos[2];
-      q[3] = 0;
-      dMULTIPLY1_331 (anchor2,j->node[1].body->posr.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->posr.R,q);
-      axis1[3] = 0;
-    }
-    if (axis2) {
-      if (j->node[1].body) {
-        dMULTIPLY1_331 (axis2,j->node[1].body->posr.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->posr.R,anchor1);
-    result[0] += j->node[0].body->posr.pos[0];
-    result[1] += j->node[0].body->posr.pos[1];
-    result[2] += j->node[0].body->posr.pos[2];
-  }
-}
-
-
-static void getAnchor2 (dxJoint *j, dVector3 result, dVector3 anchor2)
-{
-  if (j->node[1].body) {
-    dMULTIPLY0_331 (result,j->node[1].body->posr.R,anchor2);
-    result[0] += j->node[1].body->posr.pos[0];
-    result[1] += j->node[1].body->posr.pos[1];
-    result[2] += j->node[1].body->posr.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->posr.R,axis1);
-  }
-}
-
-
-static void getAxis2 (dxJoint *j, dVector3 result, dVector3 axis2)
-{
-  if (j->node[1].body) {
-    dMULTIPLY0_331 (result,j->node[1].body->posr.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:
-    lostop = value;
-    break;
-  case dParamHiStop:
-    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->posr.pos[0]-joint->node[0].body->posr.pos[0]);
-      c[1]=REAL(0.5)*(joint->node[1].body->posr.pos[1]-joint->node[0].body->posr.pos[1]);
-      c[2]=REAL(0.5)*(joint->node[1].body->posr.pos[2]-joint->node[0].body->posr.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) || (vel==0 && limit==2)) 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);
-  j->erp = j->world->global_erp;
-  j->cfm = j->world->global_cfm;
-}
-
-
-static void ballGetInfo1 (dxJointBall *j, dxJoint::Info1 *info)
-{
-  info->m = 3;
-  info->nub = 3;
-}
-
-
-static void ballGetInfo2 (dxJointBall *joint, dxJoint::Info2 *info)
-{
-  info->erp = joint->erp;
-  info->cfm[0] = joint->cfm;
-  info->cfm[1] = joint->cfm;
-  info->cfm[2] = joint->cfm;
-  setBall (joint,info,joint->anchor1,joint->anchor2);
-}
-
-
-void dJointSetBallAnchor (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointBall* joint = (dxJointBall*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
-  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
-}
-
-
-void dJointSetBallAnchor2 (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointBall* joint = (dxJointBall*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
-  joint->anchor2[0] = x;
-  joint->anchor2[1] = y;
-  joint->anchor2[2] = z;
-  joint->anchor2[3] = 0;
-
-}
-
-void dJointGetBallAnchor (dJointID j, dVector3 result)
-{
-  dxJointBall* joint = (dxJointBall*)j;
-  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);
-}
-
-
-void dJointGetBallAnchor2 (dJointID j, dVector3 result)
-{
-  dxJointBall* joint = (dxJointBall*)j;
-  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);
-}
-
-
-void dxJointBall::set (int num, dReal value)
-{
-  switch (num) {
-  case dParamCFM:
-    cfm = value;
-    break;
-  case dParamERP:
-    erp = value;
-    break;
-  }
-}
- 
-
-dReal dxJointBall::get (int num)
-{
-  switch (num) {
-  case dParamCFM:
-    return cfm;
-  case dParamERP:
-    return erp;
-  default:
-        return 0;
-  }
-}
-
-
-void dJointSetBallParam (dJointID j, int parameter, dReal value)
-{
-  dxJointBall* joint = (dxJointBall*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball joint");
-  joint->set (parameter,value);
-}
-
-
-dReal dJointGetBallParam (dJointID j, int parameter)
-{
-  dxJointBall* joint = (dxJointBall*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball joint");
-  return joint->get (parameter);
-}
-
-
-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->posr.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->posr.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];
-    }
-  }
-}
-
-
-void dJointSetHingeAnchor (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  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);
-}
-
-
-void dJointSetHingeAnchorDelta (dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-
-  if (joint->node[0].body) {
-    dReal q[4];
-    q[0] = x - joint->node[0].body->posr.pos[0];
-    q[1] = y - joint->node[0].body->posr.pos[1];
-    q[2] = z - joint->node[0].body->posr.pos[2];
-    q[3] = 0;
-    dMULTIPLY1_331 (joint->anchor1,joint->node[0].body->posr.R,q);
-
-    if (joint->node[1].body) {
-      q[0] = x - joint->node[1].body->posr.pos[0];
-      q[1] = y - joint->node[1].body->posr.pos[1];
-      q[2] = z - joint->node[1].body->posr.pos[2];
-      q[3] = 0;
-      dMULTIPLY1_331 (joint->anchor2,joint->node[1].body->posr.R,q);
-    }
-    else {
-      // Move the relative displacement between the passive body and the
-      //  anchor in the same direction as the passive body has just moved
-      joint->anchor2[0] = x + dx;
-      joint->anchor2[1] = y + dy;
-      joint->anchor2[2] = z + dz;
-    }
-  }
-  joint->anchor1[3] = 0;
-  joint->anchor2[3] = 0;
-
-  hingeComputeInitialRelativeRotation (joint);
-}
-
-
-
-void dJointSetHingeAxis (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  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);
-}
-
-
-void dJointGetHingeAnchor (dJointID j, dVector3 result)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  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);
-}
-
-
-void dJointGetHingeAnchor2 (dJointID j, dVector3 result)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  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);
-}
-
-
-void dJointGetHingeAxis (dJointID j, dVector3 result)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  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);
-}
-
-
-void dJointSetHingeParam (dJointID j, int parameter, dReal value)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  joint->limot.set (parameter,value);
-}
-
-
-dReal dJointGetHingeParam (dJointID j, int parameter)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
-  return joint->limot.get (parameter);
-}
-
-
-dReal dJointGetHingeAngle (dJointID j)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  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;
-}
-
-
-dReal dJointGetHingeAngleRate (dJointID j)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  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->posr.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;
-}
-
-
-void dJointAddHingeTorque (dJointID j, dReal torque)
-{
-  dxJointHinge* joint = (dxJointHinge*)j;
-  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);
-}
-
-
-dReal dJointGetSliderPosition (dJointID j)
-{
-  dxJointSlider* joint = (dxJointSlider*)j;
-  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->posr.R,joint->axis1);
-
-  if (joint->node[1].body) {
-    // get body2 + offset point in global coordinates
-    dMULTIPLY0_331 (q,joint->node[1].body->posr.R,joint->offset);
-    for (int i=0; i<3; i++) q[i] = joint->node[0].body->posr.pos[i] - q[i] -
-                              joint->node[1].body->posr.pos[i];
-  }
-  else {
-    for (int i=0; i<3; i++) q[i] = joint->node[0].body->posr.pos[i] -
-                              joint->offset[i];
-
-  }
-  return dDOT(ax1,q);
-}
-
-
-dReal dJointGetSliderPositionRate (dJointID j)
-{
-  dxJointSlider* joint = (dxJointSlider*)j;
-  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->posr.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 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->posr.pos;
-  R1 = joint->node[0].body->posr.R;
-  if (joint->node[1].body) {
-    pos2 = joint->node[1].body->posr.pos;
-    R2 = joint->node[1].body->posr.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->J1a[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->J1a[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);
-}
-
-
-void dJointSetSliderAxis (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointSlider* joint = (dxJointSlider*)j;
-  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->posr.pos[i] - joint->node[1].body->posr.pos[i];
-    dMULTIPLY1_331 (joint->offset,joint->node[1].body->posr.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->posr.pos[i];
-  }
-}
-
-
-void dJointSetSliderAxisDelta (dJointID j, dReal x, dReal y, dReal z, dReal dx, dReal dy, dReal dz)
-{
-  dxJointSlider* joint = (dxJointSlider*)j;
-  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->posr.pos[i] - joint->node[1].body->posr.pos[i];
-    dMULTIPLY1_331 (joint->offset,joint->node[1].body->posr.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];
-
-    joint->offset[0] = joint->node[0].body->posr.pos[0] + dx;
-    joint->offset[1] = joint->node[0].body->posr.pos[1] + dy;
-    joint->offset[2] = joint->node[0].body->posr.pos[2] + dz;
-  }
-}
-
-
-
-void dJointGetSliderAxis (dJointID j, dVector3 result)
-{
-  dxJointSlider* joint = (dxJointSlider*)j;
-  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);
-}
-
-
-void dJointSetSliderParam (dJointID j, int parameter, dReal value)
-{
-  dxJointSlider* joint = (dxJointSlider*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  joint->limot.set (parameter,value);
-}
-
-
-dReal dJointGetSliderParam (dJointID j, int parameter)
-{
-  dxJointSlider* joint = (dxJointSlider*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
-  return joint->limot.get (parameter);
-}
-
-
-void dJointAddSliderForce (dJointID j, dReal force)
-{
-  dxJointSlider* joint = (dxJointSlider*)j;
-  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]);
-
-  if (joint->node[0].body != 0 && joint->node[1].body != 0) {
-    // linear torque decoupling:
-    // we have to compensate the torque, that this slider force may generate
-    // if body centers are not aligned along the slider axis
-
-    dVector3 ltd; // Linear Torque Decoupling vector (a torque)
-
-    dVector3 c;
-    c[0]=REAL(0.5)*(joint->node[1].body->posr.pos[0]-joint->node[0].body->posr.pos[0]);
-    c[1]=REAL(0.5)*(joint->node[1].body->posr.pos[1]-joint->node[0].body->posr.pos[1]);
-    c[2]=REAL(0.5)*(joint->node[1].body->posr.pos[2]-joint->node[0].body->posr.pos[2]);
-    dCROSS (ltd,=,c,axis);
-
-    dBodyAddTorque (joint->node[0].body,ltd[0],ltd[1], ltd[2]);
-    dBodyAddTorque (joint->node[1].body,ltd[0],ltd[1], ltd[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 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;
-  c1[0] = j->contact.geom.pos[0] - j->node[0].body->posr.pos[0];
-  c1[1] = j->contact.geom.pos[1] - j->node[0].body->posr.pos[1];
-  c1[2] = j->contact.geom.pos[2] - j->node[0].body->posr.pos[2];
-
-  // 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) {
-    c2[0] = j->contact.geom.pos[0] - j->node[1].body->posr.pos[0];
-    c2[1] = j->contact.geom.pos[1] - j->node[1].body->posr.pos[1];
-    c2[2] = j->contact.geom.pos[2] - j->node[1].body->posr.pos[2];
-    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;
-  dReal depth = j->contact.geom.depth - j->world->contactp.min_depth;
-  if (depth < 0) depth = 0;
-
-  const dReal maxvel = j->world->contactp.max_vel;
-  info->c[0] = k*depth;
-  if (info->c[0] > maxvel)
-    info->c[0] = maxvel;
-
-  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->posr.R,joint->axis2);
-  dMULTIPLY1_331 (a2,joint->node[0].body->posr.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->posr.R,joint->axis1); \
-  dMULTIPLY0_331 (ax2,joint->node[1].body->posr.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->posr.R,joint->axis1);
-    dMULTIPLY0_331 (ax2,joint->node[1].body->posr.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->posr.R,ax2);
-    dMULTIPLY1_331 (joint->v2,joint->node[0].body->posr.R,v);
-  }
-}
-
-
-void dJointSetHinge2Anchor (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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);
-}
-
-
-void dJointSetHinge2Axis1 (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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->posr.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);
-}
-
-
-void dJointSetHinge2Axis2 (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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->posr.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);
-}
-
-
-void dJointSetHinge2Param (dJointID j, int parameter, dReal value)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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);
-  }
-}
-
-
-void dJointGetHinge2Anchor (dJointID j, dVector3 result)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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);
-}
-
-
-void dJointGetHinge2Anchor2 (dJointID j, dVector3 result)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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);
-}
-
-
-void dJointGetHinge2Axis1 (dJointID j, dVector3 result)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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->posr.R,joint->axis1);
-  }
-}
-
-
-void dJointGetHinge2Axis2 (dJointID j, dVector3 result)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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->posr.R,joint->axis2);
-  }
-}
-
-
-dReal dJointGetHinge2Param (dJointID j, int parameter)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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);
-  }
-}
-
-
-dReal dJointGetHinge2Angle1 (dJointID j)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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;
-}
-
-
-dReal dJointGetHinge2Angle1Rate (dJointID j)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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->posr.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;
-}
-
-
-dReal dJointGetHinge2Angle2Rate (dJointID j)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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->posr.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;
-}
-
-
-void dJointAddHinge2Torques (dJointID j, dReal torque1, dReal torque2)
-{
-  dxJointHinge2* joint = (dxJointHinge2*)j;
-  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->posr.R,joint->axis1);
-    dMULTIPLY0_331 (axis2,joint->node[1].body->posr.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->posr.R * joint->axis1"
-  dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1);
-
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (ax2,joint->node[1].body->posr.R,joint->axis2);
-  }
-  else {
-    ax2[0] = joint->axis2[0];
-    ax2[1] = joint->axis2[1];
-    ax2[2] = joint->axis2[2];
-  }
-}
-
-static void getUniversalAngles(dxJointUniversal *joint, dReal *angle1, dReal *angle2)
-{
-  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 essentialy 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);
-
-    *angle1 = getHingeAngleFromRelativeQuat(qrel, joint->axis1);
-
-    // This is equivalent to
-    // dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]);
-    // You see that the R is constructed from the same 2 axis as for angle1
-    // but the first and second axis are swapped.
-    // So we can take the first R and rapply a rotation to it.
-    // The rotation is around the axis between the 2 axes (ax1 and ax2).
-    // We do a rotation of 180deg.
-
-    dQuaternion qcross2;
-    // Find the vector between ax1 and ax2 (i.e. in the middle)
-    // We need to turn around this vector by 180deg
-
-    // The 2 axes should be normalize so to find the vector between the 2.
-    // Add and devide by 2 then normalize or simply normalize
-    //    ax2
-    //    ^
-    //    |
-    //    |
-    ///   *------------> ax1
-    //    We want the vector a 45deg
-    //
-    // N.B. We don't need to normalize the ax1 and ax2 since there are
-    //      normalized when we set them.
-
-    // We set the quaternion q = [cos(theta), dir*sin(theta)] = [w, x, y, Z]
-    qrel[0] = 0;                // equivalent to cos(Pi/2)
-    qrel[1] = ax1[0] + ax2[0];  // equivalent to x*sin(Pi/2); since sin(Pi/2) = 1
-    qrel[2] = ax1[1] + ax2[1];
-    qrel[3] = ax1[2] + ax2[2];
-
-    dReal l = dRecip(sqrt(qrel[1]*qrel[1] + qrel[2]*qrel[2] + qrel[3]*qrel[3]));
-    qrel[1] *= l;
-    qrel[2] *= l;
-    qrel[3] *= l;
-
-    dQMultiply0 (qcross2, qrel, qcross);
-
-    if (joint->node[1].body) {
-      dQMultiply1 (qq, joint->node[1].body->q, qcross2);
-      dQMultiply2 (qrel, qq, joint->qrel2);
-    }
-    else {
-      // pretend joint->node[1].body->q is the identity
-      dQMultiply2 (qrel, qcross2, joint->qrel2);
-    }
-
-    *angle2 = - getHingeAngleFromRelativeQuat(qrel, joint->axis2);
-
-  }
-  else
-  {
-    *angle1 = 0;
-    *angle2 = 0;
-  }
-}
-
-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;
-    getUniversalAngles (j, &angle1, &angle2);
-    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];
-    }
-  }
-}
-
-
-void dJointSetUniversalAnchor (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-}
-
-
-void dJointSetUniversalAxis1 (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-}
-
-
-void dJointSetUniversalAxis2 (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-}
-
-
-void dJointGetUniversalAnchor (dJointID j, dVector3 result)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-}
-
-
-void dJointGetUniversalAnchor2 (dJointID j, dVector3 result)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-}
-
-
-void dJointGetUniversalAxis1 (dJointID j, dVector3 result)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-}
-
-
-void dJointGetUniversalAxis2 (dJointID j, dVector3 result)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-}
-
-
-void dJointSetUniversalParam (dJointID j, int parameter, dReal value)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-  }
-}
-
-
-dReal dJointGetUniversalParam (dJointID j, int parameter)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-  }
-}
-
-void dJointGetUniversalAngles (dJointID j, dReal *angle1, dReal *angle2)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
-  if (joint->flags & dJOINT_REVERSE)
-    return getUniversalAngles (joint, angle2, angle1);
-  else
-    return getUniversalAngles (joint, angle1, angle2);
-}
-
-
-dReal dJointGetUniversalAngle1 (dJointID j)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-}
-
-
-dReal dJointGetUniversalAngle2 (dJointID j)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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);
-}
-
-
-dReal dJointGetUniversalAngle1Rate (dJointID j)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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;
-}
-
-
-dReal dJointGetUniversalAngle2Rate (dJointID j)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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;
-}
-
-
-void dJointAddUniversalTorques (dJointID j, dReal torque1, dReal torque2)
-{
-  dxJointUniversal* joint = (dxJointUniversal*)j;
-  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};
-
-
-
-//****************************************************************************
-// Prismatic and Rotoide
-
-static void PRInit (dxJointPR *j)
-{
-  // Default Position
-  // Z^
-  //  | Body 1       P      R          Body2
-  //  |+---------+   _      _         +-----------+
-  //  ||         |----|----(_)--------+           |
-  //  |+---------+   -                +-----------+
-  //  |
-  // X.-----------------------------------------> Y
-  // N.B. X is comming out of the page
-  dSetZero (j->anchor2,4);
-
-  dSetZero (j->axisR1,4);
-  j->axisR1[0] = 1;
-  dSetZero (j->axisR2,4);
-  j->axisR2[0] = 1;
-
-  dSetZero (j->axisP1,4);
-  j->axisP1[1] = 1;
-  dSetZero (j->qrel,4);
-  dSetZero (j->offset,4);
-
-  j->limotR.init (j->world);
-  j->limotP.init (j->world);
-}
-
-
-dReal dJointGetPRPosition (dJointID j)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
-
-  dVector3 q;
-  // get the offset in global coordinates
-  dMULTIPLY0_331 (q,joint->node[0].body->posr.R,joint->offset);
-
-  if (joint->node[1].body) {
-    dVector3 anchor2;
-
-    // get the anchor2 in global coordinates
-    dMULTIPLY0_331 (anchor2,joint->node[1].body->posr.R,joint->anchor2);
-
-    q[0] = ( (joint->node[0].body->posr.pos[0] + q[0]) -
-             (joint->node[1].body->posr.pos[0] + anchor2[0]) );
-    q[1] = ( (joint->node[0].body->posr.pos[1] + q[1]) -
-             (joint->node[1].body->posr.pos[1] + anchor2[1]) );
-    q[2] = ( (joint->node[0].body->posr.pos[2] + q[2]) -
-             (joint->node[1].body->posr.pos[2] + anchor2[2]) );
-
-  }
-  else {
-    //N.B. When there is no body 2 the joint->anchor2 is already in
-    //     global coordinates
-
-    q[0] = ( (joint->node[0].body->posr.pos[0] + q[0]) -
-             (joint->anchor2[0]) );
-    q[1] = ( (joint->node[0].body->posr.pos[1] + q[1]) -
-             (joint->anchor2[1]) );
-    q[2] = ( (joint->node[0].body->posr.pos[2] + q[2]) -
-             (joint->anchor2[2]) );
-
-  }
-
-  dVector3 axP;
-  // get prismatic axis in global coordinates
-  dMULTIPLY0_331 (axP,joint->node[0].body->posr.R,joint->axisP1);
-
-  return dDOT(axP, q);
-}
-
-
-dReal dJointGetPRPositionRate (dJointID j)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
-
-  if (joint->node[0].body) {
-                // We want to find the rate of change of the prismatic part of the joint
-                // We can find it by looking at the speed difference between body1 and the
-                // anchor point.
-
-                // r will be used to find the distance between body1 and the anchor point
-                dVector3 r;
-                if (joint->node[1].body) {
-                        // Find joint->anchor2 in global coordinates
-                        dVector3 anchor2;
-                        dMULTIPLY0_331 (anchor2,joint->node[1].body->posr.R,joint->anchor2);
-
-                        r[0] = joint->node[0].body->posr.pos[0] - anchor2[0];
-                        r[1] = joint->node[0].body->posr.pos[1] - anchor2[1];
-                        r[2] = joint->node[0].body->posr.pos[2] - anchor2[2];
-                }
-                else {
-                        //N.B. When there is no body 2 the joint->anchor2 is already in
-                        //     global coordinates
-                        r[0] = joint->node[0].body->posr.pos[0] - joint->anchor2[0];
-                        r[1] = joint->node[0].body->posr.pos[1] - joint->anchor2[1];
-                        r[2] = joint->node[0].body->posr.pos[2] - joint->anchor2[2];
-                }
-
-                // The body1 can have velocity coming from the rotation of
-                // the rotoide axis. We need to remove this.
-
-                // Take only the angular rotation coming from the rotation
-                // of the rotoide articulation
-                // N.B. Body1 and Body2 should have the same rotation along axis
-                //      other than the rotoide axis.
-                dVector3 angular;
-                dMULTIPLY0_331 (angular,joint->node[0].body->posr.R,joint->axisR1);
-                dReal omega = dDOT(angular, joint->node[0].body->avel);
-                angular[0] *= omega;
-                angular[1] *= omega;
-                angular[2] *= omega;
-
-                // Find the contribution of the angular rotation to the linear speed
-                // N.B. We do vel = r X w instead of vel = w x r to have vel negative
-                //      since we want to remove it from the linear velocity of the body
-                dVector3 lvel1;
-                dCROSS(lvel1, =, r, angular);
-
-                lvel1[0] += joint->node[0].body->lvel[0];
-                lvel1[1] += joint->node[0].body->lvel[1];
-                lvel1[2] += joint->node[0].body->lvel[2];
-
-                // Since we want rate of change along the prismatic axis
-                // get axisP1 in global coordinates and get the component
-                // along this axis only
-                dVector3 axP1;
-                dMULTIPLY0_331 (axP1,joint->node[0].body->posr.R,joint->axisP1);
-                return dDOT(axP1, lvel1);
-        }
-
-        return 0.0;
-}
-
-
-
-static void PRGetInfo1 (dxJointPR *j, dxJoint::Info1 *info)
-{
-  info->m = 4;
-  info->nub = 4;
-
-  bool added = false;
-
-  added = false;
-  // see if the prismatic articulation is powered
-  if (j->limotP.fmax > 0)
-  {
-    added = true;
-    (info->m)++;  // powered needs an extra constraint row
-  }
-
-  // see if we're at a joint limit.
-  j->limotP.limit = 0;
-  if ((j->limotP.lostop > -dInfinity || j->limotP.histop < dInfinity) &&
-      j->limotP.lostop <= j->limotP.histop) {
-    // measure joint position
-    dReal pos = dJointGetPRPosition (j);
-    if (pos <= j->limotP.lostop) {
-      j->limotP.limit = 1;
-      j->limotP.limit_err = pos - j->limotP.lostop;
-      if (!added)
-        (info->m)++;
-    }
-
-    if (pos >= j->limotP.histop) {
-      j->limotP.limit = 2;
-      j->limotP.limit_err = pos - j->limotP.histop;
-      if (!added)
-        (info->m)++;
-    }
-  }
-
-}
-
-
-
-static void PRGetInfo2 (dxJointPR *joint, dxJoint::Info2 *info)
-{
-  int s = info->rowskip;
-  int s2= 2*s;
-  int s3= 3*s;
-  int s4= 4*s;
-
-  dReal k = info->fps * info->erp;
-
-
-  dVector3 q;  // plane space of axP and after that axR
-
-  // pull out pos and R for both bodies. also get the `connection'
-  // vector pos2-pos1.
-
-  dReal *pos1,*pos2,*R1,*R2;
-  pos1 = joint->node[0].body->posr.pos;
-  R1 = joint->node[0].body->posr.R;
-  if (joint->node[1].body) {
-    pos2 = joint->node[1].body->posr.pos;
-    R2 = joint->node[1].body->posr.R;
-  }
-  else {
-   //     pos2 = 0; // N.B. We can do that to be safe but it is no necessary
-   //     R2 = 0;   // N.B. We can do that to be safe but it is no necessary
-  }
-
-
-  dVector3 axP; // Axis of the prismatic joint in global frame
-  dMULTIPLY0_331 (axP, R1, joint->axisP1);
-
-  // distance between the body1 and the anchor2 in global frame
-  // Calculated in the same way as the offset
-  dVector3 dist;
-
-  if (joint->node[1].body)
-  {
-    dMULTIPLY0_331 (dist, R2, joint->anchor2);
-    dist[0] += pos2[0] - pos1[0];
-    dist[1] += pos2[1] - pos1[1];
-    dist[2] += pos2[2] - pos1[2];
-  }
-  else {
-    dist[0] = joint->anchor2[0] - pos1[0];
-    dist[1] = joint->anchor2[1] - pos1[1];
-    dist[2] = joint->anchor2[2] - pos1[2];
-  }
-
-
-  // ======================================================================
-  // Work on the Rotoide part (i.e. row 0, 1 and maybe 4 if rotoide powered
-
-  // Set the two rotoide rows. The rotoide axis should be the only unconstrained
-  // rotational axis, the angular velocity of the two bodies perpendicular to
-  // the rotoide 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 rotoide axis, and w1 and w2
-  // are the angular velocity vectors of the two bodies.
-  dVector3 ax1;
-  dMULTIPLY0_331 (ax1, joint->node[0].body->posr.R, joint->axisR1);
-  dCROSS(q , =, ax1, axP);
-
-  info->J1a[0] = axP[0];
-  info->J1a[1] = axP[1];
-  info->J1a[2] = axP[2];
-  info->J1a[s+0] = q[0];
-  info->J1a[s+1] = q[1];
-  info->J1a[s+2] = q[2];
-
-  if (joint->node[1].body) {
-    info->J2a[0] = -axP[0];
-    info->J2a[1] = -axP[1];
-    info->J2a[2] = -axP[2];
-    info->J2a[s+0] = -q[0];
-    info->J2a[s+1] = -q[1];
-    info->J2a[s+2] = -q[2];
-  }
-
-
-  // Compute the right hand side of the constraint equation set. Relative
-  // body velocities along p and q to bring the rotoide back into alignment.
-  // ax1,ax2 are the unit length rotoide axes of body1 and body2 in world frame.
-  // 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;
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (ax2, R2, joint->axisR2);
-  }
-  else {
-    ax2[0] = joint->axisR2[0];
-    ax2[1] = joint->axisR2[1];
-    ax2[2] = joint->axisR2[2];
-  }
-
-  dVector3 b;
-  dCROSS (b,=,ax1, ax2);
-  info->c[0] = k * dDOT(b, axP);
-  info->c[1] = k * dDOT(b, q);
-
-
-
-  // ==========================
-  // Work on the Prismatic part (i.e row 2,3 and 4 if only the prismatic is powered
-  // or 5 if rotoide and prismatic powered
-
-  // 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 prismatic axis is disregarded. for symmetry we
-  // also substitute (w1+w2)/2 for w1, as w1 is supposed to equal w2.
-
-  // p1 + R1 dist' = p2 + R2 anchor2' ## OLD ## p1 + R1 anchor1' = p2 + R2 dist'
-  // v1 + w1 x R1 dist' + v_p = v2 + w2 x R2 anchor2'## OLD  v1 + w1 x R1 anchor1' = v2 + w2 x R2 dist' + v_p
-  // v_p is speed of prismatic joint (i.e. elongation rate)
-  // Since the constraints are perpendicular to v_p we have:
-  // p dot v_p = 0 and q dot v_p = 0
-  // ax1 dot ( v1 + w1 x dist = v2 + w2 x anchor2 )
-  // q dot ( v1 + w1 x dist = v2 + w2 x anchor2 )
-  // ==
-  // ax1 . v1 + ax1 . w1 x dist = ax1 . v2 + ax1 . w2 x anchor2 ## OLD ## ax1 . v1 + ax1 . w1 x anchor1 = ax1 . v2 + ax1 . w2 x dist
-  // since a . (b x c) = - b . (a x c) = - (a x c) . b
-  // and a x b = - b x a
-  // ax1 . v1 - ax1 x dist . w1 - ax1 . v2 - (- ax1 x anchor2 . w2) = 0
-  // ax1 . v1 + dist x ax1 . w1 - ax1 . v2 - anchor2 x ax1 . w2 = 0
-  // Coeff for 1er line of: J1l => ax1, J2l => -ax1
-  // Coeff for 2er line of: J1l => q, J2l => -q
-  // Coeff for 1er line of: J1a => dist x ax1, J2a => - anchor2 x ax1
-  // Coeff for 2er line of: J1a => dist x q,   J2a => - anchor2 x q
-
-
-        dCROSS ((info->J1a)+s2, = , dist, ax1);
-
-        dCROSS ((info->J1a)+s3, = , dist, q);
-
-
-  info->J1l[s2+0] = ax1[0];
-        info->J1l[s2+1] = ax1[1];
-        info->J1l[s2+2] = ax1[2];
-
-  info->J1l[s3+0] = q[0];
-        info->J1l[s3+1] = q[1];
-        info->J1l[s3+2] = q[2];
-
-  if (joint->node[1].body) {
-    dVector3 anchor2;
-
-    // Calculate anchor2 in world coordinate
-    dMULTIPLY0_331 (anchor2, R2, joint->anchor2);
-
-                // ax2 x anchor2 instead of anchor2 x ax2 since we want the negative value
-                dCROSS ((info->J2a)+s2, = , ax2, anchor2); // since ax1 == ax2
-
-                // The cross product is in reverse order since we want the negative value
-                dCROSS ((info->J2a)+s3, = , q, anchor2);
-
-                info->J2l[s2+0] = -ax1[0];
-                info->J2l[s2+1] = -ax1[1];
-                info->J2l[s2+2] = -ax1[2];
-
-    info->J2l[s3+0] = -q[0];
-                info->J2l[s3+1] = -q[1];
-                info->J2l[s3+2] = -q[2];
-  }
-
-
-  // We want to make correction for motion not in the line of the axisP
-  // We calculate the displacement w.r.t. the anchor pt.
-  //
-  // compute the elements 2 and 3 of right hand side.
-  // we want to align the offset point (in body 2's frame) with the center of body 1.
-  // The position should be the same when we are not along the prismatic axis
-  dVector3 err;
-  dMULTIPLY0_331 (err, R1, joint->offset);
-  err[0] += dist[0];
-  err[1] += dist[1];
-  err[2] += dist[2];
-  info->c[2] = k * dDOT(ax1, err);
-  info->c[3] = k * dDOT(q, err);
-
-  // Here we can't use addLimot because of some assumption in the function
-  int powered = joint->limotP.fmax > 0;
-  if (powered || joint->limotP.limit) {
-    info->J1l[s4+0] = axP[0];
-    info->J1l[s4+1] = axP[1];
-    info->J1l[s4+2] = axP[2];
-    if (joint->node[1].body) {
-      info->J2l[s4+0] = -axP[0];
-      info->J2l[s4+1] = -axP[1];
-      info->J2l[s4+2] = -axP[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 (joint->node[1].body) {
-                        dVector3 c;
-      c[0]=REAL(0.5)*(joint->node[1].body->posr.pos[0]-joint->node[0].body->posr.pos[0]);
-      c[1]=REAL(0.5)*(joint->node[1].body->posr.pos[1]-joint->node[0].body->posr.pos[1]);
-      c[2]=REAL(0.5)*(joint->node[1].body->posr.pos[2]-joint->node[0].body->posr.pos[2]);
-                        dReal val = dDOT(q, c);
-                        c[0] -= val * c[0];
-                        c[1] -= val * c[1];
-                        c[2] -= val * c[2];
-
-      dCROSS (ltd,=,c,axP);
-      info->J1a[s4+0] = ltd[0];
-      info->J1a[s4+1] = ltd[1];
-      info->J1a[s4+2] = ltd[2];
-      info->J2a[s4+0] = ltd[0];
-      info->J2a[s4+1] = ltd[1];
-      info->J2a[s4+2] = ltd[2];
-    }
-
-    // if we're limited low and high simultaneously, the joint motor is
-    // ineffective
-    if (joint->limotP.limit && (joint->limotP.lostop == joint->limotP.histop))
-      powered = 0;
-
-    int row = 4;
-    if (powered) {
-      info->cfm[row] = joint->limotP.normal_cfm;
-      if (!joint->limotP.limit) {
-        info->c[row] = joint->limotP.vel;
-        info->lo[row] = -joint->limotP.fmax;
-        info->hi[row] = joint->limotP.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 = joint->limotP.fmax;
-        dReal vel = joint->limotP.vel;
-        int limit = joint->limotP.limit;
-        if ((vel > 0) || (vel==0 && limit==2)) fm = -fm;
-
-        // if we're powering away from the limit, apply the fudge factor
-        if ((limit==1 && vel > 0) || (limit==2 && vel < 0))
-          fm *= joint->limotP.fudge_factor;
-
-
-        dBodyAddForce (joint->node[0].body,-fm*axP[0],-fm*axP[1],-fm*axP[2]);
-
-                                if (joint->node[1].body) {
-                                        dBodyAddForce (joint->node[1].body,fm*axP[0],fm*axP[1],fm*axP[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 (joint->limotP.limit) {
-      dReal k = info->fps * joint->limotP.stop_erp;
-      info->c[row] = -k * joint->limotP.limit_err;
-      info->cfm[row] = joint->limotP.stop_cfm;
-
-      if (joint->limotP.lostop == joint->limotP.histop) {
-                                // limited low and high simultaneously
-                                info->lo[row] = -dInfinity;
-                                info->hi[row] = dInfinity;
-      }
-      else {
-        if (joint->limotP.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 (joint->limotP.bounce > 0) {
-                                        // calculate joint velocity
-          dReal vel;
-          vel = dDOT(joint->node[0].body->lvel, axP);
-          if (joint->node[1].body)
-            vel -= dDOT(joint->node[1].body->lvel, axP);
-
-                                        // only apply bounce if the velocity is incoming, and if the
-                                        // resulting c[] exceeds what we already have.
-          if (joint->limotP.limit == 1) {
-                                                // low limit
-                                                if (vel < 0) {
-              dReal newc = -joint->limotP.bounce * vel;
-                                                        if (newc > info->c[row]) info->c[row] = newc;
-                                                }
-                                        }
-                                        else {
-                                                // high limit - all those computations are reversed
-                                                if (vel > 0) {
-              dReal newc = -joint->limotP.bounce * vel;
-                                                        if (newc < info->c[row]) info->c[row] = newc;
-                                                }
-                                        }
-                                }
-      }
-    }
-  }
-}
-
-
-// compute initial relative rotation body1 -> body2, or env -> body1
-static void PRComputeInitialRelativeRotation (dxJointPR *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];
-      // WARNING do we need the - in -joint->node[0].body->q[i]; or not
-    }
-  }
-}
-
-void dJointSetPRAnchor (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
-
-  dVector3 dummy;
-  setAnchors (joint,x,y,z,dummy,joint->anchor2);
-}
-
-
-void dJointSetPRAxis1 (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a  Prismatic and Rotoide");
-
-  setAxes (joint,x,y,z,joint->axisP1, 0);
-
-  PRComputeInitialRelativeRotation (joint);
-
-  // compute initial relative rotation body1 -> body2, or env -> body1
-  // also compute distance between anchor of body1 w.r.t center of body 2
-  dVector3 c;
-  if (joint->node[1].body) {
-    dVector3 anchor2;
-    dMULTIPLY0_331 (anchor2,joint->node[1].body->posr.R, joint->anchor2);
-
-    c[0] = ( joint->node[1].body->posr.pos[0] + anchor2[0] -
-             joint->node[0].body->posr.pos[0] );
-    c[1] = ( joint->node[1].body->posr.pos[1] + anchor2[1] -
-             joint->node[0].body->posr.pos[1] );
-    c[2] = ( joint->node[1].body->posr.pos[2] + anchor2[2] -
-             joint->node[0].body->posr.pos[2] );
-  }
-  else if (joint->node[0].body) {
-    c[0] = joint->anchor2[0] - joint->node[0].body->posr.pos[0];
-    c[1] = joint->anchor2[1] - joint->node[0].body->posr.pos[1];
-    c[2] = joint->anchor2[2] - joint->node[0].body->posr.pos[2];
-  }
-        else
-        {
-    joint->offset[0] = joint->anchor2[0];
-                joint->offset[1] = joint->anchor2[1];
-                joint->offset[2] = joint->anchor2[2];
-
-                return;
-        }
-
-
-  dMULTIPLY1_331 (joint->offset,joint->node[0].body->posr.R,c);
-}
-
-
-void dJointSetPRAxis2 (dJointID j, dReal x, dReal y, dReal z)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
-  setAxes (joint,x,y,z,joint->axisR1,joint->axisR2);
-  PRComputeInitialRelativeRotation (joint);
-}
-
-
-void dJointSetPRParam (dJointID j, int parameter, dReal value)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
-  if ((parameter & 0xff00) == 0x100) {
-    joint->limotR.set (parameter,value);
-  }
-  else {
-    joint->limotP.set (parameter & 0xff,value);
-  }
-}
-
-void dJointGetPRAnchor (dJointID j, dVector3 result)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
-
-  if (joint->node[1].body)
-    getAnchor2 (joint,result,joint->anchor2);
-  else
-  {
-    result[0] = joint->anchor2[0];
-    result[1] = joint->anchor2[1];
-    result[2] = joint->anchor2[2];
-  }
-
-}
-
-void dJointGetPRAxis1 (dJointID j, dVector3 result)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
-  getAxis(joint, result, joint->axisP1);
-}
-
-void dJointGetPRAxis2 (dJointID j, dVector3 result)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(result,"bad result argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
-  getAxis(joint, result, joint->axisR1);
-}
-
-dReal dJointGetPRParam (dJointID j, int parameter)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not Prismatic and Rotoide");
-  if ((parameter & 0xff00) == 0x100) {
-    return joint->limotR.get (parameter & 0xff);
-  }
-        else {
-                return joint->limotP.get (parameter);
-        }
-}
-
-void dJointAddPRTorque (dJointID j, dReal torque)
-{
-  dxJointPR* joint = (dxJointPR*)j;
-  dVector3 axis;
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__dPR_vtable,"joint is not a Prismatic and Rotoide");
-
-  if (joint->flags & dJOINT_REVERSE)
-    torque = -torque;
-
-  getAxis (joint,axis,joint->axisR1);
-  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 __dPR_vtable = {
-  sizeof(dxJointPR),
-  (dxJoint::init_fn*) PRInit,
-  (dxJoint::getInfo1_fn*) PRGetInfo1,
-  (dxJoint::getInfo2_fn*) PRGetInfo2,
-  dJointTypePR
-};
-
-
-//****************************************************************************
-// 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);
-}
-
-
-// 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->posr.R,joint->axis[0]);
-    if (joint->node[1].body) {
-      dMULTIPLY0_331 (ax[2],joint->node[1].body->posr.R,joint->axis[2]);
-    }
-    else {
-      ax[2][0] = joint->axis[2][0];
-      ax[2][1] = joint->axis[2][1];
-      ax[2][2] = joint->axis[2][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->posr.R,joint->axis[i]);
-      }
-      else if (joint->rel[i] == 2) {
-        // relative to b2
-        if (joint->node[1].body) {   // jds: don't assert, just ignore
-                dMULTIPLY0_331 (ax[i],joint->node[1].body->posr.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->posr.R,joint->reference1);
-  if (joint->node[1].body) {
-    dMULTIPLY0_331 (ref2,joint->node[1].body->posr.R,joint->reference2);
-  }
-  else {
-    ref2[0] = joint->reference2[0];
-    ref2[1] = joint->reference2[1];
-    ref2[2] = joint->reference2[2];
-  }
-
-  // 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->posr.R,j->axis[2]);
-    dMULTIPLY1_331 (j->reference1,j->node[0].body->posr.R,r);
-    dMULTIPLY0_331 (r,j->node[0].body->posr.R,j->axis[0]);
-    dMULTIPLY1_331 (j->reference2,j->node[1].body->posr.R,r);
-  }
-
-  else {   // jds
-    // else if (j->node[0].body) {
-    // dMULTIPLY1_331 (j->reference1,j->node[0].body->posr.R,j->axis[2]);
-    // dMULTIPLY0_331 (j->reference2,j->node[0].body->posr.R,j->axis[0]);
-
-    // We want to handle angular motors attached to passive geoms
-    dVector3 r;         // axis[2] and axis[0] in global coordinates
-    r[0] = j->axis[2][0]; r[1] = j->axis[2][1]; r[2] = j->axis[2][2]; r[3] = j->axis[2][3];
-    dMULTIPLY1_331 (j->reference1,j->node[0].body->posr.R,r);
-    dMULTIPLY0_331 (r,j->node[0].body->posr.R,j->axis[0]);
-    j->reference2[0] += r[0]; j->reference2[1] += r[1];
-    j->reference2[2] += r[2]; j->reference2[3] += r[3];
-  }
-}
-
-
-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);
-  }
-}
-
-
-void dJointSetAMotorNumAxes (dJointID j, int num)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  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;
-  }
-}
-
-
-void dJointSetAMotorAxis (dJointID j, int anum, int rel, dReal x, dReal y, dReal z)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  dAASSERT(joint && anum >= 0 && anum <= 2 && rel >= 0 && rel <= 2);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  dUASSERT(!(!joint->node[1].body &&  (joint->flags & dJOINT_REVERSE) && rel == 1),"no first body, can't set axis rel=1");
-  dUASSERT(!(!joint->node[1].body && !(joint->flags & dJOINT_REVERSE) && rel == 2),"no second body, can't set axis rel=2");
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-
-  // adjust rel to match the internal body order
-  if (!joint->node[1].body && rel==2) rel = 1;
-
-  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->posr.R,r);
-    }
-    else {
-      // don't assert; handle the case of attachment to a bodiless geom
-      if (joint->node[1].body) {   // jds
-      dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->posr.R,r);
-    }
-      else {
-        joint->axis[anum][0] = r[0]; joint->axis[anum][1] = r[1];
-        joint->axis[anum][2] = r[2]; joint->axis[anum][3] = r[3];
-      }
-    }
-  }
-  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);
-}
-
-
-void dJointSetAMotorAngle (dJointID j, int anum, dReal angle)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  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;
-  }
-}
-
-
-void dJointSetAMotorParam (dJointID j, int parameter, dReal value)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  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);
-}
-
-
-void dJointSetAMotorMode (dJointID j, int mode)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  joint->mode = mode;
-  if (joint->mode == dAMotorEuler) {
-    joint->num = 3;
-    amotorSetEulerReferenceVectors (joint);
-  }
-}
-
-
-int dJointGetAMotorNumAxes (dJointID j)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  return joint->num;
-}
-
-
-void dJointGetAMotorAxis (dJointID j, int anum, dVector3 result)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  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->posr.R,joint->axis[anum]);
-    }
-    else {
-      if (joint->node[1].body) {   // jds
-      dMULTIPLY0_331 (result,joint->node[1].body->posr.R,joint->axis[anum]);
-      }
-      else {
-        result[0] = joint->axis[anum][0]; result[1] = joint->axis[anum][1];
-        result[2] = joint->axis[anum][2]; result[3] = joint->axis[anum][3];
-      }
-    }
-  }
-  else {
-    result[0] = joint->axis[anum][0];
-    result[1] = joint->axis[anum][1];
-    result[2] = joint->axis[anum][2];
-  }
-}
-
-
-int dJointGetAMotorAxisRel (dJointID j, int anum)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  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];
-}
-
-
-dReal dJointGetAMotorAngle (dJointID j, int anum)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  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];
-}
-
-
-dReal dJointGetAMotorAngleRate (dJointID j, int anum)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  // @@@
-  dDebug (0,"not yet implemented");
-  return 0;
-}
-
-
-dReal dJointGetAMotorParam (dJointID j, int parameter)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  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);
-}
-
-
-int dJointGetAMotorMode (dJointID j)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
-  return joint->mode;
-}
-
-
-void dJointAddAMotorTorques (dJointID j, dReal torque1, dReal torque2, dReal torque3)
-{
-  dxJointAMotor* joint = (dxJointAMotor*)j;
-  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][1] * torque2;
-    axes[0][2] += axes[1][2] * torque2;
-    if (joint->num >= 3) {
-      axes[0][0] += axes[2][0] * torque3;
-      axes[0][1] += axes[2][1] * torque3;
-      axes[0][2] += axes[2][2] * 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};
-
-
-
-//****************************************************************************
-// lmotor joint
-static void lmotorInit (dxJointLMotor *j)
-{
-  int i;
-  j->num = 0;
-  for (i=0;i<3;i++) {
-    dSetZero(j->axis[i],4);
-    j->limot[i].init(j->world);
-  }
-}
-
-static void lmotorComputeGlobalAxes (dxJointLMotor *joint, dVector3 ax[3])
-{
-  for (int i=0; i< joint->num; i++) {
-    if (joint->rel[i] == 1) {
-      dMULTIPLY0_331 (ax[i],joint->node[0].body->posr.R,joint->axis[i]);
-    }
-    else if (joint->rel[i] == 2) {
-      if (joint->node[1].body) {   // jds: don't assert, just ignore
-        dMULTIPLY0_331 (ax[i],joint->node[1].body->posr.R,joint->axis[i]);
-      }
-    } else {
-      ax[i][0] = joint->axis[i][0];
-      ax[i][1] = joint->axis[i][1];
-      ax[i][2] = joint->axis[i][2];
-    }
-  }
-}
-
-static void lmotorGetInfo1 (dxJointLMotor *j, dxJoint::Info1 *info)
-{
-  info->m = 0;
-  info->nub = 0;
-  for (int i=0; i < j->num; i++) {
-    if (j->limot[i].fmax > 0) {
-      info->m++;
-    }
-  }
-}
-
-static void lmotorGetInfo2 (dxJointLMotor *joint, dxJoint::Info2 *info)
-{
-  int row=0;
-  dVector3 ax[3];
-  lmotorComputeGlobalAxes(joint, ax);
-
-  for (int i=0;i<joint->num;i++) {
-    row += joint->limot[i].addLimot(joint,info,row,ax[i], 0);
-  }
-}
-
-void dJointSetLMotorAxis (dJointID j, int anum, int rel, dReal x, dReal y, dReal z)
-{
-  dxJointLMotor* joint = (dxJointLMotor*)j;
-//for now we are ignoring rel!
-  dAASSERT(joint && anum >= 0 && anum <= 2 && rel >= 0 && rel <= 2);
-  dUASSERT(joint->vtable == &__dlmotor_vtable,"joint is not an lmotor");
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-
-  if (!joint->node[1].body && rel==2) rel = 1; //ref 1
-
-  joint->rel[anum] = rel;
-
-  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->posr.R,r);
-        } else {
-          //second body has to exists thanks to ref 1 line
-      dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->posr.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]);
-}
-
-void dJointSetLMotorNumAxes (dJointID j, int num)
-{
-  dxJointLMotor* joint = (dxJointLMotor*)j;
-  dAASSERT(joint && num >= 0 && num <= 3);
-  dUASSERT(joint->vtable == &__dlmotor_vtable,"joint is not an lmotor");
-  if (num < 0) num = 0;
-  if (num > 3) num = 3;
-  joint->num = num;
-}
-
-void dJointSetLMotorParam (dJointID j, int parameter, dReal value)
-{
-  dxJointLMotor* joint = (dxJointLMotor*)j;
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__dlmotor_vtable,"joint is not an lmotor");
-  int anum = parameter >> 8;
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  parameter &= 0xff;
-  joint->limot[anum].set (parameter, value);
-}
-
-int dJointGetLMotorNumAxes (dJointID j)
-{
-  dxJointLMotor* joint = (dxJointLMotor*)j;
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__dlmotor_vtable,"joint is not an lmotor");
-  return joint->num;
-}
-
-
-void dJointGetLMotorAxis (dJointID j, int anum, dVector3 result)
-{
-  dxJointLMotor* joint = (dxJointLMotor*)j;
-  dAASSERT(joint && anum >= 0 && anum < 3);
-  dUASSERT(joint->vtable == &__dlmotor_vtable,"joint is not an lmotor");
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  result[0] = joint->axis[anum][0];
-  result[1] = joint->axis[anum][1];
-  result[2] = joint->axis[anum][2];
-}
-
-dReal dJointGetLMotorParam (dJointID j, int parameter)
-{
-  dxJointLMotor* joint = (dxJointLMotor*)j;
-  dAASSERT(joint);
-  dUASSERT(joint->vtable == &__dlmotor_vtable,"joint is not an lmotor");
-  int anum = parameter >> 8;
-  if (anum < 0) anum = 0;
-  if (anum > 2) anum = 2;
-  parameter &= 0xff;
-  return joint->limot[anum].get (parameter);
-}
-
-dxJoint::Vtable __dlmotor_vtable = {
-  sizeof(dxJointLMotor),
-        (dxJoint::init_fn*) lmotorInit,
-        (dxJoint::getInfo1_fn*) lmotorGetInfo1,
-        (dxJoint::getInfo2_fn*) lmotorGetInfo2,
-        dJointTypeLMotor
-};
-
-
-//****************************************************************************
-// fixed joint
-
-static void fixedInit (dxJointFixed *j)
-{
-  dSetZero (j->offset,4);
-  dSetZero (j->qrel,4);
-  j->erp = j->world->global_erp;
-  j->cfm = j->world->global_cfm;
-}
-
-
-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;
-
-  info->erp = joint->erp;
-  info->cfm[0] = joint->cfm;
-  info->cfm[1] = joint->cfm;
-  info->cfm[2] = joint->cfm;
-
-  dVector3 ofs;
-  dMULTIPLY0_331 (ofs,joint->node[0].body->posr.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->posr.pos[j] -
-                        joint->node[0].body->posr.pos[j] + ofs[j]);
-  }
-  else {
-    for (int j=0; j<3; j++)
-      info->c[j] = k * (joint->offset[j] - joint->node[0].body->posr.pos[j]);
-  }
-}
-
-
-void dJointSetFixed (dJointID j)
-{
-  dxJointFixed* joint = (dxJointFixed*)j;
-  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->posr.pos[i];
-      for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->posr.pos[i];
-      dMULTIPLY1_331 (joint->offset,joint->node[0].body->posr.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->posr.pos[i];
-    }
-  }
-}
-
-void dxJointFixed::set (int num, dReal value)
-{
-  switch (num) {
-  case dParamCFM:
-    cfm = value;
-    break;
-  case dParamERP:
-    erp = value;
-    break;
-  }
-}
- 
-
-dReal dxJointFixed::get (int num)
-{
-  switch (num) {
-  case dParamCFM:
-    return cfm;
-  case dParamERP:
-    return erp;
-  default:
-        return 0;
-  }
-}
-
-
-void dJointSetFixedParam (dJointID j, int parameter, dReal value)
-{
-  dxJointFixed* joint = (dxJointFixed*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dfixed_vtable,"joint is not a fixed joint");
-  joint->set (parameter,value);
-}
-
-
-dReal dJointGetFixedParam (dJointID j, int parameter)
-{
-  dxJointFixed* joint = (dxJointFixed*)j;
-  dUASSERT(joint,"bad joint argument");
-  dUASSERT(joint->vtable == &__dfixed_vtable,"joint is not a fixed joint");
-  return joint->get (parameter);
-}
-
-
-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};
-
-
-
-
-/*
-    This code is part of the Plane2D ODE joint
-    by psero@gmx.de
-    Wed Apr 23 18:53:43 CEST 2003
-
-    Add this code to the file: ode/src/joint.cpp
-*/
-
-
-# define        VoXYZ(v1, o1, x, y, z) \
-                    ( \
-                        (v1)[0] o1 (x), \
-                        (v1)[1] o1 (y), \
-                        (v1)[2] o1 (z)  \
-                    )
-
-static dReal   Midentity[3][3] =
-                {
-                    {   1,  0,  0   },
-                    {   0,  1,  0   },
-                    {   0,  0,  1,  }
-                };
-
-
-
-static void     plane2dInit (dxJointPlane2D *j)
-/*********************************************/
-{
-    /* MINFO ("plane2dInit ()"); */
-    j->motor_x.init (j->world);
-    j->motor_y.init (j->world);
-    j->motor_angle.init (j->world);
-}
-
-
-
-static void     plane2dGetInfo1 (dxJointPlane2D *j, dxJoint::Info1 *info)
-/***********************************************************************/
-{
-  /* MINFO ("plane2dGetInfo1 ()"); */
-
-  info->nub = 3;
-  info->m = 3;
-
-  if (j->motor_x.fmax > 0)
-      j->row_motor_x = info->m ++;
-  if (j->motor_y.fmax > 0)
-      j->row_motor_y = info->m ++;
-  if (j->motor_angle.fmax > 0)
-      j->row_motor_angle = info->m ++;
-}
-
-
-
-static void     plane2dGetInfo2 (dxJointPlane2D *joint, dxJoint::Info2 *info)
-/***************************************************************************/
-{
-    int         r0 = 0,
-                r1 = info->rowskip,
-                r2 = 2 * r1;
-    dReal       eps = info->fps * info->erp;
-
-    /* MINFO ("plane2dGetInfo2 ()"); */
-
-/*
-    v = v1, w = omega1
-    (v2, omega2 not important (== static environment))
-
-    constraint equations:
-        xz = 0
-        wx = 0
-        wy = 0
-
-    <=> ( 0 0 1 ) (vx)   ( 0 0 0 ) (wx)   ( 0 )
-        ( 0 0 0 ) (vy) + ( 1 0 0 ) (wy) = ( 0 )
-        ( 0 0 0 ) (vz)   ( 0 1 0 ) (wz)   ( 0 )
-        J1/J1l           Omega1/J1a
-*/
-
-    // fill in linear and angular coeff. for left hand side:
-
-    VoXYZ (&info->J1l[r0], =, 0, 0, 1);
-    VoXYZ (&info->J1l[r1], =, 0, 0, 0);
-    VoXYZ (&info->J1l[r2], =, 0, 0, 0);
-
-    VoXYZ (&info->J1a[r0], =, 0, 0, 0);
-    VoXYZ (&info->J1a[r1], =, 1, 0, 0);
-    VoXYZ (&info->J1a[r2], =, 0, 1, 0);
-
-    // error correction (against drift):
-
-    // a) linear vz, so that z (== pos[2]) == 0
-    info->c[0] = eps * -joint->node[0].body->posr.pos[2];
-
-# if 0
-    // b) angular correction? -> left to application !!!
-    dReal       *body_z_axis = &joint->node[0].body->R[8];
-    info->c[1] = eps * +atan2 (body_z_axis[1], body_z_axis[2]); // wx error
-    info->c[2] = eps * -atan2 (body_z_axis[0], body_z_axis[2]); // wy error
-# endif
-
-    // if the slider is powered, or has joint limits, add in the extra row:
-
-    if (joint->row_motor_x > 0)
-        joint->motor_x.addLimot (
-            joint, info, joint->row_motor_x, Midentity[0], 0);
-
-    if (joint->row_motor_y > 0)
-        joint->motor_y.addLimot (
-            joint, info, joint->row_motor_y, Midentity[1], 0);
-
-    if (joint->row_motor_angle > 0)
-        joint->motor_angle.addLimot (
-            joint, info, joint->row_motor_angle, Midentity[2], 1);
-}
-
-
-
-dxJoint::Vtable __dplane2d_vtable =
-{
-  sizeof (dxJointPlane2D),
-  (dxJoint::init_fn*) plane2dInit,
-  (dxJoint::getInfo1_fn*) plane2dGetInfo1,
-  (dxJoint::getInfo2_fn*) plane2dGetInfo2,
-  dJointTypePlane2D
-};
-
-
-void dJointSetPlane2DXParam (dxJoint *joint,
-                      int parameter, dReal value)
-{
-        dUASSERT (joint, "bad joint argument");
-        dUASSERT (joint->vtable == &__dplane2d_vtable, "joint is not a plane2d");
-        dxJointPlane2D* joint2d = (dxJointPlane2D*)( joint );
-        joint2d->motor_x.set (parameter, value);
-}
-
-
-void dJointSetPlane2DYParam (dxJoint *joint,
-                      int parameter, dReal value)
-{
-        dUASSERT (joint, "bad joint argument");
-        dUASSERT (joint->vtable == &__dplane2d_vtable, "joint is not a plane2d");
-        dxJointPlane2D* joint2d = (dxJointPlane2D*)( joint );
-        joint2d->motor_y.set (parameter, value);
-}
-
-
-
-void dJointSetPlane2DAngleParam (dxJoint *joint,
-                      int parameter, dReal value)
-{
-        dUASSERT (joint, "bad joint argument");
-        dUASSERT (joint->vtable == &__dplane2d_vtable, "joint is not a plane2d");
-        dxJointPlane2D* joint2d = (dxJointPlane2D*)( joint );
-        joint2d->motor_angle.set (parameter, value);
-}
-
-
-
diff --git a/libraries/ode-0.9/ode/src/joint.h b/libraries/ode-0.9/ode/src/joint.h
deleted file mode 100644
index 27c013e..0000000
--- a/libraries/ode-0.9/ode/src/joint.h
+++ /dev/null
@@ -1,346 +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
-};
-
-
-struct dxJoint : public dObject {
-  // naming convention: the "first" body this is connected to is node[0].body,
-  // and the "second" body is node[1].body. if this joint is only connected
-  // to one body then the second body is 0.
-
-  // info returned by getInfo1 function. the constraint dimension is m (<=6).
-  // i.e. that is the total number of rows in the jacobian. `nub' is the
-  // number of unbounded variables (which have lo,hi = -/+ infinity).
-
-  struct Info1 {
-    int m,nub;
-  };
-
-  // info returned by getInfo2 function
-
-  struct Info2 {
-    // integrator parameters: frames per second (1/stepsize), default error
-    // reduction parameter (0..1).
-    dReal fps,erp;
-
-    // for the first and second body, pointers to two (linear and angular)
-    // n*3 jacobian sub matrices, stored by rows. these matrices will have
-    // been initialized to 0 on entry. if the second body is zero then the
-    // J2xx pointers may be 0.
-    dReal *J1l,*J1a,*J2l,*J2a;
-
-    // elements to jump from one row to the next in J's
-    int rowskip;
-
-    // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-    // "constraint force mixing" vector. c is set to zero on entry, cfm is
-    // set to a constant value (typically very small or zero) value on entry.
-    dReal *c,*cfm;
-
-    // lo and hi limits for variables (set to -/+ infinity on entry).
-    dReal *lo,*hi;
-
-    // findex vector for variables. see the LCP solver interface for a
-    // description of what this does. this is set to -1 on entry.
-    // note that the returned indexes are relative to the first index of
-    // the constraint.
-    int *findex;
-  };
-
-  // virtual function table: size of the joint structure, function pointers.
-  // we do it this way instead of using C++ virtual functions because
-  // sometimes we need to allocate joints ourself within a memory pool.
-
-  typedef void init_fn (dxJoint *joint);
-  typedef void getInfo1_fn (dxJoint *joint, Info1 *info);
-  typedef void getInfo2_fn (dxJoint *joint, Info2 *info);
-  struct Vtable {
-    int size;
-    init_fn *init;
-    getInfo1_fn *getInfo1;
-    getInfo2_fn *getInfo2;
-    int typenum;                // a dJointTypeXXX type number
-  };
-
-  Vtable *vtable;               // virtual function table
-  int flags;                    // dJOINT_xxx flags
-  dxJointNode node[2];          // connections to bodies. node[1].body can be 0
-  dJointFeedback *feedback;     // optional feedback structure
-  dReal lambda[6];              // lambda generated by last step
-};
-
-
-// joint group. NOTE: any joints in the group that have their world destroyed
-// will have their world pointer set to 0.
-
-struct dxJointGroup : public dBase {
-  int num;              // number of joints on the stack
-  dObStack stack;       // a stack of (possibly differently sized) dxJoint
-};                      // objects.
-
-
-// common limit and motor information for a single joint axis of movement
-struct dxJointLimitMotor {
-  dReal vel,fmax;               // powered joint: velocity, max force
-  dReal lostop,histop;          // joint limits, relative to initial position
-  dReal fudge_factor;           // when powering away from joint limits
-  dReal normal_cfm;             // cfm to use when not at a stop
-  dReal stop_erp,stop_cfm;      // erp and cfm for when at joint limit
-  dReal bounce;                 // restitution factor
-  // variables used between getInfo1() and getInfo2()
-  int limit;                    // 0=free, 1=at lo limit, 2=at hi limit
-  dReal limit_err;              // if at limit, amount over limit
-
-  void init (dxWorld *);
-  void set (int num, dReal value);
-  dReal get (int num);
-  int testRotationalLimit (dReal angle);
-  int addLimot (dxJoint *joint, dxJoint::Info2 *info, int row,
-                dVector3 ax1, int rotational);
-};
-
-
-// ball and socket
-
-struct dxJointBall : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dReal erp;                    // error reduction
-  dReal cfm;                    // constraint force mix in
-  void set (int num, dReal value);
-  dReal get (int num);
-};
-extern struct dxJoint::Vtable __dball_vtable;
-
-
-// hinge
-
-struct dxJointHinge : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dVector3 axis1;               // axis w.r.t first body
-  dVector3 axis2;               // axis w.r.t second body
-  dQuaternion qrel;             // initial relative rotation body1 -> body2
-  dxJointLimitMotor limot;      // limit and motor information
-};
-extern struct dxJoint::Vtable __dhinge_vtable;
-
-
-// universal
-
-struct dxJointUniversal : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dVector3 axis1;               // axis w.r.t first body
-  dVector3 axis2;               // axis w.r.t second body
-  dQuaternion qrel1;    // initial relative rotation body1 -> virtual cross piece
-  dQuaternion qrel2;    // initial relative rotation virtual cross piece -> body2
-  dxJointLimitMotor limot1;     // limit and motor information for axis1
-  dxJointLimitMotor limot2;     // limit and motor information for axis2
-};
-extern struct dxJoint::Vtable __duniversal_vtable;
-
-
-/**
- * The axisP must be perpendicular to axis2
- * <PRE>
- *                                        +-------------+
- *                                        |      x      |
- *                                        +------------\+
- * Prismatic articulation                   ..     ..
- *                       |                ..     ..
- *                      \/              ..      ..
- * +--------------+    --|        __..      ..  anchor2
- * |      x       | .....|.......(__)     ..
- * +--------------+    --|         ^     <
- *        |----------------------->|
- *            Offset               |--- Rotoide articulation
- * </PRE>
- */
-struct dxJointPR : public dxJoint {
-
-  dVector3 anchor2;         ///< @brief Position of the rotoide articulation
-                            ///<        w.r.t second body.
-                            ///< @note Position of body 2 in world frame +
-                            ///< anchor2 in world frame give the position
-                            ///< of the rotoide articulation
-  dVector3 axisR1;          ///< axis of the rotoide articulation w.r.t first body.
-                            ///< @note This is considered as axis1 from the parameter
-                            ///< view.
-  dVector3 axisR2;          ///< axis of the rotoide articulation w.r.t second body.
-                            ///< @note This is considered also as axis1 from the
-                            ///< parameter view
-  dVector3 axisP1;          ///< axis for the prismatic articulation w.r.t first body.
-                            ///< @note This is considered as axis2 in from the parameter
-                            ///< view
-  dQuaternion qrel;         ///< initial relative rotation body1 -> body2.
-  dVector3 offset;          ///< @brief vector between the body1 and the rotoide
-                            ///< articulation.
-                            ///<
-                            ///< Going from the first to the second in the frame
-                            ///<  of body1.
-                            ///< That should be aligned with body1 center along axisP
-                            ///< This is calculated whe the axis are set.
-  dxJointLimitMotor limotR; ///< limit and motor information for the rotoide articulation.
-  dxJointLimitMotor limotP; ///< limit and motor information for the prismatic articulation.
-};
-extern struct dxJoint::Vtable __dPR_vtable;
-
-
-
-// slider. if body2 is 0 then qrel is the absolute rotation of body1 and
-// offset is the position of body1 center along axis1.
-
-struct dxJointSlider : public dxJoint {
-  dVector3 axis1;               // axis w.r.t first body
-  dQuaternion qrel;             // initial relative rotation body1 -> body2
-  dVector3 offset;              // point relative to body2 that should be
-                                // aligned with body1 center along axis1
-  dxJointLimitMotor limot;      // limit and motor information
-};
-extern struct dxJoint::Vtable __dslider_vtable;
-
-
-// contact
-
-struct dxJointContact : public dxJoint {
-  int the_m;                    // number of rows computed by getInfo1
-  dContact contact;
-};
-extern struct dxJoint::Vtable __dcontact_vtable;
-
-
-// hinge 2
-
-struct dxJointHinge2 : public dxJoint {
-  dVector3 anchor1;             // anchor w.r.t first body
-  dVector3 anchor2;             // anchor w.r.t second body
-  dVector3 axis1;               // axis 1 w.r.t first body
-  dVector3 axis2;               // axis 2 w.r.t second body
-  dReal c0,s0;                  // cos,sin of desired angle between axis 1,2
-  dVector3 v1,v2;               // angle ref vectors embedded in first body
-  dxJointLimitMotor limot1;     // limit+motor info for axis 1
-  dxJointLimitMotor limot2;     // limit+motor info for axis 2
-  dReal susp_erp,susp_cfm;      // suspension parameters (erp,cfm)
-};
-extern struct dxJoint::Vtable __dhinge2_vtable;
-
-
-// angular motor
-
-struct dxJointAMotor : public dxJoint {
-  int num;                      // number of axes (0..3)
-  int mode;                     // a dAMotorXXX constant
-  int rel[3];                   // what the axes are relative to (global,b1,b2)
-  dVector3 axis[3];             // three axes
-  dxJointLimitMotor limot[3];   // limit+motor info for axes
-  dReal angle[3];               // user-supplied angles for axes
-  // these vectors are used for calculating euler angles
-  dVector3 reference1;          // original axis[2], relative to body 1
-  dVector3 reference2;          // original axis[0], relative to body 2
-};
-extern struct dxJoint::Vtable __damotor_vtable;
-
-
-struct dxJointLMotor : public dxJoint {
-  int num;
-  int rel[3];
-  dVector3 axis[3];
-  dxJointLimitMotor limot[3];
-};
-
-extern struct dxJoint::Vtable __dlmotor_vtable;
-
-
-// 2d joint, constrains to z == 0
-
-struct dxJointPlane2D : public dxJoint
-{
-    int                 row_motor_x;
-    int                 row_motor_y;
-    int                 row_motor_angle;
-    dxJointLimitMotor   motor_x;
-    dxJointLimitMotor   motor_y;
-    dxJointLimitMotor   motor_angle;
-};
-
-extern struct dxJoint::Vtable __dplane2d_vtable;
-
-
-// fixed
-
-struct dxJointFixed : public dxJoint {
-  dQuaternion qrel;             // initial relative rotation body1 -> body2
-  dVector3 offset;              // relative offset between the bodies
-  dReal erp;                    // error reduction parameter
-  dReal cfm;                    // constraint force mix-in
-  void set (int num, dReal value);
-  dReal get (int num);
-};
-extern struct dxJoint::Vtable __dfixed_vtable;
-
-
-// null joint, for testing only
-
-struct dxJointNull : public dxJoint {
-};
-extern struct dxJoint::Vtable __dnull_vtable;
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/lcp.cpp b/libraries/ode-0.9/ode/src/lcp.cpp
deleted file mode 100644
index d03d3e8..0000000
--- a/libraries/ode-0.9/ode/src/lcp.cpp
+++ /dev/null
@@ -1,2007 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-
-THE ALGORITHM
--------------
-
-solve A*x = b+w, with x and w subject to certain LCP conditions.
-each x(i),w(i) must lie on one of the three line segments in the following
-diagram. each line segment corresponds to one index set :
-
-     w(i)
-     /|\      |           :
-      |       |           :
-      |       |i in N     :
-  w>0 |       |state[i]=0 :
-      |       |           :
-      |       |           :  i in C
-  w=0 +       +-----------------------+
-      |                   :           |
-      |                   :           |
-  w<0 |                   :           |i in N
-      |                   :           |state[i]=1
-      |                   :           |
-      |                   :           |
-      +-------|-----------|-----------|----------> x(i)
-             lo           0           hi
-
-the Dantzig algorithm proceeds as follows:
-  for i=1:n
-    * if (x(i),w(i)) is not on the line, push x(i) and w(i) positive or
-      negative towards the line. as this is done, the other (x(j),w(j))
-      for j<i are constrained to be on the line. if any (x,w) reaches the
-      end of a line segment then it is switched between index sets.
-    * i is added to the appropriate index set depending on what line segment
-      it hits.
-
-we restrict lo(i) <= 0 and hi(i) >= 0. this makes the algorithm a bit
-simpler, because the starting point for x(i),w(i) is always on the dotted
-line x=0 and x will only ever increase in one direction, so it can only hit
-two out of the three line segments.
-
-
-NOTES
------
-
-this is an implementation of "lcp_dantzig2_ldlt.m" and "lcp_dantzig_lohi.m".
-the implementation is split into an LCP problem object (dLCP) and an LCP
-driver function. most optimization occurs in the dLCP object.
-
-a naive implementation of the algorithm requires either a lot of data motion
-or a lot of permutation-array lookup, because we are constantly re-ordering
-rows and columns. to avoid this and make a more optimized algorithm, a
-non-trivial data structure is used to represent the matrix A (this is
-implemented in the fast version of the dLCP object).
-
-during execution of this algorithm, some indexes in A are clamped (set C),
-some are non-clamped (set N), and some are "don't care" (where x=0).
-A,x,b,w (and other problem vectors) are permuted such that the clamped
-indexes are first, the unclamped indexes are next, and the don't-care
-indexes are last. this permutation is recorded in the array `p'.
-initially p = 0..n-1, and as the rows and columns of A,x,b,w are swapped,
-the corresponding elements of p are swapped.
-
-because the C and N elements are grouped together in the rows of A, we can do
-lots of work with a fast dot product function. if A,x,etc were not permuted
-and we only had a permutation array, then those dot products would be much
-slower as we would have a permutation array lookup in some inner loops.
-
-A is accessed through an array of row pointers, so that element (i,j) of the
-permuted matrix is A[i][j]. this makes row swapping fast. for column swapping
-we still have to actually move the data.
-
-during execution of this algorithm we maintain an L*D*L' factorization of
-the clamped submatrix of A (call it `AC') which is the top left nC*nC
-submatrix of A. there are two ways we could arrange the rows/columns in AC.
-
-(1) AC is always permuted such that L*D*L' = AC. this causes a problem
-    when a row/column is removed from C, because then all the rows/columns of A
-    between the deleted index and the end of C need to be rotated downward.
-    this results in a lot of data motion and slows things down.
-(2) L*D*L' is actually a factorization of a *permutation* of AC (which is
-    itself a permutation of the underlying A). this is what we do - the
-    permutation is recorded in the vector C. call this permutation A[C,C].
-    when a row/column is removed from C, all we have to do is swap two
-    rows/columns and manipulate C.
-
-*/
-
-#include <ode/common.h>
-#include "lcp.h"
-#include <ode/matrix.h>
-#include <ode/misc.h>
-#include "mat.h"                // for testing
-#include <ode/timer.h>          // for testing
-
-//***************************************************************************
-// code generation parameters
-
-// LCP debugging (mosty for fast dLCP) - this slows things down a lot
-//#define DEBUG_LCP
-
-//#define dLCP_SLOW             // use slow dLCP object
-#define dLCP_FAST               // use fast dLCP object
-
-// option 1 : matrix row pointers (less data copying)
-#define ROWPTRS
-#define ATYPE dReal **
-#define AROW(i) (A[i])
-
-// option 2 : no matrix row pointers (slightly faster inner loops)
-//#define NOROWPTRS
-//#define ATYPE dReal *
-//#define AROW(i) (A+(i)*nskip)
-
-// use protected, non-stack memory allocation system
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-extern unsigned int dMemoryFlag;
-
-#define ALLOCA(t,v,s) t* v = (t*) malloc(s)
-#define UNALLOCA(t)  free(t)
-
-#else
-
-#define ALLOCA(t,v,s) t* v =(t*)dALLOCA16(s)
-#define UNALLOCA(t)  /* nothing */
-
-#endif
-
-#define NUB_OPTIMIZATIONS
-
-//***************************************************************************
-
-// swap row/column i1 with i2 in the n*n matrix A. the leading dimension of
-// A is nskip. this only references and swaps the lower triangle.
-// if `do_fast_row_swaps' is nonzero and row pointers are being used, then
-// rows will be swapped by exchanging row pointers. otherwise the data will
-// be copied.
-
-static void swapRowsAndCols (ATYPE A, int n, int i1, int i2, int nskip,
-                             int do_fast_row_swaps)
-{
-  int i;
-  dAASSERT (A && n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n &&
-            nskip >= n && i1 < i2);
-
-# ifdef ROWPTRS
-  for (i=i1+1; i<i2; i++) A[i1][i] = A[i][i1];
-  for (i=i1+1; i<i2; i++) A[i][i1] = A[i2][i];
-  A[i1][i2] = A[i1][i1];
-  A[i1][i1] = A[i2][i1];
-  A[i2][i1] = A[i2][i2];
-  // swap rows, by swapping row pointers
-  if (do_fast_row_swaps) {
-    dReal *tmpp;
-    tmpp = A[i1];
-    A[i1] = A[i2];
-    A[i2] = tmpp;
-  }
-  else {
-    ALLOCA (dReal,tmprow,n * sizeof(dReal));
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (tmprow == NULL) {
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;      
-      return;
-    }
-#endif
-
-    memcpy (tmprow,A[i1],n * sizeof(dReal));
-    memcpy (A[i1],A[i2],n * sizeof(dReal));
-    memcpy (A[i2],tmprow,n * sizeof(dReal));
-    UNALLOCA(tmprow);
-  }
-  // swap columns the hard way
-  for (i=i2+1; i<n; i++) {
-    dReal tmp = A[i][i1];
-    A[i][i1] = A[i][i2];
-    A[i][i2] = tmp;
-  }
-# else
-  dReal tmp;
-  ALLOCA (dReal,tmprow,n * sizeof(dReal));
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-  if (tmprow == NULL) {
-    return;
-  }
-#endif
-
-  if (i1 > 0) {
-    memcpy (tmprow,A+i1*nskip,i1*sizeof(dReal));
-    memcpy (A+i1*nskip,A+i2*nskip,i1*sizeof(dReal));
-    memcpy (A+i2*nskip,tmprow,i1*sizeof(dReal));
-  }
-  for (i=i1+1; i<i2; i++) {
-    tmp = A[i2*nskip+i];
-    A[i2*nskip+i] = A[i*nskip+i1];
-    A[i*nskip+i1] = tmp;
-  }
-  tmp = A[i1*nskip+i1];
-  A[i1*nskip+i1] = A[i2*nskip+i2];
-  A[i2*nskip+i2] = tmp;
-  for (i=i2+1; i<n; i++) {
-    tmp = A[i*nskip+i1];
-    A[i*nskip+i1] = A[i*nskip+i2];
-    A[i*nskip+i2] = tmp;
-  }
-  UNALLOCA(tmprow);
-# endif
-
-}
-
-
-// swap two indexes in the n*n LCP problem. i1 must be <= i2.
-
-static void swapProblem (ATYPE A, dReal *x, dReal *b, dReal *w, dReal *lo,
-                         dReal *hi, int *p, int *state, int *findex,
-                         int n, int i1, int i2, int nskip,
-                         int do_fast_row_swaps)
-{
-  dReal tmp;
-  int tmpi;
-  dIASSERT (n>0 && i1 >=0 && i2 >= 0 && i1 < n && i2 < n && nskip >= n &&
-            i1 <= i2);
-  if (i1==i2) return;
-  swapRowsAndCols (A,n,i1,i2,nskip,do_fast_row_swaps);
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-  if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY)
-    return;
-#endif
-  tmp = x[i1];
-  x[i1] = x[i2];
-  x[i2] = tmp;
-  tmp = b[i1];
-  b[i1] = b[i2];
-  b[i2] = tmp;
-  tmp = w[i1];
-  w[i1] = w[i2];
-  w[i2] = tmp;
-  tmp = lo[i1];
-  lo[i1] = lo[i2];
-  lo[i2] = tmp;
-  tmp = hi[i1];
-  hi[i1] = hi[i2];
-  hi[i2] = tmp;
-  tmpi = p[i1];
-  p[i1] = p[i2];
-  p[i2] = tmpi;
-  tmpi = state[i1];
-  state[i1] = state[i2];
-  state[i2] = tmpi;
-  if (findex) {
-    tmpi = findex[i1];
-    findex[i1] = findex[i2];
-    findex[i2] = tmpi;
-  }
-}
-
-
-// for debugging - check that L,d is the factorization of A[C,C].
-// A[C,C] has size nC*nC and leading dimension nskip.
-// L has size nC*nC and leading dimension nskip.
-// d has size nC.
-
-#ifdef DEBUG_LCP
-
-static void checkFactorization (ATYPE A, dReal *_L, dReal *_d,
-                                int nC, int *C, int nskip)
-{
-  int i,j;
-  if (nC==0) return;
-
-  // get A1=A, copy the lower triangle to the upper triangle, get A2=A[C,C]
-  dMatrix A1 (nC,nC);
-  for (i=0; i<nC; i++) {
-    for (j=0; j<=i; j++) A1(i,j) = A1(j,i) = AROW(i)[j];
-  }
-  dMatrix A2 = A1.select (nC,C,nC,C);
-
-  // printf ("A1=\n"); A1.print(); printf ("\n");
-  // printf ("A2=\n"); A2.print(); printf ("\n");
-
-  // compute A3 = L*D*L'
-  dMatrix L (nC,nC,_L,nskip,1);
-  dMatrix D (nC,nC);
-  for (i=0; i<nC; i++) D(i,i) = 1/_d[i];
-  L.clearUpperTriangle();
-  for (i=0; i<nC; i++) L(i,i) = 1;
-  dMatrix A3 = L * D * L.transpose();
-
-  // printf ("L=\n"); L.print(); printf ("\n");
-  // printf ("D=\n"); D.print(); printf ("\n");
-  // printf ("A3=\n"); A2.print(); printf ("\n");
-
-  // compare A2 and A3
-  dReal diff = A2.maxDifference (A3);
-  if (diff > 1e-8)
-    dDebug (0,"L*D*L' check, maximum difference = %.6e\n",diff);
-}
-
-#endif
-
-
-// for debugging
-
-#ifdef DEBUG_LCP
-
-static void checkPermutations (int i, int n, int nC, int nN, int *p, int *C)
-{
-  int j,k;
-  dIASSERT (nC>=0 && nN>=0 && (nC+nN)==i && i < n);
-  for (k=0; k<i; k++) dIASSERT (p[k] >= 0 && p[k] < i);
-  for (k=i; k<n; k++) dIASSERT (p[k] == k);
-  for (j=0; j<nC; j++) {
-    int C_is_bad = 1;
-    for (k=0; k<nC; k++) if (C[k]==j) C_is_bad = 0;
-    dIASSERT (C_is_bad==0);
-  }
-}
-
-#endif
-
-//***************************************************************************
-// dLCP manipulator object. this represents an n*n LCP problem.
-//
-// two index sets C and N are kept. each set holds a subset of
-// the variable indexes 0..n-1. an index can only be in one set.
-// initially both sets are empty.
-//
-// the index set C is special: solutions to A(C,C)\A(C,i) can be generated.
-
-#ifdef dLCP_SLOW
-
-// simple but slow implementation of dLCP, for testing the LCP drivers.
-
-#include "array.h"
-
-struct dLCP {
-  int n,nub,nskip;
-  dReal *Adata,*x,*b,*w,*lo,*hi;        // LCP problem data
-  ATYPE A;                              // A rows
-  dArray<int> C,N;                      // index sets
-  int last_i_for_solve1;                // last i value given to solve1
-
-  dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
-        dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
-        dReal *_Dell, dReal *_ell, dReal *_tmp,
-        int *_state, int *_findex, int *_p, int *_C, dReal **Arows);
-  // the constructor is given an initial problem description (A,x,b,w) and
-  // space for other working data (which the caller may allocate on the stack).
-  // some of this data is specific to the fast dLCP implementation.
-  // the matrices A and L have size n*n, vectors have size n*1.
-  // A represents a symmetric matrix but only the lower triangle is valid.
-  // `nub' is the number of unbounded indexes at the start. all the indexes
-  // 0..nub-1 will be put into C.
-
-  ~dLCP();
-
-  int getNub() { return nub; }
-  // return the value of `nub'. the constructor may want to change it,
-  // so the caller should find out its new value.
-
-  // transfer functions: transfer index i to the given set (C or N). indexes
-  // less than `nub' can never be given. A,x,b,w,etc may be permuted by these
-  // functions, the caller must be robust to this.
-
-  void transfer_i_to_C (int i);
-    // this assumes C and N span 1:i-1. this also assumes that solve1() has
-    // been recently called for the same i without any other transfer
-    // functions in between (thereby allowing some data reuse for the fast
-    // implementation).
-  void transfer_i_to_N (int i);
-    // this assumes C and N span 1:i-1.
-  void transfer_i_from_N_to_C (int i);
-  void transfer_i_from_C_to_N (int i);
-
-  int numC();
-  int numN();
-  // return the number of indexes in set C/N
-
-  int indexC (int i);
-  int indexN (int i);
-  // return index i in set C/N.
-
-  // accessor and arithmetic functions. Aij translates as A(i,j), etc.
-  // make sure that only the lower triangle of A is ever referenced.
-
-  dReal Aii (int i);
-  dReal AiC_times_qC (int i, dReal *q);
-  dReal AiN_times_qN (int i, dReal *q);                 // for all Nj
-  void pN_equals_ANC_times_qC (dReal *p, dReal *q);     // for all Nj
-  void pN_plusequals_ANi (dReal *p, int i, int sign=1);
-    // for all Nj. sign = +1,-1. assumes i > maximum index in N.
-  void pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q);
-  void pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q); // for all Nj
-  void solve1 (dReal *a, int i, int dir=1, int only_transfer=0);
-    // get a(C) = - dir * A(C,C) \ A(C,i). dir must be +/- 1.
-    // the fast version of this function computes some data that is needed by
-    // transfer_i_to_C(). if only_transfer is nonzero then this function
-    // *only* computes that data, it does not set a(C).
-
-  void unpermute();
-  // call this at the end of the LCP function. if the x/w values have been
-  // permuted then this will unscramble them.
-};
-
-
-dLCP::dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
-            dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
-            dReal *_Dell, dReal *_ell, dReal *_tmp,
-            int *_state, int *_findex, int *_p, int *_C, dReal **Arows)
-{
-  dUASSERT (_findex==0,"slow dLCP object does not support findex array");
-
-  n = _n;
-  nub = _nub;
-  Adata = _Adata;
-  A = 0;
-  x = _x;
-  b = _b;
-  w = _w;
-  lo = _lo;
-  hi = _hi;
-  nskip = dPAD(n);
-  dSetZero (x,n);
-  last_i_for_solve1 = -1;
-
-  int i,j;
-  C.setSize (n);
-  N.setSize (n);
-  for (i=0; i<n; i++) {
-    C[i] = 0;
-    N[i] = 0;
-  }
-
-# ifdef ROWPTRS
-  // make matrix row pointers
-  A = Arows;
-  for (i=0; i<n; i++) A[i] = Adata + i*nskip;
-# else
-  A = Adata;
-# endif
-
-  // lets make A symmetric
-  for (i=0; i<n; i++) {
-    for (j=i+1; j<n; j++) AROW(i)[j] = AROW(j)[i];
-  }
-
-  // if nub>0, put all indexes 0..nub-1 into C and solve for x
-  if (nub > 0) {
-    for (i=0; i<nub; i++) memcpy (_L+i*nskip,AROW(i),(i+1)*sizeof(dReal));
-    dFactorLDLT (_L,_d,nub,nskip);
-    memcpy (x,b,nub*sizeof(dReal));
-    dSolveLDLT (_L,_d,x,nub,nskip);
-    dSetZero (_w,nub);
-    for (i=0; i<nub; i++) C[i] = 1;
-  }
-}
-
-
-dLCP::~dLCP()
-{
-}
-
-
-void dLCP::transfer_i_to_C (int i)
-{
-  if (i < nub) dDebug (0,"bad i");
-  if (C[i]) dDebug (0,"i already in C");
-  if (N[i]) dDebug (0,"i already in N");
-  for (int k=0; k<i; k++) {
-    if (!(C[k] ^ N[k])) dDebug (0,"assumptions for C and N violated");
-  }
-  for (int k=i; k<n; k++)
-    if (C[k] || N[k]) dDebug (0,"assumptions for C and N violated");
-  if (i != last_i_for_solve1) dDebug (0,"assumptions for i violated");
-  last_i_for_solve1 = -1;
-  C[i] = 1;
-}
-
-
-void dLCP::transfer_i_to_N (int i)
-{
-  if (i < nub) dDebug (0,"bad i");
-  if (C[i]) dDebug (0,"i already in C");
-  if (N[i]) dDebug (0,"i already in N");
-  for (int k=0; k<i; k++)
-    if (!C[k] && !N[k]) dDebug (0,"assumptions for C and N violated");
-  for (int k=i; k<n; k++)
-    if (C[k] || N[k]) dDebug (0,"assumptions for C and N violated");
-  last_i_for_solve1 = -1;
-  N[i] = 1;
-}
-
-
-void dLCP::transfer_i_from_N_to_C (int i)
-{
-  if (i < nub) dDebug (0,"bad i");
-  if (C[i]) dDebug (0,"i already in C");
-  if (!N[i]) dDebug (0,"i not in N");
-  last_i_for_solve1 = -1;
-  N[i] = 0;
-  C[i] = 1;
-}
-
-
-void dLCP::transfer_i_from_C_to_N (int i)
-{
-  if (i < nub) dDebug (0,"bad i");
-  if (N[i]) dDebug (0,"i already in N");
-  if (!C[i]) dDebug (0,"i not in C");
-  last_i_for_solve1 = -1;
-  C[i] = 0;
-  N[i] = 1;
-}
-
-
-int dLCP::numC()
-{
-  int i,count=0;
-  for (i=0; i<n; i++) if (C[i]) count++;
-  return count;
-}
-
-
-int dLCP::numN()
-{
-  int i,count=0;
-  for (i=0; i<n; i++) if (N[i]) count++;
-  return count;
-}
-
-
-int dLCP::indexC (int i)
-{
-  int k,count=0;
-  for (k=0; k<n; k++) {
-    if (C[k]) {
-      if (count==i) return k;
-      count++;
-    }
-  }
-  dDebug (0,"bad index C (%d)",i);
-  return 0;
-}
-
-
-int dLCP::indexN (int i)
-{
-  int k,count=0;
-  for (k=0; k<n; k++) {
-    if (N[k]) {
-      if (count==i) return k;
-      count++;
-    }
-  }
-  dDebug (0,"bad index into N");
-  return 0;
-}
-
-
-dReal dLCP::Aii (int i)
-{
-  return AROW(i)[i];
-}
-
-
-dReal dLCP::AiC_times_qC (int i, dReal *q)
-{
-  dReal sum = 0;
-  for (int k=0; k<n; k++) if (C[k]) sum += AROW(i)[k] * q[k];
-  return sum;
-}
-
-
-dReal dLCP::AiN_times_qN (int i, dReal *q)
-{
-  dReal sum = 0;
-  for (int k=0; k<n; k++) if (N[k]) sum += AROW(i)[k] * q[k];
-  return sum;
-}
-
-
-void dLCP::pN_equals_ANC_times_qC (dReal *p, dReal *q)
-{
-  dReal sum;
-  for (int ii=0; ii<n; ii++) if (N[ii]) {
-    sum = 0;
-    for (int jj=0; jj<n; jj++) if (C[jj]) sum += AROW(ii)[jj] * q[jj];
-    p[ii] = sum;
-  }
-}
-
-
-void dLCP::pN_plusequals_ANi (dReal *p, int i, int sign)
-{
-  int k;
-  for (k=0; k<n; k++) if (N[k] && k >= i) dDebug (0,"N assumption violated");
-  if (sign > 0) {
-    for (k=0; k<n; k++) if (N[k]) p[k] += AROW(i)[k];
-  }
-  else {
-    for (k=0; k<n; k++) if (N[k]) p[k] -= AROW(i)[k];
-  }
-}
-
-
-void dLCP::pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q)
-{
-  for (int k=0; k<n; k++) if (C[k]) p[k] += s*q[k];
-}
-
-
-void dLCP::pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q)
-{
-  for (int k=0; k<n; k++) if (N[k]) p[k] += s*q[k];
-}
-
-
-void dLCP::solve1 (dReal *a, int i, int dir, int only_transfer)
-{
-
-  ALLOCA (dReal,AA,n*nskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (AA == NULL) {
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,dd,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (dd == NULL) {
-      UNALLOCA(AA);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,bb,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (bb == NULL) {
-      UNALLOCA(AA);
-      UNALLOCA(dd);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  int ii,jj,AAi,AAj;
-
-  last_i_for_solve1 = i;
-  AAi = 0;
-  for (ii=0; ii<n; ii++) if (C[ii]) {
-    AAj = 0;
-    for (jj=0; jj<n; jj++) if (C[jj]) {
-      AA[AAi*nskip+AAj] = AROW(ii)[jj];
-      AAj++;
-    }
-    bb[AAi] = AROW(i)[ii];
-    AAi++;
-  }
-  if (AAi==0) {
-      UNALLOCA (AA);
-      UNALLOCA (dd);
-      UNALLOCA (bb);
-      return;
-  }
-
-  dFactorLDLT (AA,dd,AAi,nskip);
-  dSolveLDLT (AA,dd,bb,AAi,nskip);
-
-  AAi=0;
-  if (dir > 0) {
-    for (ii=0; ii<n; ii++) if (C[ii]) a[ii] = -bb[AAi++];
-  }
-  else {
-    for (ii=0; ii<n; ii++) if (C[ii]) a[ii] = bb[AAi++];
-  }
-
-  UNALLOCA (AA);
-  UNALLOCA (dd);
-  UNALLOCA (bb);
-}
-
-
-void dLCP::unpermute()
-{
-}
-
-#endif // dLCP_SLOW
-
-//***************************************************************************
-// fast implementation of dLCP. see the above definition of dLCP for
-// interface comments.
-//
-// `p' records the permutation of A,x,b,w,etc. p is initially 1:n and is
-// permuted as the other vectors/matrices are permuted.
-//
-// A,x,b,w,lo,hi,state,findex,p,c are permuted such that sets C,N have
-// contiguous indexes. the don't-care indexes follow N.
-//
-// an L*D*L' factorization is maintained of A(C,C), and whenever indexes are
-// added or removed from the set C the factorization is updated.
-// thus L*D*L'=A[C,C], i.e. a permuted top left nC*nC submatrix of A.
-// the leading dimension of the matrix L is always `nskip'.
-//
-// at the start there may be other indexes that are unbounded but are not
-// included in `nub'. dLCP will permute the matrix so that absolutely all
-// unbounded vectors are at the start. thus there may be some initial
-// permutation.
-//
-// the algorithms here assume certain patterns, particularly with respect to
-// index transfer.
-
-#ifdef dLCP_FAST
-
-struct dLCP {
-  int n,nskip,nub;
-  ATYPE A;                              // A rows
-  dReal *Adata,*x,*b,*w,*lo,*hi;        // permuted LCP problem data
-  dReal *L,*d;                          // L*D*L' factorization of set C
-  dReal *Dell,*ell,*tmp;
-  int *state,*findex,*p,*C;
-  int nC,nN;                            // size of each index set
-
-  dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
-        dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
-        dReal *_Dell, dReal *_ell, dReal *_tmp,
-        int *_state, int *_findex, int *_p, int *_C, dReal **Arows);
-  int getNub() { return nub; }
-  void transfer_i_to_C (int i);
-  void transfer_i_to_N (int i)
-    { nN++; }                   // because we can assume C and N span 1:i-1
-  void transfer_i_from_N_to_C (int i);
-  void transfer_i_from_C_to_N (int i);
-  int numC() { return nC; }
-  int numN() { return nN; }
-  int indexC (int i) { return i; }
-  int indexN (int i) { return i+nC; }
-  dReal Aii (int i) { return AROW(i)[i]; }
-  dReal AiC_times_qC (int i, dReal *q) { return dDot (AROW(i),q,nC); }
-  dReal AiN_times_qN (int i, dReal *q) { return dDot (AROW(i)+nC,q+nC,nN); }
-  void pN_equals_ANC_times_qC (dReal *p, dReal *q);
-  void pN_plusequals_ANi (dReal *p, int i, int sign=1);
-  void pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q)
-    { for (int i=0; i<nC; i++) p[i] += s*q[i]; }
-  void pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q)
-    { for (int i=0; i<nN; i++) p[i+nC] += s*q[i+nC]; }
-  void solve1 (dReal *a, int i, int dir=1, int only_transfer=0);
-  void unpermute();
-};
-
-
-dLCP::dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
-            dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
-            dReal *_Dell, dReal *_ell, dReal *_tmp,
-            int *_state, int *_findex, int *_p, int *_C, dReal **Arows)
-{
-  n = _n;
-  nub = _nub;
-  Adata = _Adata;
-  A = 0;
-  x = _x;
-  b = _b;
-  w = _w;
-  lo = _lo;
-  hi = _hi;
-  L = _L;
-  d = _d;
-  Dell = _Dell;
-  ell = _ell;
-  tmp = _tmp;
-  state = _state;
-  findex = _findex;
-  p = _p;
-  C = _C;
-  nskip = dPAD(n);
-  dSetZero (x,n);
-
-  int k;
-
-# ifdef ROWPTRS
-  // make matrix row pointers
-  A = Arows;
-  for (k=0; k<n; k++) A[k] = Adata + k*nskip;
-# else
-  A = Adata;
-# endif
-
-  nC = 0;
-  nN = 0;
-  for (k=0; k<n; k++) p[k]=k;           // initially unpermuted
-
-  /*
-  // for testing, we can do some random swaps in the area i > nub
-  if (nub < n) {
-    for (k=0; k<100; k++) {
-      int i1,i2;
-      do {
-        i1 = dRandInt(n-nub)+nub;
-        i2 = dRandInt(n-nub)+nub;
-      }
-      while (i1 > i2); 
-      //printf ("--> %d %d\n",i1,i2);
-      swapProblem (A,x,b,w,lo,hi,p,state,findex,n,i1,i2,nskip,0);
-    }
-  }
-  */
-
-  // permute the problem so that *all* the unbounded variables are at the
-  // start, i.e. look for unbounded variables not included in `nub'. we can
-  // potentially push up `nub' this way and get a bigger initial factorization.
-  // note that when we swap rows/cols here we must not just swap row pointers,
-  // as the initial factorization relies on the data being all in one chunk.
-  // variables that have findex >= 0 are *not* considered to be unbounded even
-  // if lo=-inf and hi=inf - this is because these limits may change during the
-  // solution process.
-
-  for (k=nub; k<n; k++) {
-    if (findex && findex[k] >= 0) continue;
-    if (lo[k]==-dInfinity && hi[k]==dInfinity) {
-      swapProblem (A,x,b,w,lo,hi,p,state,findex,n,nub,k,nskip,0);
-      nub++;
-    }
-  }
-
-  // if there are unbounded variables at the start, factorize A up to that
-  // point and solve for x. this puts all indexes 0..nub-1 into C.
-  if (nub > 0) {
-    for (k=0; k<nub; k++) memcpy (L+k*nskip,AROW(k),(k+1)*sizeof(dReal));
-    dFactorLDLT (L,d,nub,nskip);
-    memcpy (x,b,nub*sizeof(dReal));
-    dSolveLDLT (L,d,x,nub,nskip);
-    dSetZero (w,nub);
-    for (k=0; k<nub; k++) C[k] = k;
-    nC = nub;
-  }
-
-  // permute the indexes > nub such that all findex variables are at the end
-  if (findex) {
-    int num_at_end = 0;
-    for (k=n-1; k >= nub; k--) {
-      if (findex[k] >= 0) {
-        swapProblem (A,x,b,w,lo,hi,p,state,findex,n,k,n-1-num_at_end,nskip,1);
-        num_at_end++;
-      }
-    }
-  }
-
-  // print info about indexes
-  /*
-  for (k=0; k<n; k++) {
-    if (k<nub) printf ("C");
-    else if (lo[k]==-dInfinity && hi[k]==dInfinity) printf ("c");
-    else printf (".");
-  }
-  printf ("\n");
-  */
-}
-
-
-void dLCP::transfer_i_to_C (int i)
-{
-  int j;
-  if (nC > 0) {
-    // ell,Dell were computed by solve1(). note, ell = D \ L1solve (L,A(i,C))
-    for (j=0; j<nC; j++) L[nC*nskip+j] = ell[j];
-    d[nC] = dRecip (AROW(i)[i] - dDot(ell,Dell,nC));
-  }
-  else {
-    d[0] = dRecip (AROW(i)[i]);
-  }
-  swapProblem (A,x,b,w,lo,hi,p,state,findex,n,nC,i,nskip,1);
-  C[nC] = nC;
-  nC++;
-
-# ifdef DEBUG_LCP
-  checkFactorization (A,L,d,nC,C,nskip);
-  if (i < (n-1)) checkPermutations (i+1,n,nC,nN,p,C);
-# endif
-}
-
-
-void dLCP::transfer_i_from_N_to_C (int i)
-{
-  int j;
-  if (nC > 0) {
-    dReal *aptr = AROW(i);
-#   ifdef NUB_OPTIMIZATIONS
-    // if nub>0, initial part of aptr unpermuted
-    for (j=0; j<nub; j++) Dell[j] = aptr[j];
-    for (j=nub; j<nC; j++) Dell[j] = aptr[C[j]];
-#   else
-    for (j=0; j<nC; j++) Dell[j] = aptr[C[j]];
-#   endif
-    dSolveL1 (L,Dell,nC,nskip);
-    for (j=0; j<nC; j++) ell[j] = Dell[j] * d[j];
-    for (j=0; j<nC; j++) L[nC*nskip+j] = ell[j];
-    d[nC] = dRecip (AROW(i)[i] - dDot(ell,Dell,nC));
-  }
-  else {
-    d[0] = dRecip (AROW(i)[i]);
-  }
-  swapProblem (A,x,b,w,lo,hi,p,state,findex,n,nC,i,nskip,1);
-  C[nC] = nC;
-  nN--;
-  nC++;
-
-  // @@@ TO DO LATER
-  // if we just finish here then we'll go back and re-solve for
-  // delta_x. but actually we can be more efficient and incrementally
-  // update delta_x here. but if we do this, we wont have ell and Dell
-  // to use in updating the factorization later.
-
-# ifdef DEBUG_LCP
-  checkFactorization (A,L,d,nC,C,nskip);
-# endif
-}
-
-
-void dLCP::transfer_i_from_C_to_N (int i)
-{
-  // remove a row/column from the factorization, and adjust the
-  // indexes (black magic!)
-  int j,k;
-  for (j=0; j<nC; j++) if (C[j]==i) {
-    dLDLTRemove (A,C,L,d,n,nC,j,nskip);
-    for (k=0; k<nC; k++) if (C[k]==nC-1) {
-      C[k] = C[j];
-      if (j < (nC-1)) memmove (C+j,C+j+1,(nC-j-1)*sizeof(int));
-      break;
-    }
-    dIASSERT (k < nC);
-    break;
-  }
-  dIASSERT (j < nC);
-  swapProblem (A,x,b,w,lo,hi,p,state,findex,n,i,nC-1,nskip,1);
-  nC--;
-  nN++;
-
-# ifdef DEBUG_LCP
-  checkFactorization (A,L,d,nC,C,nskip);
-# endif
-}
-
-
-void dLCP::pN_equals_ANC_times_qC (dReal *p, dReal *q)
-{
-  // we could try to make this matrix-vector multiplication faster using
-  // outer product matrix tricks, e.g. with the dMultidotX() functions.
-  // but i tried it and it actually made things slower on random 100x100
-  // problems because of the overhead involved. so we'll stick with the
-  // simple method for now.
-  for (int i=0; i<nN; i++) p[i+nC] = dDot (AROW(i+nC),q,nC);
-}
-
-
-void dLCP::pN_plusequals_ANi (dReal *p, int i, int sign)
-{
-  dReal *aptr = AROW(i)+nC;
-  if (sign > 0) {
-    for (int i=0; i<nN; i++) p[i+nC] += aptr[i];
-  }
-  else {
-    for (int i=0; i<nN; i++) p[i+nC] -= aptr[i];
-  }
-}
-
-
-void dLCP::solve1 (dReal *a, int i, int dir, int only_transfer)
-{
-  // the `Dell' and `ell' that are computed here are saved. if index i is
-  // later added to the factorization then they can be reused.
-  //
-  // @@@ question: do we need to solve for entire delta_x??? yes, but
-  //     only if an x goes below 0 during the step.
-
-  int j;
-  if (nC > 0) {
-    dReal *aptr = AROW(i);
-#   ifdef NUB_OPTIMIZATIONS
-    // if nub>0, initial part of aptr[] is guaranteed unpermuted
-    for (j=0; j<nub; j++) Dell[j] = aptr[j];
-    for (j=nub; j<nC; j++) Dell[j] = aptr[C[j]];
-#   else
-    for (j=0; j<nC; j++) Dell[j] = aptr[C[j]];
-#   endif
-    dSolveL1 (L,Dell,nC,nskip);
-    for (j=0; j<nC; j++) ell[j] = Dell[j] * d[j];
-
-    if (!only_transfer) {
-      for (j=0; j<nC; j++) tmp[j] = ell[j];
-      dSolveL1T (L,tmp,nC,nskip);
-      if (dir > 0) {
-        for (j=0; j<nC; j++) a[C[j]] = -tmp[j];
-      }
-      else {
-        for (j=0; j<nC; j++) a[C[j]] = tmp[j];
-      }
-    }
-  }
-}
-
-
-void dLCP::unpermute()
-{
-  // now we have to un-permute x and w
-  int j;
-  ALLOCA (dReal,tmp,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (tmp == NULL) {
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  memcpy (tmp,x,n*sizeof(dReal));
-  for (j=0; j<n; j++) x[p[j]] = tmp[j];
-  memcpy (tmp,w,n*sizeof(dReal));
-  for (j=0; j<n; j++) w[p[j]] = tmp[j];
-
-  UNALLOCA (tmp);
-}
-
-#endif // dLCP_FAST
-
-//***************************************************************************
-// an unoptimized Dantzig LCP driver routine for the basic LCP problem.
-// must have lo=0, hi=dInfinity, and nub=0.
-
-void dSolveLCPBasic (int n, dReal *A, dReal *x, dReal *b,
-                     dReal *w, int nub, dReal *lo, dReal *hi)
-{
-  dAASSERT (n>0 && A && x && b && w && nub == 0);
-
-  int i,k;
-  int nskip = dPAD(n);
-  ALLOCA (dReal,L,n*nskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (L == NULL) {
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,d,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (d == NULL) {
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,delta_x,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (delta_x == NULL) {
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,delta_w,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (delta_w == NULL) {
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,Dell,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (Dell == NULL) {
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,ell,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (ell == NULL) {
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,tmp,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (tmp == NULL) {
-      UNALLOCA(ell);
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal*,Arows,n*sizeof(dReal*));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (Arows == NULL) {
-      UNALLOCA(tmp);
-      UNALLOCA(ell);
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (int,p,n*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (p == NULL) {
-      UNALLOCA(Arows);
-      UNALLOCA(tmp);
-      UNALLOCA(ell);
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (int,C,n*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (C == NULL) {
-      UNALLOCA(p);
-      UNALLOCA(Arows);
-      UNALLOCA(tmp);
-      UNALLOCA(ell);
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (int,dummy,n*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (dummy == NULL) {
-      UNALLOCA(C);
-      UNALLOCA(p);
-      UNALLOCA(Arows);
-      UNALLOCA(tmp);
-      UNALLOCA(ell);
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-
-  dLCP lcp (n,0,A,x,b,w,tmp,tmp,L,d,Dell,ell,tmp,dummy,dummy,p,C,Arows);
-  nub = lcp.getNub();
-
-  for (i=0; i<n; i++) {
-    w[i] = lcp.AiC_times_qC (i,x) - b[i];
-    if (w[i] >= 0) {
-      lcp.transfer_i_to_N (i);
-    }
-    else {
-      for (;;) {
-        // compute: delta_x(C) = -A(C,C)\A(C,i)
-        dSetZero (delta_x,n);
-        lcp.solve1 (delta_x,i);
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-        if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) {
-          UNALLOCA(dummy);
-          UNALLOCA(C);
-          UNALLOCA(p);
-          UNALLOCA(Arows);
-          UNALLOCA(tmp);
-          UNALLOCA(ell);
-          UNALLOCA(Dell);
-          UNALLOCA(delta_w);
-          UNALLOCA(delta_x);
-          UNALLOCA(d);
-          UNALLOCA(L);
-          return;
-        }
-#endif
-        delta_x[i] = 1;
-
-        // compute: delta_w = A*delta_x
-        dSetZero (delta_w,n);
-        lcp.pN_equals_ANC_times_qC (delta_w,delta_x);
-        lcp.pN_plusequals_ANi (delta_w,i);
-        delta_w[i] = lcp.AiC_times_qC (i,delta_x) + lcp.Aii(i);
-
-        // find index to switch
-        int si = i;             // si = switch index
-        int si_in_N = 0;        // set to 1 if si in N
-        dReal s = -w[i]/delta_w[i];
-
-        if (s <= 0) {
-          dMessage (d_ERR_LCP, "LCP internal error, s <= 0 (s=%.4e)",s);
-          if (i < (n-1)) {
-            dSetZero (x+i,n-i);
-            dSetZero (w+i,n-i);
-          }
-          goto done;
-        }
-
-        for (k=0; k < lcp.numN(); k++) {
-          if (delta_w[lcp.indexN(k)] < 0) {
-            dReal s2 = -w[lcp.indexN(k)] / delta_w[lcp.indexN(k)];
-            if (s2 < s) {
-              s = s2;
-              si = lcp.indexN(k);
-              si_in_N = 1;
-            }
-          }
-        }
-        for (k=0; k < lcp.numC(); k++) {
-          if (delta_x[lcp.indexC(k)] < 0) {
-            dReal s2 = -x[lcp.indexC(k)] / delta_x[lcp.indexC(k)];
-            if (s2 < s) {
-              s = s2;
-              si = lcp.indexC(k);
-              si_in_N = 0;
-            }
-          }
-        }
-
-        // apply x = x + s * delta_x
-        lcp.pC_plusequals_s_times_qC (x,s,delta_x);
-        x[i] += s;
-        lcp.pN_plusequals_s_times_qN (w,s,delta_w);
-        w[i] += s * delta_w[i];
-
-        // switch indexes between sets if necessary
-        if (si==i) {
-          w[i] = 0;
-          lcp.transfer_i_to_C (i);
-          break;
-        }
-        if (si_in_N) {
-          w[si] = 0;
-          lcp.transfer_i_from_N_to_C (si);
-        }
-        else {
-          x[si] = 0;
-          lcp.transfer_i_from_C_to_N (si);
-        }
-      }
-    }
-  }
-
- done:
-  lcp.unpermute();
-
-  UNALLOCA (L);
-  UNALLOCA (d);
-  UNALLOCA (delta_x);
-  UNALLOCA (delta_w);
-  UNALLOCA (Dell);
-  UNALLOCA (ell);
-  UNALLOCA (tmp);
-  UNALLOCA (Arows);
-  UNALLOCA (p);
-  UNALLOCA (C);
-  UNALLOCA (dummy);
-}
-
-//***************************************************************************
-// an optimized Dantzig LCP driver routine for the lo-hi LCP problem.
-
-void dSolveLCP (int n, dReal *A, dReal *x, dReal *b,
-                dReal *w, int nub, dReal *lo, dReal *hi, int *findex)
-{
-  dAASSERT (n>0 && A && x && b && w && lo && hi && nub >= 0 && nub <= n);
-
-  int i,k,hit_first_friction_index = 0;
-  int nskip = dPAD(n);
-
-  // if all the variables are unbounded then we can just factor, solve,
-  // and return
-  if (nub >= n) {
-    dFactorLDLT (A,w,n,nskip);          // use w for d
-    dSolveLDLT (A,w,b,n,nskip);
-    memcpy (x,b,n*sizeof(dReal));
-    dSetZero (w,n);
-
-    return;
-  }
-# ifndef dNODEBUG
-  // check restrictions on lo and hi
-  for (k=0; k<n; k++) dIASSERT (lo[k] <= 0 && hi[k] >= 0);
-# endif
-  ALLOCA (dReal,L,n*nskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (L == NULL) {
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,d,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (d == NULL) {
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,delta_x,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (delta_x == NULL) {
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,delta_w,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (delta_w == NULL) {
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,Dell,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (Dell == NULL) {
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,ell,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (ell == NULL) {
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal*,Arows,n*sizeof(dReal*));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (Arows == NULL) {
-      UNALLOCA(ell);
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (int,p,n*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (p == NULL) {
-      UNALLOCA(Arows);
-      UNALLOCA(ell);
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (int,C,n*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (C == NULL) {
-      UNALLOCA(p);
-      UNALLOCA(Arows);
-      UNALLOCA(ell);
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  int dir;
-  dReal dirf;
-
-  // for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i)
-  ALLOCA (int,state,n*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (state == NULL) {
-      UNALLOCA(C);
-      UNALLOCA(p);
-      UNALLOCA(Arows);
-      UNALLOCA(ell);
-      UNALLOCA(Dell);
-      UNALLOCA(delta_w);
-      UNALLOCA(delta_x);
-      UNALLOCA(d);
-      UNALLOCA(L);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  // create LCP object. note that tmp is set to delta_w to save space, this
-  // optimization relies on knowledge of how tmp is used, so be careful!
-  dLCP *lcp=new dLCP(n,nub,A,x,b,w,lo,hi,L,d,Dell,ell,delta_w,state,findex,p,C,Arows);
-  nub = lcp->getNub();
-
-  // loop over all indexes nub..n-1. for index i, if x(i),w(i) satisfy the
-  // LCP conditions then i is added to the appropriate index set. otherwise
-  // x(i),w(i) is driven either +ve or -ve to force it to the valid region.
-  // as we drive x(i), x(C) is also adjusted to keep w(C) at zero.
-  // while driving x(i) we maintain the LCP conditions on the other variables
-  // 0..i-1. we do this by watching out for other x(i),w(i) values going
-  // outside the valid region, and then switching them between index sets
-  // when that happens.
-
-  for (i=nub; i<n; i++) {
-    // the index i is the driving index and indexes i+1..n-1 are "dont care",
-    // i.e. when we make changes to the system those x's will be zero and we
-    // don't care what happens to those w's. in other words, we only consider
-    // an (i+1)*(i+1) sub-problem of A*x=b+w.
-
-    // if we've hit the first friction index, we have to compute the lo and
-    // hi values based on the values of x already computed. we have been
-    // permuting the indexes, so the values stored in the findex vector are
-    // no longer valid. thus we have to temporarily unpermute the x vector. 
-    // for the purposes of this computation, 0*infinity = 0 ... so if the
-    // contact constraint's normal force is 0, there should be no tangential
-    // force applied.
-
-    if (hit_first_friction_index == 0 && findex && findex[i] >= 0) {
-      // un-permute x into delta_w, which is not being used at the moment
-      for (k=0; k<n; k++) delta_w[p[k]] = x[k];
-
-      // set lo and hi values
-      for (k=i; k<n; k++) {
-        dReal wfk = delta_w[findex[k]];
-        if (wfk == 0) {
-          hi[k] = 0;
-          lo[k] = 0;
-        }
-        else {
-          hi[k] = dFabs (hi[k] * wfk);
-          lo[k] = -hi[k];
-        }
-      }
-      hit_first_friction_index = 1;
-    }
-
-    // thus far we have not even been computing the w values for indexes
-    // greater than i, so compute w[i] now.
-    w[i] = lcp->AiC_times_qC (i,x) + lcp->AiN_times_qN (i,x) - b[i];
-
-    // if lo=hi=0 (which can happen for tangential friction when normals are
-    // 0) then the index will be assigned to set N with some state. however,
-    // set C's line has zero size, so the index will always remain in set N.
-    // with the "normal" switching logic, if w changed sign then the index
-    // would have to switch to set C and then back to set N with an inverted
-    // state. this is pointless, and also computationally expensive. to
-    // prevent this from happening, we use the rule that indexes with lo=hi=0
-    // will never be checked for set changes. this means that the state for
-    // these indexes may be incorrect, but that doesn't matter.
-
-    // see if x(i),w(i) is in a valid region
-    if (lo[i]==0 && w[i] >= 0) {
-      lcp->transfer_i_to_N (i);
-      state[i] = 0;
-    }
-    else if (hi[i]==0 && w[i] <= 0) {
-      lcp->transfer_i_to_N (i);
-      state[i] = 1;
-    }
-    else if (w[i]==0) {
-      // this is a degenerate case. by the time we get to this test we know
-      // that lo != 0, which means that lo < 0 as lo is not allowed to be +ve,
-      // and similarly that hi > 0. this means that the line segment
-      // corresponding to set C is at least finite in extent, and we are on it.
-      // NOTE: we must call lcp->solve1() before lcp->transfer_i_to_C()
-      lcp->solve1 (delta_x,i,0,1);
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-      if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) {
-        UNALLOCA(state);
-        UNALLOCA(C);
-        UNALLOCA(p);
-        UNALLOCA(Arows);
-        UNALLOCA(ell);
-        UNALLOCA(Dell);
-        UNALLOCA(delta_w);
-        UNALLOCA(delta_x);
-        UNALLOCA(d);
-        UNALLOCA(L);
-        return;
-      }
-#endif
-
-      lcp->transfer_i_to_C (i);
-    }
-    else {
-      // we must push x(i) and w(i)
-      for (;;) {
-        // find direction to push on x(i)
-        if (w[i] <= 0) {
-          dir = 1;
-          dirf = REAL(1.0);
-        }
-        else {
-          dir = -1;
-          dirf = REAL(-1.0);
-        }
-
-        // compute: delta_x(C) = -dir*A(C,C)\A(C,i)
-        lcp->solve1 (delta_x,i,dir);
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-        if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) {
-          UNALLOCA(state);
-          UNALLOCA(C);
-          UNALLOCA(p);
-          UNALLOCA(Arows);
-          UNALLOCA(ell);
-          UNALLOCA(Dell);
-          UNALLOCA(delta_w);
-          UNALLOCA(delta_x);
-          UNALLOCA(d);
-          UNALLOCA(L);
-          return;
-        }
-#endif
-
-        // note that delta_x[i] = dirf, but we wont bother to set it
-
-        // compute: delta_w = A*delta_x ... note we only care about
-        // delta_w(N) and delta_w(i), the rest is ignored
-        lcp->pN_equals_ANC_times_qC (delta_w,delta_x);
-        lcp->pN_plusequals_ANi (delta_w,i,dir);
-        delta_w[i] = lcp->AiC_times_qC (i,delta_x) + lcp->Aii(i)*dirf;
-
-        // find largest step we can take (size=s), either to drive x(i),w(i)
-        // to the valid LCP region or to drive an already-valid variable
-        // outside the valid region.
-
-        int cmd = 1;            // index switching command
-        int si = 0;             // si = index to switch if cmd>3
-        dReal s = -w[i]/delta_w[i];
-        if (dir > 0) {
-          if (hi[i] < dInfinity) {
-            dReal s2 = (hi[i]-x[i])/dirf;               // step to x(i)=hi(i)
-            if (s2 < s) {
-              s = s2;
-              cmd = 3;
-            }
-          }
-        }
-        else {
-          if (lo[i] > -dInfinity) {
-            dReal s2 = (lo[i]-x[i])/dirf;               // step to x(i)=lo(i)
-            if (s2 < s) {
-              s = s2;
-              cmd = 2;
-            }
-          }
-        }
-
-        for (k=0; k < lcp->numN(); k++) {
-          if ((state[lcp->indexN(k)]==0 && delta_w[lcp->indexN(k)] < 0) ||
-              (state[lcp->indexN(k)]!=0 && delta_w[lcp->indexN(k)] > 0)) {
-            // don't bother checking if lo=hi=0
-            if (lo[lcp->indexN(k)] == 0 && hi[lcp->indexN(k)] == 0) continue;
-            dReal s2 = -w[lcp->indexN(k)] / delta_w[lcp->indexN(k)];
-            if (s2 < s) {
-              s = s2;
-              cmd = 4;
-              si = lcp->indexN(k);
-            }
-          }
-        }
-
-        for (k=nub; k < lcp->numC(); k++) {
-          if (delta_x[lcp->indexC(k)] < 0 && lo[lcp->indexC(k)] > -dInfinity) {
-            dReal s2 = (lo[lcp->indexC(k)]-x[lcp->indexC(k)]) /
-              delta_x[lcp->indexC(k)];
-            if (s2 < s) {
-              s = s2;
-              cmd = 5;
-              si = lcp->indexC(k);
-            }
-          }
-          if (delta_x[lcp->indexC(k)] > 0 && hi[lcp->indexC(k)] < dInfinity) {
-            dReal s2 = (hi[lcp->indexC(k)]-x[lcp->indexC(k)]) /
-              delta_x[lcp->indexC(k)];
-            if (s2 < s) {
-              s = s2;
-              cmd = 6;
-              si = lcp->indexC(k);
-            }
-          }
-        }
-
-        //static char* cmdstring[8] = {0,"->C","->NL","->NH","N->C",
-        //                           "C->NL","C->NH"};
-        //printf ("cmd=%d (%s), si=%d\n",cmd,cmdstring[cmd],(cmd>3) ? si : i);
-
-        // if s <= 0 then we've got a problem. if we just keep going then
-        // we're going to get stuck in an infinite loop. instead, just cross
-        // our fingers and exit with the current solution.
-        if (s <= 0) {
-          dMessage (d_ERR_LCP, "LCP internal error, s <= 0 (s=%.4e)",s);
-          if (i < (n-1)) {
-            dSetZero (x+i,n-i);
-            dSetZero (w+i,n-i);
-          }
-          goto done;
-        }
-
-        // apply x = x + s * delta_x
-        lcp->pC_plusequals_s_times_qC (x,s,delta_x);
-        x[i] += s * dirf;
-
-        // apply w = w + s * delta_w
-        lcp->pN_plusequals_s_times_qN (w,s,delta_w);
-        w[i] += s * delta_w[i];
-
-        // switch indexes between sets if necessary
-        switch (cmd) {
-        case 1:         // done
-          w[i] = 0;
-          lcp->transfer_i_to_C (i);
-          break;
-        case 2:         // done
-          x[i] = lo[i];
-          state[i] = 0;
-          lcp->transfer_i_to_N (i);
-          break;
-        case 3:         // done
-          x[i] = hi[i];
-          state[i] = 1;
-          lcp->transfer_i_to_N (i);
-          break;
-        case 4:         // keep going
-          w[si] = 0;
-          lcp->transfer_i_from_N_to_C (si);
-          break;
-        case 5:         // keep going
-          x[si] = lo[si];
-          state[si] = 0;
-          lcp->transfer_i_from_C_to_N (si);
-          break;
-        case 6:         // keep going
-          x[si] = hi[si];
-          state[si] = 1;
-          lcp->transfer_i_from_C_to_N (si);
-          break;
-        }
-
-        if (cmd <= 3) break;
-      }
-    }
-  }
-
- done:
-  lcp->unpermute();
-  delete lcp;
-
-  UNALLOCA (L);
-  UNALLOCA (d);
-  UNALLOCA (delta_x);
-  UNALLOCA (delta_w);
-  UNALLOCA (Dell);
-  UNALLOCA (ell);
-  UNALLOCA (Arows);
-  UNALLOCA (p);
-  UNALLOCA (C);
-  UNALLOCA (state);
-}
-
-//***************************************************************************
-// accuracy and timing test
-
-extern "C" ODE_API void dTestSolveLCP()
-{
-  int n = 100;
-  int i,nskip = dPAD(n);
-#ifdef dDOUBLE
-  const dReal tol = REAL(1e-9);
-#endif
-#ifdef dSINGLE
-  const dReal tol = REAL(1e-4);
-#endif
-  printf ("dTestSolveLCP()\n");
-
-  ALLOCA (dReal,A,n*nskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (A == NULL) {
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,x,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (x == NULL) {
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,b,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (b == NULL) {
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,w,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (w == NULL) {
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,lo,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (lo == NULL) {
-      UNALLOCA (w);
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,hi,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (hi == NULL) {
-      UNALLOCA (lo);
-      UNALLOCA (w);
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  ALLOCA (dReal,A2,n*nskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (A2 == NULL) {
-      UNALLOCA (hi);
-      UNALLOCA (lo);
-      UNALLOCA (w);
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,b2,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (b2 == NULL) {
-      UNALLOCA (A2);
-      UNALLOCA (hi);
-      UNALLOCA (lo);
-      UNALLOCA (w);
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,lo2,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (lo2 == NULL) {
-      UNALLOCA (b2);
-      UNALLOCA (A2);
-      UNALLOCA (hi);
-      UNALLOCA (lo);
-      UNALLOCA (w);
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,hi2,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (hi2 == NULL) {
-      UNALLOCA (lo2);
-      UNALLOCA (b2);
-      UNALLOCA (A2);
-      UNALLOCA (hi);
-      UNALLOCA (lo);
-      UNALLOCA (w);
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,tmp1,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (tmp1 == NULL) {
-      UNALLOCA (hi2);
-      UNALLOCA (lo2);
-      UNALLOCA (b2);
-      UNALLOCA (A2);
-      UNALLOCA (hi);
-      UNALLOCA (lo);
-      UNALLOCA (w);
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA (dReal,tmp2,n*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (tmp2 == NULL) {
-      UNALLOCA (tmp1);
-      UNALLOCA (hi2);
-      UNALLOCA (lo2);
-      UNALLOCA (b2);
-      UNALLOCA (A2);
-      UNALLOCA (hi);
-      UNALLOCA (lo);
-      UNALLOCA (w);
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  double total_time = 0;
-  for (int count=0; count < 1000; count++) {
-
-    // form (A,b) = a random positive definite LCP problem
-    dMakeRandomMatrix (A2,n,n,1.0);
-    dMultiply2 (A,A2,A2,n,n,n);
-    dMakeRandomMatrix (x,n,1,1.0);
-    dMultiply0 (b,A,x,n,n,1);
-    for (i=0; i<n; i++) b[i] += (dRandReal()*REAL(0.2))-REAL(0.1);
-
-    // choose `nub' in the range 0..n-1
-    int nub = 50; //dRandInt (n);
-
-    // make limits
-    for (i=0; i<nub; i++) lo[i] = -dInfinity;
-    for (i=0; i<nub; i++) hi[i] = dInfinity;
-    //for (i=nub; i<n; i++) lo[i] = 0;
-    //for (i=nub; i<n; i++) hi[i] = dInfinity;
-    //for (i=nub; i<n; i++) lo[i] = -dInfinity;
-    //for (i=nub; i<n; i++) hi[i] = 0;
-    for (i=nub; i<n; i++) lo[i] = -(dRandReal()*REAL(1.0))-REAL(0.01);
-    for (i=nub; i<n; i++) hi[i] =  (dRandReal()*REAL(1.0))+REAL(0.01);
-
-    // set a few limits to lo=hi=0
-    /*
-    for (i=0; i<10; i++) {
-      int j = dRandInt (n-nub) + nub;
-      lo[j] = 0;
-      hi[j] = 0;
-    }
-    */
-
-    // solve the LCP. we must make copy of A,b,lo,hi (A2,b2,lo2,hi2) for
-    // SolveLCP() to permute. also, we'll clear the upper triangle of A2 to
-    // ensure that it doesn't get referenced (if it does, the answer will be
-    // wrong).
-
-    memcpy (A2,A,n*nskip*sizeof(dReal));
-    dClearUpperTriangle (A2,n);
-    memcpy (b2,b,n*sizeof(dReal));
-    memcpy (lo2,lo,n*sizeof(dReal));
-    memcpy (hi2,hi,n*sizeof(dReal));
-    dSetZero (x,n);
-    dSetZero (w,n);
-
-    dStopwatch sw;
-    dStopwatchReset (&sw);
-    dStopwatchStart (&sw);
-
-    dSolveLCP (n,A2,x,b2,w,nub,lo2,hi2,0);
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) {
-      UNALLOCA (tmp2);
-      UNALLOCA (tmp1);
-      UNALLOCA (hi2);
-      UNALLOCA (lo2);
-      UNALLOCA (b2);
-      UNALLOCA (A2);
-      UNALLOCA (hi);
-      UNALLOCA (lo);
-      UNALLOCA (w);
-      UNALLOCA (b);
-      UNALLOCA (x);
-      UNALLOCA (A);
-      return;
-    }
-#endif
-
-    dStopwatchStop (&sw);
-    double time = dStopwatchTime(&sw);
-    total_time += time;
-    double average = total_time / double(count+1) * 1000.0;
-
-    // check the solution
-
-    dMultiply0 (tmp1,A,x,n,n,1);
-    for (i=0; i<n; i++) tmp2[i] = b[i] + w[i];
-    dReal diff = dMaxDifference (tmp1,tmp2,n,1);
-    // printf ("\tA*x = b+w, maximum difference = %.6e - %s (1)\n",diff,
-    //      diff > tol ? "FAILED" : "passed");
-    if (diff > tol) dDebug (0,"A*x = b+w, maximum difference = %.6e",diff);
-    int n1=0,n2=0,n3=0;
-    for (i=0; i<n; i++) {
-      if (x[i]==lo[i] && w[i] >= 0) {
-        n1++;   // ok
-      }
-      else if (x[i]==hi[i] && w[i] <= 0) {
-        n2++;   // ok
-      }
-      else if (x[i] >= lo[i] && x[i] <= hi[i] && w[i] == 0) {
-        n3++;   // ok
-      }
-      else {
-        dDebug (0,"FAILED: i=%d x=%.4e w=%.4e lo=%.4e hi=%.4e",i,
-                x[i],w[i],lo[i],hi[i]);
-      }
-    }
-
-    // pacifier
-    printf ("passed: NL=%3d NH=%3d C=%3d   ",n1,n2,n3);
-    printf ("time=%10.3f ms  avg=%10.4f\n",time * 1000.0,average);
-  }
-
-  UNALLOCA (A);
-  UNALLOCA (x);
-  UNALLOCA (b);
-  UNALLOCA (w);
-  UNALLOCA (lo);
-  UNALLOCA (hi);
-  UNALLOCA (A2);
-  UNALLOCA (b2);
-  UNALLOCA (lo2);
-  UNALLOCA (hi2);
-  UNALLOCA (tmp1);
-  UNALLOCA (tmp2);
-}
diff --git a/libraries/ode-0.9/ode/src/lcp.h b/libraries/ode-0.9/ode/src/lcp.h
deleted file mode 100644
index 484902c..0000000
--- a/libraries/ode-0.9/ode/src/lcp.h
+++ /dev/null
@@ -1,58 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-given (A,b,lo,hi), solve the LCP problem: A*x = b+w, where each x(i),w(i)
-satisfies one of
-        (1) x = lo, w >= 0
-        (2) x = hi, w <= 0
-        (3) lo < x < hi, w = 0
-A is a matrix of dimension n*n, everything else is a vector of size n*1.
-lo and hi can be +/- dInfinity as needed. the first `nub' variables are
-unbounded, i.e. hi and lo are assumed to be +/- dInfinity.
-
-we restrict lo(i) <= 0 and hi(i) >= 0.
-
-the original data (A,b) may be modified by this function.
-
-if the `findex' (friction index) parameter is nonzero, it points to an array
-of index values. in this case constraints that have findex[i] >= 0 are
-special. all non-special constraints are solved for, then the lo and hi values
-for the special constraints are set:
-  hi[i] = abs( hi[i] * x[findex[i]] )
-  lo[i] = -hi[i]
-and the solution continues. this mechanism allows a friction approximation
-to be implemented. the first `nub' variables are assumed to have findex < 0.
-
-*/
-
-
-#ifndef _ODE_LCP_H_
-#define _ODE_LCP_H_
-
-
-void dSolveLCP (int n, dReal *A, dReal *x, dReal *b, dReal *w,
-                int nub, dReal *lo, dReal *hi, int *findex);
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/mass.cpp b/libraries/ode-0.9/ode/src/mass.cpp
deleted file mode 100644
index 7d0b1c2..0000000
--- a/libraries/ode-0.9/ode/src/mass.cpp
+++ /dev/null
@@ -1,529 +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/config.h>
-#include <ode/mass.h>
-#include <ode/odemath.h>
-#include <ode/matrix.h>
-
-// Local dependencies
-#include "collision_kernel.h"
-
-#define SQR(x)                  ((x)*(x))                                               //!< Returns x square
-#define CUBE(x)                 ((x)*(x)*(x))                                   //!< Returns x cube
-
-#define _I(i,j) I[(i)*4+(j)]
-
-
-// return 1 if ok, 0 if bad
-
-int dMassCheck (const dMass *m)
-{
-  int i;
-
-  if (m->mass <= 0) {
-    dDEBUGMSG ("mass must be > 0");
-    return 0;
-  }
-  if (!dIsPositiveDefinite (m->I,3)) {
-    dDEBUGMSG ("inertia must be positive definite");
-    return 0;
-  }
-
-  // verify that the center of mass position is consistent with the mass
-  // and inertia matrix. this is done by checking that the inertia around
-  // the center of mass is also positive definite. from the comment in
-  // dMassTranslate(), if the body is translated so that its center of mass
-  // is at the point of reference, then the new inertia is:
-  //   I + mass*crossmat(c)^2
-  // note that requiring this to be positive definite is exactly equivalent
-  // to requiring that the spatial inertia matrix
-  //   [ mass*eye(3,3)   M*crossmat(c)^T ]
-  //   [ M*crossmat(c)   I               ]
-  // is positive definite, given that I is PD and mass>0. see the theorem
-  // about partitioned PD matrices for proof.
-
-  dMatrix3 I2,chat;
-  dSetZero (chat,12);
-  dCROSSMAT (chat,m->c,4,+,-);
-  dMULTIPLY0_333 (I2,chat,chat);
-  for (i=0; i<3; i++) I2[i] = m->I[i] + m->mass*I2[i];
-  for (i=4; i<7; i++) I2[i] = m->I[i] + m->mass*I2[i];
-  for (i=8; i<11; i++) I2[i] = m->I[i] + m->mass*I2[i];
-  if (!dIsPositiveDefinite (I2,3)) {
-    dDEBUGMSG ("center of mass inconsistent with mass parameters");
-    return 0;
-  }
-  return 1;
-}
-
-
-void dMassSetZero (dMass *m)
-{
-  dAASSERT (m);
-  m->mass = REAL(0.0);
-  dSetZero (m->c,sizeof(m->c) / sizeof(dReal));
-  dSetZero (m->I,sizeof(m->I) / sizeof(dReal));
-}
-
-
-void dMassSetParameters (dMass *m, dReal themass,
-                         dReal cgx, dReal cgy, dReal cgz,
-                         dReal I11, dReal I22, dReal I33,
-                         dReal I12, dReal I13, dReal I23)
-{
-  dAASSERT (m);
-  dMassSetZero (m);
-  m->mass = themass;
-  m->c[0] = cgx;
-  m->c[1] = cgy;
-  m->c[2] = cgz;
-  m->_I(0,0) = I11;
-  m->_I(1,1) = I22;
-  m->_I(2,2) = I33;
-  m->_I(0,1) = I12;
-  m->_I(0,2) = I13;
-  m->_I(1,2) = I23;
-  m->_I(1,0) = I12;
-  m->_I(2,0) = I13;
-  m->_I(2,1) = I23;
-  dMassCheck (m);
-}
-
-
-void dMassSetSphere (dMass *m, dReal density, dReal radius)
-{
-  dMassSetSphereTotal (m, (REAL(4.0)/REAL(3.0)) * M_PI *
-                          radius*radius*radius * density, radius);
-}
-
-
-void dMassSetSphereTotal (dMass *m, dReal total_mass, dReal radius)
-{
-  dAASSERT (m);
-  dMassSetZero (m);
-  m->mass = total_mass;
-  dReal II = REAL(0.4) * total_mass * radius*radius;
-  m->_I(0,0) = II;
-  m->_I(1,1) = II;
-  m->_I(2,2) = II;
-
-# ifndef dNODEBUG
-  dMassCheck (m);
-# endif
-}
-
-
-void dMassSetCapsule (dMass *m, dReal density, int direction,
-                      dReal radius, dReal length)
-{
-  dReal M1,M2,Ia,Ib;
-  dAASSERT (m);
-  dUASSERT (direction >= 1 && direction <= 3,"bad direction number");
-  dMassSetZero (m);
-  M1 = M_PI*radius*radius*length*density;                       // cylinder mass
-  M2 = (REAL(4.0)/REAL(3.0))*M_PI*radius*radius*radius*density; // total cap mass
-  m->mass = M1+M2;
-  Ia = M1*(REAL(0.25)*radius*radius + (REAL(1.0)/REAL(12.0))*length*length) +
-    M2*(REAL(0.4)*radius*radius + REAL(0.375)*radius*length + REAL(0.25)*length*length);
-  Ib = (M1*REAL(0.5) + M2*REAL(0.4))*radius*radius;
-  m->_I(0,0) = Ia;
-  m->_I(1,1) = Ia;
-  m->_I(2,2) = Ia;
-  m->_I(direction-1,direction-1) = Ib;
-
-# ifndef dNODEBUG
-  dMassCheck (m);
-# endif
-}
-
-
-void dMassSetCapsuleTotal (dMass *m, dReal total_mass, int direction,
-                           dReal a, dReal b)
-{
-  dMassSetCapsule (m, 1.0, direction, a, b);
-  dMassAdjust (m, total_mass);
-}
-
-
-void dMassSetCylinder (dMass *m, dReal density, int direction,
-                       dReal radius, dReal length)
-{
-  dMassSetCylinderTotal (m, M_PI*radius*radius*length*density,
-                            direction, radius, length);
-}
-
-void dMassSetCylinderTotal (dMass *m, dReal total_mass, int direction,
-                            dReal radius, dReal length)
-{
-  dReal r2,I;
-  dAASSERT (m);
-  dUASSERT (direction >= 1 && direction <= 3,"bad direction number");
-  dMassSetZero (m);
-  r2 = radius*radius;
-  m->mass = total_mass;
-  I = total_mass*(REAL(0.25)*r2 + (REAL(1.0)/REAL(12.0))*length*length);
-  m->_I(0,0) = I;
-  m->_I(1,1) = I;
-  m->_I(2,2) = I;
-  m->_I(direction-1,direction-1) = total_mass*REAL(0.5)*r2;
-
-# ifndef dNODEBUG
-  dMassCheck (m);
-# endif
-}
-
-
-void dMassSetBox (dMass *m, dReal density,
-                  dReal lx, dReal ly, dReal lz)
-{
-  dMassSetBoxTotal (m, lx*ly*lz*density, lx, ly, lz);
-}
-
-
-void dMassSetBoxTotal (dMass *m, dReal total_mass,
-                       dReal lx, dReal ly, dReal lz)
-{
-  dAASSERT (m);
-  dMassSetZero (m);
-  m->mass = total_mass;
-  m->_I(0,0) = total_mass/REAL(12.0) * (ly*ly + lz*lz);
-  m->_I(1,1) = total_mass/REAL(12.0) * (lx*lx + lz*lz);
-  m->_I(2,2) = total_mass/REAL(12.0) * (lx*lx + ly*ly);
-
-# ifndef dNODEBUG
-  dMassCheck (m);
-# endif
-}
-
-
-
-
-
-
-#if dTRIMESH_ENABLED
-
-/*
- * dMassSetTrimesh, implementation by Gero Mueller.
- * Based on Brian Mirtich, "Fast and Accurate Computation of
- * Polyhedral Mass Properties," journal of graphics tools, volume 1,
- * number 2, 1996.
-*/
-void dMassSetTrimesh( dMass *m, dReal density, dGeomID g )
-{
-        dAASSERT (m);
-        dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
-
-        dMassSetZero (m);
-
-        unsigned int triangles = dGeomTriMeshGetTriangleCount( g );
-
-        dReal nx, ny, nz;
-        unsigned int i, A, B, C;
-        // face integrals
-        dReal Fa, Fb, Fc, Faa, Fbb, Fcc, Faaa, Fbbb, Fccc, Faab, Fbbc, Fcca;
-
-        // projection integrals
-        dReal P1, Pa, Pb, Paa, Pab, Pbb, Paaa, Paab, Pabb, Pbbb;
-
-        dReal T0 = 0;
-        dReal T1[3] = {0., 0., 0.};
-        dReal T2[3] = {0., 0., 0.};
-        dReal TP[3] = {0., 0., 0.};
-
-        for( i = 0; i < triangles; i++ )                
-        {
-                dVector3 v0, v1, v2;              
-                dGeomTriMeshGetTriangle( g, i, &v0, &v1, &v2);
-
-                dVector3 n, a, b;
-                dOP( a, -, v1, v0 ); 
-                dOP( b, -, v2, v0 ); 
-                dCROSS( n, =, b, a );
-                nx = fabs(n[0]);
-                ny = fabs(n[1]);
-                nz = fabs(n[2]);
-
-                if( nx > ny && nx > nz )
-                        C = 0;
-                else
-                        C = (ny > nz) ? 1 : 2;
-
-                A = (C + 1) % 3;
-                B = (A + 1) % 3;
-
-                // calculate face integrals
-                {
-                        dReal w;
-                        dReal k1, k2, k3, k4;
-
-                        //compProjectionIntegrals(f);
-                        {
-                                dReal a0, a1, da;
-                                dReal b0, b1, db;
-                                dReal a0_2, a0_3, a0_4, b0_2, b0_3, b0_4;
-                                dReal a1_2, a1_3, b1_2, b1_3;
-                                dReal C1, Ca, Caa, Caaa, Cb, Cbb, Cbbb;
-                                dReal Cab, Kab, Caab, Kaab, Cabb, Kabb;
-
-                                P1 = Pa = Pb = Paa = Pab = Pbb = Paaa = Paab = Pabb = Pbbb = 0.0;
-
-                                for( int j = 0; j < 3; j++)
-                                {
-                                        switch(j)
-                                        {
-                                        case 0:
-                                                a0 = v0[A];
-                                                b0 = v0[B];
-                                                a1 = v1[A];
-                                                b1 = v1[B];
-                                                break;
-                                        case 1:
-                                                a0 = v1[A];
-                                                b0 = v1[B];
-                                                a1 = v2[A];
-                                                b1 = v2[B];
-                                                break;
-                                        case 2:
-                                                a0 = v2[A];
-                                                b0 = v2[B];
-                                                a1 = v0[A];
-                                                b1 = v0[B];
-                                                break;
-                                        }
-                                        da = a1 - a0;
-                                        db = b1 - b0;
-                                        a0_2 = a0 * a0; a0_3 = a0_2 * a0; a0_4 = a0_3 * a0;
-                                        b0_2 = b0 * b0; b0_3 = b0_2 * b0; b0_4 = b0_3 * b0;
-                                        a1_2 = a1 * a1; a1_3 = a1_2 * a1; 
-                                        b1_2 = b1 * b1; b1_3 = b1_2 * b1;
-
-                                        C1 = a1 + a0;
-                                        Ca = a1*C1 + a0_2; Caa = a1*Ca + a0_3; Caaa = a1*Caa + a0_4;
-                                        Cb = b1*(b1 + b0) + b0_2; Cbb = b1*Cb + b0_3; Cbbb = b1*Cbb + b0_4;
-                                        Cab = 3*a1_2 + 2*a1*a0 + a0_2; Kab = a1_2 + 2*a1*a0 + 3*a0_2;
-                                        Caab = a0*Cab + 4*a1_3; Kaab = a1*Kab + 4*a0_3;
-                                        Cabb = 4*b1_3 + 3*b1_2*b0 + 2*b1*b0_2 + b0_3;
-                                        Kabb = b1_3 + 2*b1_2*b0 + 3*b1*b0_2 + 4*b0_3;
-
-                                        P1 += db*C1;
-                                        Pa += db*Ca;
-                                        Paa += db*Caa;
-                                        Paaa += db*Caaa;
-                                        Pb += da*Cb;
-                                        Pbb += da*Cbb;
-                                        Pbbb += da*Cbbb;
-                                        Pab += db*(b1*Cab + b0*Kab);
-                                        Paab += db*(b1*Caab + b0*Kaab);
-                                        Pabb += da*(a1*Cabb + a0*Kabb);
-                                }
-
-                                P1 /= 2.0;
-                                Pa /= 6.0;
-                                Paa /= 12.0;
-                                Paaa /= 20.0;
-                                Pb /= -6.0;
-                                Pbb /= -12.0;
-                                Pbbb /= -20.0;
-                                Pab /= 24.0;
-                                Paab /= 60.0;
-                                Pabb /= -60.0;
-                        }                       
-
-                        w = - dDOT(n, v0);
-
-                        k1 = 1 / n[C]; k2 = k1 * k1; k3 = k2 * k1; k4 = k3 * k1;
-
-                        Fa = k1 * Pa;
-                        Fb = k1 * Pb;
-                        Fc = -k2 * (n[A]*Pa + n[B]*Pb + w*P1);
-
-                        Faa = k1 * Paa;
-                        Fbb = k1 * Pbb;
-                        Fcc = k3 * (SQR(n[A])*Paa + 2*n[A]*n[B]*Pab + SQR(n[B])*Pbb +
-                                w*(2*(n[A]*Pa + n[B]*Pb) + w*P1));
-
-                        Faaa = k1 * Paaa;
-                        Fbbb = k1 * Pbbb;
-                        Fccc = -k4 * (CUBE(n[A])*Paaa + 3*SQR(n[A])*n[B]*Paab 
-                                + 3*n[A]*SQR(n[B])*Pabb + CUBE(n[B])*Pbbb
-                                + 3*w*(SQR(n[A])*Paa + 2*n[A]*n[B]*Pab + SQR(n[B])*Pbb)
-                                + w*w*(3*(n[A]*Pa + n[B]*Pb) + w*P1));
-
-                        Faab = k1 * Paab;
-                        Fbbc = -k2 * (n[A]*Pabb + n[B]*Pbbb + w*Pbb);
-                        Fcca = k3 * (SQR(n[A])*Paaa + 2*n[A]*n[B]*Paab + SQR(n[B])*Pabb
-                                + w*(2*(n[A]*Paa + n[B]*Pab) + w*Pa));
-                }
-
-
-                T0 += n[0] * ((A == 0) ? Fa : ((B == 0) ? Fb : Fc));
-
-                T1[A] += n[A] * Faa;
-                T1[B] += n[B] * Fbb;
-                T1[C] += n[C] * Fcc;
-                T2[A] += n[A] * Faaa;
-                T2[B] += n[B] * Fbbb;
-                T2[C] += n[C] * Fccc;
-                TP[A] += n[A] * Faab;
-                TP[B] += n[B] * Fbbc;
-                TP[C] += n[C] * Fcca;
-        }
-
-        T1[0] /= 2; T1[1] /= 2; T1[2] /= 2;
-        T2[0] /= 3; T2[1] /= 3; T2[2] /= 3;
-        TP[0] /= 2; TP[1] /= 2; TP[2] /= 2;
-
-        m->mass = density * T0;
-        m->_I(0,0) = density * (T2[1] + T2[2]);
-        m->_I(1,1) = density * (T2[2] + T2[0]);
-        m->_I(2,2) = density * (T2[0] + T2[1]);
-        m->_I(0,1) = - density * TP[0];
-        m->_I(1,0) = - density * TP[0];
-        m->_I(2,1) = - density * TP[1];
-        m->_I(1,2) = - density * TP[1];
-        m->_I(2,0) = - density * TP[2];
-        m->_I(0,2) = - density * TP[2];
-
-        // Added to address SF bug 1729095
-        dMassTranslate( m, T1[0] / T0,  T1[1] / T0,  T1[2] / T0 );
-
-# ifndef dNODEBUG
-        dMassCheck (m);
-# endif
-}
-
-
-void dMassSetTrimeshTotal( dMass *m, dReal total_mass, dGeomID g)
-{
-  dAASSERT( m );
-  dUASSERT( g && g->type == dTriMeshClass, "argument not a trimesh" );
-  dMassSetTrimesh( m, 1.0, g );
-  dMassAdjust( m, total_mass );
-}
-
-#endif // dTRIMESH_ENABLED
-
-
-
-
-void dMassAdjust (dMass *m, dReal newmass)
-{
-  dAASSERT (m);
-  dReal scale = newmass / m->mass;
-  m->mass = newmass;
-  for (int i=0; i<3; i++) for (int j=0; j<3; j++) m->_I(i,j) *= scale;
-
-# ifndef dNODEBUG
-  dMassCheck (m);
-# endif
-}
-
-
-void dMassTranslate (dMass *m, dReal x, dReal y, dReal z)
-{
-  // if the body is translated by `a' relative to its point of reference,
-  // the new inertia about the point of reference is:
-  //
-  //   I + mass*(crossmat(c)^2 - crossmat(c+a)^2)
-  //
-  // where c is the existing center of mass and I is the old inertia.
-
-  int i,j;
-  dMatrix3 ahat,chat,t1,t2;
-  dReal a[3];
-
-  dAASSERT (m);
-
-  // adjust inertia matrix
-  dSetZero (chat,12);
-  dCROSSMAT (chat,m->c,4,+,-);
-  a[0] = x + m->c[0];
-  a[1] = y + m->c[1];
-  a[2] = z + m->c[2];
-  dSetZero (ahat,12);
-  dCROSSMAT (ahat,a,4,+,-);
-  dMULTIPLY0_333 (t1,ahat,ahat);
-  dMULTIPLY0_333 (t2,chat,chat);
-  for (i=0; i<3; i++) for (j=0; j<3; j++)
-    m->_I(i,j) += m->mass * (t2[i*4+j]-t1[i*4+j]);
-
-  // ensure perfect symmetry
-  m->_I(1,0) = m->_I(0,1);
-  m->_I(2,0) = m->_I(0,2);
-  m->_I(2,1) = m->_I(1,2);
-
-  // adjust center of mass
-  m->c[0] += x;
-  m->c[1] += y;
-  m->c[2] += z;
-
-# ifndef dNODEBUG
-  dMassCheck (m);
-# endif
-}
-
-
-void dMassRotate (dMass *m, const dMatrix3 R)
-{
-  // if the body is rotated by `R' relative to its point of reference,
-  // the new inertia about the point of reference is:
-  //
-  //   R * I * R'
-  //
-  // where I is the old inertia.
-
-  dMatrix3 t1;
-  dReal t2[3];
-
-  dAASSERT (m);
-
-  // rotate inertia matrix
-  dMULTIPLY2_333 (t1,m->I,R);
-  dMULTIPLY0_333 (m->I,R,t1);
-
-  // ensure perfect symmetry
-  m->_I(1,0) = m->_I(0,1);
-  m->_I(2,0) = m->_I(0,2);
-  m->_I(2,1) = m->_I(1,2);
-
-  // rotate center of mass
-  dMULTIPLY0_331 (t2,R,m->c);
-  m->c[0] = t2[0];
-  m->c[1] = t2[1];
-  m->c[2] = t2[2];
-
-# ifndef dNODEBUG
-  dMassCheck (m);
-# endif
-}
-
-
-void dMassAdd (dMass *a, const dMass *b)
-{
-  int i;
-  dAASSERT (a && b);
-  dReal denom = dRecip (a->mass + b->mass);
-  for (i=0; i<3; i++) a->c[i] = (a->c[i]*a->mass + b->c[i]*b->mass)*denom;
-  a->mass += b->mass;
-  for (i=0; i<12; i++) a->I[i] += b->I[i];
-}
diff --git a/libraries/ode-0.9/ode/src/mat.cpp b/libraries/ode-0.9/ode/src/mat.cpp
deleted file mode 100644
index 6e635dc..0000000
--- a/libraries/ode-0.9/ode/src/mat.cpp
+++ /dev/null
@@ -1,230 +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/config.h>
-#include <ode/misc.h>
-#include <ode/matrix.h>
-#include <ode/error.h>
-#include <ode/memory.h>
-#include "mat.h"
-
-
-dMatrix::dMatrix()
-{
-  n = 0;
-  m = 0;
-  data = 0;
-}
-
-
-dMatrix::dMatrix (int rows, int cols)
-{
-  if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
-  n = rows;
-  m = cols;
-  data = (dReal*) dAlloc (n*m*sizeof(dReal));
-  dSetZero (data,n*m);
-}
-
-
-dMatrix::dMatrix (const dMatrix &a)
-{
-  n = a.n;
-  m = a.m;
-  data = (dReal*) dAlloc (n*m*sizeof(dReal));
-  memcpy (data,a.data,n*m*sizeof(dReal));
-}
-
-
-dMatrix::dMatrix (int rows, int cols,
-                    dReal *_data, int rowskip, int colskip)
-{
-  if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
-  n = rows;
-  m = cols;
-  data = (dReal*) dAlloc (n*m*sizeof(dReal));
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++) data[i*m+j] = _data[i*rowskip + j*colskip];
-  }
-}
-
-
-dMatrix::~dMatrix()
-{
-  if (data) dFree (data,n*m*sizeof(dReal));
-}
-
-
-dReal & dMatrix::operator () (int i, int j)
-{
-  if (i < 0 || i >= n || j < 0 || j >= m) dDebug (0,"bad matrix (i,j)");
-  return data [i*m+j];
-}
-
-
-void dMatrix::operator= (const dMatrix &a)
-{
-  if (data) dFree (data,n*m*sizeof(dReal));
-  n = a.n;
-  m = a.m;
-  if (n > 0 && m > 0) {
-    data = (dReal*) dAlloc (n*m*sizeof(dReal));
-    memcpy (data,a.data,n*m*sizeof(dReal));
-  }
-  else data = 0;
-}
-
-
-void dMatrix::operator= (dReal a)
-{
-  for (int i=0; i<n*m; i++) data[i] = a;
-}
-
-
-dMatrix dMatrix::transpose()
-{
-  dMatrix r (m,n);
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++) r.data[j*n+i] = data[i*m+j];
-  }
-  return r;
-}
-
-
-dMatrix dMatrix::select (int np, int *p, int nq, int *q)
-{
-  if (np < 1 || nq < 1) dDebug (0,"Matrix select, bad index array sizes");
-  dMatrix r (np,nq);
-  for (int i=0; i<np; i++) {
-    for (int j=0; j<nq; j++) {
-      if (p[i] < 0 || p[i] >= n || q[i] < 0 || q[i] >= m)
-        dDebug (0,"Matrix select, bad index arrays");
-      r.data[i*nq+j] = data[p[i]*m+q[j]];
-    }
-  }
-  return r;
-}
-
-
-dMatrix dMatrix::operator + (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"matrix +, mismatched sizes");
-  dMatrix r (n,m);
-  for (int i=0; i<n*m; i++) r.data[i] = data[i] + a.data[i];
-  return r;
-}
-
-
-dMatrix dMatrix::operator - (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"matrix -, mismatched sizes");
-  dMatrix r (n,m);
-  for (int i=0; i<n*m; i++) r.data[i] = data[i] - a.data[i];
-  return r;
-}
-
-
-dMatrix dMatrix::operator - ()
-{
-  dMatrix r (n,m);
-  for (int i=0; i<n*m; i++) r.data[i] = -data[i];
-  return r;
-}
-
-
-dMatrix dMatrix::operator * (const dMatrix &a)
-{
-  if (m != a.n) dDebug (0,"matrix *, mismatched sizes");
-  dMatrix r (n,a.m);
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<a.m; j++) {
-      dReal sum = 0;
-      for (int k=0; k<m; k++) sum += data[i*m+k] * a.data[k*a.m+j];
-      r.data [i*a.m+j] = sum;
-    }
-  }
-  return r;
-}
-
-
-void dMatrix::operator += (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"matrix +=, mismatched sizes");
-  for (int i=0; i<n*m; i++) data[i] += a.data[i];
-}
-
-
-void dMatrix::operator -= (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"matrix -=, mismatched sizes");
-  for (int i=0; i<n*m; i++) data[i] -= a.data[i];
-}
-
-
-void dMatrix::clearUpperTriangle()
-{
-  if (n != m) dDebug (0,"clearUpperTriangle() only works on square matrices");
-  for (int i=0; i<n; i++) {
-    for (int j=i+1; j<m; j++) data[i*m+j] = 0;
-  }
-}
-
-
-void dMatrix::clearLowerTriangle()
-{
-  if (n != m) dDebug (0,"clearLowerTriangle() only works on square matrices");
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<i; j++) data[i*m+j] = 0;
-  }
-}
-
-
-void dMatrix::makeRandom (dReal range)
-{
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++)
-      data[i*m+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
-  }
-}
-
-
-void dMatrix::print (char *fmt, FILE *f)
-{
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++) fprintf (f,fmt,data[i*m+j]);
-    fprintf (f,"\n");
-  }
-}
-
-
-dReal dMatrix::maxDifference (const dMatrix &a)
-{
-  if (n != a.n || m != a.m) dDebug (0,"maxDifference(), mismatched sizes");
-  dReal max = 0;
-  for (int i=0; i<n; i++) {
-    for (int j=0; j<m; j++) {
-      dReal diff = dFabs(data[i*m+j] - a.data[i*m+j]);
-      if (diff > max) max = diff;
-    }
-  }
-  return max;
-}
diff --git a/libraries/ode-0.9/ode/src/mat.h b/libraries/ode-0.9/ode/src/mat.h
deleted file mode 100644
index 2814a01..0000000
--- a/libraries/ode-0.9/ode/src/mat.h
+++ /dev/null
@@ -1,71 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-// matrix class. this is mostly for convenience in the testing code, it is
-// not optimized at all. correctness is much more importance here.
-
-#ifndef _ODE_MAT_H_
-#define _ODE_MAT_H_
-
-#include <ode/common.h>
-
-
-class dMatrix {
-  int n,m;              // matrix dimension, n,m >= 0
-  dReal *data;          // if nonzero, n*m elements allocated on the heap
-
-public:
-  // constructors, destructors
-  dMatrix();                            // make default 0x0 matrix
-  dMatrix (int rows, int cols);         // construct zero matrix of given size
-  dMatrix (const dMatrix &);            // construct copy of given matrix
-  // create copy of given data - element (i,j) is data[i*rowskip+j*colskip]
-  dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip);
-  ~dMatrix();                           // destructor
-
-  // data movement
-  dReal & operator () (int i, int j);   // reference an element
-  void operator= (const dMatrix &);     // matrix = matrix
-  void operator= (dReal);               // matrix = scalar
-  dMatrix transpose();                  // return transposed matrix
-  // return a permuted submatrix of this matrix, made up of the rows in p
-  // and the columns in q. p has np elements, q has nq elements.
-  dMatrix select (int np, int *p, int nq, int *q);
-
-  // operators
-  dMatrix operator + (const dMatrix &);
-  dMatrix operator - (const dMatrix &);
-  dMatrix operator - ();
-  dMatrix operator * (const dMatrix &);
-  void operator += (const dMatrix &);
-  void operator -= (const dMatrix &);
-
-  // utility
-  void clearUpperTriangle();
-  void clearLowerTriangle();
-  void makeRandom (dReal range);
-  void print (char *fmt = "%10.4f ", FILE *f=stdout);
-  dReal maxDifference (const dMatrix &);
-};
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/matrix.cpp b/libraries/ode-0.9/ode/src/matrix.cpp
deleted file mode 100644
index 16afe91..0000000
--- a/libraries/ode-0.9/ode/src/matrix.cpp
+++ /dev/null
@@ -1,358 +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/common.h>
-#include <ode/matrix.h>
-
-// misc defines
-#define ALLOCA dALLOCA16
-
-
-void dSetZero (dReal *a, int n)
-{
-  dAASSERT (a && n >= 0);
-  while (n > 0) {
-    *(a++) = 0;
-    n--;
-  }
-}
-
-
-void dSetValue (dReal *a, int n, dReal value)
-{
-  dAASSERT (a && n >= 0);
-  while (n > 0) {
-    *(a++) = value;
-    n--;
-  }
-}
-
-
-void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
-{
-  int i,j,k,qskip,rskip,rpad;
-  dAASSERT (A && B && C && p>0 && q>0 && r>0);
-  qskip = dPAD(q);
-  rskip = dPAD(r);
-  rpad = rskip - r;
-  dReal sum;
-  const dReal *b,*c,*bb;
-  bb = B;
-  for (i=p; i; i--) {
-    for (j=0 ; j<r; j++) {
-      c = C + j;
-      b = bb;
-      sum = 0;
-      for (k=q; k; k--, c+=rskip) sum += (*(b++))*(*c);
-      *(A++) = sum; 
-    }
-    A += rpad;
-    bb += qskip;
-  }
-}
-
-
-void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
-{
-  int i,j,k,pskip,rskip;
-  dReal sum;
-  dAASSERT (A && B && C && p>0 && q>0 && r>0);
-  pskip = dPAD(p);
-  rskip = dPAD(r);
-  for (i=0; i<p; i++) {
-    for (j=0; j<r; j++) {
-      sum = 0;
-      for (k=0; k<q; k++) sum += B[i+k*pskip] * C[j+k*rskip];
-      A[i*rskip+j] = sum;
-    }
-  }
-}
-
-
-void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
-{
-  int i,j,k,z,rpad,qskip;
-  dReal sum;
-  const dReal *bb,*cc;
-  dAASSERT (A && B && C && p>0 && q>0 && r>0);
-  rpad = dPAD(r) - r;
-  qskip = dPAD(q);
-  bb = B;
-  for (i=p; i; i--) {
-    cc = C;
-    for (j=r; j; j--) {
-      z = 0;
-      sum = 0;
-      for (k=q; k; k--,z++) sum += bb[z] * cc[z];
-      *(A++) = sum; 
-      cc += qskip;
-    }
-    A += rpad;
-    bb += qskip;
-  }
-}
-
-
-int dFactorCholesky (dReal *A, int n)
-{
-  int i,j,k,nskip;
-  dReal sum,*a,*b,*aa,*bb,*cc,*recip;
-  dAASSERT (n > 0 && A);
-  nskip = dPAD (n);
-  recip = (dReal*) ALLOCA (n * sizeof(dReal));
-  aa = A;
-  for (i=0; i<n; i++) {
-    bb = A;
-    cc = A + i*nskip;
-    for (j=0; j<i; j++) {
-      sum = *cc;
-      a = aa;
-      b = bb;
-      for (k=j; k; k--) sum -= (*(a++))*(*(b++));
-      *cc = sum * recip[j];
-      bb += nskip;
-      cc++;
-    }
-    sum = *cc;
-    a = aa;
-    for (k=i; k; k--, a++) sum -= (*a)*(*a);
-    if (sum <= REAL(0.0)) return 0;
-    *cc = dSqrt(sum);
-    recip[i] = dRecip (*cc);
-    aa += nskip;
-  }
-  return 1;
-}
-
-
-void dSolveCholesky (const dReal *L, dReal *b, int n)
-{
-  int i,k,nskip;
-  dReal sum,*y;
-  dAASSERT (n > 0 && L && b);
-  nskip = dPAD (n);
-  y = (dReal*) ALLOCA (n*sizeof(dReal));
-  for (i=0; i<n; i++) {
-    sum = 0;
-    for (k=0; k < i; k++) sum += L[i*nskip+k]*y[k];
-    y[i] = (b[i]-sum)/L[i*nskip+i];
-  }
-  for (i=n-1; i >= 0; i--) {
-    sum = 0;
-    for (k=i+1; k < n; k++) sum += L[k*nskip+i]*b[k];
-    b[i] = (y[i]-sum)/L[i*nskip+i];
-  }
-}
-
-
-int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n)
-{
-  int i,j,nskip;
-  dReal *L,*x;
-  dAASSERT (n > 0 && A && Ainv);
-  nskip = dPAD (n);
-  L = (dReal*) ALLOCA (nskip*n*sizeof(dReal));
-  memcpy (L,A,nskip*n*sizeof(dReal));
-  x = (dReal*) ALLOCA (n*sizeof(dReal));
-  if (dFactorCholesky (L,n)==0) return 0;
-  dSetZero (Ainv,n*nskip);      // make sure all padding elements set to 0
-  for (i=0; i<n; i++) {
-    for (j=0; j<n; j++) x[j] = 0;
-    x[i] = 1;
-    dSolveCholesky (L,x,n);
-    for (j=0; j<n; j++) Ainv[j*nskip+i] = x[j];
-  }
-  return 1;  
-}
-
-
-int dIsPositiveDefinite (const dReal *A, int n)
-{
-  dReal *Acopy;
-  dAASSERT (n > 0 && A);
-  int nskip = dPAD (n);
-  Acopy = (dReal*) ALLOCA (nskip*n * sizeof(dReal));
-  memcpy (Acopy,A,nskip*n * sizeof(dReal));
-  return dFactorCholesky (Acopy,n);
-}
-
-
-/***** this has been replaced by a faster version
-void dSolveL1T (const dReal *L, dReal *b, int n, int nskip)
-{
-  int i,j;
-  dAASSERT (L && b && n >= 0 && nskip >= n);
-  dReal sum;
-  for (i=n-2; i>=0; i--) {
-    sum = 0;
-    for (j=i+1; j<n; j++) sum += L[j*nskip+i]*b[j];
-    b[i] -= sum;
-  }
-}
-*/
-
-
-void dVectorScale (dReal *a, const dReal *d, int n)
-{
-  dAASSERT (a && d && n >= 0);
-  for (int i=0; i<n; i++) a[i] *= d[i];
-}
-
-
-void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip)
-{
-  dAASSERT (L && d && b && n > 0 && nskip >= n);
-  dSolveL1 (L,b,n,nskip);
-  dVectorScale (b,d,n);
-  dSolveL1T (L,b,n,nskip);
-}
-
-
-void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip)
-{
-  int j,p;
-  dReal *W1,*W2,W11,W21,alpha1,alpha2,alphanew,gamma1,gamma2,k1,k2,Wp,ell,dee;
-  dAASSERT (L && d && a && n > 0 && nskip >= n);
-
-  if (n < 2) return;
-  W1 = (dReal*) ALLOCA (n*sizeof(dReal));
-  W2 = (dReal*) ALLOCA (n*sizeof(dReal));
-
-  W1[0] = 0;
-  W2[0] = 0;
-  for (j=1; j<n; j++) W1[j] = W2[j] = a[j] * M_SQRT1_2;
-  W11 = (REAL(0.5)*a[0]+1)*M_SQRT1_2;
-  W21 = (REAL(0.5)*a[0]-1)*M_SQRT1_2;
-
-  alpha1=1;
-  alpha2=1;
-
-  dee = d[0];
-  alphanew = alpha1 + (W11*W11)*dee;
-  dee /= alphanew;
-  gamma1 = W11 * dee;
-  dee *= alpha1;
-  alpha1 = alphanew;
-  alphanew = alpha2 - (W21*W21)*dee;
-  dee /= alphanew;
-  gamma2 = W21 * dee;
-  alpha2 = alphanew;
-  k1 = REAL(1.0) - W21*gamma1;
-  k2 = W21*gamma1*W11 - W21;
-  for (p=1; p<n; p++) {
-    Wp = W1[p];
-    ell = L[p*nskip];
-    W1[p] =    Wp - W11*ell;
-    W2[p] = k1*Wp +  k2*ell;
-  }
-
-  for (j=1; j<n; j++) {
-    dee = d[j];
-    alphanew = alpha1 + (W1[j]*W1[j])*dee;
-    dee /= alphanew;
-    gamma1 = W1[j] * dee;
-    dee *= alpha1;
-    alpha1 = alphanew;
-    alphanew = alpha2 - (W2[j]*W2[j])*dee;
-    dee /= alphanew;
-    gamma2 = W2[j] * dee;
-    dee *= alpha2;
-    d[j] = dee;
-    alpha2 = alphanew;
-
-    k1 = W1[j];
-    k2 = W2[j];
-    for (p=j+1; p<n; p++) {
-      ell = L[p*nskip+j];
-      Wp = W1[p] - k1 * ell;
-      ell += gamma1 * Wp;
-      W1[p] = Wp;
-      Wp = W2[p] - k2 * ell;
-      ell -= gamma2 * Wp;
-      W2[p] = Wp;
-      L[p*nskip+j] = ell;
-    }
-  }
-}
-
-
-// macros for dLDLTRemove() for accessing A - either access the matrix
-// directly or access it via row pointers. we are only supposed to reference
-// the lower triangle of A (it is symmetric), but indexes i and j come from
-// permutation vectors so they are not predictable. so do a test on the
-// indexes - this should not slow things down too much, as we don't do this
-// in an inner loop.
-
-#define _GETA(i,j) (A[i][j])
-//#define _GETA(i,j) (A[(i)*nskip+(j)])
-#define GETA(i,j) ((i > j) ? _GETA(i,j) : _GETA(j,i))
-
-
-void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
-                  int n1, int n2, int r, int nskip)
-{
-  int i;
-  dAASSERT(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 &&
-           n1 >= n2 && nskip >= n1);
-  #ifndef dNODEBUG
-  for (i=0; i<n2; i++) dIASSERT(p[i] >= 0 && p[i] < n1);
-  #endif
-
-  if (r==n2-1) {
-    return;             // deleting last row/col is easy
-  }
-  else if (r==0) {
-    dReal *a = (dReal*) ALLOCA (n2 * sizeof(dReal));
-    for (i=0; i<n2; i++) a[i] = -GETA(p[i],p[0]);
-    a[0] += REAL(1.0);
-    dLDLTAddTL (L,d,a,n2,nskip);
-  }
-  else {
-    dReal *t = (dReal*) ALLOCA (r * sizeof(dReal));
-    dReal *a = (dReal*) ALLOCA ((n2-r) * sizeof(dReal));
-    for (i=0; i<r; i++) t[i] = L[r*nskip+i] / d[i];
-    for (i=0; i<(n2-r); i++)
-      a[i] = dDot(L+(r+i)*nskip,t,r) - GETA(p[r+i],p[r]);
-    a[0] += REAL(1.0);
-    dLDLTAddTL (L + r*nskip+r, d+r, a, n2-r, nskip);
-  }
-
-  // snip out row/column r from L and d
-  dRemoveRowCol (L,n2,nskip,r);
-  if (r < (n2-1)) memmove (d+r,d+r+1,(n2-r-1)*sizeof(dReal));
-}
-
-
-void dRemoveRowCol (dReal *A, int n, int nskip, int r)
-{
-  int i;
-  dAASSERT(A && n > 0 && nskip >= n && r >= 0 && r < n);
-  if (r >= n-1) return;
-  if (r > 0) {
-    for (i=0; i<r; i++)
-      memmove (A+i*nskip+r,A+i*nskip+r+1,(n-r-1)*sizeof(dReal));
-    for (i=r; i<(n-1); i++)
-      memcpy (A+i*nskip,A+i*nskip+nskip,r*sizeof(dReal));
-  }
-  for (i=r; i<(n-1); i++)
-    memcpy (A+i*nskip+r,A+i*nskip+nskip+r+1,(n-r-1)*sizeof(dReal));
-}
diff --git a/libraries/ode-0.9/ode/src/memory.cpp b/libraries/ode-0.9/ode/src/memory.cpp
deleted file mode 100644
index 60bb5b6..0000000
--- a/libraries/ode-0.9/ode/src/memory.cpp
+++ /dev/null
@@ -1,87 +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/config.h>
-#include <ode/memory.h>
-#include <ode/error.h>
-
-
-static dAllocFunction *allocfn = 0;
-static dReallocFunction *reallocfn = 0;
-static dFreeFunction *freefn = 0;
-
-
-
-void dSetAllocHandler (dAllocFunction *fn)
-{
-  allocfn = fn;
-}
-
-
-void dSetReallocHandler (dReallocFunction *fn)
-{
-  reallocfn = fn;
-}
-
-
-void dSetFreeHandler (dFreeFunction *fn)
-{
-  freefn = fn;
-}
-
-
-dAllocFunction *dGetAllocHandler()
-{
-  return allocfn;
-}
-
-
-dReallocFunction *dGetReallocHandler()
-{
-  return reallocfn;
-}
-
-
-dFreeFunction *dGetFreeHandler()
-{
-  return freefn;
-}
-
-
-void * dAlloc (size_t size)
-{
-  if (allocfn) return allocfn (size); else return malloc (size);
-}
-
-
-void * dRealloc (void *ptr, size_t oldsize, size_t newsize)
-{
-  if (reallocfn) return reallocfn (ptr,oldsize,newsize);
-  else return realloc (ptr,newsize);
-}
-
-
-void dFree (void *ptr, size_t size)
-{
-  if (!ptr) return;
-  if (freefn) freefn (ptr,size); else free (ptr);
-}
diff --git a/libraries/ode-0.9/ode/src/misc.cpp b/libraries/ode-0.9/ode/src/misc.cpp
deleted file mode 100644
index 1a6f263..0000000
--- a/libraries/ode-0.9/ode/src/misc.cpp
+++ /dev/null
@@ -1,169 +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/config.h>
-#include <ode/misc.h>
-#include <ode/matrix.h>
-
-//****************************************************************************
-// random numbers
-
-static unsigned long seed = 0;
-
-unsigned long dRand()
-{
-  seed = (1664525L*seed + 1013904223L) & 0xffffffff;
-  return seed;
-}
-
-
-unsigned long  dRandGetSeed()
-{
-  return seed;
-}
-
-
-void dRandSetSeed (unsigned long s)
-{
-  seed = s;
-}
-
-
-int dTestRand()
-{
-  unsigned long oldseed = seed;
-  int ret = 1;
-  seed = 0;
-  if (dRand() != 0x3c6ef35f || dRand() != 0x47502932 ||
-      dRand() != 0xd1ccf6e9 || dRand() != 0xaaf95334 ||
-      dRand() != 0x6252e503) ret = 0;
-  seed = oldseed;
-  return ret;
-}
-
-
-// adam's all-int straightforward(?) dRandInt (0..n-1)
-int dRandInt (int n)
-{
-  // seems good; xor-fold and modulus
-  const unsigned long un = n;
-  unsigned long r = dRand();
-  
-  // note: probably more aggressive than it needs to be -- might be
-  //       able to get away without one or two of the innermost branches.
-  if (un <= 0x00010000UL) {
-    r ^= (r >> 16);
-    if (un <= 0x00000100UL) {
-      r ^= (r >> 8);
-      if (un <= 0x00000010UL) {
-        r ^= (r >> 4);
-        if (un <= 0x00000004UL) {
-          r ^= (r >> 2);
-          if (un <= 0x00000002UL) {
-            r ^= (r >> 1);
-          }
-        }
-      }
-    }
-  }
-
-  return (int) (r % un);    
-}
-
-
-dReal dRandReal()
-{
-  return ((dReal) dRand()) / ((dReal) 0xffffffff);
-}
-
-//****************************************************************************
-// matrix utility stuff
-
-void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f)
-{
-  int i,j;
-  int skip = dPAD(m);
-  for (i=0; i<n; i++) {
-    for (j=0; j<m; j++) fprintf (f,fmt,A[i*skip+j]);
-    fprintf (f,"\n");
-  }
-}
-
-
-void dMakeRandomVector (dReal *A, int n, dReal range)
-{
-  int i;
-  for (i=0; i<n; i++) A[i] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
-}
-
-
-void dMakeRandomMatrix (dReal *A, int n, int m, dReal range)
-{
-  int i,j;
-  int skip = dPAD(m);
-  dSetZero (A,n*skip);
-  for (i=0; i<n; i++) {
-    for (j=0; j<m; j++) A[i*skip+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
-  }
-}
-
-
-void dClearUpperTriangle (dReal *A, int n)
-{
-  int i,j;
-  int skip = dPAD(n);
-  for (i=0; i<n; i++) {
-    for (j=i+1; j<n; j++) A[i*skip+j] = 0;
-  }
-}
-
-
-dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m)
-{
-  int i,j;
-  int skip = dPAD(m);
-  dReal diff,max;
-  max = 0;
-  for (i=0; i<n; i++) {
-    for (j=0; j<m; j++) {
-      diff = dFabs(A[i*skip+j] - B[i*skip+j]);
-      if (diff > max) max = diff;
-    }
-  }
-  return max;
-}
-
-
-dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n)
-{
-  int i,j;
-  int skip = dPAD(n);
-  dReal diff,max;
-  max = 0;
-  for (i=0; i<n; i++) {
-    for (j=0; j<=i; j++) {
-      diff = dFabs(A[i*skip+j] - B[i*skip+j]);
-      if (diff > max) max = diff;
-    }
-  }
-  return max;
-}
diff --git a/libraries/ode-0.9/ode/src/objects.h b/libraries/ode-0.9/ode/src/objects.h
deleted file mode 100644
index f286e2d..0000000
--- a/libraries/ode-0.9/ode/src/objects.h
+++ /dev/null
@@ -1,138 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-// object, body, and world structs.
-
-
-#ifndef _ODE_OBJECT_H_
-#define _ODE_OBJECT_H_
-
-#include <ode/common.h>
-#include <ode/memory.h>
-#include <ode/mass.h>
-#include "array.h"
-
-
-// some body flags
-
-enum {
-  dxBodyFlagFiniteRotation = 1,         // use finite rotations
-  dxBodyFlagFiniteRotationAxis = 2,     // use finite rotations only along axis
-  dxBodyDisabled = 4,                   // body is disabled
-  dxBodyNoGravity = 8,                  // body is not influenced by gravity
-  dxBodyAutoDisable = 16                // enable auto-disable on body
-};
-
-
-// base class that does correct object allocation / deallocation
-
-struct dBase {
-  void *operator new (size_t size) { return dAlloc (size); }
-  void operator delete (void *ptr, size_t size) { dFree (ptr,size); }
-  void *operator new[] (size_t size) { return dAlloc (size); }
-  void operator delete[] (void *ptr, size_t size) { dFree (ptr,size); }
-};
-
-
-// base class for bodies and joints
-
-struct dObject : public dBase {
-  dxWorld *world;               // world this object is in
-  dObject *next;                // next object of this type in list
-  dObject **tome;               // pointer to previous object's next ptr
-  void *userdata;               // user settable data
-  int tag;                      // used by dynamics algorithms
-};
-
-
-// auto disable parameters
-struct dxAutoDisable {
-  dReal idle_time;              // time the body needs to be idle to auto-disable it
-  int idle_steps;               // steps the body needs to be idle to auto-disable it
-  dReal linear_average_threshold;   // linear (squared) average velocity threshold
-  dReal angular_average_threshold;  // angular (squared) average velocity threshold
-  unsigned int average_samples;     // size of the average_lvel and average_avel buffers
-};
-
-
-// quick-step parameters
-struct dxQuickStepParameters {
-  int num_iterations;           // number of SOR iterations to perform
-  dReal w;                      // the SOR over-relaxation parameter
-};
-
-
-// contact generation parameters
-struct dxContactParameters {
-  dReal max_vel;                // maximum correcting velocity
-  dReal min_depth;              // thickness of 'surface layer'
-};
-
-
-
-// position vector and rotation matrix for geometry objects that are not
-// connected to bodies.
-
-struct dxPosR {
-  dVector3 pos;
-  dMatrix3 R;
-};
-
-struct dxBody : public dObject {
-  dxJointNode *firstjoint;      // list of attached joints
-  int flags;                    // some dxBodyFlagXXX flags
-  dGeomID geom;                 // first collision geom associated with body
-  dMass mass;                   // mass parameters about POR
-  dMatrix3 invI;                // inverse of mass.I
-  dReal invMass;                // 1 / mass.mass
-  dxPosR posr;                  // position and orientation of point of reference
-  dQuaternion q;                // orientation quaternion
-  dVector3 lvel,avel;           // linear and angular velocity of POR
-  dVector3 facc,tacc;           // force and torque accumulators
-  dVector3 finite_rot_axis;     // finite rotation axis, unit length or 0=none
-
-  // auto-disable information
-  dxAutoDisable adis;           // auto-disable parameters
-  dReal adis_timeleft;          // time left to be idle
-  int adis_stepsleft;           // steps left to be idle
-  dVector3* average_lvel_buffer;      // buffer for the linear average velocity calculation
-  dVector3* average_avel_buffer;      // buffer for the angular average velocity calculation
-  unsigned int average_counter;      // counter/index to fill the average-buffers
-  int average_ready;        // indicates ( with = 1 ), if the Body's buffers are ready for average-calculations
-};
-
-
-struct dxWorld : public dBase {
-  dxBody *firstbody;            // body linked list
-  dxJoint *firstjoint;          // joint linked list
-  int nb,nj;                    // number of bodies and joints in lists
-  dVector3 gravity;             // gravity vector (m/s/s)
-  dReal global_erp;             // global error reduction parameter
-  dReal global_cfm;             // global costraint force mixing parameter
-  dxAutoDisable adis;           // auto-disable parameters
-  int adis_flag;                // auto-disable flag for new bodies
-  dxQuickStepParameters qs;
-  dxContactParameters contactp;
-};
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/obstack.cpp b/libraries/ode-0.9/ode/src/obstack.cpp
deleted file mode 100644
index 0840396..0000000
--- a/libraries/ode-0.9/ode/src/obstack.cpp
+++ /dev/null
@@ -1,130 +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/common.h>
-#include <ode/error.h>
-#include <ode/memory.h>
-#include "obstack.h"
-
-//****************************************************************************
-// macros and constants
-
-#define ROUND_UP_OFFSET_TO_EFFICIENT_SIZE(arena,ofs) \
-  ofs = (size_t) (dEFFICIENT_SIZE( ((intP)(arena)) + ofs ) - ((intP)(arena)) );
-
-#define MAX_ALLOC_SIZE \
-  ((size_t)(dOBSTACK_ARENA_SIZE - sizeof (Arena) - EFFICIENT_ALIGNMENT + 1))
-
-//****************************************************************************
-// dObStack
-
-dObStack::dObStack()
-{
-  first = 0;
-  last = 0;
-  current_arena = 0;
-  current_ofs = 0;
-}
-
-
-dObStack::~dObStack()
-{
-  // free all arenas
-  Arena *a,*nexta;
-  a = first;
-  while (a) {
-    nexta = a->next;
-    dFree (a,dOBSTACK_ARENA_SIZE);
-    a = nexta;
-  }
-}
-
-
-void *dObStack::alloc (int num_bytes)
-{
-  if ((size_t)num_bytes > MAX_ALLOC_SIZE) dDebug (0,"num_bytes too large");
-
-  // allocate or move to a new arena if necessary
-  if (!first) {
-    // allocate the first arena if necessary
-    first = last = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
-    first->next = 0;
-    first->used = sizeof (Arena);
-    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
-  }
-  else {
-    // we already have one or more arenas, see if a new arena must be used
-    if ((last->used + num_bytes) > dOBSTACK_ARENA_SIZE) {
-      if (!last->next) {
-        last->next = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
-        last->next->next = 0;
-      }
-      last = last->next;
-      last->used = sizeof (Arena);
-      ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
-    }
-  }
-
-  // allocate an area in the arena
-  char *c = ((char*) last) + last->used;
-  last->used += num_bytes;
-  ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
-  return c;
-}
-
-
-void dObStack::freeAll()
-{
-  last = first;
-  if (first) {
-    first->used = sizeof(Arena);
-    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
-  }
-}
-
-
-void *dObStack::rewind()
-{
-  current_arena = first;
-  current_ofs = sizeof (Arena);
-  if (current_arena) {
-    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs)
-    return ((char*) current_arena) + current_ofs;
-  }
-  else return 0;
-}
-
-
-void *dObStack::next (int num_bytes)
-{
-  // this functions like alloc, except that no new storage is ever allocated
-  if (!current_arena) return 0;
-  current_ofs += num_bytes;
-  ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
-  if (current_ofs >= current_arena->used) {
-    current_arena = current_arena->next;
-    if (!current_arena) return 0;
-    current_ofs = sizeof (Arena);
-    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
-  }
-  return ((char*) current_arena) + current_ofs;
-}
diff --git a/libraries/ode-0.9/ode/src/obstack.h b/libraries/ode-0.9/ode/src/obstack.h
deleted file mode 100644
index b5f715b..0000000
--- a/libraries/ode-0.9/ode/src/obstack.h
+++ /dev/null
@@ -1,68 +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_OBSTACK_H_
-#define _ODE_OBSTACK_H_
-
-#include "objects.h" 
-
-// each obstack Arena pointer points to a block of this many bytes
-#define dOBSTACK_ARENA_SIZE 16384
-
-
-struct dObStack : public dBase {
-  struct Arena {
-    Arena *next;        // next arena in linked list
-    size_t used;                // total number of bytes used in this arena, counting
-  };                    //   this header
-
-  Arena *first;         // head of the arena linked list. 0 if no arenas yet
-  Arena *last;          // arena where blocks are currently being allocated
-
-  // used for iterator
-  Arena *current_arena;
-  size_t current_ofs;
-
-  dObStack();
-  ~dObStack();
-
-  void *alloc (int num_bytes);
-  // allocate a block in the last arena, allocating a new arena if necessary.
-  // it is a runtime error if num_bytes is larger than the arena size.
-
-  void freeAll();
-  // free all blocks in all arenas. this does not deallocate the arenas
-  // themselves, so future alloc()s will reuse them.
-
-  void *rewind();
-  // rewind the obstack iterator, and return the address of the first
-  // allocated block. return 0 if there are no allocated blocks.
-
-  void *next (int num_bytes);
-  // return the address of the next allocated block. 'num_bytes' is the size
-  // of the previous block. this returns null if there are no more arenas.
-  // the sequence of 'num_bytes' parameters passed to next() during a
-  // traversal of the list must exactly match the parameters passed to alloc().
-};
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/ode.cpp b/libraries/ode-0.9/ode/src/ode.cpp
deleted file mode 100644
index 46f559a..0000000
--- a/libraries/ode-0.9/ode/src/ode.cpp
+++ /dev/null
@@ -1,1732 +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 "quickstep.h"
-#include "util.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;
-}
-
-//****************************************************************************
-// 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
-dxWorld* dBodyGetWorld (dxBody* b)
-{
-  dAASSERT (b);
-  return b->world;
-}
-
-dxBody *dBodyCreate (dxWorld *w)
-{
-  dAASSERT (w);
-  dxBody *b = new dxBody;
-  initObject (b,w);
-  b->firstjoint = 0;
-  b->flags = 0;
-  b->geom = 0;
-  b->average_lvel_buffer = 0;
-  b->average_avel_buffer = 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->posr.pos,4);
-  dSetZero (b->q,4);
-  b->q[0] = 1;
-  dRSetIdentity (b->posr.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++;
-
-  // set auto-disable parameters
-  b->average_avel_buffer = b->average_lvel_buffer = 0; // no buffer at beginnin
-  dBodySetAutoDisableDefaults (b);      // must do this after adding to world
-  b->adis_stepsleft = b->adis.idle_steps;
-  b->adis_timeleft = b->adis.idle_time;
-  b->average_counter = 0;
-  b->average_ready = 0; // average buffer not filled on the beginning
-  dBodySetAutoDisableAverageSamplesCount(b, b->adis.average_samples);
-
-  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 the average buffers
-  if(b->average_lvel_buffer)
-  {
-          delete[] (b->average_lvel_buffer);
-          b->average_lvel_buffer = 0;
-  }
-  if(b->average_avel_buffer)
-  {
-          delete[] (b->average_avel_buffer);
-          b->average_avel_buffer = 0;
-  }
-
-  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->posr.pos[0] = x;
-  b->posr.pos[1] = y;
-  b->posr.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->posr.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->posr.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->posr.pos;
-}
-
-
-void dBodyCopyPosition (dBodyID b, dVector3 pos)
-{
-        dAASSERT (b);
-        dReal* src = b->posr.pos;
-        pos[0] = src[0];
-        pos[1] = src[1];
-        pos[2] = src[2];
-}
-
-
-const dReal * dBodyGetRotation (dBodyID b)
-{
-  dAASSERT (b);
-  return b->posr.R;
-}
-
-
-void dBodyCopyRotation (dBodyID b, dMatrix3 R)
-{
-        dAASSERT (b);
-        const dReal* src = b->posr.R;
-        R[0] = src[0];
-        R[1] = src[1];
-        R[2] = src[2];
-        R[3] = src[3];
-        R[4] = src[4];
-        R[5] = src[5];
-        R[6] = src[6];
-        R[7] = src[7];
-        R[8] = src[8];
-        R[9] = src[9];
-        R[10] = src[10];
-        R[11] = src[11];
-}
-
-
-const dReal * dBodyGetQuaternion (dBodyID b)
-{
-  dAASSERT (b);
-  return b->q;
-}
-
-
-void dBodyCopyQuaternion (dBodyID b, dQuaternion quat)
-{
-        dAASSERT (b);
-        dReal* src = b->q;
-        quat[0] = src[0];
-        quat[1] = src[1];
-        quat[2] = src[2];
-        quat[3] = src[3];
-}
-
-
-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 );
-  dIASSERT(dMassCheck(mass));
-
-  // The centre of mass must be at the origin.
-  // Use dMassTranslate( mass, -mass->c[0], -mass->c[1], -mass->c[2] ) to correct it.
-  dUASSERT( fabs( mass->c[0] ) <= dEpsilon &&
-                        fabs( mass->c[1] ) <= dEpsilon &&
-                        fabs( mass->c[2] ) <= dEpsilon, "The centre of mass must be at the origin." )
-
-  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->posr.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->posr.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->posr.pos[0];
-  q[1] = py - b->posr.pos[1];
-  q[2] = pz - b->posr.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->posr.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->posr.R,frel);
-  b->facc[0] += f[0];
-  b->facc[1] += f[1];
-  b->facc[2] += f[2];
-  dVector3 q;
-  q[0] = px - b->posr.pos[0];
-  q[1] = py - b->posr.pos[1];
-  q[2] = pz - b->posr.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->posr.R,frel);
-  dMULTIPLY0_331 (p,b->posr.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->posr.R,prel);
-  result[0] = p[0] + b->posr.pos[0];
-  result[1] = p[1] + b->posr.pos[1];
-  result[2] = p[2] + b->posr.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->posr.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->posr.pos[0];
-  p[1] = py - b->posr.pos[1];
-  p[2] = pz - b->posr.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->posr.pos[0];
-  prel[1] = py - b->posr.pos[1];
-  prel[2] = pz - b->posr.pos[2];
-  prel[3] = 0;
-  dMULTIPLY1_331 (result,b->posr.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->posr.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->posr.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;
-  b->adis_stepsleft = b->adis.idle_steps;
-  b->adis_timeleft = b->adis.idle_time;
-  // no code for average-processing needed here
-}
-
-
-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);
-}
-
-
-// body auto-disable functions
-
-dReal dBodyGetAutoDisableLinearThreshold (dBodyID b)
-{
-        dAASSERT(b);
-        return dSqrt (b->adis.linear_average_threshold);
-}
-
-
-void dBodySetAutoDisableLinearThreshold (dBodyID b, dReal linear_average_threshold)
-{
-        dAASSERT(b);
-        b->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold;
-}
-
-
-dReal dBodyGetAutoDisableAngularThreshold (dBodyID b)
-{
-        dAASSERT(b);
-        return dSqrt (b->adis.angular_average_threshold);
-}
-
-
-void dBodySetAutoDisableAngularThreshold (dBodyID b, dReal angular_average_threshold)
-{
-        dAASSERT(b);
-        b->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold;
-}
-
-
-int dBodyGetAutoDisableAverageSamplesCount (dBodyID b)
-{
-        dAASSERT(b);
-        return b->adis.average_samples;
-}
-
-
-void dBodySetAutoDisableAverageSamplesCount (dBodyID b, unsigned int average_samples_count)
-{
-        dAASSERT(b);
-        b->adis.average_samples = average_samples_count;
-        // update the average buffers
-        if(b->average_lvel_buffer)
-        {
-                delete[] b->average_lvel_buffer;
-                b->average_lvel_buffer = 0;
-        }
-        if(b->average_avel_buffer)
-        {
-                delete[] b->average_avel_buffer;
-                b->average_avel_buffer = 0;
-        }
-        if(b->adis.average_samples > 0)
-        {
-                b->average_lvel_buffer = new dVector3[b->adis.average_samples];
-                b->average_avel_buffer = new dVector3[b->adis.average_samples];
-        }
-        else
-        {
-                b->average_lvel_buffer = 0;
-                b->average_avel_buffer = 0;
-        }
-        // new buffer is empty
-        b->average_counter = 0;
-        b->average_ready = 0;
-}
-
-
-int dBodyGetAutoDisableSteps (dBodyID b)
-{
-        dAASSERT(b);
-        return b->adis.idle_steps;
-}
-
-
-void dBodySetAutoDisableSteps (dBodyID b, int steps)
-{
-        dAASSERT(b);
-        b->adis.idle_steps = steps;
-}
-
-
-dReal dBodyGetAutoDisableTime (dBodyID b)
-{
-        dAASSERT(b);
-        return b->adis.idle_time;
-}
-
-
-void dBodySetAutoDisableTime (dBodyID b, dReal time)
-{
-        dAASSERT(b);
-        b->adis.idle_time = time;
-}
-
-
-int dBodyGetAutoDisableFlag (dBodyID b)
-{
-        dAASSERT(b);
-        return ((b->flags & dxBodyAutoDisable) != 0);
-}
-
-
-void dBodySetAutoDisableFlag (dBodyID b, int do_auto_disable)
-{
-        dAASSERT(b);
-        if (!do_auto_disable)
-        {
-                b->flags &= ~dxBodyAutoDisable;
-                // (mg) we should also reset the IsDisabled state to correspond to the DoDisabling flag
-                b->flags &= ~dxBodyDisabled;
-                b->adis.idle_steps = dWorldGetAutoDisableSteps(b->world);
-                b->adis.idle_time = dWorldGetAutoDisableTime(b->world);
-                // resetting the average calculations too
-                dBodySetAutoDisableAverageSamplesCount(b, dWorldGetAutoDisableAverageSamplesCount(b->world) );
-        }
-        else
-        {
-                b->flags |= dxBodyAutoDisable;
-        }
-}
-
-
-void dBodySetAutoDisableDefaults (dBodyID b)
-{
-        dAASSERT(b);
-        dWorldID w = b->world;
-        dAASSERT(w);
-        b->adis = w->adis;
-        dBodySetAutoDisableFlag (b, w->adis_flag);
-}
-
-//****************************************************************************
-// 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;
-  dSetZero (j->lambda,6);
-  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;
-  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 * dJointCreatePR (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dPR_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);
-}
-
-dxJoint * dJointCreateLMotor (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dlmotor_vtable);
-}
-
-dxJoint * dJointCreatePlane2D (dWorldID w, dJointGroupID group)
-{
-  dAASSERT (w);
-  return createJoint (w,group,&__dplane2d_vtable);
-}
-
-void dJointDestroy (dxJoint *j)
-{
-  dAASSERT (j);
-  if (j->flags & dJOINT_INGROUP) return;
-  removeJointReferencesFromAttachedBodies (j);
-  removeObjectFromList (j);
-  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 == 1) {
-    if (joint->flags & dJOINT_REVERSE) return joint->node[1-index].body;
-    else 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;
-}
-
-
-
-dJointID dConnectingJoint (dBodyID in_b1, dBodyID in_b2)
-{
-    dAASSERT (in_b1 || in_b2);
-
-        dBodyID b1, b2;
-
-        if (in_b1 == 0) {
-                b1 = in_b2;
-                b2 = in_b1;
-        }
-        else {
-                b1 = in_b1;
-                b2 = in_b2;
-        }
-
-    // look through b1's neighbour list for b2
-    for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
-        if (n->body == b2) return n->joint;
-    }
-
-    return 0;
-}
-
-
-
-int dConnectingJointList (dBodyID in_b1, dBodyID in_b2, dJointID* out_list)
-{
-    dAASSERT (in_b1 || in_b2);
-
-
-        dBodyID b1, b2;
-
-        if (in_b1 == 0) {
-                b1 = in_b2;
-                b2 = in_b1;
-        }
-        else {
-                b1 = in_b1;
-                b2 = in_b2;
-        }
-
-    // look through b1's neighbour list for b2
-    int numConnectingJoints = 0;
-    for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
-        if (n->body == b2)
-            out_list[numConnectingJoints++] = n->joint;
-    }
-
-    return numConnectingJoints;
-}
-
-
-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
-
-  w->adis.idle_steps = 10;
-  w->adis.idle_time = 0;
-  w->adis_flag = 0;
-  w->adis.average_samples = 1;          // Default is 1 sample => Instantaneous velocity
-  w->adis.angular_average_threshold = REAL(0.01)*REAL(0.01);    // (magnitude squared)
-  w->adis.linear_average_threshold = REAL(0.01)*REAL(0.01);             // (magnitude squared)
-
-  w->qs.num_iterations = 20;
-  w->qs.w = REAL(1.3);
-
-  w->contactp.max_vel = dInfinity;
-  w->contactp.min_depth = 0;
-
-  return w;
-}
-
-
-void dWorldDestroy (dxWorld *w)
-{
-  // delete all bodies and joints
-  dAASSERT (w);
-  dxBody *nextb, *b = w->firstbody;
-  while (b) {
-    nextb = (dxBody*) b->next;
-    if(b->average_lvel_buffer)
-    {
-      delete[] (b->average_lvel_buffer);
-      b->average_lvel_buffer = 0;
-    }
-    if(b->average_avel_buffer)
-    {
-      delete[] (b->average_avel_buffer);
-      b->average_avel_buffer = 0;
-    }
-    dBodyDestroy(b); // calling here dBodyDestroy for correct destroying! (i.e. the average buffers)
-    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");
-  dxProcessIslands (w,stepsize,&dInternalStepIsland);
-}
-
-
-void dWorldQuickStep (dWorldID w, dReal stepsize)
-{
-  dUASSERT (w,"bad world argument");
-  dUASSERT (stepsize > 0,"stepsize must be > 0");
-  dxProcessIslands (w,stepsize,&dxQuickStepper);
-}
-
-
-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;
-}
-
-
-// world auto-disable functions
-
-dReal dWorldGetAutoDisableLinearThreshold (dWorldID w)
-{
-        dAASSERT(w);
-        return dSqrt (w->adis.linear_average_threshold);
-}
-
-
-void dWorldSetAutoDisableLinearThreshold (dWorldID w, dReal linear_average_threshold)
-{
-        dAASSERT(w);
-        w->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold;
-}
-
-
-dReal dWorldGetAutoDisableAngularThreshold (dWorldID w)
-{
-        dAASSERT(w);
-        return dSqrt (w->adis.angular_average_threshold);
-}
-
-
-void dWorldSetAutoDisableAngularThreshold (dWorldID w, dReal angular_average_threshold)
-{
-        dAASSERT(w);
-        w->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold;
-}
-
-
-int dWorldGetAutoDisableAverageSamplesCount (dWorldID w)
-{
-        dAASSERT(w);
-        return w->adis.average_samples;
-}
-
-
-void dWorldSetAutoDisableAverageSamplesCount (dWorldID w, unsigned int average_samples_count)
-{
-        dAASSERT(w);
-        w->adis.average_samples = average_samples_count;
-}
-
-
-int dWorldGetAutoDisableSteps (dWorldID w)
-{
-        dAASSERT(w);
-        return w->adis.idle_steps;
-}
-
-
-void dWorldSetAutoDisableSteps (dWorldID w, int steps)
-{
-        dAASSERT(w);
-        w->adis.idle_steps = steps;
-}
-
-
-dReal dWorldGetAutoDisableTime (dWorldID w)
-{
-        dAASSERT(w);
-        return w->adis.idle_time;
-}
-
-
-void dWorldSetAutoDisableTime (dWorldID w, dReal time)
-{
-        dAASSERT(w);
-        w->adis.idle_time = time;
-}
-
-
-int dWorldGetAutoDisableFlag (dWorldID w)
-{
-        dAASSERT(w);
-        return w->adis_flag;
-}
-
-
-void dWorldSetAutoDisableFlag (dWorldID w, int do_auto_disable)
-{
-        dAASSERT(w);
-        w->adis_flag = (do_auto_disable != 0);
-}
-
-
-void dWorldSetQuickStepNumIterations (dWorldID w, int num)
-{
-        dAASSERT(w);
-        w->qs.num_iterations = num;
-}
-
-
-int dWorldGetQuickStepNumIterations (dWorldID w)
-{
-        dAASSERT(w);
-        return w->qs.num_iterations;
-}
-
-
-void dWorldSetQuickStepW (dWorldID w, dReal param)
-{
-        dAASSERT(w);
-        w->qs.w = param;
-}
-
-
-dReal dWorldGetQuickStepW (dWorldID w)
-{
-        dAASSERT(w);
-        return w->qs.w;
-}
-
-
-void dWorldSetContactMaxCorrectingVel (dWorldID w, dReal vel)
-{
-        dAASSERT(w);
-        w->contactp.max_vel = vel;
-}
-
-
-dReal dWorldGetContactMaxCorrectingVel (dWorldID w)
-{
-        dAASSERT(w);
-        return w->contactp.max_vel;
-}
-
-
-void dWorldSetContactSurfaceLayer (dWorldID w, dReal depth)
-{
-        dAASSERT(w);
-        w->contactp.min_depth = depth;
-}
-
-
-dReal dWorldGetContactSurfaceLayer (dWorldID w)
-{
-        dAASSERT(w);
-        return w->contactp.min_depth;
-}
-
-//****************************************************************************
-// 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/ode/src/odemath.cpp b/libraries/ode-0.9/ode/src/odemath.cpp
deleted file mode 100644
index 11bc84e..0000000
--- a/libraries/ode-0.9/ode/src/odemath.cpp
+++ /dev/null
@@ -1,178 +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/common.h>
-#include <ode/odemath.h>
-
-// get some math functions under windows
-#ifdef WIN32
-#include <float.h>
-#ifndef CYGWIN                  // added by andy for cygwin
-#undef copysign
-#define copysign(a,b) ((dReal)_copysign(a,b))
-#endif                          // added by andy for cygwin
-#endif
-
-#undef dNormalize3
-#undef dNormalize4
-
-
-// this may be called for vectors `a' with extremely small magnitude, for
-// example the result of a cross product on two nearly perpendicular vectors.
-// we must be robust to these small vectors. to prevent numerical error,
-// first find the component a[i] with the largest magnitude and then scale
-// all the components by 1/a[i]. then we can compute the length of `a' and
-// scale the components by 1/l. this has been verified to work with vectors
-// containing the smallest representable numbers.
-
-int dSafeNormalize3 (dVector3 a)
-{
-  dReal a0,a1,a2,aa0,aa1,aa2,l;
-  dAASSERT (a);
-  a0 = a[0];
-  a1 = a[1];
-  a2 = a[2];
-  aa0 = dFabs(a0);
-  aa1 = dFabs(a1);
-  aa2 = dFabs(a2);
-  if (aa1 > aa0) {
-    if (aa2 > aa1) {
-      goto aa2_largest;
-    }
-    else {              // aa1 is largest
-      a0 /= aa1;
-      a2 /= aa1;
-      l = dRecipSqrt (a0*a0 + a2*a2 + 1);
-      a[0] = a0*l;
-      a[1] = dCopySign(l,a1);
-      a[2] = a2*l;
-    }
-  }
-  else {
-    if (aa2 > aa0) {
-      aa2_largest:      // aa2 is largest
-      a0 /= aa2;
-      a1 /= aa2;
-      l = dRecipSqrt (a0*a0 + a1*a1 + 1);
-      a[0] = a0*l;
-      a[1] = a1*l;
-      a[2] = dCopySign(l,a2);
-    }
-    else {              // aa0 is largest
-      if (aa0 <= 0) {
-        a[0] = 1;       // if all a's are zero, this is where we'll end up.
-        a[1] = 0;       // return a default unit length vector.
-        a[2] = 0;
-        return 0;
-      }
-      a1 /= aa0;
-      a2 /= aa0;
-      l = dRecipSqrt (a1*a1 + a2*a2 + 1);
-      a[0] = dCopySign(l,a0);
-      a[1] = a1*l;
-      a[2] = a2*l;
-    }
-  }
-  return 1;
-}
-
-/* OLD VERSION */
-/*
-void dNormalize3 (dVector3 a)
-{
-  dIASSERT (a);
-  dReal l = dDOT(a,a);
-  if (l > 0) {
-    l = dRecipSqrt(l);
-    a[0] *= l;
-    a[1] *= l;
-    a[2] *= l;
-  }
-  else {
-    a[0] = 1;
-    a[1] = 0;
-    a[2] = 0;
-  }
-}
-*/
-
-void dNormalize3(dVector3 a)
-{
-        _dNormalize3(a);
-}
-
-
-int dSafeNormalize4 (dVector4 a)
-{
-  dAASSERT (a);
-  dReal l = dDOT(a,a)+a[3]*a[3];
-  if (l > 0) {
-    l = dRecipSqrt(l);
-    a[0] *= l;
-    a[1] *= l;
-    a[2] *= l;
-    a[3] *= l;
-        return 1;
-  }
-  else {
-    a[0] = 1;
-    a[1] = 0;
-    a[2] = 0;
-    a[3] = 0;
-    return 0;
-  }
-}
-
-void dNormalize4(dVector4 a)
-{
-        _dNormalize4(a);
-}
-
-
-void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q)
-{
-  dAASSERT (n && p && q);
-  if (dFabs(n[2]) > M_SQRT1_2) {
-    // choose p in y-z plane
-    dReal a = n[1]*n[1] + n[2]*n[2];
-    dReal k = dRecipSqrt (a);
-    p[0] = 0;
-    p[1] = -n[2]*k;
-    p[2] = n[1]*k;
-    // set q = n x p
-    q[0] = a*k;
-    q[1] = -n[0]*p[2];
-    q[2] = n[0]*p[1];
-  }
-  else {
-    // choose p in x-y plane
-    dReal a = n[0]*n[0] + n[1]*n[1];
-    dReal k = dRecipSqrt (a);
-    p[0] = -n[1]*k;
-    p[1] = n[0]*k;
-    p[2] = 0;
-    // set q = n x p
-    q[0] = -n[2]*p[1];
-    q[1] = n[2]*p[0];
-    q[2] = a*k;
-  }
-}
diff --git a/libraries/ode-0.9/ode/src/plane.cpp b/libraries/ode-0.9/ode/src/plane.cpp
deleted file mode 100644
index e3afb49..0000000
--- a/libraries/ode-0.9/ode/src/plane.cpp
+++ /dev/null
@@ -1,145 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-standard ODE geometry primitives: public API and pairwise collision functions.
-
-the rule is that only the low level primitive collision functions should set
-dContactGeom::g1 and dContactGeom::g2.
-
-*/
-
-#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_util.h"
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-//****************************************************************************
-// plane public API
-
-static void make_sure_plane_normal_has_unit_length (dxPlane *g)
-{
-  dReal l = g->p[0]*g->p[0] + g->p[1]*g->p[1] + g->p[2]*g->p[2];
-  if (l > 0) {
-    l = dRecipSqrt(l);
-    g->p[0] *= l;
-    g->p[1] *= l;
-    g->p[2] *= l;
-    g->p[3] *= l;
-  }
-  else {
-    g->p[0] = 1;
-    g->p[1] = 0;
-    g->p[2] = 0;
-    g->p[3] = 0;
-  }
-}
-
-
-dxPlane::dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) :
-  dxGeom (space,0)
-{
-  type = dPlaneClass;
-  p[0] = a;
-  p[1] = b;
-  p[2] = c;
-  p[3] = d;
-  make_sure_plane_normal_has_unit_length (this);
-}
-
-
-void dxPlane::computeAABB()
-{
-        aabb[0] = -dInfinity;
-        aabb[1] = dInfinity;
-        aabb[2] = -dInfinity;
-        aabb[3] = dInfinity;
-        aabb[4] = -dInfinity;
-        aabb[5] = dInfinity;
-
-        // Planes that have normal vectors aligned along an axis can use a
-        // less comprehensive (half space) bounding box.
-
-        if ( p[1] == 0.0f && p[2] == 0.0f ) {
-                // normal aligned with x-axis
-                aabb[0] = (p[0] > 0) ? -dInfinity : -p[3];
-                aabb[1] = (p[0] > 0) ? p[3] : dInfinity;
-        } else
-        if ( p[0] == 0.0f && p[2] == 0.0f ) {
-                // normal aligned with y-axis
-                aabb[2] = (p[1] > 0) ? -dInfinity : -p[3];
-                aabb[3] = (p[1] > 0) ? p[3] : dInfinity;
-        } else
-        if ( p[0] == 0.0f && p[1] == 0.0f ) {
-                // normal aligned with z-axis
-                aabb[4] = (p[2] > 0) ? -dInfinity : -p[3];
-                aabb[5] = (p[2] > 0) ? p[3] : dInfinity;
-        }
-}
-
-
-dGeomID dCreatePlane (dSpaceID space,
-                      dReal a, dReal b, dReal c, dReal d)
-{
-  return new dxPlane (space,a,b,c,d);
-}
-
-
-void dGeomPlaneSetParams (dGeomID g, dReal a, dReal b, dReal c, dReal d)
-{
-  dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
-  dxPlane *p = (dxPlane*) g;
-  p->p[0] = a;
-  p->p[1] = b;
-  p->p[2] = c;
-  p->p[3] = d;
-  make_sure_plane_normal_has_unit_length (p);
-  dGeomMoved (g);
-}
-
-
-void dGeomPlaneGetParams (dGeomID g, dVector4 result)
-{
-  dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
-  dxPlane *p = (dxPlane*) g;
-  result[0] = p->p[0];
-  result[1] = p->p[1];
-  result[2] = p->p[2];
-  result[3] = p->p[3];
-}
-
-
-dReal dGeomPlanePointDepth (dGeomID g, dReal x, dReal y, dReal z)
-{
-  dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
-  dxPlane *p = (dxPlane*) g;
-  return p->p[3] - p->p[0]*x - p->p[1]*y - p->p[2]*z;
-}
diff --git a/libraries/ode-0.9/ode/src/quickstep.cpp b/libraries/ode-0.9/ode/src/quickstep.cpp
deleted file mode 100644
index 07aa9f7..0000000
--- a/libraries/ode-0.9/ode/src/quickstep.cpp
+++ /dev/null
@@ -1,880 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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 <ode/misc.h>
-#include "lcp.h"
-#include "util.h"
-
-#define ALLOCA dALLOCA16
-
-typedef const dReal *dRealPtr;
-typedef dReal *dRealMutablePtr;
-#define dRealArray(name,n) dReal name[n];
-#define dRealAllocaArray(name,n) dReal *name = (dReal*) ALLOCA ((n)*sizeof(dReal));
-
-//***************************************************************************
-// configuration
-
-// for the SOR and CG methods:
-// uncomment the following line to use warm starting. this definitely
-// help for motor-driven joints. unfortunately it appears to hurt
-// with high-friction contacts using the SOR method. use with care
-
-//#define WARM_STARTING 1
-
-
-// for the SOR method:
-// uncomment the following line to determine a new constraint-solving
-// order for each iteration. however, the qsort per iteration is expensive,
-// and the optimal order is somewhat problem dependent.
-// @@@ try the leaf->root ordering.
-
-//#define REORDER_CONSTRAINTS 1
-
-
-// for the SOR method:
-// uncomment the following line to randomly reorder constraint rows
-// during the solution. depending on the situation, this can help a lot
-// or hardly at all, but it doesn't seem to hurt.
-
-#define RANDOMLY_REORDER_CONSTRAINTS 1
-
-//****************************************************************************
-// special matrix multipliers
-
-// multiply block of B matrix (q x 6) with 12 dReal per row with C vektor (q)
-static void Multiply1_12q1 (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*12] * C[k];
-  A[0] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[1+k*12] * C[k];
-  A[1] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[2+k*12] * C[k];
-  A[2] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[3+k*12] * C[k];
-  A[3] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[4+k*12] * C[k];
-  A[4] = sum;
-  sum = 0;
-  for (k=0; k<q; k++) sum += B[5+k*12] * C[k];
-  A[5] = sum;
-}
-
-//***************************************************************************
-// testing stuff
-
-#ifdef TIMING
-#define IFTIMING(x) x
-#else
-#define IFTIMING(x) /* */
-#endif
-
-//***************************************************************************
-// various common computations involving the matrix J
-
-// compute iMJ = inv(M)*J'
-
-static void compute_invM_JT (int m, dRealMutablePtr J, dRealMutablePtr iMJ, int *jb,
-        dxBody * const *body, dRealPtr invI)
-{
-        int i,j;
-        dRealMutablePtr iMJ_ptr = iMJ;
-        dRealMutablePtr J_ptr = J;
-        for (i=0; i<m; i++) {
-                int b1 = jb[i*2];
-                int b2 = jb[i*2+1];
-                dReal k = body[b1]->invMass;
-                for (j=0; j<3; j++) iMJ_ptr[j] = k*J_ptr[j];
-                dMULTIPLY0_331 (iMJ_ptr + 3, invI + 12*b1, J_ptr + 3);
-                if (b2 >= 0) {
-                        k = body[b2]->invMass;
-                        for (j=0; j<3; j++) iMJ_ptr[j+6] = k*J_ptr[j+6];
-                        dMULTIPLY0_331 (iMJ_ptr + 9, invI + 12*b2, J_ptr + 9);
-                }
-                J_ptr += 12;
-                iMJ_ptr += 12;
-        }
-}
-
-
-// compute out = inv(M)*J'*in.
-
-static void multiply_invM_JT (int m, int nb, dRealMutablePtr iMJ, int *jb,
-        dRealMutablePtr in, dRealMutablePtr out)
-{
-        int i,j;
-        dSetZero (out,6*nb);
-        dRealPtr iMJ_ptr = iMJ;
-        for (i=0; i<m; i++) {
-                int b1 = jb[i*2];
-                int b2 = jb[i*2+1];
-                dRealMutablePtr out_ptr = out + b1*6;
-                for (j=0; j<6; j++) out_ptr[j] += iMJ_ptr[j] * in[i];
-                iMJ_ptr += 6;
-                if (b2 >= 0) {
-                        out_ptr = out + b2*6;
-                        for (j=0; j<6; j++) out_ptr[j] += iMJ_ptr[j] * in[i];
-                }
-                iMJ_ptr += 6;
-        }
-}
-
-
-// compute out = J*in.
-
-static void multiply_J (int m, dRealMutablePtr J, int *jb,
-        dRealMutablePtr in, dRealMutablePtr out)
-{
-        int i,j;
-        dRealPtr J_ptr = J;
-        for (i=0; i<m; i++) {
-                int b1 = jb[i*2];
-                int b2 = jb[i*2+1];
-                dReal sum = 0;
-                dRealMutablePtr in_ptr = in + b1*6;
-                for (j=0; j<6; j++) sum += J_ptr[j] * in_ptr[j];
-                J_ptr += 6;
-                if (b2 >= 0) {
-                        in_ptr = in + b2*6;
-                        for (j=0; j<6; j++) sum += J_ptr[j] * in_ptr[j];
-                }
-                J_ptr += 6;
-                out[i] = sum;
-        }
-}
-
-
-// compute out = (J*inv(M)*J' + cfm)*in.
-// use z as an nb*6 temporary.
-
-static void multiply_J_invM_JT (int m, int nb, dRealMutablePtr J, dRealMutablePtr iMJ, int *jb,
-        dRealPtr cfm, dRealMutablePtr z, dRealMutablePtr in, dRealMutablePtr out)
-{
-        multiply_invM_JT (m,nb,iMJ,jb,in,z);
-        multiply_J (m,J,jb,z,out);
-
-        // add cfm
-        for (int i=0; i<m; i++) out[i] += cfm[i] * in[i];
-}
-
-//***************************************************************************
-// conjugate gradient method with jacobi preconditioner
-// THIS IS EXPERIMENTAL CODE that doesn't work too well, so it is ifdefed out.
-//
-// adding CFM seems to be critically important to this method.
-
-#if 0
-
-static inline dReal dot (int n, dRealPtr x, dRealPtr y)
-{
-        dReal sum=0;
-        for (int i=0; i<n; i++) sum += x[i]*y[i];
-        return sum;
-}
-
-
-// x = y + z*alpha
-
-static inline void add (int n, dRealMutablePtr x, dRealPtr y, dRealPtr z, dReal alpha)
-{
-        for (int i=0; i<n; i++) x[i] = y[i] + z[i]*alpha;
-}
-
-
-static void CG_LCP (int m, int nb, dRealMutablePtr J, int *jb, dxBody * const *body,
-        dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr fc, dRealMutablePtr b,
-        dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
-        dxQuickStepParameters *qs)
-{
-        int i,j;
-        const int num_iterations = qs->num_iterations;
-
-        // precompute iMJ = inv(M)*J'
-        dRealAllocaArray (iMJ,m*12);
-        compute_invM_JT (m,J,iMJ,jb,body,invI);
-
-        dReal last_rho = 0;
-        dRealAllocaArray (r,m);
-        dRealAllocaArray (z,m);
-        dRealAllocaArray (p,m);
-        dRealAllocaArray (q,m);
-
-        // precompute 1 / diagonals of A
-        dRealAllocaArray (Ad,m);
-        dRealPtr iMJ_ptr = iMJ;
-        dRealPtr J_ptr = J;
-        for (i=0; i<m; i++) {
-                dReal sum = 0;
-                for (j=0; j<6; j++) sum += iMJ_ptr[j] * J_ptr[j];
-                if (jb[i*2+1] >= 0) {
-                        for (j=6; j<12; j++) sum += iMJ_ptr[j] * J_ptr[j];
-                }
-                iMJ_ptr += 12;
-                J_ptr += 12;
-                Ad[i] = REAL(1.0) / (sum + cfm[i]);
-        }
-
-#ifdef WARM_STARTING
-        // compute residual r = b - A*lambda
-        multiply_J_invM_JT (m,nb,J,iMJ,jb,cfm,fc,lambda,r);
-        for (i=0; i<m; i++) r[i] = b[i] - r[i];
-#else
-        dSetZero (lambda,m);
-        memcpy (r,b,m*sizeof(dReal));           // residual r = b - A*lambda
-#endif
-
-        for (int iteration=0; iteration < num_iterations; iteration++) {
-                for (i=0; i<m; i++) z[i] = r[i]*Ad[i];  // z = inv(M)*r
-                dReal rho = dot (m,r,z);                // rho = r'*z
-
-                // @@@
-                // we must check for convergence, otherwise rho will go to 0 if
-                // we get an exact solution, which will introduce NaNs into the equations.
-                if (rho < 1e-10) {
-                        printf ("CG returned at iteration %d\n",iteration);
-                        break;
-                }
-
-                if (iteration==0) {
-                        memcpy (p,z,m*sizeof(dReal));   // p = z
-                }
-                else {
-                        add (m,p,z,p,rho/last_rho);     // p = z + (rho/last_rho)*p
-                }
-
-                // compute q = (J*inv(M)*J')*p
-                multiply_J_invM_JT (m,nb,J,iMJ,jb,cfm,fc,p,q);
-
-                dReal alpha = rho/dot (m,p,q);          // alpha = rho/(p'*q)
-                add (m,lambda,lambda,p,alpha);          // lambda = lambda + alpha*p
-                add (m,r,r,q,-alpha);                   // r = r - alpha*q
-                last_rho = rho;
-        }
-
-        // compute fc = inv(M)*J'*lambda
-        multiply_invM_JT (m,nb,iMJ,jb,lambda,fc);
-
-#if 0
-        // measure solution error
-        multiply_J_invM_JT (m,nb,J,iMJ,jb,cfm,fc,lambda,r);
-        dReal error = 0;
-        for (i=0; i<m; i++) error += dFabs(r[i] - b[i]);
-        printf ("lambda error = %10.6e\n",error);
-#endif
-}
-
-#endif
-
-//***************************************************************************
-// SOR-LCP method
-
-// nb is the number of bodies in the body array.
-// J is an m*12 matrix of constraint rows
-// jb is an array of first and second body numbers for each constraint row
-// invI is the global frame inverse inertia for each body (stacked 3x3 matrices)
-//
-// this returns lambda and fc (the constraint force).
-// note: fc is returned as inv(M)*J'*lambda, the constraint force is actually J'*lambda
-//
-// b, lo and hi are modified on exit
-
-
-struct IndexError {
-        dReal error;            // error to sort on
-        int findex;
-        int index;              // row index
-};
-
-
-#ifdef REORDER_CONSTRAINTS
-
-static int compare_index_error (const void *a, const void *b)
-{
-        const IndexError *i1 = (IndexError*) a;
-        const IndexError *i2 = (IndexError*) b;
-        if (i1->findex < 0 && i2->findex >= 0) return -1;
-        if (i1->findex >= 0 && i2->findex < 0) return 1;
-        if (i1->error < i2->error) return -1;
-        if (i1->error > i2->error) return 1;
-        return 0;
-}
-
-#endif
-
-
-static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, dxBody * const *body,
-        dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr fc, dRealMutablePtr b,
-        dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
-        dxQuickStepParameters *qs)
-{
-        const int num_iterations = qs->num_iterations;
-        const dReal sor_w = qs->w;              // SOR over-relaxation parameter
-
-        int i,j;
-
-#ifdef WARM_STARTING
-        // for warm starting, this seems to be necessary to prevent
-        // jerkiness in motor-driven joints. i have no idea why this works.
-        for (i=0; i<m; i++) lambda[i] *= 0.9;
-#else
-        dSetZero (lambda,m);
-#endif
-
-#ifdef REORDER_CONSTRAINTS
-        // the lambda computed at the previous iteration.
-        // this is used to measure error for when we are reordering the indexes.
-        dRealAllocaArray (last_lambda,m);
-#endif
-
-        // a copy of the 'hi' vector in case findex[] is being used
-        dRealAllocaArray (hicopy,m);
-        memcpy (hicopy,hi,m*sizeof(dReal));
-
-        // precompute iMJ = inv(M)*J'
-        dRealAllocaArray (iMJ,m*12);
-        compute_invM_JT (m,J,iMJ,jb,body,invI);
-
-        // compute fc=(inv(M)*J')*lambda. we will incrementally maintain fc
-        // as we change lambda.
-#ifdef WARM_STARTING
-        multiply_invM_JT (m,nb,iMJ,jb,lambda,fc);
-#else
-        dSetZero (fc,nb*6);
-#endif
-
-        // precompute 1 / diagonals of A
-        dRealAllocaArray (Ad,m);
-        dRealPtr iMJ_ptr = iMJ;
-        dRealMutablePtr J_ptr = J;
-        for (i=0; i<m; i++) {
-                dReal sum = 0;
-                for (j=0; j<6; j++) sum += iMJ_ptr[j] * J_ptr[j];
-                if (jb[i*2+1] >= 0) {
-                        for (j=6; j<12; j++) sum += iMJ_ptr[j] * J_ptr[j];
-                }
-                iMJ_ptr += 12;
-                J_ptr += 12;
-                Ad[i] = sor_w / (sum + cfm[i]);
-        }
-
-        // scale J and b by Ad
-        J_ptr = J;
-        for (i=0; i<m; i++) {
-                for (j=0; j<12; j++) {
-                        J_ptr[0] *= Ad[i];
-                        J_ptr++;
-                }
-                b[i] *= Ad[i];
-
-                // scale Ad by CFM. N.B. this should be done last since it is used above
-                Ad[i] *= cfm[i];
-        }
-
-        // order to solve constraint rows in
-        IndexError *order = (IndexError*) ALLOCA (m*sizeof(IndexError));
-
-#ifndef REORDER_CONSTRAINTS
-        // make sure constraints with findex < 0 come first.
-        j=0;
-        int k=1;
-
-        // Fill the array from both ends
-        for (i=0; i<m; i++)
-                if (findex[i] < 0)
-                        order[j++].index = i; // Place them at the front
-                else
-                        order[m-k++].index = i; // Place them at the end
-
-        dIASSERT ((j+k-1)==m); // -1 since k was started at 1 and not 0
-#endif
-
-        for (int iteration=0; iteration < num_iterations; iteration++) {
-
-#ifdef REORDER_CONSTRAINTS
-                // constraints with findex < 0 always come first.
-                if (iteration < 2) {
-                        // for the first two iterations, solve the constraints in
-                        // the given order
-                        for (i=0; i<m; i++) {
-                                order[i].error = i;
-                                order[i].findex = findex[i];
-                                order[i].index = i;
-                        }
-                }
-                else {
-                        // sort the constraints so that the ones converging slowest
-                        // get solved last. use the absolute (not relative) error.
-                        for (i=0; i<m; i++) {
-                                dReal v1 = dFabs (lambda[i]);
-                                dReal v2 = dFabs (last_lambda[i]);
-                                dReal max = (v1 > v2) ? v1 : v2;
-                                if (max > 0) {
-                                        //@@@ relative error: order[i].error = dFabs(lambda[i]-last_lambda[i])/max;
-                                        order[i].error = dFabs(lambda[i]-last_lambda[i]);
-                                }
-                                else {
-                                        order[i].error = dInfinity;
-                                }
-                                order[i].findex = findex[i];
-                                order[i].index = i;
-                        }
-                }
-                qsort (order,m,sizeof(IndexError),&compare_index_error);
-
-                //@@@ potential optimization: swap lambda and last_lambda pointers rather
-                //    than copying the data. we must make sure lambda is properly
-                //    returned to the caller
-                memcpy (last_lambda,lambda,m*sizeof(dReal));
-#endif
-#ifdef RANDOMLY_REORDER_CONSTRAINTS
-                if ((iteration & 7) == 0) {
-                        for (i=1; i<m; ++i) {
-                                IndexError tmp = order[i];
-                                int swapi = dRandInt(i+1);
-                                order[i] = order[swapi];
-                                order[swapi] = tmp;
-                        }
-                }
-#endif
-
-                for (int i=0; i<m; i++) {
-                        // @@@ potential optimization: we could pre-sort J and iMJ, thereby
-                        //     linearizing access to those arrays. hmmm, this does not seem
-                        //     like a win, but we should think carefully about our memory
-                        //     access pattern.
-
-                        int index = order[i].index;
-                        J_ptr = J + index*12;
-                        iMJ_ptr = iMJ + index*12;
-
-                        // set the limits for this constraint. note that 'hicopy' is used.
-                        // this is the place where the QuickStep method differs from the
-                        // direct LCP solving method, since that method only performs this
-                        // limit adjustment once per time step, whereas this method performs
-                        // once per iteration per constraint row.
-                        // the constraints are ordered so that all lambda[] values needed have
-                        // already been computed.
-                        if (findex[index] >= 0) {
-                                hi[index] = dFabs (hicopy[index] * lambda[findex[index]]);
-                                lo[index] = -hi[index];
-                        }
-
-                        int b1 = jb[index*2];
-                        int b2 = jb[index*2+1];
-                        dReal delta = b[index] - lambda[index]*Ad[index];
-                        dRealMutablePtr fc_ptr = fc + 6*b1;
-
-                        // @@@ potential optimization: SIMD-ize this and the b2 >= 0 case
-                        delta -=fc_ptr[0] * J_ptr[0] + fc_ptr[1] * J_ptr[1] +
-                                fc_ptr[2] * J_ptr[2] + fc_ptr[3] * J_ptr[3] +
-                                fc_ptr[4] * J_ptr[4] + fc_ptr[5] * J_ptr[5];
-                        // @@@ potential optimization: handle 1-body constraints in a separate
-                        //     loop to avoid the cost of test & jump?
-                        if (b2 >= 0) {
-                                fc_ptr = fc + 6*b2;
-                                delta -=fc_ptr[0] * J_ptr[6] + fc_ptr[1] * J_ptr[7] +
-                                        fc_ptr[2] * J_ptr[8] + fc_ptr[3] * J_ptr[9] +
-                                        fc_ptr[4] * J_ptr[10] + fc_ptr[5] * J_ptr[11];
-                        }
-
-                        // compute lambda and clamp it to [lo,hi].
-                        // @@@ potential optimization: does SSE have clamping instructions
-                        //     to save test+jump penalties here?
-                        dReal new_lambda = lambda[index] + delta;
-                        if (new_lambda < lo[index]) {
-                                delta = lo[index]-lambda[index];
-                                lambda[index] = lo[index];
-                        }
-                        else if (new_lambda > hi[index]) {
-                                delta = hi[index]-lambda[index];
-                                lambda[index] = hi[index];
-                        }
-                        else {
-                                lambda[index] = new_lambda;
-                        }
-
-                        //@@@ a trick that may or may not help
-                        //dReal ramp = (1-((dReal)(iteration+1)/(dReal)num_iterations));
-                        //delta *= ramp;
-
-                        // update fc.
-                        // @@@ potential optimization: SIMD for this and the b2 >= 0 case
-                        fc_ptr = fc + 6*b1;
-                        fc_ptr[0] += delta * iMJ_ptr[0];
-                        fc_ptr[1] += delta * iMJ_ptr[1];
-                        fc_ptr[2] += delta * iMJ_ptr[2];
-                        fc_ptr[3] += delta * iMJ_ptr[3];
-                        fc_ptr[4] += delta * iMJ_ptr[4];
-                        fc_ptr[5] += delta * iMJ_ptr[5];
-                        // @@@ potential optimization: handle 1-body constraints in a separate
-                        //     loop to avoid the cost of test & jump?
-                        if (b2 >= 0) {
-                                fc_ptr = fc + 6*b2;
-                                fc_ptr[0] += delta * iMJ_ptr[6];
-                                fc_ptr[1] += delta * iMJ_ptr[7];
-                                fc_ptr[2] += delta * iMJ_ptr[8];
-                                fc_ptr[3] += delta * iMJ_ptr[9];
-                                fc_ptr[4] += delta * iMJ_ptr[10];
-                                fc_ptr[5] += delta * iMJ_ptr[11];
-                        }
-                }
-        }
-}
-
-
-void dxQuickStepper (dxWorld *world, dxBody * const *body, int nb,
-                     dxJoint * const *_joint, int nj, dReal stepsize)
-{
-        int i,j;
-        IFTIMING(dTimerStart("preprocessing");)
-
-        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).
-        //@@@ do we really need to do this? we'll be sorting constraint rows individually, not joints
-        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 a vertical stack of 3x4 matrices, one per body.
-        //dRealAllocaArray (I,3*4*nb);  // need to remember all I's for feedback purposes only
-        dRealAllocaArray (invI,3*4*nb);
-        for (i=0; i<nb; i++) {
-                dMatrix3 tmp;
-
-                // compute inverse inertia tensor in global frame
-                dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->posr.R);
-                dMULTIPLY0_333 (invI+i*12,body[i]->posr.R,tmp);
-#ifdef dGYROSCOPIC
-                dMatrix3 I;
-                // compute inertia tensor in global frame
-                dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->posr.R);
-                //dMULTIPLY0_333 (I+i*12,body[i]->posr.R,tmp);
-                dMULTIPLY0_333 (I,body[i]->posr.R,tmp);
-                // compute rotational force
-                //dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel);
-                dMULTIPLY0_331 (tmp,I,body[i]->avel);
-                dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
-#endif
-        }
-
-        // 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 joint information (m = total constraint dimension, nub = number of unbounded variables).
-        // joints with m=0 are inactive and are removed from the joints array
-        // entirely, so that the code that follows does not consider them.
-        //@@@ do we really need to save all the info1's
-        dxJoint::Info1 *info = (dxJoint::Info1*) ALLOCA (nj*sizeof(dxJoint::Info1));
-        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;
-
-        // create the row offset array
-        int m = 0;
-        int *ofs = (int*) ALLOCA (nj*sizeof(int));
-        for (i=0; i<nj; i++) {
-                ofs[i] = m;
-                m += info[i].m;
-        }
-
-        // if there are constraints, compute the constraint force
-        dRealAllocaArray (J,m*12);
-        int *jb = (int*) ALLOCA (m*2*sizeof(int));
-        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.
-                dRealAllocaArray (c,m);
-                dRealAllocaArray (cfm,m);
-                dRealAllocaArray (lo,m);
-                dRealAllocaArray (hi,m);
-                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. an m*12 matrix will be created
-                // to store the two jacobian blocks from each constraint. it has this
-                // format:
-                //
-                //   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 \    .
-                //   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2  }-- jacobian for joint 0, body 1 and body 2 (3 rows)
-                //   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 /
-                //   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 }--- jacobian for joint 1, body 1 and body 2 (3 rows)
-                //   etc...
-                //
-                //   (lll) = linear jacobian data
-                //   (aaa) = angular jacobian data
-                //
-                IFTIMING (dTimerNow ("create J");)
-                dSetZero (J,m*12);
-                dxJoint::Info2 Jinfo;
-                Jinfo.rowskip = 12;
-                Jinfo.fps = stepsize1;
-                Jinfo.erp = world->global_erp;
-                int mfb = 0; // number of rows of Jacobian we will have to save for joint feedback
-                for (i=0; i<nj; i++) {
-                        Jinfo.J1l = J + ofs[i]*12;
-                        Jinfo.J1a = Jinfo.J1l + 3;
-                        Jinfo.J2l = Jinfo.J1l + 6;
-                        Jinfo.J2a = Jinfo.J1l + 9;
-                        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];
-                        }
-                        if (joint[i]->feedback)
-                                mfb += info[i].m;
-                }
-
-                // we need a copy of Jacobian for joint feedbacks
-                // because it gets destroyed by SOR solver
-                // instead of saving all Jacobian, we can save just rows
-                // for joints, that requested feedback (which is normaly much less)
-                dRealAllocaArray (Jcopy,mfb*12);
-                if (mfb > 0) {
-                        mfb = 0;
-                        for (i=0; i<nj; i++)
-                                if (joint[i]->feedback) {
-                                        memcpy(Jcopy+mfb*12, J+ofs[i]*12, info[i].m*12*sizeof(dReal));
-                                        mfb += info[i].m;
-                                }
-                }
-
-
-                // create an array of body numbers for each joint row
-                int *jb_ptr = jb;
-                for (i=0; i<nj; i++) {
-                        int b1 = (joint[i]->node[0].body) ? (joint[i]->node[0].body->tag) : -1;
-                        int b2 = (joint[i]->node[1].body) ? (joint[i]->node[1].body->tag) : -1;
-                        for (j=0; j<info[i].m; j++) {
-                                jb_ptr[0] = b1;
-                                jb_ptr[1] = b2;
-                                jb_ptr += 2;
-                        }
-                }
-                dIASSERT (jb_ptr == jb+2*m);
-
-                // compute the right hand side `rhs'
-                IFTIMING (dTimerNow ("compute rhs");)
-                dRealAllocaArray (tmp1,nb*6);
-                // put v/h + invM*fe into tmp1
-                for (i=0; i<nb; i++) {
-                        dReal body_invMass = body[i]->invMass;
-                        for (j=0; j<3; j++) tmp1[i*6+j] = body[i]->facc[j] * body_invMass + body[i]->lvel[j] * stepsize1;
-                        dMULTIPLY0_331 (tmp1 + i*6 + 3,invI + i*12,body[i]->tacc);
-                        for (j=0; j<3; j++) tmp1[i*6+3+j] += body[i]->avel[j] * stepsize1;
-                }
-
-                // put J*tmp1 into rhs
-                dRealAllocaArray (rhs,m);
-                multiply_J (m,J,jb,tmp1,rhs);
-
-                // complete rhs
-                for (i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i];
-
-                // scale CFM
-                for (i=0; i<m; i++) cfm[i] *= stepsize1;
-
-                // load lambda from the value saved on the previous iteration
-                dRealAllocaArray (lambda,m);
-#ifdef WARM_STARTING
-                dSetZero (lambda,m);    //@@@ shouldn't be necessary
-                for (i=0; i<nj; i++) {
-                        memcpy (lambda+ofs[i],joint[i]->lambda,info[i].m * sizeof(dReal));
-                }
-#endif
-
-                // solve the LCP problem and get lambda and invM*constraint_force
-                IFTIMING (dTimerNow ("solving LCP problem");)
-                dRealAllocaArray (cforce,nb*6);
-                SOR_LCP (m,nb,J,jb,body,invI,lambda,cforce,rhs,lo,hi,cfm,findex,&world->qs);
-
-#ifdef WARM_STARTING
-                // save lambda for the next iteration
-                //@@@ note that this doesn't work for contact joints yet, as they are
-                // recreated every iteration
-                for (i=0; i<nj; i++) {
-                        memcpy (joint[i]->lambda,lambda+ofs[i],info[i].m * sizeof(dReal));
-                }
-#endif
-
-                // note that the SOR method overwrites rhs and J at this point, so
-                // they should not be used again.
-
-                // add stepsize * cforce to the body velocity
-                for (i=0; i<nb; i++) {
-                        for (j=0; j<3; j++) body[i]->lvel[j] += stepsize * cforce[i*6+j];
-                        for (j=0; j<3; j++) body[i]->avel[j] += stepsize * cforce[i*6+3+j];
-                }
-
-                // if joint feedback is requested, compute the constraint force.
-                // BUT: cforce is inv(M)*J'*lambda, whereas we want just J'*lambda,
-                // so we must compute M*cforce.
-                // @@@ if any joint has a feedback request we compute the entire
-                //     adjusted cforce, which is not the most efficient way to do it.
-                /*for (j=0; j<nj; j++) {
-                        if (joint[j]->feedback) {
-                                // compute adjusted cforce
-                                for (i=0; i<nb; i++) {
-                                        dReal k = body[i]->mass.mass;
-                                        cforce [i*6+0] *= k;
-                                        cforce [i*6+1] *= k;
-                                        cforce [i*6+2] *= k;
-                                        dVector3 tmp;
-                                        dMULTIPLY0_331 (tmp, I + 12*i, cforce + i*6 + 3);
-                                        cforce [i*6+3] = tmp[0];
-                                        cforce [i*6+4] = tmp[1];
-                                        cforce [i*6+5] = tmp[2];
-                                }
-                                // compute feedback for this and all remaining joints
-                                for (; j<nj; j++) {
-                                        dJointFeedback *fb = joint[j]->feedback;
-                                        if (fb) {
-                                                int b1 = joint[j]->node[0].body->tag;
-                                                memcpy (fb->f1,cforce+b1*6,3*sizeof(dReal));
-                                                memcpy (fb->t1,cforce+b1*6+3,3*sizeof(dReal));
-                                                if (joint[j]->node[1].body) {
-                                                        int b2 = joint[j]->node[1].body->tag;
-                                                        memcpy (fb->f2,cforce+b2*6,3*sizeof(dReal));
-                                                        memcpy (fb->t2,cforce+b2*6+3,3*sizeof(dReal));
-                                                }
-                                        }
-                                }
-                        }
-                }*/
-
-                if (mfb > 0) {
-                        // straightforward computation of joint constraint forces:
-                        // multiply related lambdas with respective J' block for joints
-                        // where feedback was requested
-                        mfb = 0;
-                        for (i=0; i<nj; i++) {
-                                if (joint[i]->feedback) {
-                                        dJointFeedback *fb = joint[i]->feedback;
-                                        dReal data[6];
-                                        Multiply1_12q1 (data, Jcopy+mfb*12, lambda+ofs[i], info[i].m);
-                                        fb->f1[0] = data[0];
-                                        fb->f1[1] = data[1];
-                                        fb->f1[2] = data[2];
-                                        fb->t1[0] = data[3];
-                                        fb->t1[1] = data[4];
-                                        fb->t1[2] = data[5];
-                                        if (joint[i]->node[1].body)
-                                        {
-                                                Multiply1_12q1 (data, Jcopy+mfb*12+6, lambda+ofs[i], info[i].m);
-                                                fb->f2[0] = data[0];
-                                                fb->f2[1] = data[1];
-                                                fb->f2[2] = data[2];
-                                                fb->t2[0] = data[3];
-                                                fb->t2[1] = data[4];
-                                                fb->t2[2] = data[5];
-                                        }
-                                        mfb += info[i].m;
-                                }
-                        }
-                }
-        }
-
-        // compute the velocity update:
-        // add stepsize * invM * fe to the body velocity
-
-        IFTIMING (dTimerNow ("compute velocity update");)
-        for (i=0; i<nb; i++) {
-                dReal body_invMass = body[i]->invMass;
-                for (j=0; j<3; j++) body[i]->lvel[j] += stepsize * body_invMass * body[i]->facc[j];
-                for (j=0; j<3; j++) body[i]->tacc[j] *= stepsize;
-                dMULTIPLYADD0_331 (body[i]->avel,invI + i*12,body[i]->tacc);
-        }
-
-#if 0
-        // check that the updated velocity obeys the constraint (this check needs unmodified J)
-        dRealAllocaArray (vel,nb*6);
-        for (i=0; i<nb; i++) {
-                for (j=0; j<3; j++) vel[i*6+j] = body[i]->lvel[j];
-                for (j=0; j<3; j++) vel[i*6+3+j] = body[i]->avel[j];
-        }
-        dRealAllocaArray (tmp,m);
-        multiply_J (m,J,jb,vel,tmp);
-        dReal error = 0;
-        for (i=0; i<m; i++) error += dFabs(tmp[i]);
-        printf ("velocity error = %10.6e\n",error);
-#endif
-
-        // update the position and orientation from the new linear/angular velocity
-        // (over the given timestep)
-        IFTIMING (dTimerNow ("update position");)
-        for (i=0; i<nb; i++) dxStepBody (body[i],stepsize);
-
-        IFTIMING (dTimerNow ("tidy up");)
-
-        // zero all force accumulators
-        for (i=0; i<nb; i++) {
-                dSetZero (body[i]->facc,3);
-                dSetZero (body[i]->tacc,3);
-        }
-
-        IFTIMING (dTimerEnd();)
-        IFTIMING (if (m > 0) dTimerReport (stdout,1);)
-}
diff --git a/libraries/ode-0.9/ode/src/quickstep.h b/libraries/ode-0.9/ode/src/quickstep.h
deleted file mode 100644
index 43863e7..0000000
--- a/libraries/ode-0.9/ode/src/quickstep.h
+++ /dev/null
@@ -1,33 +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_QUICK_STEP_H_
-#define _ODE_QUICK_STEP_H_
-
-#include <ode/common.h>
-
-
-void dxQuickStepper (dxWorld *world, dxBody * const *body, int nb,
-                     dxJoint * const *_joint, int nj, dReal stepsize);
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/ray.cpp b/libraries/ode-0.9/ode/src/ray.cpp
deleted file mode 100644
index adf61ac..0000000
--- a/libraries/ode-0.9/ode/src/ray.cpp
+++ /dev/null
@@ -1,686 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-standard ODE geometry primitives: public API and pairwise collision functions.
-
-the rule is that only the low level primitive collision functions should set
-dContactGeom::g1 and dContactGeom::g2.
-
-*/
-
-#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_util.h"
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-//****************************************************************************
-// ray public API
-
-dxRay::dxRay (dSpaceID space, dReal _length) : dxGeom (space,1)
-{
-  type = dRayClass;
-  length = _length;
-}
-
-
-void dxRay::computeAABB()
-{
-  dVector3 e;
-  e[0] = final_posr->pos[0] + final_posr->R[0*4+2]*length;
-  e[1] = final_posr->pos[1] + final_posr->R[1*4+2]*length;
-  e[2] = final_posr->pos[2] + final_posr->R[2*4+2]*length;
-
-  if (final_posr->pos[0] < e[0]){
-    aabb[0] = final_posr->pos[0];
-    aabb[1] = e[0];
-  }
-  else{
-    aabb[0] = e[0];
-    aabb[1] = final_posr->pos[0];
-  }
-  
-  if (final_posr->pos[1] < e[1]){
-    aabb[2] = final_posr->pos[1];
-    aabb[3] = e[1];
-  }
-  else{
-    aabb[2] = e[1];
-    aabb[3] = final_posr->pos[1];
-  }
-
-  if (final_posr->pos[2] < e[2]){
-    aabb[4] = final_posr->pos[2];
-    aabb[5] = e[2];
-  }
-  else{
-    aabb[4] = e[2];
-    aabb[5] = final_posr->pos[2];
-  }
-}
-
-
-dGeomID dCreateRay (dSpaceID space, dReal length)
-{
-  return new dxRay (space,length);
-}
-
-
-void dGeomRaySetLength (dGeomID g, dReal length)
-{
-  dUASSERT (g && g->type == dRayClass,"argument not a ray");
-  dxRay *r = (dxRay*) g;
-  r->length = length;
-  dGeomMoved (g);
-}
-
-
-dReal dGeomRayGetLength (dGeomID g)
-{
-  dUASSERT (g && g->type == dRayClass,"argument not a ray");
-  dxRay *r = (dxRay*) g;
-  return r->length;
-}
-
-
-void dGeomRaySet (dGeomID g, dReal px, dReal py, dReal pz,
-                  dReal dx, dReal dy, dReal dz)
-{
-  dUASSERT (g && g->type == dRayClass,"argument not a ray");
-  g->recomputePosr();
-  dReal* rot = g->final_posr->R;
-  dReal* pos = g->final_posr->pos;
-  dVector3 n;
-  pos[0] = px;
-  pos[1] = py;
-  pos[2] = pz;
-
-  n[0] = dx;
-  n[1] = dy;
-  n[2] = dz;
-  dNormalize3(n);
-  rot[0*4+2] = n[0];
-  rot[1*4+2] = n[1];
-  rot[2*4+2] = n[2];
-  dGeomMoved (g);
-}
-
-
-void dGeomRayGet (dGeomID g, dVector3 start, dVector3 dir)
-{
-  dUASSERT (g && g->type == dRayClass,"argument not a ray");
-  g->recomputePosr();
-  start[0] = g->final_posr->pos[0];
-  start[1] = g->final_posr->pos[1];
-  start[2] = g->final_posr->pos[2];
-  dir[0] = g->final_posr->R[0*4+2];
-  dir[1] = g->final_posr->R[1*4+2];
-  dir[2] = g->final_posr->R[2*4+2];
-}
-
-
-void dGeomRaySetParams (dxGeom *g, int FirstContact, int BackfaceCull)
-{
-  dUASSERT (g && g->type == dRayClass,"argument not a ray");
-
-  if (FirstContact){
-    g->gflags |= RAY_FIRSTCONTACT;
-  }
-  else g->gflags &= ~RAY_FIRSTCONTACT;
-
-  if (BackfaceCull){
-    g->gflags |= RAY_BACKFACECULL;
-  }
-  else g->gflags &= ~RAY_BACKFACECULL;
-}
-
-
-void dGeomRayGetParams (dxGeom *g, int *FirstContact, int *BackfaceCull)
-{
-  dUASSERT (g && g->type == dRayClass,"argument not a ray");
-
-  (*FirstContact) = ((g->gflags & RAY_FIRSTCONTACT) != 0);
-  (*BackfaceCull) = ((g->gflags & RAY_BACKFACECULL) != 0);
-}
-
-
-void dGeomRaySetClosestHit (dxGeom *g, int closestHit)
-{
-  dUASSERT (g && g->type == dRayClass,"argument not a ray");
-  if (closestHit){
-    g->gflags |= RAY_CLOSEST_HIT;
-  }
-  else g->gflags &= ~RAY_CLOSEST_HIT;
-}
-
-
-int dGeomRayGetClosestHit (dxGeom *g)
-{
-  dUASSERT (g && g->type == dRayClass,"argument not a ray");
-  return ((g->gflags & RAY_CLOSEST_HIT) != 0);
-}
-
-
-
-// if mode==1 then use the sphere exit contact, not the entry contact
-
-static int ray_sphere_helper (dxRay *ray, dVector3 sphere_pos, dReal radius,
-                              dContactGeom *contact, int mode)
-{
-  dVector3 q;
-  q[0] = ray->final_posr->pos[0] - sphere_pos[0];
-  q[1] = ray->final_posr->pos[1] - sphere_pos[1];
-  q[2] = ray->final_posr->pos[2] - sphere_pos[2];
-  dReal B = dDOT14(q,ray->final_posr->R+2);
-  dReal C = dDOT(q,q) - radius*radius;
-  // note: if C <= 0 then the start of the ray is inside the sphere
-  dReal k = B*B - C;
-  if (k < 0) return 0;
-  k = dSqrt(k);
-  dReal alpha;
-  if (mode && C >= 0) {
-    alpha = -B + k;
-    if (alpha < 0) return 0;
-  }
-  else {
-    alpha = -B - k;
-    if (alpha < 0) {
-      alpha = -B + k;
-      if (alpha < 0) return 0;
-    }
-  }
-  if (alpha > ray->length) return 0;
-  contact->pos[0] = ray->final_posr->pos[0] + alpha*ray->final_posr->R[0*4+2];
-  contact->pos[1] = ray->final_posr->pos[1] + alpha*ray->final_posr->R[1*4+2];
-  contact->pos[2] = ray->final_posr->pos[2] + alpha*ray->final_posr->R[2*4+2];
-  dReal nsign = (C < 0 || mode) ? REAL(-1.0) : REAL(1.0);
-  contact->normal[0] = nsign*(contact->pos[0] - sphere_pos[0]);
-  contact->normal[1] = nsign*(contact->pos[1] - sphere_pos[1]);
-  contact->normal[2] = nsign*(contact->pos[2] - sphere_pos[2]);
-  dNormalize3 (contact->normal);
-  contact->depth = alpha;
-  return 1;
-}
-
-
-int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags,
-                       dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dRayClass);
-  dIASSERT (o2->type == dSphereClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-  dxRay *ray = (dxRay*) o1;
-  dxSphere *sphere = (dxSphere*) o2;
-  contact->g1 = ray;
-  contact->g2 = sphere;
-  return ray_sphere_helper (ray,sphere->final_posr->pos,sphere->radius,contact,0);
-}
-
-
-int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags,
-                    dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dRayClass);
-  dIASSERT (o2->type == dBoxClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-  dxRay *ray = (dxRay*) o1;
-  dxBox *box = (dxBox*) o2;
-
-  contact->g1 = ray;
-  contact->g2 = box;
-
-  int i;
-
-  // compute the start and delta of the ray relative to the box.
-  // we will do all subsequent computations in this box-relative coordinate
-  // system. we have to do a translation and rotation for each point.
-  dVector3 tmp,s,v;
-  tmp[0] = ray->final_posr->pos[0] - box->final_posr->pos[0];
-  tmp[1] = ray->final_posr->pos[1] - box->final_posr->pos[1];
-  tmp[2] = ray->final_posr->pos[2] - box->final_posr->pos[2];
-  dMULTIPLY1_331 (s,box->final_posr->R,tmp);
-  tmp[0] = ray->final_posr->R[0*4+2];
-  tmp[1] = ray->final_posr->R[1*4+2];
-  tmp[2] = ray->final_posr->R[2*4+2];
-  dMULTIPLY1_331 (v,box->final_posr->R,tmp);
-
-  // mirror the line so that v has all components >= 0
-  dVector3 sign;
-  for (i=0; i<3; i++) {
-    if (v[i] < 0) {
-      s[i] = -s[i];
-      v[i] = -v[i];
-      sign[i] = 1;
-    }
-    else sign[i] = -1;
-  }
-
-  // compute the half-sides of the box
-  dReal h[3];
-  h[0] = REAL(0.5) * box->side[0];
-  h[1] = REAL(0.5) * box->side[1];
-  h[2] = REAL(0.5) * box->side[2];
-
-  // do a few early exit tests
-  if ((s[0] < -h[0] && v[0] <= 0) || s[0] >  h[0] ||
-      (s[1] < -h[1] && v[1] <= 0) || s[1] >  h[1] ||
-      (s[2] < -h[2] && v[2] <= 0) || s[2] >  h[2] ||
-      (v[0] == 0 && v[1] == 0 && v[2] == 0)) {
-    return 0;
-  }
-
-  // compute the t=[lo..hi] range for where s+v*t intersects the box
-  dReal lo = -dInfinity;
-  dReal hi = dInfinity;
-  int nlo = 0, nhi = 0;
-  for (i=0; i<3; i++) {
-    if (v[i] != 0) {
-      dReal k = (-h[i] - s[i])/v[i];
-      if (k > lo) {
-        lo = k;
-        nlo = i;
-      }
-      k = (h[i] - s[i])/v[i];
-      if (k < hi) {
-        hi = k;
-        nhi = i;
-      }
-    }
-  }
-
-  // check if the ray intersects
-  if (lo > hi) return 0;
-  dReal alpha;
-  int n;
-  if (lo >= 0) {
-    alpha = lo;
-    n = nlo;
-  }
-  else {
-    alpha = hi;
-    n = nhi;
-  }
-  if (alpha < 0 || alpha > ray->length) return 0;
-  contact->pos[0] = ray->final_posr->pos[0] + alpha*ray->final_posr->R[0*4+2];
-  contact->pos[1] = ray->final_posr->pos[1] + alpha*ray->final_posr->R[1*4+2];
-  contact->pos[2] = ray->final_posr->pos[2] + alpha*ray->final_posr->R[2*4+2];
-  contact->normal[0] = box->final_posr->R[0*4+n] * sign[n];
-  contact->normal[1] = box->final_posr->R[1*4+n] * sign[n];
-  contact->normal[2] = box->final_posr->R[2*4+n] * sign[n];
-  contact->depth = alpha;
-  return 1;
-}
-
-
-int dCollideRayCapsule (dxGeom *o1, dxGeom *o2,
-                          int flags, dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dRayClass);
-  dIASSERT (o2->type == dCapsuleClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-  dxRay *ray = (dxRay*) o1;
-  dxCapsule *ccyl = (dxCapsule*) o2;
-
-  contact->g1 = ray;
-  contact->g2 = ccyl;
-  dReal lz2 = ccyl->lz * REAL(0.5);
-
-  // compute some useful info
-  dVector3 cs,q,r;
-  dReal C,k;
-  cs[0] = ray->final_posr->pos[0] - ccyl->final_posr->pos[0];
-  cs[1] = ray->final_posr->pos[1] - ccyl->final_posr->pos[1];
-  cs[2] = ray->final_posr->pos[2] - ccyl->final_posr->pos[2];
-  k = dDOT41(ccyl->final_posr->R+2,cs); // position of ray start along ccyl axis
-  q[0] = k*ccyl->final_posr->R[0*4+2] - cs[0];
-  q[1] = k*ccyl->final_posr->R[1*4+2] - cs[1];
-  q[2] = k*ccyl->final_posr->R[2*4+2] - cs[2];
-  C = dDOT(q,q) - ccyl->radius*ccyl->radius;
-  // if C < 0 then ray start position within infinite extension of cylinder
-
-  // see if ray start position is inside the capped cylinder
-  int inside_ccyl = 0;
-  if (C < 0) {
-    if (k < -lz2) k = -lz2;
-    else if (k > lz2) k = lz2;
-    r[0] = ccyl->final_posr->pos[0] + k*ccyl->final_posr->R[0*4+2];
-    r[1] = ccyl->final_posr->pos[1] + k*ccyl->final_posr->R[1*4+2];
-    r[2] = ccyl->final_posr->pos[2] + k*ccyl->final_posr->R[2*4+2];
-    if ((ray->final_posr->pos[0]-r[0])*(ray->final_posr->pos[0]-r[0]) +
-        (ray->final_posr->pos[1]-r[1])*(ray->final_posr->pos[1]-r[1]) +
-        (ray->final_posr->pos[2]-r[2])*(ray->final_posr->pos[2]-r[2]) < ccyl->radius*ccyl->radius) {
-      inside_ccyl = 1;
-    }
-  }
-
-  // compute ray collision with infinite cylinder, except for the case where
-  // the ray is outside the capped cylinder but within the infinite cylinder
-  // (it that case the ray can only hit endcaps)
-  if (!inside_ccyl && C < 0) {
-    // set k to cap position to check
-    if (k < 0) k = -lz2; else k = lz2;
-  }
-  else {
-    dReal uv = dDOT44(ccyl->final_posr->R+2,ray->final_posr->R+2);
-    r[0] = uv*ccyl->final_posr->R[0*4+2] - ray->final_posr->R[0*4+2];
-    r[1] = uv*ccyl->final_posr->R[1*4+2] - ray->final_posr->R[1*4+2];
-    r[2] = uv*ccyl->final_posr->R[2*4+2] - ray->final_posr->R[2*4+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_ccyl) 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 > ray->length) return 0;
-
-      // the ray intersects the infinite cylinder. check to see if the
-      // intersection point is between the caps
-      contact->pos[0] = ray->final_posr->pos[0] + alpha*ray->final_posr->R[0*4+2];
-      contact->pos[1] = ray->final_posr->pos[1] + alpha*ray->final_posr->R[1*4+2];
-      contact->pos[2] = ray->final_posr->pos[2] + alpha*ray->final_posr->R[2*4+2];
-      q[0] = contact->pos[0] - ccyl->final_posr->pos[0];
-      q[1] = contact->pos[1] - ccyl->final_posr->pos[1];
-      q[2] = contact->pos[2] - ccyl->final_posr->pos[2];
-      k = dDOT14(q,ccyl->final_posr->R+2);
-      dReal nsign = inside_ccyl ? REAL(-1.0) : REAL(1.0);
-      if (k >= -lz2 && k <= lz2) {
-        contact->normal[0] = nsign * (contact->pos[0] -
-                                      (ccyl->final_posr->pos[0] + k*ccyl->final_posr->R[0*4+2]));
-        contact->normal[1] = nsign * (contact->pos[1] -
-                                      (ccyl->final_posr->pos[1] + k*ccyl->final_posr->R[1*4+2]));
-        contact->normal[2] = nsign * (contact->pos[2] -
-                                      (ccyl->final_posr->pos[2] + k*ccyl->final_posr->R[2*4+2]));
-        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
-  q[0] = ccyl->final_posr->pos[0] + k*ccyl->final_posr->R[0*4+2];
-  q[1] = ccyl->final_posr->pos[1] + k*ccyl->final_posr->R[1*4+2];
-  q[2] = ccyl->final_posr->pos[2] + k*ccyl->final_posr->R[2*4+2];
-  return ray_sphere_helper (ray,q,ccyl->radius,contact, inside_ccyl);
-}
-
-
-int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags,
-                      dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dRayClass);
-  dIASSERT (o2->type == dPlaneClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-  dxRay *ray = (dxRay*) o1;
-  dxPlane *plane = (dxPlane*) o2;
-
-  dReal alpha = plane->p[3] - dDOT (plane->p,ray->final_posr->pos);
-  // note: if alpha > 0 the starting point is below the plane
-  dReal nsign = (alpha > 0) ? REAL(-1.0) : REAL(1.0);
-  dReal k = dDOT14(plane->p,ray->final_posr->R+2);
-  if (k==0) return 0;           // ray parallel to plane
-  alpha /= k;
-  if (alpha < 0 || alpha > ray->length) return 0;
-  contact->pos[0] = ray->final_posr->pos[0] + alpha*ray->final_posr->R[0*4+2];
-  contact->pos[1] = ray->final_posr->pos[1] + alpha*ray->final_posr->R[1*4+2];
-  contact->pos[2] = ray->final_posr->pos[2] + alpha*ray->final_posr->R[2*4+2];
-  contact->normal[0] = nsign*plane->p[0];
-  contact->normal[1] = nsign*plane->p[1];
-  contact->normal[2] = nsign*plane->p[2];
-  contact->depth = alpha;
-  contact->g1 = ray;
-  contact->g2 = plane;
-  return 1;
-}
-
-// Ray - Cylinder collider by David Walters (June 2006)
-int dCollideRayCylinder( dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip )
-{
-        dIASSERT( skip >= (int)sizeof( dContactGeom ) );
-        dIASSERT( o1->type == dRayClass );
-        dIASSERT( o2->type == dCylinderClass );

-        dIASSERT( (flags & NUMC_MASK) >= 1 );
-
-        dxRay* ray = (dxRay*)( o1 );
-        dxCylinder* cyl = (dxCylinder*)( o2 );
-
-        // Fill in contact information.
-        contact->g1 = ray;
-        contact->g2 = cyl;
-
-        const dReal half_length = cyl->lz * REAL( 0.5 );
-
-        //
-        // Compute some useful info
-        //
-
-        dVector3 q, r;
-        dReal d, C, k;
-
-        // Vector 'r', line segment from C to R (ray start) ( r = R - C )
-        r[ 0 ] = ray->final_posr->pos[0] - cyl->final_posr->pos[0];
-        r[ 1 ] = ray->final_posr->pos[1] - cyl->final_posr->pos[1];
-        r[ 2 ] = ray->final_posr->pos[2] - cyl->final_posr->pos[2];
-
-        // Distance that ray start is along cyl axis ( Z-axis direction )
-        d = dDOT41( cyl->final_posr->R + 2, r );
-
-        //
-        // Compute vector 'q' representing the shortest line from R to the cylinder z-axis (Cz).
-        //
-        // Point on axis ( in world space ):    cp = ( d * Cz ) + C
-        //
-        // Line 'q' from R to cp:                               q = cp - R
-        //                                                                              q = ( d * Cz ) + C - R
-        //                                                                              q = ( d * Cz ) - ( R - C )
-
-        q[ 0 ] = ( d * cyl->final_posr->R[0*4+2] ) - r[ 0 ];
-        q[ 1 ] = ( d * cyl->final_posr->R[1*4+2] ) - r[ 1 ];
-        q[ 2 ] = ( d * cyl->final_posr->R[2*4+2] ) - r[ 2 ];
-
-
-        // Compute square length of 'q'. Subtract from radius squared to
-        // get square distance 'C' between the line q and the radius.
-
-        // if C < 0 then ray start position is within infinite extension of cylinder
-
-        C = dDOT( q, q ) - ( cyl->radius * cyl->radius );
-
-        // Compute the projection of ray direction normal onto cylinder direction normal.
-        dReal uv = dDOT44( cyl->final_posr->R+2, ray->final_posr->R+2 );
-
-
-
-        //
-        // Find ray collision with infinite cylinder
-        //
-
-        // Compute vector from end of ray direction normal to projection on cylinder direction normal.
-        r[ 0 ] = ( uv * cyl->final_posr->R[0*4+2] ) - ray->final_posr->R[0*4+2];
-        r[ 1 ] = ( uv * cyl->final_posr->R[1*4+2] ) - ray->final_posr->R[1*4+2];
-        r[ 2 ] = ( uv * cyl->final_posr->R[2*4+2] ) - ray->final_posr->R[2*4+2];
-
-
-        // Quadratic Formula Magic
-        // Compute discriminant 'k':
-
-        // k < 0 : No intersection
-        // k = 0 : Tangent
-        // k > 0 : Intersection
-
-        dReal A = dDOT( r, r );
-        dReal B = 2 * dDOT( q, r );
-
-        k = B*B - 4*A*C;
-
-
-
-
-        //
-        // Collision with Flat Caps ?
-        //
-
-        // No collision with cylinder edge. ( Use epsilon here or we miss some obvious cases )
-        if ( k < dEpsilon && C <= 0 )
-        {
-                // The ray does not intersect the edge of the infinite cylinder,
-                // but the ray start is inside and so must run parallel to the axis.
-                // It may yet intersect an end cap. The following cases are valid:
-
-                //        -ve-cap , -half              centre               +half , +ve-cap
-                //  <<================|-------------------|------------->>>---|================>>
-                //                    |                                       |
-                //                    |                              d------------------->    1.
-                //   2.    d------------------>                               |
-                //   3.    <------------------d                               |
-                //                    |                              <-------------------d    4.
-                //                    |                                       |
-                //  <<================|-------------------|------------->>>---|===============>>
-
-                // Negative if the ray and cylinder axes point in opposite directions.
-                const dReal uvsign = ( uv < 0 ) ? REAL( -1.0 ) : REAL( 1.0 );
-
-                // Negative if the ray start is inside the cylinder
-                const dReal internal = ( d >= -half_length && d <= +half_length ) ? REAL( -1.0 ) : REAL( 1.0 );
-
-                // Ray and Cylinder axes run in the same direction ( cases 1, 2 )
-                // Ray and Cylinder axes run in opposite directions ( cases 3, 4 )
-                if ( ( ( uv > 0 ) && ( d + ( uvsign * ray->length ) < half_length * internal ) ) ||
-                     ( ( uv < 0 ) && ( d + ( uvsign * ray->length ) > half_length * internal ) ) )
-                {
-                        return 0; // No intersection with caps or curved surface.
-                }
-
-                // Compute depth (distance from ray to cylinder)
-                contact->depth = ( ( -uvsign * d ) - ( internal * half_length ) );
-
-                // Compute contact point.
-                contact->pos[0] = ray->final_posr->pos[0] + ( contact->depth * ray->final_posr->R[0*4+2] );
-                contact->pos[1] = ray->final_posr->pos[1] + ( contact->depth * ray->final_posr->R[1*4+2] );
-                contact->pos[2] = ray->final_posr->pos[2] + ( contact->depth * ray->final_posr->R[2*4+2] );
-
-                // Compute reflected contact normal.
-                contact->normal[0] = uvsign * ( cyl->final_posr->R[0*4+2] );
-                contact->normal[1] = uvsign * ( cyl->final_posr->R[1*4+2] );
-                contact->normal[2] = uvsign * ( cyl->final_posr->R[2*4+2] );
-
-                // Contact!
-                return 1;
-        }
-
-
-
-        //
-        // Collision with Curved Edge ?
-        //
-
-        if ( k > 0 )
-        {
-                // Finish off quadratic formula to get intersection co-efficient
-                k = dSqrt( k );
-                A = dRecip( 2 * A );
-
-                // Compute distance along line to contact point.
-                dReal alpha = ( -B - k ) * A;
-                if ( alpha < 0 )
-                {
-                        // Flip in the other direction.
-                        alpha = ( -B + k ) * A;
-                }
-
-                // Intersection point is within ray length?
-                if ( alpha >= 0 && alpha <= ray->length )
-                {
-                        // The ray intersects the infinite cylinder!
-
-                        // Compute contact point.
-                        contact->pos[0] = ray->final_posr->pos[0] + ( alpha * ray->final_posr->R[0*4+2] );
-                        contact->pos[1] = ray->final_posr->pos[1] + ( alpha * ray->final_posr->R[1*4+2] );
-                        contact->pos[2] = ray->final_posr->pos[2] + ( alpha * ray->final_posr->R[2*4+2] );
-
-                        // q is the vector from the cylinder centre to the contact point.
-                        q[0] = contact->pos[0] - cyl->final_posr->pos[0];
-                        q[1] = contact->pos[1] - cyl->final_posr->pos[1];
-                        q[2] = contact->pos[2] - cyl->final_posr->pos[2];
-
-                        // Compute the distance along the cylinder axis of this contact point.
-                        d = dDOT14( q, cyl->final_posr->R+2 );
-
-                        // Check to see if the intersection point is between the flat end caps
-                        if ( d >= -half_length && d <= +half_length )
-                        {
-                                // Flip the normal if the start point is inside the cylinder.
-                                const dReal nsign = ( C < 0 ) ? REAL( -1.0 ) : REAL( 1.0 );
-
-                                // Compute contact normal.
-                                contact->normal[0] = nsign * (contact->pos[0] - (cyl->final_posr->pos[0] + d*cyl->final_posr->R[0*4+2]));
-                                contact->normal[1] = nsign * (contact->pos[1] - (cyl->final_posr->pos[1] + d*cyl->final_posr->R[1*4+2]));
-                                contact->normal[2] = nsign * (contact->pos[2] - (cyl->final_posr->pos[2] + d*cyl->final_posr->R[2*4+2]));
-                                dNormalize3( contact->normal );
-
-                                // Store depth.
-                                contact->depth = alpha;
-
-                                // Contact!
-                                return 1;
-                        }
-                }
-        }
-
-        // No contact with anything.
-        return 0;
-}
-
diff --git a/libraries/ode-0.9/ode/src/rotation.cpp b/libraries/ode-0.9/ode/src/rotation.cpp
deleted file mode 100644
index adb933b..0000000
--- a/libraries/ode-0.9/ode/src/rotation.cpp
+++ /dev/null
@@ -1,316 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-quaternions have the format: (s,vx,vy,vz) where (vx,vy,vz) is the
-"rotation axis" and s is the "rotation angle".
-
-*/
-
-#include <ode/rotation.h>
-#include <ode/odemath.h>
-
-
-#define _R(i,j) R[(i)*4+(j)]
-
-#define SET_3x3_IDENTITY \
-  _R(0,0) = REAL(1.0); \
-  _R(0,1) = REAL(0.0); \
-  _R(0,2) = REAL(0.0); \
-  _R(0,3) = REAL(0.0); \
-  _R(1,0) = REAL(0.0); \
-  _R(1,1) = REAL(1.0); \
-  _R(1,2) = REAL(0.0); \
-  _R(1,3) = REAL(0.0); \
-  _R(2,0) = REAL(0.0); \
-  _R(2,1) = REAL(0.0); \
-  _R(2,2) = REAL(1.0); \
-  _R(2,3) = REAL(0.0);
-
-
-void dRSetIdentity (dMatrix3 R)
-{
-  dAASSERT (R);
-  SET_3x3_IDENTITY;
-}
-
-
-void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
-                         dReal angle)
-{
-  dAASSERT (R);
-  dQuaternion q;
-  dQFromAxisAndAngle (q,ax,ay,az,angle);
-  dQtoR (q,R);
-}
-
-
-void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi)
-{
-  dReal sphi,cphi,stheta,ctheta,spsi,cpsi;
-  dAASSERT (R);
-  sphi = dSin(phi);
-  cphi = dCos(phi);
-  stheta = dSin(theta);
-  ctheta = dCos(theta);
-  spsi = dSin(psi);
-  cpsi = dCos(psi);
-  _R(0,0) = cpsi*ctheta;
-  _R(0,1) = spsi*ctheta;
-  _R(0,2) =-stheta;
-  _R(0,3) = REAL(0.0);
-  _R(1,0) = cpsi*stheta*sphi - spsi*cphi;
-  _R(1,1) = spsi*stheta*sphi + cpsi*cphi;
-  _R(1,2) = ctheta*sphi;
-  _R(1,3) = REAL(0.0);
-  _R(2,0) = cpsi*stheta*cphi + spsi*sphi;
-  _R(2,1) = spsi*stheta*cphi - cpsi*sphi;
-  _R(2,2) = ctheta*cphi;
-  _R(2,3) = REAL(0.0);
-}
-
-
-void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
-                  dReal bx, dReal by, dReal bz)
-{
-  dReal l,k;
-  dAASSERT (R);
-  l = dSqrt (ax*ax + ay*ay + az*az);
-  if (l <= REAL(0.0)) {
-    dDEBUGMSG ("zero length vector");
-    return;
-  }
-  l = dRecip(l);
-  ax *= l;
-  ay *= l;
-  az *= l;
-  k = ax*bx + ay*by + az*bz;
-  bx -= k*ax;
-  by -= k*ay;
-  bz -= k*az;
-  l = dSqrt (bx*bx + by*by + bz*bz);
-  if (l <= REAL(0.0)) {
-    dDEBUGMSG ("zero length vector");
-    return;
-  }
-  l = dRecip(l);
-  bx *= l;
-  by *= l;
-  bz *= l;
-  _R(0,0) = ax;
-  _R(1,0) = ay;
-  _R(2,0) = az;
-  _R(0,1) = bx;
-  _R(1,1) = by;
-  _R(2,1) = bz;
-  _R(0,2) = - by*az + ay*bz;
-  _R(1,2) = - bz*ax + az*bx;
-  _R(2,2) = - bx*ay + ax*by;
-  _R(0,3) = REAL(0.0);
-  _R(1,3) = REAL(0.0);
-  _R(2,3) = REAL(0.0);
-}
-
-
-void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az)
-{
-  dVector3 n,p,q;
-  n[0] = ax;
-  n[1] = ay;
-  n[2] = az;
-  dNormalize3 (n);
-  dPlaneSpace (n,p,q);
-  _R(0,0) = p[0];
-  _R(1,0) = p[1];
-  _R(2,0) = p[2];
-  _R(0,1) = q[0];
-  _R(1,1) = q[1];
-  _R(2,1) = q[2];
-  _R(0,2) = n[0];
-  _R(1,2) = n[1];
-  _R(2,2) = n[2];
-  _R(0,3) = REAL(0.0);
-  _R(1,3) = REAL(0.0);
-  _R(2,3) = REAL(0.0);
-}
-
-
-void dQSetIdentity (dQuaternion q)
-{
-  dAASSERT (q);
-  q[0] = 1;
-  q[1] = 0;
-  q[2] = 0;
-  q[3] = 0;
-}
-
-
-void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
-                         dReal angle)
-{
-  dAASSERT (q);
-  dReal l = ax*ax + ay*ay + az*az;
-  if (l > REAL(0.0)) {
-    angle *= REAL(0.5);
-    q[0] = dCos (angle);
-    l = dSin(angle) * dRecipSqrt(l);
-    q[1] = ax*l;
-    q[2] = ay*l;
-    q[3] = az*l;
-  }
-  else {
-    q[0] = 1;
-    q[1] = 0;
-    q[2] = 0;
-    q[3] = 0;
-  }
-}
-
-
-void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
-{
-  dAASSERT (qa && qb && qc);
-  qa[0] = qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
-  qa[1] = qb[0]*qc[1] + qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
-  qa[2] = qb[0]*qc[2] + qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
-  qa[3] = qb[0]*qc[3] + qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
-}
-
-
-void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
-{
-  dAASSERT (qa && qb && qc);
-  qa[0] = qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3];
-  qa[1] = qb[0]*qc[1] - qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2];
-  qa[2] = qb[0]*qc[2] - qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3];
-  qa[3] = qb[0]*qc[3] - qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1];
-}
-
-
-void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
-{
-  dAASSERT (qa && qb && qc);
-  qa[0] =  qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3];
-  qa[1] = -qb[0]*qc[1] + qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2];
-  qa[2] = -qb[0]*qc[2] + qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3];
-  qa[3] = -qb[0]*qc[3] + qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1];
-}
-
-
-void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
-{
-  dAASSERT (qa && qb && qc);
-  qa[0] =  qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
-  qa[1] = -qb[0]*qc[1] - qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
-  qa[2] = -qb[0]*qc[2] - qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
-  qa[3] = -qb[0]*qc[3] - qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
-}
-
-
-// dRfromQ(), dQfromR() and dDQfromW() are derived from equations in "An Introduction
-// to Physically Based Modeling: Rigid Body Simulation - 1: Unconstrained
-// Rigid Body Dynamics" by David Baraff, Robotics Institute, Carnegie Mellon
-// University, 1997.
-
-void dRfromQ (dMatrix3 R, const dQuaternion q)
-{
-  dAASSERT (q && R);
-  // q = (s,vx,vy,vz)
-  dReal qq1 = 2*q[1]*q[1];
-  dReal qq2 = 2*q[2]*q[2];
-  dReal qq3 = 2*q[3]*q[3];
-  _R(0,0) = 1 - qq2 - qq3;
-  _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
-  _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
-  _R(0,3) = REAL(0.0);
-  _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
-  _R(1,1) = 1 - qq1 - qq3;
-  _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
-  _R(1,3) = REAL(0.0);
-  _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
-  _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
-  _R(2,2) = 1 - qq1 - qq2;
-  _R(2,3) = REAL(0.0);
-}
-
-
-void dQfromR (dQuaternion q, const dMatrix3 R)
-{
-  dAASSERT (q && R);
-  dReal tr,s;
-  tr = _R(0,0) + _R(1,1) + _R(2,2);
-  if (tr >= 0) {
-    s = dSqrt (tr + 1);
-    q[0] = REAL(0.5) * s;
-    s = REAL(0.5) * dRecip(s);
-    q[1] = (_R(2,1) - _R(1,2)) * s;
-    q[2] = (_R(0,2) - _R(2,0)) * s;
-    q[3] = (_R(1,0) - _R(0,1)) * s;
-  }
-  else {
-    // find the largest diagonal element and jump to the appropriate case
-    if (_R(1,1) > _R(0,0)) {
-      if (_R(2,2) > _R(1,1)) goto case_2;
-      goto case_1;
-    }
-    if (_R(2,2) > _R(0,0)) goto case_2;
-    goto case_0;
-
-    case_0:
-    s = dSqrt((_R(0,0) - (_R(1,1) + _R(2,2))) + 1);
-    q[1] = REAL(0.5) * s;
-    s = REAL(0.5) * dRecip(s);
-    q[2] = (_R(0,1) + _R(1,0)) * s;
-    q[3] = (_R(2,0) + _R(0,2)) * s;
-    q[0] = (_R(2,1) - _R(1,2)) * s;
-    return;
-
-    case_1:
-    s = dSqrt((_R(1,1) - (_R(2,2) + _R(0,0))) + 1);
-    q[2] = REAL(0.5) * s;
-    s = REAL(0.5) * dRecip(s);
-    q[3] = (_R(1,2) + _R(2,1)) * s;
-    q[1] = (_R(0,1) + _R(1,0)) * s;
-    q[0] = (_R(0,2) - _R(2,0)) * s;
-    return;
-
-    case_2:
-    s = dSqrt((_R(2,2) - (_R(0,0) + _R(1,1))) + 1);
-    q[3] = REAL(0.5) * s;
-    s = REAL(0.5) * dRecip(s);
-    q[1] = (_R(2,0) + _R(0,2)) * s;
-    q[2] = (_R(1,2) + _R(2,1)) * s;
-    q[0] = (_R(1,0) - _R(0,1)) * s;
-    return;
-  }
-}
-
-
-void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q)
-{
-  dAASSERT (w && q && dq);
-  dq[0] = REAL(0.5)*(- w[0]*q[1] - w[1]*q[2] - w[2]*q[3]);
-  dq[1] = REAL(0.5)*(  w[0]*q[0] + w[1]*q[3] - w[2]*q[2]);
-  dq[2] = REAL(0.5)*(- w[0]*q[3] + w[1]*q[0] + w[2]*q[1]);
-  dq[3] = REAL(0.5)*(  w[0]*q[2] - w[1]*q[1] + w[2]*q[0]);
-}
diff --git a/libraries/ode-0.9/ode/src/scrapbook.cpp b/libraries/ode-0.9/ode/src/scrapbook.cpp
deleted file mode 100644
index 2621814..0000000
--- a/libraries/ode-0.9/ode/src/scrapbook.cpp
+++ /dev/null
@@ -1,485 +0,0 @@
-
-/*
-
-this is code that was once useful but has now been obseleted.
-
-this file should not be compiled as part of ODE!
-
-*/
-
-//***************************************************************************
-// intersect a line segment with a plane
-
-extern "C" int dClipLineToBox (const dVector3 p1, const dVector3 p2,
-                               const dVector3 p, const dMatrix3 R,
-                               const dVector3 side)
-{
-  // compute the start and end of the line (p1 and p2) relative to the box.
-  // we will do all subsequent computations in this box-relative coordinate
-  // system. we have to do a translation and rotation for each point.
-  dVector3 tmp,s,e;
-  tmp[0] = p1[0] - p[0];
-  tmp[1] = p1[1] - p[1];
-  tmp[2] = p1[2] - p[2];
-  dMULTIPLY1_331 (s,R,tmp);
-  tmp[0] = p2[0] - p[0];
-  tmp[1] = p2[1] - p[1];
-  tmp[2] = p2[2] - p[2];
-  dMULTIPLY1_331 (e,R,tmp);
-
-  // compute the vector 'v' from the start point to the end point
-  dVector3 v;
-  v[0] = e[0] - s[0];
-  v[1] = e[1] - s[1];
-  v[2] = e[2] - s[2];
-
-  // a point on the line is defined by the parameter 't'. t=0 corresponds
-  // to the start of the line, t=1 corresponds to the end of the line.
-  // we will clip the line to the box by finding the range of t where a
-  // point on the line is inside the box. the currently known bounds for
-  // t and tlo..thi.
-  dReal tlo=0,thi=1;
-
-  // clip in the X/Y/Z direction
-  for (int i=0; i<3; i++) {
-    // first adjust s,e for the current t range. this is redundant for the
-    // first iteration, but never mind.
-    e[i] = s[i] + thi*v[i];
-    s[i] = s[i] + tlo*v[i];
-    // compute where t intersects the positive and negative sides.
-    dReal tp = ( side[i] - s[i])/v[i];  // @@@ handle case where denom=0
-    dReal tm = (-side[i] - s[i])/v[i];
-    // handle 9 intersection cases
-    if (s[i] <= -side[i]) {
-      tlo = tm;
-      if (e[i] <= -side[i]) return 0;
-      else if (e[i] >= side[i]) thi = tp;
-    }
-    else if (s[i] <= side[i]) {
-      if (e[i] <= -side[i]) thi = tm;
-      else if (e[i] >= side[i]) thi = tp;
-    }
-    else {
-      tlo = tp;
-      if (e[i] <= -side[i]) thi = tm;
-      else if (e[i] >= side[i]) return 0;
-    }
-  }
-
-  //... @@@ AT HERE @@@
-
-  return 1;
-}
-
-
-//***************************************************************************
-// a nice try at C-B collision. unfortunately it doesn't work. the logic
-// for testing for line-box intersection is correct, but unfortunately the
-// closest-point distance estimates are often too large. as a result contact
-// points are placed incorrectly.
-
-
-int dCollideCB (const dxGeom *o1, const dxGeom *o2, int flags,
-                dContactGeom *contact, int skip)
-{
-  int i;
-
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->_class->num == dCCylinderClass);
-  dIASSERT (o2->_class->num == dBoxClass);
-  contact->g1 = const_cast<dxGeom*> (o1);
-  contact->g2 = const_cast<dxGeom*> (o2);
-  dxCCylinder *cyl = (dxCCylinder*) CLASSDATA(o1);
-  dxBox *box = (dxBox*) CLASSDATA(o2);
-
-  // get p1,p2 = cylinder axis endpoints, get radius
-  dVector3 p1,p2;
-  dReal clen = cyl->lz * REAL(0.5);
-  p1[0] = o1->pos[0] + clen * o1->R[2];
-  p1[1] = o1->pos[1] + clen * o1->R[6];
-  p1[2] = o1->pos[2] + clen * o1->R[10];
-  p2[0] = o1->pos[0] - clen * o1->R[2];
-  p2[1] = o1->pos[1] - clen * o1->R[6];
-  p2[2] = o1->pos[2] - clen * o1->R[10];
-  dReal radius = cyl->radius;
-
-  // copy out box center, rotation matrix, and side array
-  dReal *c = o2->pos;
-  dReal *R = o2->R;
-  dReal *side = box->side;
-
-  // compute the start and end of the line (p1 and p2) relative to the box.
-  // we will do all subsequent computations in this box-relative coordinate
-  // system. we have to do a translation and rotation for each point.
-  dVector3 tmp3,s,e;
-  tmp3[0] = p1[0] - c[0];
-  tmp3[1] = p1[1] - c[1];
-  tmp3[2] = p1[2] - c[2];
-  dMULTIPLY1_331 (s,R,tmp3);
-  tmp3[0] = p2[0] - c[0];
-  tmp3[1] = p2[1] - c[1];
-  tmp3[2] = p2[2] - c[2];
-  dMULTIPLY1_331 (e,R,tmp3);
-
-  // compute the vector 'v' from the start point to the end point
-  dVector3 v;
-  v[0] = e[0] - s[0];
-  v[1] = e[1] - s[1];
-  v[2] = e[2] - s[2];
-
-  // compute the half-sides of the box
-  dReal S0 = side[0] * REAL(0.5);
-  dReal S1 = side[1] * REAL(0.5);
-  dReal S2 = side[2] * REAL(0.5);
-
-  // compute the size of the bounding box around the line segment
-  dReal B0 = dFabs (v[0]);
-  dReal B1 = dFabs (v[1]);
-  dReal B2 = dFabs (v[2]);
-
-  // for all 6 separation axes, measure the penetration depth. if any depth is
-  // less than 0 then the objects don't penetrate at all so we can just
-  // return 0. find the axis with the smallest depth, and record its normal.
-
-  // note: normalR is set to point to a column of R if that is the smallest
-  // depth normal so far. otherwise normalR is 0 and normalC is set to a
-  // vector relative to the box. invert_normal is 1 if the sign of the normal
-  // should be flipped.
-
-  dReal depth,trial_depth,tmp,length;
-  const dReal *normalR=0;
-  dVector3 normalC;
-  int invert_normal = 0;
-  int code = 0;         // 0=no contact, 1-3=face contact, 4-6=edge contact
-
-  depth = dInfinity;
-
-  // look at face-normal axes
-
-#undef TEST
-#define TEST(center,depth_expr,norm,contact_code) \
-  tmp = (center); \
-  trial_depth = radius + REAL(0.5) * ((depth_expr) - dFabs(tmp)); \
-  if (trial_depth < 0) return 0; \
-  if (trial_depth < depth) { \
-    depth = trial_depth; \
-    normalR = (norm); \
-    invert_normal = (tmp < 0); \
-    code = contact_code; \
-  }
-
-  TEST (s[0]+e[0], side[0] + B0, R+0, 1);
-  TEST (s[1]+e[1], side[1] + B1, R+1, 2);
-  TEST (s[2]+e[2], side[2] + B2, R+2, 3);
-
-  // look at v x box-edge axes
-
-#undef TEST
-#define TEST(box_radius,line_offset,nx,ny,nz,contact_code) \
-  tmp = (line_offset); \
-  trial_depth = (box_radius) - dFabs(tmp); \
-  length = dSqrt ((nx)*(nx) + (ny)*(ny) + (nz)*(nz)); \
-  if (length > 0) { \
-    length = dRecip(length); \
-    trial_depth = trial_depth * length + radius; \
-    if (trial_depth < 0) return 0; \
-    if (trial_depth < depth) { \
-      depth = trial_depth; \
-      normalR = 0; \
-      normalC[0] = (nx)*length; \
-      normalC[1] = (ny)*length; \
-      normalC[2] = (nz)*length; \
-      invert_normal = (tmp < 0); \
-      code = contact_code; \
-    } \
-  }
-
-  TEST (B2*S1+B1*S2,v[1]*s[2]-v[2]*s[1], 0,-v[2],v[1], 4);
-  TEST (B2*S0+B0*S2,v[2]*s[0]-v[0]*s[2], v[2],0,-v[0], 5);
-  TEST (B1*S0+B0*S1,v[0]*s[1]-v[1]*s[0], -v[1],v[0],0, 6);
-
-#undef TEST
-
-  // if we get to this point, the box and ccylinder interpenetrate.
-  // compute the normal in global coordinates.
-  dReal *normal = contact[0].normal;
-  if (normalR) {
-    normal[0] = normalR[0];
-    normal[1] = normalR[4];
-    normal[2] = normalR[8];
-  }
-  else {
-    dMULTIPLY0_331 (normal,R,normalC);
-  }
-  if (invert_normal) {
-    normal[0] = -normal[0];
-    normal[1] = -normal[1];
-    normal[2] = -normal[2];
-  }
-
-  // set the depth
-  contact[0].depth = depth;
-
-  if (code == 0) {
-    return 0;           // should never get here
-  }
-  else if (code >= 4) {
-    // handle edge contacts
-    // find an endpoint q1 on the intersecting edge of the box
-    dVector3 q1;
-    dReal sign[3];
-    for (i=0; i<3; i++) q1[i] = c[i];
-    sign[0] = (dDOT14(normal,R+0) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) q1[i] += sign[0] * S0 * R[i*4];
-    sign[1] = (dDOT14(normal,R+1) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) q1[i] += sign[1] * S1 * R[i*4+1];
-    sign[2] = (dDOT14(normal,R+2) > 0) ? REAL(1.0) : REAL(-1.0);
-    for (i=0; i<3; i++) q1[i] += sign[2] * S2 * R[i*4+2];
-
-    // find the other endpoint q2 of the intersecting edge
-    dVector3 q2;
-    for (i=0; i<3; i++)
-      q2[i] = q1[i] - R[code-4 + i*4] * (sign[code-4] * side[code-4]);
-
-    // determine the closest point between the box edge and the line segment
-    dVector3 cp1,cp2;
-    dClosestLineSegmentPoints (q1,q2, p1,p2, cp1,cp2);
-    for (i=0; i<3; i++) contact[0].pos[i] = cp1[i] - REAL(0.5)*normal[i]*depth;
-    return 1;
-  }
-  else {
-    // handle face contacts.
-    // @@@ temporary: make deepest vertex on the line the contact point.
-    // @@@ this kind of works, but we sometimes need two contact points for
-    // @@@ stability.
-
-    // compute 'v' in global coordinates
-    dVector3 gv;
-    for (i=0; i<3; i++) gv[i] = p2[i] - p1[i];
-
-    if (dDOT (normal,gv) > 0) {
-      for (i=0; i<3; i++)
-        contact[0].pos[i] = p1[i] + (depth*REAL(0.5)-radius)*normal[i];
-    }
-    else {
-      for (i=0; i<3; i++)
-        contact[0].pos[i] = p2[i] + (depth*REAL(0.5)-radius)*normal[i];
-    }
-    return 1;
-  }
-}
-
-//***************************************************************************
-// this function works, it's just not being used for anything at the moment:
-
-// given a box (R,side), `R' is the rotation matrix for the box, and `side'
-// is a vector of x/y/z side lengths, return the size of the interval of the
-// box projected along the given axis. if the axis has unit length then the
-// return value will be the actual diameter, otherwise the result will be
-// scaled by the axis length.
-
-static inline dReal boxDiameter (const dMatrix3 R, const dVector3 side,
-                                 const dVector3 axis)
-{
-  dVector3 q;
-  dMULTIPLY1_331 (q,R,axis);    // transform axis to body-relative
-  return dFabs(q[0])*side[0] + dFabs(q[1])*side[1] + dFabs(q[2])*side[2];
-}
-
-//***************************************************************************
-// the old capped cylinder to capped cylinder collision code. this fails to
-// detect cap-to-cap contact points when the cylinder axis are aligned, but
-// other that that it is pretty robust.
-
-// this returns at most one contact point when the two cylinder's axes are not
-// aligned, and at most two (for stability) when they are aligned.
-// the algorithm minimizes the distance between two "sample spheres" that are
-// positioned along the cylinder axes according to:
-//    sphere1 = pos1 + alpha1 * axis1
-//    sphere2 = pos2 + alpha2 * axis2
-// alpha1 and alpha2 are limited to +/- half the length of the cylinders.
-// the algorithm works by finding a solution that has both alphas free, or
-// a solution that has one or both alphas fixed to the ends of the cylinder.
-
-int dCollideCCylinderCCylinder (dxGeom *o1, dxGeom *o2,
-                                int flags, dContactGeom *contact, int skip)
-{
-  int i;
-  const dReal tolerance = REAL(1e-5);
-
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dCCylinderClass);
-  dIASSERT (o2->type == dCCylinderClass);
-  dxCCylinder *cyl1 = (dxCCylinder*) o1;
-  dxCCylinder *cyl2 = (dxCCylinder*) o2;
-
-  contact->g1 = o1;
-  contact->g2 = o2;
-
-  // copy out some variables, for convenience
-  dReal lz1 = cyl1->lz * REAL(0.5);
-  dReal lz2 = cyl2->lz * REAL(0.5);
-  dReal *pos1 = o1->pos;
-  dReal *pos2 = o2->pos;
-  dReal axis1[3],axis2[3];
-  axis1[0] = o1->R[2];
-  axis1[1] = o1->R[6];
-  axis1[2] = o1->R[10];
-  axis2[0] = o2->R[2];
-  axis2[1] = o2->R[6];
-  axis2[2] = o2->R[10];
-
-  dReal alpha1,alpha2,sphere1[3],sphere2[3];
-  int fix1 = 0;         // 0 if alpha1 is free, +/-1 to fix at +/- lz1
-  int fix2 = 0;         // 0 if alpha2 is free, +/-1 to fix at +/- lz2
-
-  for (int count=0; count<9; count++) {
-    // find a trial solution by fixing or not fixing the alphas
-    if (fix1) {
-      if (fix2) {
-        // alpha1 and alpha2 are fixed, so the solution is easy
-        if (fix1 > 0) alpha1 = lz1; else alpha1 = -lz1;
-        if (fix2 > 0) alpha2 = lz2; else alpha2 = -lz2;
-        for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-        for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-      }
-      else {
-        // fix alpha1 but let alpha2 be free
-        if (fix1 > 0) alpha1 = lz1; else alpha1 = -lz1;
-        for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-        alpha2 = (axis2[0]*(sphere1[0]-pos2[0]) +
-                  axis2[1]*(sphere1[1]-pos2[1]) +
-                  axis2[2]*(sphere1[2]-pos2[2]));
-        for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-      }
-    }
-    else {
-      if (fix2) {
-        // fix alpha2 but let alpha1 be free
-        if (fix2 > 0) alpha2 = lz2; else alpha2 = -lz2;
-        for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-        alpha1 = (axis1[0]*(sphere2[0]-pos1[0]) +
-                  axis1[1]*(sphere2[1]-pos1[1]) +
-                  axis1[2]*(sphere2[2]-pos1[2]));
-        for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-      }
-      else {
-        // let alpha1 and alpha2 be free
-        // compute determinant of d(d^2)\d(alpha) jacobian
-        dReal a1a2 = dDOT (axis1,axis2);
-        dReal det = REAL(1.0)-a1a2*a1a2;
-        if (det < tolerance) {
-          // the cylinder axes (almost) parallel, so we will generate up to two
-          // contacts. the solution matrix is rank deficient so alpha1 and
-          // alpha2 are related by:
-          //       alpha2 =   alpha1 + (pos1-pos2)'*axis1   (if axis1==axis2)
-          //    or alpha2 = -(alpha1 + (pos1-pos2)'*axis1)  (if axis1==-axis2)
-          // first compute where the two cylinders overlap in alpha1 space:
-          if (a1a2 < 0) {
-            axis2[0] = -axis2[0];
-            axis2[1] = -axis2[1];
-            axis2[2] = -axis2[2];
-          }
-          dReal q[3];
-          for (i=0; i<3; i++) q[i] = pos1[i]-pos2[i];
-          dReal k = dDOT (axis1,q);
-          dReal a1lo = -lz1;
-          dReal a1hi = lz1;
-          dReal a2lo = -lz2 - k;
-          dReal a2hi = lz2 - k;
-          dReal lo = (a1lo > a2lo) ? a1lo : a2lo;
-          dReal hi = (a1hi < a2hi) ? a1hi : a2hi;
-          if (lo <= hi) {
-            int num_contacts = flags & NUMC_MASK;
-            if (num_contacts >= 2 && lo < hi) {
-              // generate up to two contacts. if one of those contacts is
-              // not made, fall back on the one-contact strategy.
-              for (i=0; i<3; i++) sphere1[i] = pos1[i] + lo*axis1[i];
-              for (i=0; i<3; i++) sphere2[i] = pos2[i] + (lo+k)*axis2[i];
-              int n1 = dCollideSpheres (sphere1,cyl1->radius,
-                                        sphere2,cyl2->radius,contact);
-              if (n1) {
-                for (i=0; i<3; i++) sphere1[i] = pos1[i] + hi*axis1[i];
-                for (i=0; i<3; i++) sphere2[i] = pos2[i] + (hi+k)*axis2[i];
-                dContactGeom *c2 = CONTACT(contact,skip);
-                int n2 = dCollideSpheres (sphere1,cyl1->radius,
-                                          sphere2,cyl2->radius, c2);
-                if (n2) {
-                  c2->g1 = o1;
-                  c2->g2 = o2;
-                  return 2;
-                }
-              }
-            }
-
-            // just one contact to generate, so put it in the middle of
-            // the range
-            alpha1 = (lo + hi) * REAL(0.5);
-            alpha2 = alpha1 + k;
-            for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-            for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-            return dCollideSpheres (sphere1,cyl1->radius,
-                                    sphere2,cyl2->radius,contact);
-          }
-          else return 0;
-        }
-        det = REAL(1.0)/det;
-        dReal delta[3];
-        for (i=0; i<3; i++) delta[i] = pos1[i] - pos2[i];
-        dReal q1 = dDOT (delta,axis1);
-        dReal q2 = dDOT (delta,axis2);
-        alpha1 = det*(a1a2*q2-q1);
-        alpha2 = det*(q2-a1a2*q1);
-        for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
-        for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
-      }
-    }
-
-    // if the alphas are outside their allowed ranges then fix them and
-    // try again
-    if (fix1==0) {
-      if (alpha1 < -lz1) {
-        fix1 = -1;
-        continue;
-      }
-      if (alpha1 > lz1) {
-        fix1 = 1;
-        continue;
-      }
-    }
-    if (fix2==0) {
-      if (alpha2 < -lz2) {
-        fix2 = -1;
-        continue;
-      }
-      if (alpha2 > lz2) {
-        fix2 = 1;
-        continue;
-      }
-    }
-
-    // unfix the alpha variables if the local distance gradient indicates
-    // that we are not yet at the minimum
-    dReal tmp[3];
-    for (i=0; i<3; i++) tmp[i] = sphere1[i] - sphere2[i];
-    if (fix1) {
-      dReal gradient = dDOT (tmp,axis1);
-      if ((fix1 > 0 && gradient > 0) || (fix1 < 0 && gradient < 0)) {
-        fix1 = 0;
-        continue;
-      }
-    }
-    if (fix2) {
-      dReal gradient = -dDOT (tmp,axis2);
-      if ((fix2 > 0 && gradient > 0) || (fix2 < 0 && gradient < 0)) {
-        fix2 = 0;
-        continue;
-      }
-    }
-    return dCollideSpheres (sphere1,cyl1->radius,sphere2,cyl2->radius,contact);
-  }
-  // if we go through the loop too much, then give up. we should NEVER get to
-  // this point (i hope).
-  dMessage (0,"dCollideCC(): too many iterations");
-  return 0;
-}
diff --git a/libraries/ode-0.9/ode/src/sphere.cpp b/libraries/ode-0.9/ode/src/sphere.cpp
deleted file mode 100644
index fa25aac..0000000
--- a/libraries/ode-0.9/ode/src/sphere.cpp
+++ /dev/null
@@ -1,241 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-standard ODE geometry primitives: public API and pairwise collision functions.
-
-the rule is that only the low level primitive collision functions should set
-dContactGeom::g1 and dContactGeom::g2.
-
-*/
-
-#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_util.h"
-
-#ifdef _MSC_VER
-#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
-#endif
-
-
-//****************************************************************************
-// sphere public API
-
-dxSphere::dxSphere (dSpaceID space, dReal _radius) : dxGeom (space,1)
-{
-  dAASSERT (_radius > 0);
-  type = dSphereClass;
-  radius = _radius;
-}
-
-
-void dxSphere::computeAABB()
-{
-  aabb[0] = final_posr->pos[0] - radius;
-  aabb[1] = final_posr->pos[0] + radius;
-  aabb[2] = final_posr->pos[1] - radius;
-  aabb[3] = final_posr->pos[1] + radius;
-  aabb[4] = final_posr->pos[2] - radius;
-  aabb[5] = final_posr->pos[2] + radius;
-}
-
-
-dGeomID dCreateSphere (dSpaceID space, dReal radius)
-{
-  return new dxSphere (space,radius);
-}
-
-
-void dGeomSphereSetRadius (dGeomID g, dReal radius)
-{
-  dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
-  dAASSERT (radius > 0);
-  dxSphere *s = (dxSphere*) g;
-  s->radius = radius;
-  dGeomMoved (g);
-}
-
-
-dReal dGeomSphereGetRadius (dGeomID g)
-{
-  dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
-  dxSphere *s = (dxSphere*) g;
-  return s->radius;
-}
-
-
-dReal dGeomSpherePointDepth (dGeomID g, dReal x, dReal y, dReal z)
-{
-  dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
-  g->recomputePosr();
-  
-  dxSphere *s = (dxSphere*) g;
-  dReal * pos = s->final_posr->pos;
-  return s->radius - dSqrt ((x-pos[0])*(x-pos[0]) +
-                            (y-pos[1])*(y-pos[1]) +
-                            (z-pos[2])*(z-pos[2]));
-}
-
-//****************************************************************************
-// pairwise collision functions for standard geom types
-
-int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
-                          dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dSphereClass);
-  dIASSERT (o2->type == dSphereClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-  
-  dxSphere *sphere1 = (dxSphere*) o1;
-  dxSphere *sphere2 = (dxSphere*) o2;
-
-  contact->g1 = o1;
-  contact->g2 = o2;
-
-  return dCollideSpheres (o1->final_posr->pos,sphere1->radius,
-                          o2->final_posr->pos,sphere2->radius,contact);
-}
-
-
-int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
-                       dContactGeom *contact, int skip)
-{

-  dIASSERT (skip >= (int)sizeof(dContactGeom));

-  dIASSERT (o1->type == dSphereClass);

-  dIASSERT (o2->type == dBoxClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-  
-  // this is easy. get the sphere center `p' relative to the box, and then clip
-  // that to the boundary of the box (call that point `q'). if q is on the
-  // boundary of the box and |p-q| is <= sphere radius, they touch.
-  // if q is inside the box, the sphere is inside the box, so set a contact
-  // normal to push the sphere to the closest box face.
-
-  dVector3 l,t,p,q,r;
-  dReal depth;
-  int onborder = 0;
-
-  dxSphere *sphere = (dxSphere*) o1;
-  dxBox *box = (dxBox*) o2;
-
-  contact->g1 = o1;
-  contact->g2 = o2;
-
-  p[0] = o1->final_posr->pos[0] - o2->final_posr->pos[0];
-  p[1] = o1->final_posr->pos[1] - o2->final_posr->pos[1];
-  p[2] = o1->final_posr->pos[2] - o2->final_posr->pos[2];
-
-  l[0] = box->side[0]*REAL(0.5);
-  t[0] = dDOT14(p,o2->final_posr->R);
-  if (t[0] < -l[0]) { t[0] = -l[0]; onborder = 1; }
-  if (t[0] >  l[0]) { t[0] =  l[0]; onborder = 1; }
-
-  l[1] = box->side[1]*REAL(0.5);
-  t[1] = dDOT14(p,o2->final_posr->R+1);
-  if (t[1] < -l[1]) { t[1] = -l[1]; onborder = 1; }
-  if (t[1] >  l[1]) { t[1] =  l[1]; onborder = 1; }
-
-  t[2] = dDOT14(p,o2->final_posr->R+2);
-  l[2] = box->side[2]*REAL(0.5);
-  if (t[2] < -l[2]) { t[2] = -l[2]; onborder = 1; }
-  if (t[2] >  l[2]) { t[2] =  l[2]; onborder = 1; }
-
-  if (!onborder) {
-    // sphere center inside box. find closest face to `t'
-    dReal min_distance = l[0] - dFabs(t[0]);
-    int mini = 0;
-    for (int i=1; i<3; i++) {
-      dReal face_distance = l[i] - dFabs(t[i]);
-      if (face_distance < min_distance) {
-        min_distance = face_distance;
-        mini = i;
-      }
-    }
-    // contact position = sphere center
-    contact->pos[0] = o1->final_posr->pos[0];
-    contact->pos[1] = o1->final_posr->pos[1];
-    contact->pos[2] = o1->final_posr->pos[2];
-    // contact normal points to closest face
-    dVector3 tmp;
-    tmp[0] = 0;
-    tmp[1] = 0;
-    tmp[2] = 0;
-    tmp[mini] = (t[mini] > 0) ? REAL(1.0) : REAL(-1.0);
-    dMULTIPLY0_331 (contact->normal,o2->final_posr->R,tmp);
-    // contact depth = distance to wall along normal plus radius
-    contact->depth = min_distance + sphere->radius;
-    return 1;
-  }
-
-  t[3] = 0;                     //@@@ hmmm
-  dMULTIPLY0_331 (q,o2->final_posr->R,t);
-  r[0] = p[0] - q[0];
-  r[1] = p[1] - q[1];
-  r[2] = p[2] - q[2];
-  depth = sphere->radius - dSqrt(dDOT(r,r));
-  if (depth < 0) return 0;
-  contact->pos[0] = q[0] + o2->final_posr->pos[0];
-  contact->pos[1] = q[1] + o2->final_posr->pos[1];
-  contact->pos[2] = q[2] + o2->final_posr->pos[2];
-  contact->normal[0] = r[0];
-  contact->normal[1] = r[1];
-  contact->normal[2] = r[2];
-  dNormalize3 (contact->normal);
-  contact->depth = depth;
-  return 1;
-}
-
-
-int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
-                         dContactGeom *contact, int skip)
-{
-  dIASSERT (skip >= (int)sizeof(dContactGeom));
-  dIASSERT (o1->type == dSphereClass);
-  dIASSERT (o2->type == dPlaneClass);

-  dIASSERT ((flags & NUMC_MASK) >= 1);

-
-  dxSphere *sphere = (dxSphere*) o1;
-  dxPlane *plane = (dxPlane*) o2;
-
-  contact->g1 = o1;
-  contact->g2 = o2;
-  dReal k = dDOT (o1->final_posr->pos,plane->p);
-  dReal depth = plane->p[3] - k + sphere->radius;
-  if (depth >= 0) {
-    contact->normal[0] = plane->p[0];
-    contact->normal[1] = plane->p[1];
-    contact->normal[2] = plane->p[2];
-    contact->pos[0] = o1->final_posr->pos[0] - plane->p[0] * sphere->radius;
-    contact->pos[1] = o1->final_posr->pos[1] - plane->p[1] * sphere->radius;
-    contact->pos[2] = o1->final_posr->pos[2] - plane->p[2] * sphere->radius;
-    contact->depth = depth;
-    return 1;
-  }
-  else return 0;
-}
diff --git a/libraries/ode-0.9/ode/src/stack.cpp b/libraries/ode-0.9/ode/src/stack.cpp
deleted file mode 100644
index e062f92..0000000
--- a/libraries/ode-0.9/ode/src/stack.cpp
+++ /dev/null
@@ -1,114 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-@@@ this file should not be compiled any more @@@
-
-#include <string.h>
-#include <errno.h>
-#include "stack.h"
-#include "ode/error.h"
-#include "ode/config.h"
-
-//****************************************************************************
-// unix version that uses mmap(). some systems have anonymous mmaps and some
-// need to mmap /dev/zero.
-
-#ifndef WIN32
-
-#include <unistd.h>
-#include <sys/mman.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-
-
-void dStack::init (int max_size)
-{
-  if (sizeof(long int) != sizeof(char*)) dDebug (0,"internal");
-  if (max_size <= 0) dDebug (0,"Stack::init() given size <= 0");
-
-#ifndef MMAP_ANONYMOUS
-  static int dev_zero_fd = -1;  // cached file descriptor for /dev/zero
-  if (dev_zero_fd < 0) dev_zero_fd = open ("/dev/zero", O_RDWR);
-  if (dev_zero_fd < 0) dError (0,"can't open /dev/zero (%s)",strerror(errno));
-  base = (char*) mmap (0,max_size, PROT_READ | PROT_WRITE, MAP_PRIVATE,
-                       dev_zero_fd,0);
-#else
-  base = (char*) mmap (0,max_size, PROT_READ | PROT_WRITE,
-                       MAP_PRIVATE | MAP_ANON,0,0);
-#endif
-
-  if (int(base) == -1) dError (0,"Stack::init(), mmap() failed, "
-    "max_size=%d (%s)",max_size,strerror(errno));
-  size = max_size;
-  pointer = base;
-  frame = 0;
-}
-
-
-void dStack::destroy()
-{
-  munmap (base,size);
-  base = 0;
-  size = 0;
-  pointer = 0;
-  frame = 0;
-}
-
-#endif
-
-//****************************************************************************
-
-#ifdef WIN32
-
-#include "windows.h"
-
-
-void dStack::init (int max_size)
-{
-  if (sizeof(LPVOID) != sizeof(char*)) dDebug (0,"internal");
-  if (max_size <= 0) dDebug (0,"Stack::init() given size <= 0");
-  base = (char*) VirtualAlloc (NULL,max_size,MEM_RESERVE,PAGE_READWRITE);
-  if (base == 0) dError (0,"Stack::init(), VirtualAlloc() failed, "
-    "max_size=%d",max_size);
-  size = max_size;
-  pointer = base;
-  frame = 0;
-  committed = 0;
-
-  // get page size
-  SYSTEM_INFO info;
-  GetSystemInfo (&info);
-  pagesize = info.dwPageSize;
-}
-
-
-void dStack::destroy()
-{
-  VirtualFree (base,0,MEM_RELEASE);
-  base = 0;
-  size = 0;
-  pointer = 0;
-  frame = 0;
-}
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/stack.h b/libraries/ode-0.9/ode/src/stack.h
deleted file mode 100644
index 5afff41..0000000
--- a/libraries/ode-0.9/ode/src/stack.h
+++ /dev/null
@@ -1,138 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/* this comes from the `reuse' library. copy any changes back to the source.
-
-these stack allocation functions are a replacement for alloca(), except that
-they allocate memory from a separate pool.
-
-advantages over alloca():
-  - consecutive allocations are guaranteed to be contiguous with increasing
-    address.
-  - functions can allocate stack memory that is returned to the caller,
-    in other words pushing and popping stack frames is optional.
-
-disadvantages compared to alloca():
-  - less portable
-  - slightly slower, although still orders of magnitude faster than malloc().
-  - longjmp() and exceptions do not deallocate stack memory (but who cares?).
-
-just like alloca():
-  - using too much stack memory does not fail gracefully, it fails with a
-    segfault.
-
-*/
-
-
-#ifndef _ODE_STACK_H_
-#define _ODE_STACK_H_
-
-
-#ifdef WIN32
-#include "windows.h"
-#endif
-
-
-struct dStack {
-  char *base;           // bottom of the stack
-  int size;             // maximum size of the stack
-  char *pointer;        // current top of the stack
-  char *frame;          // linked list of stack frame ptrs
-# ifdef WIN32           // stuff for windows:
-  int pagesize;         //   - page size - this is ASSUMED to be a power of 2
-  int committed;        //   - bytes committed in allocated region
-#endif
-
-  // initialize the stack. `max_size' is the maximum size that the stack can
-  // reach. on unix and windows a `virtual' memory block of this size is
-  // mapped into the address space but does not actually consume physical
-  // memory until it is referenced - so it is safe to set this to a high value.
-
-  void init (int max_size);
-
-
-  // destroy the stack. this unmaps any virtual memory that was allocated.
-
-  void destroy();
-
-
-  // allocate `size' bytes from the stack and return a pointer to the allocated
-  // memory. `size' must be >= 0. the returned pointer will be aligned to the
-  // size of a long int.
-
-  char * alloc (int size)
-  {
-    char *ret = pointer;
-    pointer += ((size-1) | (sizeof(long int)-1) )+1;
-#   ifdef WIN32
-    // for windows we need to commit pages as they are required
-    if ((pointer-base) > committed) {
-      committed = ((pointer-base-1) | (pagesize-1))+1;  // round up to pgsize
-      VirtualAlloc (base,committed,MEM_COMMIT,PAGE_READWRITE);
-    }
-#   endif
-    return ret;
-  }
-
-
-  // return the address that will be returned by the next call to alloc()
-
-  char *nextAlloc()
-  {
-    return pointer;
-  }
-
-
-  // push and pop the current size of the stack. pushFrame() saves the current
-  // frame pointer on the stack, and popFrame() retrieves it. a typical
-  // stack-using function will bracket alloc() calls with pushFrame() and
-  // popFrame(). both functions return the current stack pointer - this should
-  // be the same value for the two bracketing calls. calling popFrame() too
-  // many times will result in a segfault.
-
-  char * pushFrame()
-  {
-    char *newframe = pointer;
-    char **addr = (char**) alloc (sizeof(char*));
-    *addr = frame;
-    frame = newframe;
-    return newframe;
-
-    /* OLD CODE
-        *((char**)pointer) = frame;
-        frame = pointer;
-        char *ret = pointer;
-        pointer += sizeof(char*);
-        return ret;
-    */
-  }
-
-  char * popFrame()
-  {
-    pointer = frame;
-    frame = *((char**)pointer);
-    return pointer;
-  }
-};
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/step.cpp b/libraries/ode-0.9/ode/src/step.cpp
deleted file mode 100644
index 19d0473..0000000
--- a/libraries/ode-0.9/ode/src/step.cpp
+++ /dev/null
@@ -1,1795 +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"
-#include "util.h"
-
-//****************************************************************************
-// misc defines
-
-#define FAST_FACTOR
-//#define TIMING
-
-// memory allocation system
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-unsigned int dMemoryFlag;
-#define REPORT_OUT_OF_MEMORY fprintf(stderr, "Insufficient memory to complete rigid body simulation.  Results will not be accurate.\n")
-
-#define ALLOCA(t,v,s) t* v=(t*)malloc(s)
-#define UNALLOCA(t)  free(t)
-
-#else
-#define ALLOCA(t,v,s) t* v=(t*)dALLOCA16(s)
-#define UNALLOCA(t)  /* nothing */
-#endif
-
-
-//****************************************************************************
-// 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
-
-// undef to use the fast decomposition
-#define DIRECT_CHOLESKY
-#undef REPORT_ERROR
-
-//****************************************************************************
-// 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;
-}
-
-//****************************************************************************
-// 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).
-  ALLOCA(dxJoint*,joint,nj*sizeof(dxJoint*));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (joint == NULL) {
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  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.
-  ALLOCA(dReal,I,3*nb*4*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (I == NULL) {
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  ALLOCA(dReal,invI,3*nb*4*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (invI == NULL) {
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  //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]->posr.R);
-    dMULTIPLY0_333 (I+i*12,body[i]->posr.R,tmp);
-    // compute inverse inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->posr.R);
-    dMULTIPLY0_333 (invI+i*12,body[i]->posr.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;
-  ALLOCA(dxJoint::Info1,info,nj*sizeof(dxJoint::Info1));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (info == NULL) {
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  ALLOCA(int,ofs,nj*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (ofs == NULL) {
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  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);
-  ALLOCA(dReal, invM, n6*nskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (invM == NULL) {
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  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
-  ALLOCA(dReal,fe,n6*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (fe == NULL) {
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  ALLOCA(dReal,v,n6*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (v == NULL) {
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  //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
-  ALLOCA(dReal,vnew,n6*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (vnew == NULL) {
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  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.
-    ALLOCA(dReal,c,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (c == NULL) {
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(dReal,cfm,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (cfm == NULL) {
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(dReal,lo,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (lo == NULL) {
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(dReal,hi,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (hi == NULL) {
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(int,findex,m*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (findex == NULL) {
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    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
-    ALLOCA(dReal,J,m*nskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (J == NULL) {
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    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
-    ALLOCA(dReal,JinvM,m*nskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (JinvM == NULL) {
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    //dSetZero (JinvM,m*nskip);
-    dMultiply0 (JinvM,J,invM,m,n6,n6);
-    int mskip = dPAD(m);
-    ALLOCA(dReal,A,m*mskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (A == NULL) {
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    //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
-    ALLOCA(dReal,tmp1,n6*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (tmp1 == NULL) {
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    //dSetZero (tmp1,n6);
-    dMultiply0 (tmp1,invM,fe,n6,n6,1);
-    for (i=0; i<n6; i++) tmp1[i] += v[i]/stepsize;
-    ALLOCA(dReal,rhs,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (rhs == NULL) {
-      UNALLOCA(tmp1);
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    //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
-
-
-
- 
-
-#ifndef DIRECT_CHOLESKY
-    // solve the LCP problem and get lambda.
-    // this will destroy A but that's okay
-#   ifdef TIMING
-    dTimerNow ("solving LCP problem");
-#   endif
-    ALLOCA(dReal,lambda,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (lambda == NULL) {
-      UNALLOCA(rhs);
-      UNALLOCA(tmp1);
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(dReal,residual,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (residual == NULL) {
-      UNALLOCA(lambda);
-      UNALLOCA(rhs);
-      UNALLOCA(tmp1);
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex);
-    UNALLOCA(residual);
-    UNALLOCA(lambda);
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY)
-      return;
-#endif
-
-
-#else
-
-    // OLD WAY - direct factor and solve
-
-    // factorize A (L*L'=A)
-#   ifdef TIMING
-    dTimerNow ("factorize A");
-#   endif
-    ALLOCA(dReal,L,m*mskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (L == NULL) {
-      UNALLOCA(rhs);
-      UNALLOCA(tmp1);
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    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
-    ALLOCA(dReal,lambda,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (lambda == NULL) {
-      UNALLOCA(L);
-      UNALLOCA(rhs);
-      UNALLOCA(tmp1);
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(vnew);
-      UNALLOCA(v);
-      UNALLOCA(fe);
-      UNALLOCA(invM);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    memcpy (lambda,rhs,m * sizeof(dReal));
-    dSolveCholesky (L,lambda,m);
-#endif
-
-#   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];
-
-#ifdef REPORT_ERROR
-    // 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 ("total constraint error=%.6e\n",err);
-#endif
-
-    UNALLOCA(c);
-    UNALLOCA(cfm);
-    UNALLOCA(lo);
-    UNALLOCA(hi);
-    UNALLOCA(findex);
-    UNALLOCA(J);
-    UNALLOCA(JinvM);
-    UNALLOCA(A);
-    UNALLOCA(tmp1);
-    UNALLOCA(rhs);
-    UNALLOCA(lambda); 
-    UNALLOCA(L);
-  }
-  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++) dxStepBody (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
-
-  UNALLOCA(joint);
-  UNALLOCA(I);
-  UNALLOCA(invI);
-  UNALLOCA(info);
-  UNALLOCA(ofs);
-  UNALLOCA(invM);
-  UNALLOCA(fe);
-  UNALLOCA(v);
-  UNALLOCA(vnew);
-}
-
-//****************************************************************************
-// 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).
-  ALLOCA(dxJoint*,joint,nj*sizeof(dxJoint*));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-  if (joint == NULL) {
-    dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-    return;
-  }
-#endif
-  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.
-#ifdef dGYROSCOPIC  
-  ALLOCA(dReal,I,3*nb*4*sizeof(dReal));
-# ifdef dUSE_MALLOC_FOR_ALLOCA
-  if (I == NULL) {
-    UNALLOCA(joint);
-    dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-    return;
-  }
-# endif
-#else
-  dReal *I = NULL;
-#endif // for dGYROSCOPIC
-
-  ALLOCA(dReal,invI,3*nb*4*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-  if (invI == NULL) {
-    UNALLOCA(I);
-    UNALLOCA(joint);
-    dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-    return;
-  }
-#endif
-
-  //dSetZero (I,3*nb*4);
-  //dSetZero (invI,3*nb*4);
-  for (i=0; i<nb; i++) {
-    dReal tmp[12];
-
-    // compute inverse inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->posr.R);
-    dMULTIPLY0_333 (invI+i*12,body[i]->posr.R,tmp);
-#ifdef dGYROSCOPIC
-    // compute inertia tensor in global frame
-                dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->posr.R);
-                dMULTIPLY0_333 (I+i*12,body[i]->posr.R,tmp);
-
-    // compute rotational force
-    dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel);
-    dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
-#endif
-  }
-
-  // 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;
-  ALLOCA(dxJoint::Info1,info,nj*sizeof(dxJoint::Info1));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-  if (info == NULL) {
-    UNALLOCA(invI);
-    UNALLOCA(I);
-    UNALLOCA(joint);
-    dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-    return;
-  }
-#endif
-  ALLOCA(int,ofs,nj*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-  if (ofs == NULL) {
-    UNALLOCA(info);
-    UNALLOCA(invI);
-    UNALLOCA(I);
-    UNALLOCA(joint);
-    dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-    return;
-  }
-#endif
-  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
-  ALLOCA(dReal,cforce,nb*8*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-  if (cforce == NULL) {
-    UNALLOCA(ofs);
-    UNALLOCA(info);
-    UNALLOCA(invI);
-    UNALLOCA(I);
-    UNALLOCA(joint);
-    dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-    return;
-  }
-#endif
-  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.
-    ALLOCA(dReal,c,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (c == NULL) {
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(dReal,cfm,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (cfm == NULL) {
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(dReal,lo,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (lo == NULL) {
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(dReal,hi,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (hi == NULL) {
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(int,findex,m*sizeof(int));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (findex == NULL) {
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    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
-    ALLOCA(dReal,J,2*m*8*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (J == NULL) {
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    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
-    ALLOCA(dReal,JinvM,2*m*8*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (JinvM == NULL) {
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    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);
-    ALLOCA(dReal,A,m*mskip*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (A == NULL) {
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    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
-    ALLOCA(dReal,tmp1,nb*8*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (tmp1 == NULL) {
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    //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
-    ALLOCA(dReal,rhs,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (rhs == NULL) {
-      UNALLOCA(tmp1);
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    //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
-    ALLOCA(dReal,lambda,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (lambda == NULL) {
-      UNALLOCA(rhs);
-      UNALLOCA(tmp1);
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    ALLOCA(dReal,residual,m*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (residual == NULL) {
-      UNALLOCA(lambda);
-      UNALLOCA(rhs);
-      UNALLOCA(tmp1);
-      UNALLOCA(A);
-      UNALLOCA(JinvM);
-      UNALLOCA(J);
-      UNALLOCA(findex);
-      UNALLOCA(hi);
-      UNALLOCA(lo);
-      UNALLOCA(cfm);
-      UNALLOCA(c);
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-    dSolveLCP (m,A,lambda,rhs,residual,nub,lo,hi,findex);
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY)
-      return;
-#endif
-
-
-//  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;
-
-      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]);
-        }
-      }
-      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);
-        }
-      }
-    }
-    UNALLOCA(c);
-    UNALLOCA(cfm);
-    UNALLOCA(lo);
-    UNALLOCA(hi);
-    UNALLOCA(findex);
-    UNALLOCA(J);
-    UNALLOCA(JinvM);
-    UNALLOCA(A);
-    UNALLOCA(tmp1);
-    UNALLOCA(rhs);
-    UNALLOCA(lambda);
-    UNALLOCA(residual);
-  }
-
-  // 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++) dxStepBody (body[i],stepsize);
-
-#ifdef COMPARE_METHODS
-  ALLOCA(dReal,tmp, ALLOCA (nb*6*sizeof(dReal));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (tmp == NULL) {
-      UNALLOCA(cforce);
-      UNALLOCA(ofs);
-      UNALLOCA(info);
-      UNALLOCA(invI);
-      UNALLOCA(I);
-      UNALLOCA(joint);
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  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");
-  UNALLOCA(tmp);
-#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
-      
-  UNALLOCA(joint);
-  UNALLOCA(I);
-  UNALLOCA(invI);
-  UNALLOCA(info);
-  UNALLOCA(ofs);
-  UNALLOCA(cforce);
-}
-
-//****************************************************************************
-
-void dInternalStepIsland (dxWorld *world, dxBody * const *body, int nb,
-                          dxJoint * const *joint, int nj, dReal stepsize)
-{
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-  dMemoryFlag = d_MEMORY_OK;
-#endif
-
-#ifndef COMPARE_METHODS
-  dInternalStepIsland_x2 (world,body,nb,joint,nj,stepsize);
-
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) {
-      REPORT_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-#endif
-
-#ifdef COMPARE_METHODS
-  int i;
-
-  // save body state
-  ALLOCA(dxBody,state,nb*sizeof(dxBody));
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (state == NULL) {
-      dMemoryFlag = d_MEMORY_OUT_OF_MEMORY;
-      REPORT_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-  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();
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-  if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) {
-    UNALLOCA(state);
-    REPORT_OUT_OF_MEMORY;
-    return;
-  }
-#endif
-
-  // 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();
-#ifdef dUSE_MALLOC_FOR_ALLOCA
-    if (dMemoryFlag == d_MEMORY_OUT_OF_MEMORY) {
-      UNALLOCA(state);
-      REPORT_OUT_OF_MEMORY;
-      return;
-    }
-#endif
-
-  //comparator.dump();
-  //_exit (1);
-  UNALLOCA(state);
-#endif
-}
-
-
diff --git a/libraries/ode-0.9/ode/src/step.h b/libraries/ode-0.9/ode/src/step.h
deleted file mode 100644
index 4947253..0000000
--- a/libraries/ode-0.9/ode/src/step.h
+++ /dev/null
@@ -1,36 +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_STEP_H_
-#define _ODE_STEP_H_
-
-#include <ode/common.h>
-
-
-void dInternalStepIsland (dxWorld *world,
-                          dxBody * const *body, int nb,
-                          dxJoint * const *joint, int nj,
-                          dReal stepsize);
-
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/stepfast.cpp b/libraries/ode-0.9/ode/src/stepfast.cpp
deleted file mode 100755
index 35c45db..0000000
--- a/libraries/ode-0.9/ode/src/stepfast.cpp
+++ /dev/null
@@ -1,1139 +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 <ode/misc.h>
-#include "lcp.h"
-#include "step.h"
-#include "util.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->posr.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->posr.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);
-        } else {
-                if (body[1])
-                        Multiply2_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);
-        } else {
-                if (body[1])
-                        Multiply0_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);
-
-        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];
-                if (body[0])
-                {
-                        Multiply1_8q1 (data1, Jinfo.J1l, lambda, m);
-                        dReal *cf1 = cforce;
-                        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 (body[1])
-                {
-                        Multiply1_8q1 (data2, Jinfo.J2l, lambda, m);
-                        dReal *cf2 = cforce + 8;
-                        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]);
-                }
-        }
-        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->posr.R);
-                        dMULTIPLY0_333 (globalI + b * 12, body->posr.R, tmp);
-                        // compute inverse inertia tensor in global frame
-                        dMULTIPLY2_333 (tmp, body->invI, body->posr.R);
-                        dMULTIPLY0_333 (globalInvI + b * 12, body->posr.R, tmp);
-
-                        for (i = 0; i < 4; i++)
-                                body->tacc[i] = saveTacc[b * 4 + i];
-#ifdef dGYROSCOPIC
-                        // compute rotational force
-                        dMULTIPLY0_331 (tmp, globalI + b * 12, body->avel);
-                        dCROSS (body->tacc, -=, body->avel, tmp);
-#endif
-
-                        // 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;
-                        } else {
-                                body->facc[0] = saveFacc[b * 4 + 0];
-                                body->facc[1] = saveFacc[b * 4 + 1];
-                                body->facc[2] = saveFacc[b * 4 + 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];
-                        const int r = dRandInt(j+1);
-                        dIASSERT (r < nj);
-                        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;
-
-        dInternalHandleAutoDisabling (world,stepsize);
-
-#       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;
-
-        dInternalHandleAutoDisabling (world,stepsize);
-
-        // 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
-
-#       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/ode/src/testing.cpp b/libraries/ode-0.9/ode/src/testing.cpp
deleted file mode 100644
index a22f865..0000000
--- a/libraries/ode-0.9/ode/src/testing.cpp
+++ /dev/null
@@ -1,243 +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/config.h>
-#include <ode/misc.h>
-#include <ode/memory.h>
-#include "testing.h"
-
-#ifdef dDOUBLE
-static const dReal tol = 1.0e-9;
-#else
-static const dReal tol = 1.0e-5f;
-#endif
-
-
-// matrix header on the stack
-
-struct dMatrixComparison::dMatInfo {
-  int n,m;              // size of matrix
-  char name[128];       // name of the matrix
-  dReal *data;          // matrix data
-  int size;             // size of `data'
-};
-
-
-
-dMatrixComparison::dMatrixComparison()
-{
-  afterfirst = 0;
-  index = 0;
-}
-
-
-dMatrixComparison::~dMatrixComparison()
-{
-  reset();
-}
-
-
-dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri,
-                                     char *name, ...)
-{
-  if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix");
-  int num = n*dPAD(m);
-
-  if (afterfirst==0) {
-    dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo));
-    mi->n = n;
-    mi->m = m;
-    mi->size = num * sizeof(dReal);
-    mi->data = (dReal*) dAlloc (mi->size);
-    memcpy (mi->data,A,mi->size);
-
-    va_list ap;
-    va_start (ap,name);
-    vsprintf (mi->name,name,ap);
-    if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long");
-
-    mat.push (mi);
-    return 0;
-  }
-  else {
-    if (lower_tri && n != m)
-      dDebug (0,"dMatrixComparison, lower triangular matrix must be square");
-    if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices");
-    dMatInfo *mp = mat[index];
-    index++;
-
-    dMatInfo mi;
-    va_list ap;
-    va_start (ap,name);
-    vsprintf (mi.name,name,ap);
-    if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long");
-
-    if (strcmp(mp->name,mi.name) != 0)
-      dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")",
-              mp->name,mi.name);
-    if (mp->n != n || mp->m != m)
-      dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)",
-              mp->n,mp->m,n,m);
-
-    dReal maxdiff;
-    if (lower_tri) {
-      maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n);
-    }
-    else {
-      maxdiff = dMaxDifference (A,mp->data,n,m);
-    }
-    if (maxdiff > tol)
-      dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", "
-              "error=%.4e)",n,m,mi.name,maxdiff);
-    return maxdiff;
-  }
-}
-
-
-void dMatrixComparison::end()
-{
-  if (mat.size() <= 0) dDebug (0,"no matrices in sequence");
-  afterfirst = 1;
-  index = 0;
-}
-
-
-void dMatrixComparison::reset()
-{
-  for (int i=0; i<mat.size(); i++) {
-    dFree (mat[i]->data,mat[i]->size);
-    dFree (mat[i],sizeof(dMatInfo));
-  }
-  mat.setSize (0);
-  afterfirst = 0;
-  index = 0;
-}
-
-
-void dMatrixComparison::dump()
-{
-  for (int i=0; i<mat.size(); i++)
-    printf ("%d: %s (%dx%d)\n",i,mat[i]->name,mat[i]->n,mat[i]->m);
-}
-
-//****************************************************************************
-// unit test
-
-#include <setjmp.h>
-
-static jmp_buf jump_buffer;
-
-static void myDebug (int num, const char *msg, va_list ap)
-{
-  // printf ("(Error %d: ",num);
-  // vprintf (msg,ap);
-  // printf (")\n");
-  longjmp (jump_buffer,1);
-}
-
-
-extern "C" ODE_API void dTestMatrixComparison()
-{
-  volatile int i;
-  printf ("dTestMatrixComparison()\n");
-  dMessageFunction *orig_debug = dGetDebugHandler();
-
-  dMatrixComparison mc;
-  dReal A[50*50];
-
-  // make first sequence
-  unsigned long seed = dRandGetSeed();
-  for (i=1; i<49; i++) {
-    dMakeRandomMatrix (A,i,i+1,1.0);
-    mc.nextMatrix (A,i,i+1,0,"A%d",i);
-  }
-  mc.end();
-
-  //mc.dump();
-
-  // test identical sequence
-  dSetDebugHandler (&myDebug);
-  dRandSetSeed (seed);
-  if (setjmp (jump_buffer)) {
-    printf ("\tFAILED (1)\n");
-  }
-  else {
-    for (i=1; i<49; i++) {
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-    }
-    mc.end();
-    printf ("\tpassed (1)\n");
-  }
-  dSetDebugHandler (orig_debug);
-
-  // test broken sequences (with matrix error)
-  dRandSetSeed (seed);
-  volatile int passcount = 0;
-  for (i=1; i<49; i++) {
-    if (setjmp (jump_buffer)) {
-      passcount++;
-    }
-    else {
-      dSetDebugHandler (&myDebug);
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      A[(i-1)*dPAD(i+1)+i] += REAL(0.01);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-      dSetDebugHandler (orig_debug);
-    }
-  }
-  mc.end();
-  printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED");
-
-  // test broken sequences (with name error)
-  dRandSetSeed (seed);
-  passcount = 0;
-  for (i=1; i<49; i++) {
-    if (setjmp (jump_buffer)) {
-      passcount++;
-    }
-    else {
-      dSetDebugHandler (&myDebug);
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"B%d",i);
-      dSetDebugHandler (orig_debug);
-    }
-  }
-  mc.end();
-  printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED");
-
-  // test identical sequence again
-  dSetDebugHandler (&myDebug);
-  dRandSetSeed (seed);
-  if (setjmp (jump_buffer)) {
-    printf ("\tFAILED (4)\n");
-  }
-  else {
-    for (i=1; i<49; i++) {
-      dMakeRandomMatrix (A,i,i+1,1.0);
-      mc.nextMatrix (A,i,i+1,0,"A%d",i);
-    }
-    mc.end();
-    printf ("\tpassed (4)\n");
-  }
-  dSetDebugHandler (orig_debug);
-}
diff --git a/libraries/ode-0.9/ode/src/testing.h b/libraries/ode-0.9/ode/src/testing.h
deleted file mode 100644
index 4d19ff3..0000000
--- a/libraries/ode-0.9/ode/src/testing.h
+++ /dev/null
@@ -1,65 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/* stuff used for testing */
-
-#ifndef _ODE_TESTING_H_
-#define _ODE_TESTING_H_
-
-#include <ode/common.h>
-#include "array.h"
-
-
-// compare a sequence of named matrices/vectors, i.e. to make sure that two
-// different pieces of code are giving the same results.
-
-class dMatrixComparison {
-  struct dMatInfo;
-  dArray<dMatInfo*> mat;
-  int afterfirst,index;
-
-public:
-  dMatrixComparison();
-  ~dMatrixComparison();
-
-  dReal nextMatrix (dReal *A, int n, int m, int lower_tri, char *name, ...);
-  // add a new n*m matrix A to the sequence. the name of the matrix is given
-  // by the printf-style arguments (name,...). if this is the first sequence
-  // then this object will simply record the matrices and return 0.
-  // if this the second or subsequent sequence then this object will compare
-  // the matrices with the first sequence, and report any differences.
-  // the matrix error will be returned. if `lower_tri' is 1 then only the
-  // lower triangle of the matrix (including the diagonal) will be compared
-  // (the matrix must be square).
-
-  void end();
-  // end a sequence.
-
-  void reset();
-  // restarts the object, so the next sequence will be the first sequence.
-
-  void dump();
-  // print out info about all the matrices in the sequence
-};
-
-
-#endif
diff --git a/libraries/ode-0.9/ode/src/timer.cpp b/libraries/ode-0.9/ode/src/timer.cpp
deleted file mode 100644
index f754bf1..0000000
--- a/libraries/ode-0.9/ode/src/timer.cpp
+++ /dev/null
@@ -1,421 +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.                     *
- *                                                                       *
- *************************************************************************/
-
-/*
-
-TODO
-----
-
-* gettimeofday() and the pentium time stamp counter return the real time,
-  not the process time. fix this somehow!
-
-*/
-
-#include <ode/common.h>
-#include <ode/timer.h>
-
-// misc defines
-#define ALLOCA dALLOCA16
-
-//****************************************************************************
-// implementation for windows based on the multimedia performance counter.
-
-#ifdef WIN32
-
-#include "windows.h"
-
-static inline void getClockCount (unsigned long cc[2])
-{
-  LARGE_INTEGER a;
-  QueryPerformanceCounter (&a);
-  cc[0] = a.LowPart;
-  cc[1] = a.HighPart;
-}
-
-
-static inline void serialize()
-{
-}
-
-
-static inline double loadClockCount (unsigned long cc[2])
-{
-  LARGE_INTEGER a;
-  a.LowPart = cc[0];
-  a.HighPart = cc[1];
-  return double(a.QuadPart);
-}
-
-
-double dTimerResolution()
-{
-  return 1.0/dTimerTicksPerSecond();
-}
-
-
-double dTimerTicksPerSecond()
-{
-  static int query=0;
-  static double hz=0.0;
-  if (!query) {
-    LARGE_INTEGER a;
-    QueryPerformanceFrequency (&a);
-    hz = double(a.QuadPart);
-    query = 1;
-  }
-  return hz;
-}
-
-#endif
-
-//****************************************************************************
-// implementation based on the pentium time stamp counter. the timer functions
-// can be serializing or non-serializing. serializing will ensure that all
-// instructions have executed and data has been written back before the cpu
-// time stamp counter is read. the CPUID instruction is used to serialize.
-
-#if defined(PENTIUM) && !defined(WIN32)
-
-// we need to know the clock rate so that the timing function can report
-// accurate times. this number only needs to be set accurately if we're
-// doing performance tests and care about real-world time numbers - otherwise,
-// just ignore this. i have not worked out how to determine this number
-// automatically yet.
-
-#define PENTIUM_HZ (500e6)
-
-static inline void getClockCount (unsigned long cc[2])
-{
-#ifndef X86_64_SYSTEM   
-  asm volatile (
-        "rdtsc\n"
-        "movl %%eax,(%%esi)\n"
-        "movl %%edx,4(%%esi)\n"
-        : : "S" (cc) : "%eax","%edx","cc","memory");
-#else
-  asm volatile (
-        "rdtsc\n"
-        "movl %%eax,(%%rsi)\n"
-        "movl %%edx,4(%%rsi)\n"
-        : : "S" (cc) : "%eax","%edx","cc","memory");
-#endif  
-}
-
-
-static inline void serialize()
-{
-#ifndef X86_64_SYSTEM
-  asm volatile (
-        "mov $0,%%eax\n"
-        "push %%ebx\n"
-        "cpuid\n"
-        "pop %%ebx\n"
-        : : : "%eax","%ecx","%edx","cc","memory");
-#else
-  asm volatile (
-        "mov $0,%%rax\n"
-        "push %%rbx\n"
-        "cpuid\n"
-        "pop %%rbx\n"
-        : : : "%rax","%rcx","%rdx","cc","memory");
-#endif
-}
-
-
-static inline double loadClockCount (unsigned long a[2])
-{
-  double ret;
-#ifndef X86_64_SYSTEM
-  asm volatile ("fildll %1; fstpl %0" : "=m" (ret) : "m" (a[0]) :
-                "cc","memory");
-#else
-  asm volatile ("fildll %1; fstpl %0" : "=m" (ret) : "m" (a[0]) :
-                "cc","memory");
-#endif  
-  return ret;
-}
-
-
-double dTimerResolution()
-{
-  return 1.0/PENTIUM_HZ;
-}
-
-
-double dTimerTicksPerSecond()
-{
-  return PENTIUM_HZ;
-}
-
-#endif
-
-//****************************************************************************
-// otherwise, do the implementation based on gettimeofday().
-
-#if !defined(PENTIUM) && !defined(WIN32)
-
-#ifndef macintosh
-
-#include <sys/time.h>
-#include <unistd.h>
-
-
-static inline void getClockCount (unsigned long cc[2])
-{
-  struct timeval tv;
-  gettimeofday (&tv,0);
-  cc[0] = tv.tv_usec;
-  cc[1] = tv.tv_sec;
-}
-
-#else // macintosh
-
-#include <MacTypes.h>
-#include <Timer.h>
-
-static inline void getClockCount (unsigned long cc[2])
-{
-  UnsignedWide ms;
-  Microseconds (&ms);
-  cc[1] = ms.lo / 1000000;
-  cc[0] = ms.lo - ( cc[1] * 1000000 );
-}
-
-#endif
-
-
-static inline void serialize()
-{
-}
-
-
-static inline double loadClockCount (unsigned long a[2])
-{
-  return a[1]*1.0e6 + a[0];
-}
-
-
-double dTimerResolution()
-{
-  unsigned long cc1[2],cc2[2];
-  getClockCount (cc1);
-  do {
-    getClockCount (cc2);
-  }
-  while (cc1[0]==cc2[0] && cc1[1]==cc2[1]);
-  do {
-    getClockCount (cc1);
-  }
-  while (cc1[0]==cc2[0] && cc1[1]==cc2[1]);
-  double t1 = loadClockCount (cc1);
-  double t2 = loadClockCount (cc2);
-  return (t1-t2) / dTimerTicksPerSecond();
-}
-
-
-double dTimerTicksPerSecond()
-{
-  return 1000000;
-}
-
-#endif
-
-//****************************************************************************
-// stop watches
-
-void dStopwatchReset (dStopwatch *s)
-{
-  s->time = 0;
-  s->cc[0] = 0;
-  s->cc[1] = 0;
-}
-
-
-void dStopwatchStart (dStopwatch *s)
-{
-  serialize();
-  getClockCount (s->cc);
-}
-
-
-void dStopwatchStop  (dStopwatch *s)
-{
-  unsigned long cc[2];
-  serialize();
-  getClockCount (cc);
-  double t1 = loadClockCount (s->cc);
-  double t2 = loadClockCount (cc);
-  s->time += t2-t1;
-}
-
-
-double dStopwatchTime (dStopwatch *s)
-{
-  return s->time / dTimerTicksPerSecond();
-}
-
-//****************************************************************************
-// code timers
-
-// maximum number of events to record
-#define MAXNUM 100
-
-static int num = 0;             // number of entries used in event array
-static struct {
-  unsigned long cc[2];          // clock counts
-  double total_t;               // total clocks used in this slot.
-  double total_p;               // total percentage points used in this slot.
-  int count;                    // number of times this slot has been updated.
-  char *description;            // pointer to static string
-} event[MAXNUM];
-
-
-// make sure all slot totals and counts reset to 0 at start
-
-static void initSlots()
-{
-  static int initialized=0;
-  if (!initialized) {
-    for (int i=0; i<MAXNUM; i++) {
-      event[i].count = 0;
-      event[i].total_t = 0;
-      event[i].total_p = 0;
-    }
-    initialized = 1;
-  }
-}
-
-
-void dTimerStart (const char *description)
-{
-  initSlots();
-  event[0].description = const_cast<char*> (description);
-  num = 1;
-  serialize();
-  getClockCount (event[0].cc);
-}
-
-
-void dTimerNow (const char *description)
-{
-  if (num < MAXNUM) {
-    // do not serialize
-    getClockCount (event[num].cc);
-    event[num].description = const_cast<char*> (description);
-    num++;
-  }
-}
-
-
-void dTimerEnd()
-{
-  if (num < MAXNUM) {
-    serialize();
-    getClockCount (event[num].cc);
-    event[num].description = "TOTAL";
-    num++;
-  }
-}
-
-//****************************************************************************
-// print report
-
-static void fprintDoubleWithPrefix (FILE *f, double a, char *fmt)
-{
-  if (a >= 0.999999) {
-    fprintf (f,fmt,a);
-    return;
-  }
-  a *= 1000.0;
-  if (a >= 0.999999) {
-    fprintf (f,fmt,a);
-    fprintf (f,"m");
-    return;
-  }
-  a *= 1000.0;
-  if (a >= 0.999999) {
-    fprintf (f,fmt,a);
-    fprintf (f,"u");
-    return;
-  }
-  a *= 1000.0;
-  fprintf (f,fmt,a);
-  fprintf (f,"n");
-}
-
-
-void dTimerReport (FILE *fout, int average)
-{
-  int i;
-  size_t maxl;
-  double ccunit = 1.0/dTimerTicksPerSecond();
-  fprintf (fout,"\nTimer Report (");
-  fprintDoubleWithPrefix (fout,ccunit,"%.2f ");
-  fprintf (fout,"s resolution)\n------------\n");
-  if (num < 1) return;
-
-  // get maximum description length
-  maxl = 0;
-  for (i=0; i<num; i++) {
-    size_t l = strlen (event[i].description);
-    if (l > maxl) maxl = l;
-  }
-
-  // calculate total time
-  double t1 = loadClockCount (event[0].cc);
-  double t2 = loadClockCount (event[num-1].cc);
-  double total = t2 - t1;
-  if (total <= 0) total = 1;
-
-  // compute time difference for all slots except the last one. update totals
-  double *times = (double*) ALLOCA (num * sizeof(double));
-  for (i=0; i < (num-1); i++) {
-    double t1 = loadClockCount (event[i].cc);
-    double t2 = loadClockCount (event[i+1].cc);
-    times[i] = t2 - t1;
-    event[i].count++;
-    event[i].total_t += times[i];
-    event[i].total_p += times[i]/total * 100.0;
-  }
-
-  // print report (with optional averages)
-  for (i=0; i<num; i++) {
-    double t,p;
-    if (i < (num-1)) {
-      t = times[i];
-      p = t/total * 100.0;
-    }
-    else {
-      t = total;
-      p = 100.0;
-    }
-    fprintf (fout,"%-*s %7.2fms %6.2f%%",maxl,event[i].description,
-             t*ccunit * 1000.0, p);
-    if (average && i < (num-1)) {
-      fprintf (fout,"  (avg %7.2fms %6.2f%%)",
-               (event[i].total_t / event[i].count)*ccunit * 1000.0,
-               event[i].total_p / event[i].count);
-    }
-    fprintf (fout,"\n");
-  }
-  fprintf (fout,"\n");
-}
diff --git a/libraries/ode-0.9/ode/src/util.cpp b/libraries/ode-0.9/ode/src/util.cpp
deleted file mode 100644
index c8d6230..0000000
--- a/libraries/ode-0.9/ode/src/util.cpp
+++ /dev/null
@@ -1,374 +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 "objects.h"
-#include "joint.h"
-#include "util.h"
-
-#define ALLOCA dALLOCA16
-
-//****************************************************************************
-// Auto disabling
-
-void dInternalHandleAutoDisabling (dxWorld *world, dReal stepsize)
-{
-        dxBody *bb;
-        for ( bb=world->firstbody; bb; bb=(dxBody*)bb->next )
-        {
-                // don't freeze objects mid-air (patch 1586738)
-                if ( bb->firstjoint == NULL ) continue;
-
-                // nothing to do unless this body is currently enabled and has
-                // the auto-disable flag set
-                if ( (bb->flags & (dxBodyAutoDisable|dxBodyDisabled)) != dxBodyAutoDisable ) continue;
-
-                // if sampling / threshold testing is disabled, we can never sleep.
-                if ( bb->adis.average_samples == 0 ) continue;
-
-                //
-                // see if the body is idle
-                //
-                
-#ifndef dNODEBUG
-                // sanity check
-                if ( bb->average_counter >= bb->adis.average_samples )
-                {
-                        dUASSERT( bb->average_counter < bb->adis.average_samples, "buffer overflow" );
-
-                        // something is going wrong, reset the average-calculations
-                        bb->average_ready = 0; // not ready for average calculation
-                        bb->average_counter = 0; // reset the buffer index
-                }
-#endif // dNODEBUG
-
-                // sample the linear and angular velocity
-                bb->average_lvel_buffer[bb->average_counter][0] = bb->lvel[0];
-                bb->average_lvel_buffer[bb->average_counter][1] = bb->lvel[1];
-                bb->average_lvel_buffer[bb->average_counter][2] = bb->lvel[2];
-                bb->average_avel_buffer[bb->average_counter][0] = bb->avel[0];
-                bb->average_avel_buffer[bb->average_counter][1] = bb->avel[1];
-                bb->average_avel_buffer[bb->average_counter][2] = bb->avel[2];
-                bb->average_counter++;
-                
-                // buffer ready test
-                if ( bb->average_counter >= bb->adis.average_samples )
-                {
-                        bb->average_counter = 0; // fill the buffer from the beginning
-                        bb->average_ready = 1; // this body is ready now for average calculation
-                }
-
-                int idle = 0; // Assume it's in motion unless we have samples to disprove it.
-
-                // enough samples?
-                if ( bb->average_ready )
-                {
-                        idle = 1; // Initial assumption: IDLE
-
-                        // the sample buffers are filled and ready for calculation
-                        dVector3 average_lvel, average_avel;
-
-                        // Store first velocity samples
-                        average_lvel[0] = bb->average_lvel_buffer[0][0];
-                        average_avel[0] = bb->average_avel_buffer[0][0];
-                        average_lvel[1] = bb->average_lvel_buffer[0][1];
-                        average_avel[1] = bb->average_avel_buffer[0][1];
-                        average_lvel[2] = bb->average_lvel_buffer[0][2];
-                        average_avel[2] = bb->average_avel_buffer[0][2];
-                        
-                        // If we're not in "instantaneous mode"
-                        if ( bb->adis.average_samples > 1 )
-                        {
-                                // add remaining velocities together
-                                for ( unsigned int i = 1; i < bb->adis.average_samples; ++i )
-                                {
-                                        average_lvel[0] += bb->average_lvel_buffer[i][0];
-                                        average_avel[0] += bb->average_avel_buffer[i][0];
-                                        average_lvel[1] += bb->average_lvel_buffer[i][1];
-                                        average_avel[1] += bb->average_avel_buffer[i][1];
-                                        average_lvel[2] += bb->average_lvel_buffer[i][2];
-                                        average_avel[2] += bb->average_avel_buffer[i][2];
-                                }
-
-                                // make average
-                                dReal r1 = dReal( 1.0 ) / dReal( bb->adis.average_samples );
-
-                                average_lvel[0] *= r1;
-                                average_avel[0] *= r1;
-                                average_lvel[1] *= r1;
-                                average_avel[1] *= r1;
-                                average_lvel[2] *= r1;
-                                average_avel[2] *= r1;
-                        }
-
-                        // threshold test
-                        dReal av_lspeed, av_aspeed;
-                        av_lspeed = dDOT( average_lvel, average_lvel );
-                        if ( av_lspeed > bb->adis.linear_average_threshold )
-                        {
-                                idle = 0; // average linear velocity is too high for idle
-                        }
-                        else
-                        {
-                                av_aspeed = dDOT( average_avel, average_avel );
-                                if ( av_aspeed > bb->adis.angular_average_threshold )
-                                {
-                                        idle = 0; // average angular velocity is too high for idle
-                                }
-                        }
-                }
-
-                // if it's idle, accumulate steps and time.
-                // these counters won't overflow because this code doesn't run for disabled bodies.
-                if (idle) {
-                        bb->adis_stepsleft--;
-                        bb->adis_timeleft -= stepsize;
-                }
-                else {
-                        // Reset countdowns
-                        bb->adis_stepsleft = bb->adis.idle_steps;
-                        bb->adis_timeleft = bb->adis.idle_time;
-                }
-
-                // disable the body if it's idle for a long enough time
-                if ( bb->adis_stepsleft <= 0 && bb->adis_timeleft <= 0 )
-                {
-                        bb->flags |= dxBodyDisabled; // set the disable flag
-
-                        // disabling bodies should also include resetting the velocity
-                        // should prevent jittering in big "islands"
-                        bb->lvel[0] = 0;
-                        bb->lvel[1] = 0;
-                        bb->lvel[2] = 0;
-                        bb->avel[0] = 0;
-                        bb->avel[1] = 0;
-                        bb->avel[2] = 0;
-                }
-        }
-}
-
-
-//****************************************************************************
-// 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.
-
-void dxStepBody (dxBody *b, dReal h)
-{
-  int j;
-
-  // handle linear velocity
-  for (j=0; j<3; j++) b->posr.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;             // 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->posr.R);
-
-  // notify all attached geoms that this body has moved
-  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
-    dGeomMoved (geom);
-}
-
-//****************************************************************************
-// 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.
-
-void dxProcessIslands (dxWorld *world, dReal stepsize, dstepper_fn_t stepper)
-{
-  dxBody *b,*bb,**body;
-  dxJoint *j,**joint;
-
-  // nothing to do if no bodies
-  if (world->nb <= 0) return;
-
-  // handle auto-disabling of bodies
-  dInternalHandleAutoDisabling (world,stepsize);
-
-  // 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
-    stepper (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
-}
diff --git a/libraries/ode-0.9/ode/src/util.h b/libraries/ode-0.9/ode/src/util.h
deleted file mode 100644
index a8e6390..0000000
--- a/libraries/ode-0.9/ode/src/util.h
+++ /dev/null
@@ -1,38 +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_UTIL_H_
-#define _ODE_UTIL_H_
-
-#include "objects.h"
-
-
-void dInternalHandleAutoDisabling (dxWorld *world, dReal stepsize);
-void dxStepBody (dxBody *b, dReal h);
-
-typedef void (*dstepper_fn_t) (dxWorld *world, dxBody * const *body, int nb,
-        dxJoint * const *_joint, int nj, dReal stepsize);
-
-void dxProcessIslands (dxWorld *world, dReal stepsize, dstepper_fn_t stepper);
-
-
-#endif