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