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+readme.txt
+
+WARNING: THIS IS NOT VERY RELIABLE CODE.  IT HAS BUGS.  YOUR
+         SUCCESS MAY VARY.  CONTRIBUTIONS OF FIXES/REWRITES ARE
+         WELCOME.
+
+///////////////////////////////////////////////////////////////////////
+
+Cylinder geometry class.
+
+New in this version:
+
+Cylinder class implemented as User Geometry Class so it now can be
+used with old and new ODE collision detection.
+
+Cylinder - Ray has been contributed by Olivier Michel.
+
+THE IDENTIFIER dCylinderClass HAS BEEN REPLACED BY dCylinderClassUser
+
+to avoid conflict with dCylinderClass in the enum definite in collision.h
+
+///////////////////////////////////////////////////////////////////////
+The dCylinder class includes the following collisions:
+
+Cylinder - Box
+Cylinder - Cylinder
+Cylinder - Sphere
+Cylinder - Plane
+Cylinder - Ray (contributed by Olivier Michel)
+
+Cylinder aligned along axis - Y when created. (Not like Capped
+Cylinder which aligned along axis - Z).
+
+Interface is just the same as  Capped Cylinder has.
+
+Use functions which have one "C" instead of double "C".
+
+to create:
+dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
+
+to set params:
+void dGeomCylinderSetParams (dGeomID cylinder,
+                              dReal radius, dReal length);
+
+
+to get params:
+void dGeomCylinderGetParams (dGeomID cylinder,
+                              dReal *radius, dReal *length);
+
+Return in radius and length the parameters of the given cylinder.
+
+Identification number of the class:
+ dCylinderClassUser
+
+ I do not include a function that sets inertia tensor for cylinder.
+ One may use existing ODE functions dMassSetCappedCylinder or dMassSetBox.
+ To set exact tensor for cylinder use dMassSetParameters.
+ Remember cylinder aligned along axis - Y.
+ 
+ ///////////////////////////////////////////////////////////////////////////
+ Konstantin Slipchenko
+ February 5, 2002