From d48ea5bb797037069d641da41da0f195f0124491 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:20:48 +0000
Subject: one more for the gipper

---
 .../ode-0.9/tests/CppTestHarness/CheckMacros.h     |  27 +
 libraries/ode-0.9/tests/CppTestHarness/Checks.h    |  97 ++++
 .../ode-0.9/tests/CppTestHarness/CppTestHarness.h  |  14 +
 .../tests/CppTestHarness/CppTestHarness.sln        |  28 +
 .../tests/CppTestHarness/CppTestHarness.vcproj     | 227 ++++++++
 .../tests/CppTestHarness/HTMLTestReporter.cpp      |  87 ++++
 .../tests/CppTestHarness/HTMLTestReporter.h        |  36 ++
 libraries/ode-0.9/tests/CppTestHarness/Makefile.am |  28 +
 libraries/ode-0.9/tests/CppTestHarness/Makefile.in | 562 ++++++++++++++++++++
 .../tests/CppTestHarness/PrintfTestReporter.cpp    |  25 +
 .../tests/CppTestHarness/PrintfTestReporter.h      |  20 +
 libraries/ode-0.9/tests/CppTestHarness/ReadMe.txt  |  34 ++
 .../tests/CppTestHarness/SignalTranslator.h        |  53 ++
 libraries/ode-0.9/tests/CppTestHarness/Test.cpp    |  49 ++
 libraries/ode-0.9/tests/CppTestHarness/Test.h      |  40 ++
 .../ode-0.9/tests/CppTestHarness/TestLauncher.cpp  |  39 ++
 .../ode-0.9/tests/CppTestHarness/TestLauncher.h    |  32 ++
 .../ode-0.9/tests/CppTestHarness/TestMacros.h      |  48 ++
 .../ode-0.9/tests/CppTestHarness/TestReporter.cpp  |  15 +
 .../ode-0.9/tests/CppTestHarness/TestReporter.h    |  24 +
 .../ode-0.9/tests/CppTestHarness/TestResults.cpp   |  30 ++
 .../ode-0.9/tests/CppTestHarness/TestResults.h     |  33 ++
 .../ode-0.9/tests/CppTestHarness/TestRunner.cpp    |  56 ++
 .../ode-0.9/tests/CppTestHarness/TestRunner.h      |  33 ++
 .../tests/CppTestHarness/TypedTestLauncher.h       |  27 +
 libraries/ode-0.9/tests/Makefile.am                |  26 +
 libraries/ode-0.9/tests/Makefile.in                | 571 +++++++++++++++++++++
 libraries/ode-0.9/tests/colliders/box_sphere.cpp   |  13 +
 libraries/ode-0.9/tests/main.cpp                   |   7 +
 29 files changed, 2281 insertions(+)
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/CheckMacros.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/Checks.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.sln
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.vcproj
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/HTMLTestReporter.cpp
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/HTMLTestReporter.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/Makefile.am
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/Makefile.in
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/PrintfTestReporter.cpp
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/PrintfTestReporter.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/ReadMe.txt
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/SignalTranslator.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/Test.cpp
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/Test.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TestLauncher.cpp
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TestLauncher.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TestMacros.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TestReporter.cpp
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TestReporter.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TestResults.cpp
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TestResults.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TestRunner.cpp
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TestRunner.h
 create mode 100644 libraries/ode-0.9/tests/CppTestHarness/TypedTestLauncher.h
 create mode 100644 libraries/ode-0.9/tests/Makefile.am
 create mode 100644 libraries/ode-0.9/tests/Makefile.in
 create mode 100644 libraries/ode-0.9/tests/colliders/box_sphere.cpp
 create mode 100644 libraries/ode-0.9/tests/main.cpp

(limited to 'libraries/ode-0.9/tests')

diff --git a/libraries/ode-0.9/tests/CppTestHarness/CheckMacros.h b/libraries/ode-0.9/tests/CppTestHarness/CheckMacros.h
new file mode 100644
index 0000000..85040b1
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/CheckMacros.h
@@ -0,0 +1,27 @@
+#ifndef CHECK_MACROS_H
+#define CHECK_MACROS_H
+
+#include "Checks.h"
+
+#define CHECK(value) \
+	if (!CppTestHarness::Check(value)) \
+		testResults_.ReportFailure(__FILE__, __LINE__, #value);
+
+#define CHECK_EQUAL(actual, expected) \
+	if (!CppTestHarness::CheckEqual(actual, expected)) \
+		testResults_.ReportFailure(__FILE__, __LINE__, CppTestHarness::BuildFailureString(expected, actual));
+
+#define CHECK_CLOSE(actual, expected, tolerance) \
+	if (!CppTestHarness::CheckClose(actual, expected, tolerance)) \
+		testResults_.ReportFailure(__FILE__, __LINE__, CppTestHarness::BuildFailureString(expected, actual));
+
+#define CHECK_ARRAY_EQUAL(actual, expected, count) \
+	if (!CppTestHarness::CheckArrayEqual(actual, expected, count)) \
+		testResults_.ReportFailure(__FILE__, __LINE__, CppTestHarness::BuildFailureString(expected, actual, count));
+
+#define CHECK_ARRAY_CLOSE(actual, expected, count, tolerance) \
+	if (!CppTestHarness::CheckArrayClose(actual, expected, count, tolerance)) \
+		testResults_.ReportFailure(__FILE__, __LINE__, CppTestHarness::BuildFailureString(expected, actual, count));
+
+#endif
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/Checks.h b/libraries/ode-0.9/tests/CppTestHarness/Checks.h
new file mode 100644
index 0000000..7b4c2ca
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/Checks.h
@@ -0,0 +1,97 @@
+#ifndef CHECKS_H
+#define CHECKS_H
+
+#include <sstream>
+#include <cmath>
+
+namespace CppTestHarness
+{
+	template< typename Value >
+	bool Check(Value const value)
+	{
+#ifdef _MSC_VER
+#	pragma warning(push)
+#	pragma warning(disable:4127) // conditional expression is constant
+#	pragma warning(disable:4800) // forcing value to bool true/false, performance warning
+#endif
+		return value;
+#ifdef _MSC_VER
+#	pragma warning(pop)
+#endif
+	}
+
+	template< typename Actual, typename Expected >
+	bool CheckEqual(Actual const actual, Expected const expected)
+	{
+#ifdef _MSC_VER
+#	pragma warning(push)
+#	pragma warning(disable:4127) // conditional expression is constant
+#endif
+		return (actual == expected);
+#ifdef _MSC_VER
+#	pragma warning(pop)
+#endif
+	}
+
+	template< typename Actual, typename Expected >
+	bool CheckArrayEqual(Actual const actual, Expected const expected, int const count)
+	{
+		for (int i = 0; i < count; ++i)
+		{
+			if (!(actual[i] == expected[i]))
+				return false;
+		}
+
+		return true;
+	}
+
+	template< typename Actual, typename Expected, typename Tolerance >
+	bool CheckClose(Actual const actual, Expected const expected, Tolerance const tolerance)
+	{
+		return (std::abs(double(actual) - double(expected)) <= double(tolerance));
+	}
+
+	template< typename Actual, typename Expected, typename Tolerance >
+	bool CheckArrayClose(Actual const actual, Expected const expected, int const count, Tolerance const tolerance)
+	{
+		for (int i = 0; i < count; ++i)
+		{
+			if (!CheckClose(actual[i], expected[i], tolerance))
+				return false;
+		}
+
+		return true;
+	}
+
+	template< typename Actual, typename Expected >
+	std::string BuildFailureString(Actual const actual, Expected const expected)
+	{
+		std::stringstream failureStr;
+		failureStr << "Expected " << actual << " but got " << expected << std::endl;
+		return failureStr.str();
+	}
+
+	template< typename Actual, typename Expected >
+	std::string BuildFailureString(Actual const* actual, Expected const* expected, int const count)
+	{
+		std::stringstream failureStr;
+		int i;
+		
+		failureStr << "Expected [ ";
+
+		for (i = 0; i < count; ++i)
+			failureStr << expected[i] << ' ';
+
+		failureStr << "] but got [ ";
+
+		for (i = 0; i < count; ++i)
+			failureStr << expected[i] << ' ';
+
+		failureStr << ']' << std::endl;
+
+        return failureStr.str();		
+	}
+}
+
+#endif 
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.h b/libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.h
new file mode 100644
index 0000000..aa3b8ae
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.h
@@ -0,0 +1,14 @@
+#ifndef TEST_HARNESS_H
+#define TEST_HARNESS_H
+
+#include "Test.h"
+#include "TypedTestLauncher.h"
+#include "TestResults.h"
+
+#include "TestMacros.h"
+#include "CheckMacros.h"
+
+#include "TestRunner.h"
+
+#endif
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.sln b/libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.sln
new file mode 100644
index 0000000..20f1959
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.sln
@@ -0,0 +1,28 @@
+Microsoft Visual Studio Solution File, Format Version 9.00
+# Visual Studio 2005
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "CppTestHarness", "CppTestHarness.vcproj", "{BFA21FB6-8FF9-4B44-ACB3-FC57CEA663D0}"
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "TestCppTestHarness", "TestCppTestHarness\TestCppTestHarness.vcproj", "{639DCE9E-BB6F-4A3E-9DC1-43A4EA9BAA61}"
+	ProjectSection(ProjectDependencies) = postProject
+		{BFA21FB6-8FF9-4B44-ACB3-FC57CEA663D0} = {BFA21FB6-8FF9-4B44-ACB3-FC57CEA663D0}
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Win32 = Debug|Win32
+		Release|Win32 = Release|Win32
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{BFA21FB6-8FF9-4B44-ACB3-FC57CEA663D0}.Debug|Win32.ActiveCfg = Debug|Win32
+		{BFA21FB6-8FF9-4B44-ACB3-FC57CEA663D0}.Debug|Win32.Build.0 = Debug|Win32
+		{BFA21FB6-8FF9-4B44-ACB3-FC57CEA663D0}.Release|Win32.ActiveCfg = Release|Win32
+		{BFA21FB6-8FF9-4B44-ACB3-FC57CEA663D0}.Release|Win32.Build.0 = Release|Win32
+		{639DCE9E-BB6F-4A3E-9DC1-43A4EA9BAA61}.Debug|Win32.ActiveCfg = Debug|Win32
+		{639DCE9E-BB6F-4A3E-9DC1-43A4EA9BAA61}.Debug|Win32.Build.0 = Debug|Win32
+		{639DCE9E-BB6F-4A3E-9DC1-43A4EA9BAA61}.Release|Win32.ActiveCfg = Release|Win32
+		{639DCE9E-BB6F-4A3E-9DC1-43A4EA9BAA61}.Release|Win32.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal
diff --git a/libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.vcproj b/libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.vcproj
new file mode 100644
index 0000000..8a50a98
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/CppTestHarness.vcproj
@@ -0,0 +1,227 @@
+<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+	ProjectType="Visual C++"
+	Version="8.00"
+	Name="CppTestHarness"
+	ProjectGUID="{BFA21FB6-8FF9-4B44-ACB3-FC57CEA663D0}"
+	Keyword="Win32Proj"
+	>
+	<Platforms>
+		<Platform
+			Name="Win32"
+		/>
+	</Platforms>
+	<ToolFiles>
+	</ToolFiles>
+	<Configurations>
+		<Configuration
+			Name="Debug|Win32"
+			OutputDirectory="Debug"
+			IntermediateDirectory="Debug"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				Optimization="0"
+				PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+				MinimalRebuild="true"
+				ExceptionHandling="2"
+				BasicRuntimeChecks="3"
+				RuntimeLibrary="1"
+				UsePrecompiledHeader="0"
+				WarningLevel="4"
+				Detect64BitPortabilityProblems="true"
+				DebugInformationFormat="4"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/CppTestHarness.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+		<Configuration
+			Name="Release|Win32"
+			OutputDirectory="Release"
+			IntermediateDirectory="Release"
+			ConfigurationType="4"
+			InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+			CharacterSet="2"
+			>
+			<Tool
+				Name="VCPreBuildEventTool"
+			/>
+			<Tool
+				Name="VCCustomBuildTool"
+			/>
+			<Tool
+				Name="VCXMLDataGeneratorTool"
+			/>
+			<Tool
+				Name="VCWebServiceProxyGeneratorTool"
+			/>
+			<Tool
+				Name="VCMIDLTool"
+			/>
+			<Tool
+				Name="VCCLCompilerTool"
+				PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+				ExceptionHandling="2"
+				RuntimeLibrary="0"
+				UsePrecompiledHeader="0"
+				WarningLevel="4"
+				Detect64BitPortabilityProblems="true"
+				DebugInformationFormat="3"
+			/>
+			<Tool
+				Name="VCManagedResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCResourceCompilerTool"
+			/>
+			<Tool
+				Name="VCPreLinkEventTool"
+			/>
+			<Tool
+				Name="VCLibrarianTool"
+				OutputFile="$(OutDir)/CppTestHarness.lib"
+			/>
+			<Tool
+				Name="VCALinkTool"
+			/>
+			<Tool
+				Name="VCXDCMakeTool"
+			/>
+			<Tool
+				Name="VCBscMakeTool"
+			/>
+			<Tool
+				Name="VCFxCopTool"
+			/>
+			<Tool
+				Name="VCPostBuildEventTool"
+			/>
+		</Configuration>
+	</Configurations>
+	<References>
+	</References>
+	<Files>
+		<File
+			RelativePath=".\CheckMacros.h"
+			>
+		</File>
+		<File
+			RelativePath=".\Checks.h"
+			>
+		</File>
+		<File
+			RelativePath=".\CppTestHarness.h"
+			>
+		</File>
+		<File
+			RelativePath=".\HTMLTestReporter.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\HTMLTestReporter.h"
+			>
+		</File>
+		<File
+			RelativePath=".\PrintfTestReporter.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\PrintfTestReporter.h"
+			>
+		</File>
+		<File
+			RelativePath=".\Test.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\Test.h"
+			>
+		</File>
+		<File
+			RelativePath=".\TestLauncher.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\TestLauncher.h"
+			>
+		</File>
+		<File
+			RelativePath=".\TestMacros.h"
+			>
+		</File>
+		<File
+			RelativePath=".\TestReporter.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\TestReporter.h"
+			>
+		</File>
+		<File
+			RelativePath=".\TestResults.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\TestResults.h"
+			>
+		</File>
+		<File
+			RelativePath=".\TestRunner.cpp"
+			>
+		</File>
+		<File
+			RelativePath=".\TestRunner.h"
+			>
+		</File>
+		<File
+			RelativePath=".\TypedTestLauncher.h"
+			>
+		</File>
+	</Files>
+	<Globals>
+	</Globals>
+</VisualStudioProject>
diff --git a/libraries/ode-0.9/tests/CppTestHarness/HTMLTestReporter.cpp b/libraries/ode-0.9/tests/CppTestHarness/HTMLTestReporter.cpp
new file mode 100644
index 0000000..fd4acb1
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/HTMLTestReporter.cpp
@@ -0,0 +1,87 @@
+#include "HTMLTestReporter.h"
+
+#ifdef _MSC_VER
+#    pragma warning(disable:4996) // shut the secure crt stuff up, ctime is used correctly here.
+#endif
+
+#include <iostream>
+#include <ctime>
+#include <sstream>
+
+namespace CppTestHarness
+{
+
+void HTMLTestReporter::ReportFailure(char const* file, int const line, std::string const failure)
+{
+	std::stringstream msg;
+	msg << file << "(" << line << ") : " << failure;
+
+	m_failureMessages.push_back(msg.str());
+}
+
+void HTMLTestReporter::ReportSingleResult(const std::string& testName, bool failed)
+{
+	ResultRecord r;
+	r.testName = testName;
+	r.failed = failed;
+
+	//get reported failures and clear temp list
+	r.failureMessages = m_failureMessages;	
+	m_failureMessages.clear();
+
+	m_results.push_back(r);
+}
+
+void HTMLTestReporter::ReportSummary(int const testCount, int const failureCount)
+{
+	std::ostream& os = std::cout;
+
+	//TODO: make all strings html safe
+	os << "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.01 Transitional//EN\" \"http://www.w3.org/TR/html4/loose.dtd\">";
+	os << "<html>\n";
+	os << "<head>\n";
+	os << "    <title>Test Report</title>\n";
+	os << "</head>\n";
+	os << "<body text=\"black\" bgcolor=\"white\">\n";
+
+	std::time_t currtime;
+	std::time(&currtime);
+
+	os << "<h1>Test Report: " << std::ctime(&currtime) << "</h1>\n";
+	os << "<p><em>";
+	os << testCount << " tests run.<br />\n";
+	os << failureCount << " failed.<br />\n";
+	os << "</em></p>";
+
+	os << "<table border=1 bgcolor=\"#dddddd\">";
+
+	//for each single test
+	for (ResultList::iterator i = m_results.begin(); i != m_results.end(); ++i)
+	{
+		os << "<tr>";
+		os << "<td><strong>" << i->testName << "</strong></td>";
+		
+		if (i->failed)
+			os << "<td bgcolor=\"#ff0000\"><strong>FAILED</strong></td>";
+		else
+			os << "<td bgcolor=\"#00ee00\"><strong>PASSED</strong></td>";
+
+		os << "</tr><tr><td>";
+		if (i->failed) os << "<ul>";
+
+		for (MessageList::iterator j = i->failureMessages.begin(); j != i->failureMessages.end(); ++j)
+		{
+			os << "<li><code>"<< *j << "</code></li>\n";
+		}
+
+		if (i->failed) os << "</ul>";
+		os << "</td></tr>";
+	}
+
+	os << "</table>";
+	os << "</body>";
+	os << "</html>";
+}
+
+}
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/HTMLTestReporter.h b/libraries/ode-0.9/tests/CppTestHarness/HTMLTestReporter.h
new file mode 100644
index 0000000..3a23039
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/HTMLTestReporter.h
@@ -0,0 +1,36 @@
+#ifndef HTML_TEST_REPORTER
+#define HTML_TEST_REPORTER
+
+#include "TestReporter.h"
+#include <vector>
+
+namespace CppTestHarness
+{
+
+class HTMLTestReporter : public TestReporter
+{
+public:
+	virtual void ReportFailure(char const* file, int line, std::string failure);
+	virtual void ReportSingleResult(const std::string& testName, bool failed);
+	virtual void ReportSummary(int testCount, int failureCount);
+
+private:
+	typedef std::vector<std::string> MessageList;
+
+	struct ResultRecord 
+	{
+		std::string testName;
+		bool failed;
+		MessageList failureMessages;
+	};
+
+	MessageList m_failureMessages;
+
+	typedef std::vector<ResultRecord> ResultList;
+	ResultList m_results;
+};
+
+}
+
+#endif //HTML_TEST_REPORTER
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/Makefile.am b/libraries/ode-0.9/tests/CppTestHarness/Makefile.am
new file mode 100644
index 0000000..1fcb0be
--- /dev/null
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+  CppTestHarness.h \
+  HTMLTestReporter.cpp \
+  HTMLTestReporter.h \
+  PrintfTestReporter.cpp \
+  PrintfTestReporter.h \
+  SignalTranslator.h \
+  Test.cpp \
+  Test.h \
+  TestLauncher.cpp \
+  TestLauncher.h \
+  TestMacros.h \
+  TestReporter.cpp \
+  TestReporter.h \
+  TestResults.cpp \
+  TestResults.h \
+  TestRunner.cpp \
+  TestRunner.h \
+  TypedTestLauncher.h
+
+libodetest_a_CXXFLAGS = @ARCHFLAGS@ -I$(top_srcdir)/include -I$(top_builddir)/include
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diff --git a/libraries/ode-0.9/tests/CppTestHarness/Makefile.in b/libraries/ode-0.9/tests/CppTestHarness/Makefile.in
new file mode 100644
index 0000000..88d0e1f
--- /dev/null
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+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -c -o libodetest_a-TestLauncher.obj `if test -f 'TestLauncher.cpp'; then $(CYGPATH_W) 'TestLauncher.cpp'; else $(CYGPATH_W) '$(srcdir)/TestLauncher.cpp'; fi`
+
+libodetest_a-TestReporter.o: TestReporter.cpp
+@am__fastdepCXX_TRUE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -MT libodetest_a-TestReporter.o -MD -MP -MF $(DEPDIR)/libodetest_a-TestReporter.Tpo -c -o libodetest_a-TestReporter.o `test -f 'TestReporter.cpp' || echo '$(srcdir)/'`TestReporter.cpp
+@am__fastdepCXX_TRUE@	mv -f $(DEPDIR)/libodetest_a-TestReporter.Tpo $(DEPDIR)/libodetest_a-TestReporter.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	source='TestReporter.cpp' object='libodetest_a-TestReporter.o' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -c -o libodetest_a-TestReporter.o `test -f 'TestReporter.cpp' || echo '$(srcdir)/'`TestReporter.cpp
+
+libodetest_a-TestReporter.obj: TestReporter.cpp
+@am__fastdepCXX_TRUE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -MT libodetest_a-TestReporter.obj -MD -MP -MF $(DEPDIR)/libodetest_a-TestReporter.Tpo -c -o libodetest_a-TestReporter.obj `if test -f 'TestReporter.cpp'; then $(CYGPATH_W) 'TestReporter.cpp'; else $(CYGPATH_W) '$(srcdir)/TestReporter.cpp'; fi`
+@am__fastdepCXX_TRUE@	mv -f $(DEPDIR)/libodetest_a-TestReporter.Tpo $(DEPDIR)/libodetest_a-TestReporter.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	source='TestReporter.cpp' object='libodetest_a-TestReporter.obj' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -c -o libodetest_a-TestReporter.obj `if test -f 'TestReporter.cpp'; then $(CYGPATH_W) 'TestReporter.cpp'; else $(CYGPATH_W) '$(srcdir)/TestReporter.cpp'; fi`
+
+libodetest_a-TestResults.o: TestResults.cpp
+@am__fastdepCXX_TRUE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -MT libodetest_a-TestResults.o -MD -MP -MF $(DEPDIR)/libodetest_a-TestResults.Tpo -c -o libodetest_a-TestResults.o `test -f 'TestResults.cpp' || echo '$(srcdir)/'`TestResults.cpp
+@am__fastdepCXX_TRUE@	mv -f $(DEPDIR)/libodetest_a-TestResults.Tpo $(DEPDIR)/libodetest_a-TestResults.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	source='TestResults.cpp' object='libodetest_a-TestResults.o' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -c -o libodetest_a-TestResults.o `test -f 'TestResults.cpp' || echo '$(srcdir)/'`TestResults.cpp
+
+libodetest_a-TestResults.obj: TestResults.cpp
+@am__fastdepCXX_TRUE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -MT libodetest_a-TestResults.obj -MD -MP -MF $(DEPDIR)/libodetest_a-TestResults.Tpo -c -o libodetest_a-TestResults.obj `if test -f 'TestResults.cpp'; then $(CYGPATH_W) 'TestResults.cpp'; else $(CYGPATH_W) '$(srcdir)/TestResults.cpp'; fi`
+@am__fastdepCXX_TRUE@	mv -f $(DEPDIR)/libodetest_a-TestResults.Tpo $(DEPDIR)/libodetest_a-TestResults.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	source='TestResults.cpp' object='libodetest_a-TestResults.obj' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -c -o libodetest_a-TestResults.obj `if test -f 'TestResults.cpp'; then $(CYGPATH_W) 'TestResults.cpp'; else $(CYGPATH_W) '$(srcdir)/TestResults.cpp'; fi`
+
+libodetest_a-TestRunner.o: TestRunner.cpp
+@am__fastdepCXX_TRUE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -MT libodetest_a-TestRunner.o -MD -MP -MF $(DEPDIR)/libodetest_a-TestRunner.Tpo -c -o libodetest_a-TestRunner.o `test -f 'TestRunner.cpp' || echo '$(srcdir)/'`TestRunner.cpp
+@am__fastdepCXX_TRUE@	mv -f $(DEPDIR)/libodetest_a-TestRunner.Tpo $(DEPDIR)/libodetest_a-TestRunner.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	source='TestRunner.cpp' object='libodetest_a-TestRunner.o' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -c -o libodetest_a-TestRunner.o `test -f 'TestRunner.cpp' || echo '$(srcdir)/'`TestRunner.cpp
+
+libodetest_a-TestRunner.obj: TestRunner.cpp
+@am__fastdepCXX_TRUE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -MT libodetest_a-TestRunner.obj -MD -MP -MF $(DEPDIR)/libodetest_a-TestRunner.Tpo -c -o libodetest_a-TestRunner.obj `if test -f 'TestRunner.cpp'; then $(CYGPATH_W) 'TestRunner.cpp'; else $(CYGPATH_W) '$(srcdir)/TestRunner.cpp'; fi`
+@am__fastdepCXX_TRUE@	mv -f $(DEPDIR)/libodetest_a-TestRunner.Tpo $(DEPDIR)/libodetest_a-TestRunner.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	source='TestRunner.cpp' object='libodetest_a-TestRunner.obj' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(libodetest_a_CXXFLAGS) $(CXXFLAGS) -c -o libodetest_a-TestRunner.obj `if test -f 'TestRunner.cpp'; then $(CYGPATH_W) 'TestRunner.cpp'; else $(CYGPATH_W) '$(srcdir)/TestRunner.cpp'; fi`
+
+ID: $(HEADERS) $(SOURCES) $(LISP) $(TAGS_FILES)
+	list='$(SOURCES) $(HEADERS) $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '    { files[$$0] = 1; } \
+	       END { for (i in files) print i; }'`; \
+	mkid -fID $$unique
+tags: TAGS
+
+TAGS:  $(HEADERS) $(SOURCES)  $(TAGS_DEPENDENCIES) \
+		$(TAGS_FILES) $(LISP)
+	tags=; \
+	here=`pwd`; \
+	list='$(SOURCES) $(HEADERS)  $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '    { files[$$0] = 1; } \
+	       END { for (i in files) print i; }'`; \
+	if test -z "$(ETAGS_ARGS)$$tags$$unique"; then :; else \
+	  test -n "$$unique" || unique=$$empty_fix; \
+	  $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	    $$tags $$unique; \
+	fi
+ctags: CTAGS
+CTAGS:  $(HEADERS) $(SOURCES)  $(TAGS_DEPENDENCIES) \
+		$(TAGS_FILES) $(LISP)
+	tags=; \
+	here=`pwd`; \
+	list='$(SOURCES) $(HEADERS)  $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '    { files[$$0] = 1; } \
+	       END { for (i in files) print i; }'`; \
+	test -z "$(CTAGS_ARGS)$$tags$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$tags $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && cd $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) $$here
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -pR $(srcdir)/$$file $(distdir)$$dir || exit 1; \
+	    fi; \
+	    cp -pR $$d/$$file $(distdir)$$dir || exit 1; \
+	  else \
+	    test -f $(distdir)/$$file \
+	    || cp -p $$d/$$file $(distdir)/$$file \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+check: check-am
+all-am: Makefile $(LIBRARIES)
+installdirs:
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	$(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	  install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	  `test -z '$(STRIP)' || \
+	    echo "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'"` install
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-generic clean-noinstLIBRARIES mostlyclean-am
+
+distclean: distclean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+	distclean-tags
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+info: info-am
+
+info-am:
+
+install-data-am:
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+install-dvi: install-dvi-am
+
+install-exec-am:
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+install-html: install-html-am
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+install-info: install-info-am
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+install-man:
+
+install-pdf: install-pdf-am
+
+install-ps: install-ps-am
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: install-am install-strip
+
+.PHONY: CTAGS GTAGS all all-am check check-am clean clean-generic \
+	clean-noinstLIBRARIES ctags distclean distclean-compile \
+	distclean-generic distclean-tags distdir dvi dvi-am html \
+	html-am info info-am install install-am install-data \
+	install-data-am install-dvi install-dvi-am install-exec \
+	install-exec-am install-html install-html-am install-info \
+	install-info-am install-man install-pdf install-pdf-am \
+	install-ps install-ps-am install-strip installcheck \
+	installcheck-am installdirs maintainer-clean \
+	maintainer-clean-generic mostlyclean mostlyclean-compile \
+	mostlyclean-generic pdf pdf-am ps ps-am tags uninstall \
+	uninstall-am
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:
diff --git a/libraries/ode-0.9/tests/CppTestHarness/PrintfTestReporter.cpp b/libraries/ode-0.9/tests/CppTestHarness/PrintfTestReporter.cpp
new file mode 100644
index 0000000..68f7611
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/PrintfTestReporter.cpp
@@ -0,0 +1,25 @@
+#include "PrintfTestReporter.h"
+
+#include <cstdio>
+
+namespace CppTestHarness
+{
+
+void PrintfTestReporter::ReportFailure(char const* file, int const line, std::string const failure)
+{
+	printf("%s(%d) : failure: %s\n", file, line, failure.c_str());
+}
+
+void PrintfTestReporter::ReportSingleResult(const std::string& /*testName*/, bool /*failed*/)
+{
+	//empty
+}
+
+void PrintfTestReporter::ReportSummary(int const testCount, int const failureCount)
+{
+	printf("%d tests run.\n", testCount);
+	printf("%d failures.\n", failureCount);
+}
+
+}
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/PrintfTestReporter.h b/libraries/ode-0.9/tests/CppTestHarness/PrintfTestReporter.h
new file mode 100644
index 0000000..8d4372a
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/PrintfTestReporter.h
@@ -0,0 +1,20 @@
+#ifndef PRINTF_TEST_REPORTER
+#define PRINTF_TEST_REPORTER
+
+#include "TestReporter.h"
+
+namespace CppTestHarness
+{
+
+class PrintfTestReporter : public TestReporter
+{
+private:
+	virtual void ReportFailure(char const* file, int line, std::string failure);
+	virtual void ReportSingleResult(const std::string& testName, bool failed);
+	virtual void ReportSummary(int testCount, int failureCount);
+};
+
+}
+
+#endif 
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/ReadMe.txt b/libraries/ode-0.9/tests/CppTestHarness/ReadMe.txt
new file mode 100644
index 0000000..3132d8d
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/ReadMe.txt
@@ -0,0 +1,34 @@
+------------------------------------------------------------------------
+CppTestHarness
+
+written by Charles Nicholson (cn@cnicholson.net).
+linux/gcc port by Dan Lind (podcat@gmail.com).
+
+This work is based on CppUnitLite by Michael Feathers with changes inspired by Noel Llopis.
+
+You the user have free license to do whatever you want with this source code.
+No persons mentioned above accept any responsibility if files in this archive 
+set your computer on fire or subject you to any number of woes. Use at your own risk!
+
+
+
+HISTORY:
+------------------------------------------------------------------------
+28 dec 2005, charles nicholson (cn@cnicholson.net)
+- upgraded win32 build to VS.NET 2005
+- silenced all 'conditional expression is constant' warning (CHECK(true), CHECK_EQUAL(1,1), etc...)
+
+20 dec 2005, dan lind (podcat@gmail.com)
+- added signal-to-exception translator for posix systems
+- more methods in TestReporter. We can now optionaly have output on each finished test
+    HTMLTestReporter illustrates a fairly complex reporter doing this.
+
+13 dec 2005, dan lind (podcat@gmail.com)
+- added newlines at the end of all files (this is a warning on gcc)
+- reordered initialization list of TestRunner (init order not same as order in class)
+- added _MSC_VER to TestCppTestHarness.cpp to block pragmas from gcc
+
+11 dec 2005, charles nicholson (cn@cnicholson.net)
+- get rid of TestRegistry and static std::vector.
+- TestRunner holds a PrintfTestReporter by value to avoid dynamic allocation at static-init
+- TestCreator -> TestLauncher are now nodes in a linked list of tests.
diff --git a/libraries/ode-0.9/tests/CppTestHarness/SignalTranslator.h b/libraries/ode-0.9/tests/CppTestHarness/SignalTranslator.h
new file mode 100644
index 0000000..39fc225
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/SignalTranslator.h
@@ -0,0 +1,53 @@
+#ifndef SIGNAL_TRANSLATOR_H
+#define SIGNAL_TRANSLATOR_H
+
+#include <signal.h>
+#include <setjmp.h>
+
+namespace CppTestHarness
+{
+
+template <int SIGNAL>
+class SignalTranslator {
+public:
+	SignalTranslator()
+	{
+		//setup new signal handler
+		struct sigaction act;
+		act.sa_handler = signalHandler;
+		sigemptyset(&act.sa_mask);
+		act.sa_flags = 0;
+
+		sigaction(SIGNAL, &act, &m_oldAction);
+
+		if (sigsetjmp(getJumpPoint(), 1) != 0)
+		{
+			//if signal thrown we will return here from handler
+			throw "Unhandled system exception";
+		}
+	}
+
+	~SignalTranslator()
+	{
+		sigaction(SIGNAL, &m_oldAction, 0);
+	}
+
+private:
+	static void signalHandler(int signum)
+	{
+		siglongjmp(getJumpPoint(), signum);
+	}
+
+		static sigjmp_buf& getJumpPoint()
+		{
+			static sigjmp_buf jmpPnt;
+			return jmpPnt;
+		}
+
+	struct sigaction m_oldAction;
+};
+
+} //CppTestHarness
+
+#endif //SIGNAL_TRANSLATOR_H
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/Test.cpp b/libraries/ode-0.9/tests/CppTestHarness/Test.cpp
new file mode 100644
index 0000000..44b2dd8
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/Test.cpp
@@ -0,0 +1,49 @@
+#include "Test.h"
+#include "TestResults.h"
+
+#ifdef TRANSLATE_POSIX_SIGNALS
+	#include "SignalTranslator.h"
+#endif
+
+namespace CppTestHarness
+{
+
+Test::Test(std::string const testName, std::string const filename, int const lineNumber)
+	: m_testName(testName)
+	, m_filename(filename)
+	, m_lineNumber(lineNumber)
+{
+}
+
+Test::~Test()
+{
+}
+
+void Test::Run(TestResults& testResults)
+{
+	try
+	{
+#ifdef TRANSLATE_POSIX_SIGNALS
+		//add any signals you want translated into system exceptions here
+		SignalTranslator<SIGSEGV> sigSEGV;
+		SignalTranslator<SIGFPE> sigFPE;
+		SignalTranslator<SIGBUS> sigBUS;
+#endif
+		RunImpl(testResults);
+	}
+	catch (std::exception const& e)
+	{
+		std::string msg = "Unhandled exception: ";
+		msg += e.what();
+		testResults.ReportFailure(m_filename.c_str(), m_lineNumber, msg);
+	}
+	catch (...)
+	{
+		testResults.ReportFailure(m_filename.c_str(), m_lineNumber, "Unhandled exception: crash!");
+	}
+
+
+	testResults.ReportDone(m_testName);
+}
+}
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/Test.h b/libraries/ode-0.9/tests/CppTestHarness/Test.h
new file mode 100644
index 0000000..bd35935
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/Test.h
@@ -0,0 +1,40 @@
+#ifndef TEST_H
+#define TEST_H
+
+#include <string>
+
+namespace CppTestHarness
+{
+class TestResults;
+
+class Test
+{
+public:
+	virtual ~Test();
+	void Run(TestResults& testResults);
+
+	static Test* GetListHead();
+
+protected:
+	Test(std::string testName = std::string(), 
+	     std::string filename = std::string(), 
+	     int lineNumber = 0);
+
+private:
+	virtual void RunImpl(TestResults& testResults_) = 0;
+
+	std::string const m_testName;
+	std::string const m_filename;
+	int const m_lineNumber;
+
+	Test* m_listNext;
+
+	// revoked
+	Test(Test const&);
+	Test& operator =(Test const&);
+};
+
+}
+
+#endif
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TestLauncher.cpp b/libraries/ode-0.9/tests/CppTestHarness/TestLauncher.cpp
new file mode 100644
index 0000000..4397822
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TestLauncher.cpp
@@ -0,0 +1,39 @@
+#include "TestLauncher.h"
+
+namespace CppTestHarness
+{
+
+namespace
+{
+	TestLauncher* s_listHead;
+}
+
+TestLauncher** TestLauncher::GetHeadAddr()
+{
+	static bool initialized = false;
+	if (!initialized)
+	{
+		s_listHead = 0;
+		initialized = true;
+	}
+
+	return &s_listHead;
+}
+
+TestLauncher::TestLauncher(TestLauncher** listHead)
+	: m_next(*listHead)
+{
+	*listHead = this;
+}
+
+TestLauncher::~TestLauncher()
+{
+}
+
+TestLauncher const* TestLauncher::GetNext() const
+{
+	return m_next;
+}
+
+}
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TestLauncher.h b/libraries/ode-0.9/tests/CppTestHarness/TestLauncher.h
new file mode 100644
index 0000000..fe60363
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TestLauncher.h
@@ -0,0 +1,32 @@
+#ifndef TEST_LAUNCHER_H
+#define TEST_LAUNCHER_H
+
+namespace CppTestHarness
+{
+class TestResults;
+class TestRegistry;
+
+class TestLauncher
+{
+public:
+	virtual void Launch(TestResults& results_) const = 0;
+
+	static TestLauncher** GetHeadAddr();
+	TestLauncher const* GetNext() const;
+
+protected:
+	TestLauncher(TestLauncher** listHead);
+	virtual ~TestLauncher();
+
+private:
+	TestLauncher const* m_next;
+
+	// revoked
+	TestLauncher();
+	TestLauncher(TestLauncher const&);
+	TestLauncher& operator =(TestLauncher const&);
+};
+}
+
+#endif
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TestMacros.h b/libraries/ode-0.9/tests/CppTestHarness/TestMacros.h
new file mode 100644
index 0000000..12a91cd
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TestMacros.h
@@ -0,0 +1,48 @@
+#ifndef TEST_MACROS_H
+#define TEST_MACROS_H
+
+//----------------------------
+#define TEST(Name) \
+	class Test##Name : public CppTestHarness::Test \
+	{ \
+	public: \
+		Test##Name() : Test(#Name, __FILE__, __LINE__) {} \
+	private: \
+		virtual void RunImpl(CppTestHarness::TestResults& testResults_); \
+	}; \
+	CppTestHarness::TypedTestLauncher< Test##Name > \
+		staticInitTest##Name##Creator(CppTestHarness::TestLauncher::GetHeadAddr()); \
+	\
+	void Test##Name::RunImpl(CppTestHarness::TestResults& testResults_)
+
+//----------------------------
+#define TEST_FIXTURE(Fixture, Name) \
+	class Test##Name : public CppTestHarness::Test, public Fixture \
+	{ \
+	public: \
+		Test##Name() : Test(#Name, __FILE__, __LINE__) {} \
+	private: \
+		virtual void RunImpl(CppTestHarness::TestResults& testResults_); \
+	}; \
+	CppTestHarness::TypedTestLauncher< Test##Name > \
+		staticInitTest##Name##Creator(CppTestHarness::TestLauncher::GetHeadAddr()); \
+	\
+	void Test##Name::RunImpl(CppTestHarness::TestResults& testResults_)
+
+//----------------------------
+#define TEST_FIXTURE_CTOR(Fixture, CtorParams, Name) \
+	class Test##Name : public CppTestHarness::Test, public Fixture \
+	{ \
+	public: \
+		Test##Name() : Test(#Name, __FILE__, __LINE__), Fixture CtorParams {} \
+	private: \
+		virtual void RunImpl(CppTestHarness::TestResults& testResults_); \
+	}; \
+	CppTestHarness::TypedTestLauncher< Test##Name > \
+		staticInitTest##Name##Creator(CppTestHarness::TestLauncher::GetHeadAddr()); \
+	\
+	void Test##Name::RunImpl(CppTestHarness::TestResults& testResults_)
+
+
+#endif
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TestReporter.cpp b/libraries/ode-0.9/tests/CppTestHarness/TestReporter.cpp
new file mode 100644
index 0000000..7b6bd7b
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TestReporter.cpp
@@ -0,0 +1,15 @@
+#include "TestReporter.h"
+
+namespace CppTestHarness
+{
+
+TestReporter::TestReporter()
+{
+}
+
+TestReporter::~TestReporter()
+{
+}
+
+}
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TestReporter.h b/libraries/ode-0.9/tests/CppTestHarness/TestReporter.h
new file mode 100644
index 0000000..352de8c
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TestReporter.h
@@ -0,0 +1,24 @@
+#ifndef TEST_REPORTER_H
+#define TEST_REPORTER_H
+
+#include <string>
+
+namespace CppTestHarness
+{
+
+class TestReporter
+{
+public:
+	virtual ~TestReporter();
+
+	virtual void ReportFailure(char const* file, int line, std::string failure) = 0;
+	virtual void ReportSingleResult(const std::string& testName, bool failed) = 0;
+	virtual void ReportSummary(int testCount, int failureCount) = 0;
+
+protected:
+	TestReporter();
+};
+
+}
+#endif
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TestResults.cpp b/libraries/ode-0.9/tests/CppTestHarness/TestResults.cpp
new file mode 100644
index 0000000..f2d2f81
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TestResults.cpp
@@ -0,0 +1,30 @@
+#include "TestResults.h"
+#include "TestReporter.h"
+
+namespace CppTestHarness
+{
+
+TestResults::TestResults(TestReporter& testReporter)
+	: m_failure(false)
+	, m_testReporter(testReporter)
+{
+}
+
+void TestResults::ReportFailure(char const* file, int const line, std::string const failure)
+{
+	m_failure = true;
+	m_testReporter.ReportFailure(file, line, failure);
+}
+
+void TestResults::ReportDone(const std::string& testName)
+{
+	m_testReporter.ReportSingleResult(testName, m_failure);
+}
+
+bool TestResults::Failed() const
+{
+	return m_failure;
+}
+
+}
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TestResults.h b/libraries/ode-0.9/tests/CppTestHarness/TestResults.h
new file mode 100644
index 0000000..7f8ec2a
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TestResults.h
@@ -0,0 +1,33 @@
+#ifndef TEST_RESULTS_H
+#define TEST_RESULTS_H
+
+#include <string>
+
+namespace CppTestHarness
+{
+
+class TestReporter;
+
+class TestResults
+{
+public:
+	explicit TestResults(TestReporter& reporter);
+
+	void ReportFailure(char const* file, int line, std::string failure);
+	void ReportDone(const std::string& testName);
+
+	bool Failed() const;
+
+private:
+	bool m_failure;
+	TestReporter& m_testReporter;
+
+	// revoked
+	TestResults(TestResults const&);
+	TestResults& operator =(TestResults const&);
+};
+
+}
+
+#endif
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TestRunner.cpp b/libraries/ode-0.9/tests/CppTestHarness/TestRunner.cpp
new file mode 100644
index 0000000..51db141
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TestRunner.cpp
@@ -0,0 +1,56 @@
+#include "TestRunner.h"
+#include "TestLauncher.h"
+#include "TestResults.h"
+#include "Test.h"
+
+#include "PrintfTestReporter.h"
+
+namespace CppTestHarness
+{
+
+TestRunner::TestRunner()
+	: m_testLauncherListHead(TestLauncher::GetHeadAddr())
+	, m_testReporter(&m_defaultTestReporter)
+{
+}
+
+TestRunner::~TestRunner()
+{
+}
+
+void TestRunner::SetTestLauncherListHead(TestLauncher** listHead)
+{
+	m_testLauncherListHead = listHead;
+}
+
+void TestRunner::SetTestReporter(TestReporter* testReporter)
+{
+	m_testReporter = testReporter;
+}
+
+int TestRunner::RunAllTests()
+{
+	int failureCount = 0;
+
+	int testCount = 0;
+	TestLauncher const* curLauncher = *m_testLauncherListHead;
+	while (curLauncher)
+	{
+		++testCount;
+
+		TestResults result(*m_testReporter);
+		curLauncher->Launch(result);
+
+		if (result.Failed())
+			++failureCount;
+
+		curLauncher = curLauncher->GetNext();
+	}
+
+	m_testReporter->ReportSummary(testCount, failureCount);
+
+	return failureCount;
+}
+
+}
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TestRunner.h b/libraries/ode-0.9/tests/CppTestHarness/TestRunner.h
new file mode 100644
index 0000000..e5dedb1
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TestRunner.h
@@ -0,0 +1,33 @@
+#ifndef TEST_RUNNER_H
+#define TEST_RUNNER_H
+
+#include "PrintfTestReporter.h"
+
+namespace CppTestHarness
+{
+class TestLauncher;
+class TestReporter;
+
+class TestRunner
+{
+public:
+	TestRunner();
+	~TestRunner();
+
+	void SetTestReporter(TestReporter* testReporter);
+	void SetTestLauncherListHead(TestLauncher** listHead);
+
+	int RunAllTests();
+	int FailureCount() const;
+
+private:
+	TestLauncher** m_testLauncherListHead;
+
+	TestReporter* m_testReporter;
+	PrintfTestReporter m_defaultTestReporter;
+};
+
+}
+
+#endif
+
diff --git a/libraries/ode-0.9/tests/CppTestHarness/TypedTestLauncher.h b/libraries/ode-0.9/tests/CppTestHarness/TypedTestLauncher.h
new file mode 100644
index 0000000..62a9133
--- /dev/null
+++ b/libraries/ode-0.9/tests/CppTestHarness/TypedTestLauncher.h
@@ -0,0 +1,27 @@
+#ifndef TYPED_TEST_CREATOR_H
+#define TYPED_TEST_CREATOR_H
+
+#include "TestLauncher.h"
+
+namespace CppTestHarness
+{
+
+template< typename TestClass >
+class TypedTestLauncher : public TestLauncher
+{
+public:
+	TypedTestLauncher(TestLauncher** listHead)
+		: TestLauncher(listHead)
+	{
+	}
+
+	virtual void Launch(TestResults& testResults_) const 
+	{
+		TestClass().Run(testResults_);
+	}
+};
+
+}
+
+#endif
+
diff --git a/libraries/ode-0.9/tests/Makefile.am b/libraries/ode-0.9/tests/Makefile.am
new file mode 100644
index 0000000..078f934
--- /dev/null
+++ b/libraries/ode-0.9/tests/Makefile.am
@@ -0,0 +1,26 @@
+SUBDIRS = CppTestHarness
+
+AM_CXXFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_srcdir)/tests/CppTestHarness -I$(top_builddir)/include
+AM_CFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_srcdir)/tests/CppTestHarness -I$(top_builddir)/include
+
+
+noinst_PROGRAMS=ode_unit_test
+
+ode_unit_test_SOURCES = \
+  main.cpp \
+  colliders/box_sphere.cpp
+
+ode_unit_test_DEPENDENCIES = \
+  $(top_builddir)/ode/src/libode.a \
+  $(top_builddir)/tests/CppTestHarness/libodetest.a 
+
+ode_unit_test_LDFLAGS = \
+  -L$(top_builddir)/ode/src \
+  -L$(top_builddir)/tests/CppTestHarness \
+  @LDFLAGS@
+
+ode_unit_test_LDADD = \
+  $(top_builddir)/ode/src/libode.a \
+  $(top_builddir)/tests/CppTestHarness/libodetest.a \
+  @GL_LIBS@ @LIBS@
+
diff --git a/libraries/ode-0.9/tests/Makefile.in b/libraries/ode-0.9/tests/Makefile.in
new file mode 100644
index 0000000..ccf460c
--- /dev/null
+++ b/libraries/ode-0.9/tests/Makefile.in
@@ -0,0 +1,571 @@
+# 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 = ode_unit_test$(EXEEXT)
+subdir = tests
+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) \
+	$(ACLOCAL_M4)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/include/ode/config.h
+CONFIG_CLEAN_FILES =
+PROGRAMS = $(noinst_PROGRAMS)
+am_ode_unit_test_OBJECTS = main.$(OBJEXT) box_sphere.$(OBJEXT)
+ode_unit_test_OBJECTS = $(am_ode_unit_test_OBJECTS)
+ode_unit_test_LINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) \
+	$(ode_unit_test_LDFLAGS) $(LDFLAGS) -o $@
+DEFAULT_INCLUDES = -I. -I$(top_builddir)/include/ode@am__isrc@
+depcomp = $(SHELL) $(top_srcdir)/depcomp
+am__depfiles_maybe = depfiles
+CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
+	$(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
+CXXLD = $(CXX)
+CXXLINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) \
+	-o $@
+SOURCES = $(ode_unit_test_SOURCES)
+DIST_SOURCES = $(ode_unit_test_SOURCES)
+RECURSIVE_TARGETS = all-recursive check-recursive dvi-recursive \
+	html-recursive info-recursive install-data-recursive \
+	install-dvi-recursive install-exec-recursive \
+	install-html-recursive install-info-recursive \
+	install-pdf-recursive install-ps-recursive install-recursive \
+	installcheck-recursive installdirs-recursive pdf-recursive \
+	ps-recursive uninstall-recursive
+RECURSIVE_CLEAN_TARGETS = mostlyclean-recursive clean-recursive	\
+  distclean-recursive maintainer-clean-recursive
+ETAGS = etags
+CTAGS = ctags
+DIST_SUBDIRS = $(SUBDIRS)
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
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+CFLAGS = @CFLAGS@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DRAWSTUFF = @DRAWSTUFF@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+GL_LIBS = @GL_LIBS@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LTLIBOBJS = @LTLIBOBJS@
+MAKEINFO = @MAKEINFO@
+MKDIR_P = @MKDIR_P@
+OBJEXT = @OBJEXT@
+ODE_AGE = @ODE_AGE@
+ODE_CURRENT = @ODE_CURRENT@
+ODE_RELEASE = @ODE_RELEASE@
+ODE_REVISION = @ODE_REVISION@
+ODE_SONAME = @ODE_SONAME@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+RANLIB = @RANLIB@
+SET_MAKE = @SET_MAKE@
+SHARED_LDFLAGS = @SHARED_LDFLAGS@
+SHELL = @SHELL@
+STRIP = @STRIP@
+TOPDIR = @TOPDIR@
+VERSION = @VERSION@
+WINDRES = @WINDRES@
+XMKMF = @XMKMF@
+X_CFLAGS = @X_CFLAGS@
+X_EXTRA_LIBS = @X_EXTRA_LIBS@
+X_LIBS = @X_LIBS@
+X_PRE_LIBS = @X_PRE_LIBS@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_WINDRES = @ac_ct_WINDRES@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
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+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
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+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+so_ext = @so_ext@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target = @target@
+target_alias = @target_alias@
+target_cpu = @target_cpu@
+target_os = @target_os@
+target_vendor = @target_vendor@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+SUBDIRS = CppTestHarness
+AM_CXXFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_srcdir)/tests/CppTestHarness -I$(top_builddir)/include
+AM_CFLAGS = @ARCHFLAGS@ @CXXFLAGS@ -I$(top_srcdir)/include -I$(top_srcdir)/tests/CppTestHarness -I$(top_builddir)/include
+ode_unit_test_SOURCES = \
+  main.cpp \
+  colliders/box_sphere.cpp
+
+ode_unit_test_DEPENDENCIES = \
+  $(top_builddir)/ode/src/libode.a \
+  $(top_builddir)/tests/CppTestHarness/libodetest.a 
+
+ode_unit_test_LDFLAGS = \
+  -L$(top_builddir)/ode/src \
+  -L$(top_builddir)/tests/CppTestHarness \
+  @LDFLAGS@
+
+ode_unit_test_LDADD = \
+  $(top_builddir)/ode/src/libode.a \
+  $(top_builddir)/tests/CppTestHarness/libodetest.a \
+  @GL_LIBS@ @LIBS@
+
+all: all-recursive
+
+.SUFFIXES:
+.SUFFIXES: .cpp .o .obj
+$(srcdir)/Makefile.in:  $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh \
+		&& exit 0; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign  tests/Makefile'; \
+	cd $(top_srcdir) && \
+	  $(AUTOMAKE) --foreign  tests/Makefile
+.PRECIOUS: Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure:  $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4):  $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+clean-noinstPROGRAMS:
+	-test -z "$(noinst_PROGRAMS)" || rm -f $(noinst_PROGRAMS)
+ode_unit_test$(EXEEXT): $(ode_unit_test_OBJECTS) $(ode_unit_test_DEPENDENCIES) 
+	@rm -f ode_unit_test$(EXEEXT)
+	$(ode_unit_test_LINK) $(ode_unit_test_OBJECTS) $(ode_unit_test_LDADD) $(LIBS)
+
+mostlyclean-compile:
+	-rm -f *.$(OBJEXT)
+
+distclean-compile:
+	-rm -f *.tab.c
+
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/box_sphere.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/main.Po@am__quote@
+
+.cpp.o:
+@am__fastdepCXX_TRUE@	$(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCXX_TRUE@	mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
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+
+# This directory's subdirectories are mostly independent; you can cd
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+# (1) if the variable is set in `config.status', edit `config.status'
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diff --git a/libraries/ode-0.9/tests/colliders/box_sphere.cpp b/libraries/ode-0.9/tests/colliders/box_sphere.cpp
new file mode 100644
index 0000000..4bfead7
--- /dev/null
+++ b/libraries/ode-0.9/tests/colliders/box_sphere.cpp
@@ -0,0 +1,13 @@
+#include "CppTestHarness.h"
+#include "ode/ode.h"
+
+TEST(BoxSphereIntersection)
+{
+	dGeomID box    = dCreateBox(NULL, 1.0f, 1.0f, 1.0f);
+	dGeomID sphere = dCreateSphere(NULL, 1.0f);
+
+	CHECK_EQUAL(1.0, 1.0);
+
+	dGeomDestroy(box);
+	dGeomDestroy(sphere);
+}
diff --git a/libraries/ode-0.9/tests/main.cpp b/libraries/ode-0.9/tests/main.cpp
new file mode 100644
index 0000000..b95a6dd
--- /dev/null
+++ b/libraries/ode-0.9/tests/main.cpp
@@ -0,0 +1,7 @@
+#include "CppTestHarness.h"
+#include "PrintfTestReporter.h"
+
+int main()
+{
+	return CppTestHarness::TestRunner().RunAllTests();
+}
-- 
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