initial commit

ode/include/ode/README

@@ -0,0 +1,18 @@
+
+this is the public C interface to the ODE library.
+
+all these files should be includable from C, i.e. they should not use any
+C++ features. everything should be protected with
+
+	#ifdef __cplusplus
+	extern "C" {
+	#endif
+
+	...
+
+	#ifdef __cplusplus
+	}
+	#endif
+
+the only exceptions are the odecpp.h and odecpp_collisioh.h files, which define a C++ wrapper for
+the C interface. remember to keep this in sync!

ode/include/ode/collision_space.h

@@ -0,0 +1,76 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COLLISION_SPACE_H_
+#define _ODE_COLLISION_SPACE_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct dContactGeom;
+
+/**
+ * @brief User callback for geom-geom collision testing.
+ *
+ * @param data The user data object, as passed to dSpaceCollide.
+ * @param o1   The first geom being tested.
+ * @param o2   The second geom being test.
+ *
+ * @remarks The callback function can call dCollide on o1 and o2 to generate 
+ * contact points between each pair. Then these contact points may be added 
+ * to the simulation as contact joints. The user's callback function can of 
+ * course chose not to call dCollide for any pair, e.g. if the user decides 
+ * that those pairs should not interact.
+ *
+ * @ingroup collide
+ */
+typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
+
+
+ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space);
+ODE_API dSpaceID dHashSpaceCreate (dSpaceID space);
+ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth);
+
+ODE_API void dSpaceDestroy (dSpaceID);
+
+ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
+ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);
+
+ODE_API void dSpaceSetCleanup (dSpaceID space, int mode);
+ODE_API int dSpaceGetCleanup (dSpaceID space);
+
+ODE_API void dSpaceAdd (dSpaceID, dGeomID);
+ODE_API void dSpaceRemove (dSpaceID, dGeomID);
+ODE_API int dSpaceQuery (dSpaceID, dGeomID);
+ODE_API void dSpaceClean (dSpaceID);
+ODE_API int dSpaceGetNumGeoms (dSpaceID);
+ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/collision_trimesh.h

@@ -0,0 +1,205 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.
+ *
+ * Trimesh data.
+ * This is where the actual vertexdata (pointers), and BV tree is stored.
+ * Vertices should be single precision!
+ * This should be more sophisticated, so that the user can easyly implement
+ * another collision library, but this is a lot of work, and also costs some
+ * performance because some data has to be copied.
+ */
+
+#ifndef _ODE_COLLISION_TRIMESH_H_
+#define _ODE_COLLISION_TRIMESH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Data storage for triangle meshes.
+ */
+struct dxTriMeshData;
+typedef struct dxTriMeshData* dTriMeshDataID;
+
+/*
+ * These dont make much sense now, but they will later when we add more
+ * features.
+ */
+ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void);
+ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g);
+
+
+
+enum { TRIMESH_FACE_NORMALS };
+ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data);
+ODE_API void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id);
+
+
+
+/**
+ * We need to set the last transform after each time step for 
+ * accurate collision response. These functions get and set that transform.
+ * It is stored per geom instance, rather than per dTriMeshDataID.
+ */
+ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans );
+ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g );
+
+/*
+ * Build TriMesh data with single precision used in vertex data .
+ */
+ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
+                                 const void* Vertices, int VertexStride, int VertexCount, 
+                                 const void* Indices, int IndexCount, int TriStride);
+/* same again with a normals array (used as trimesh-trimesh optimization) */
+ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
+                                  const void* Vertices, int VertexStride, int VertexCount, 
+                                  const void* Indices, int IndexCount, int TriStride,
+                                  const void* Normals);
+/*
+* Build TriMesh data with double pricision used in vertex data .
+*/
+ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, 
+                                 const void* Vertices,  int VertexStride, int VertexCount, 
+                                 const void* Indices, int IndexCount, int TriStride);
+/* same again with a normals array (used as trimesh-trimesh optimization) */
+ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, 
+                                  const void* Vertices,  int VertexStride, int VertexCount, 
+                                  const void* Indices, int IndexCount, int TriStride,
+                                  const void* Normals);
+
+/*
+ * Simple build. Single/double precision based on dSINGLE/dDOUBLE!
+ */
+ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
+                                 const dReal* Vertices, int VertexCount,
+                                 const int* Indices, int IndexCount);
+/* same again with a normals array (used as trimesh-trimesh optimization) */
+ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
+                                  const dReal* Vertices, int VertexCount,
+                                  const int* Indices, int IndexCount,
+                                  const int* Normals);
+
+/* Preprocess the trimesh data to remove mark unnecessary edges and vertices */
+ODE_API void dGeomTriMeshDataPreprocess(dTriMeshDataID g);
+/* Get and set the internal preprocessed trimesh data buffer, for loading and saving */
+ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen);
+ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf);
+
+
+/*
+ * Per triangle callback. Allows the user to say if he wants a collision with
+ * a particular triangle.
+ */
+typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
+ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
+ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
+
+/*
+ * Per object callback. Allows the user to get the list of triangles in 1
+ * shot. Maybe we should remove this one.
+ */
+typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
+ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
+ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
+
+/*
+ * Ray callback.
+ * Allows the user to say if a ray collides with a triangle on barycentric
+ * coords. The user can for example sample a texture with alpha transparency
+ * to determine if a collision should occur.
+ */
+typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
+ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
+ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
+
+/*
+ * Trimesh class
+ * Construction. Callbacks are optional.
+ */
+ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+
+ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
+ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g);
+
+
+// enable/disable/check temporal coherence
+ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable);
+ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
+
+/*
+ * Clears the internal temporal coherence caches. When a geom has its
+ * collision checked with a trimesh once, data is stored inside the trimesh.
+ * With large worlds with lots of seperate objects this list could get huge.
+ * We should be able to do this automagically.
+ */
+ODE_API void dGeomTriMeshClearTCCache(dGeomID g);
+
+
+/*
+ * returns the TriMeshDataID
+ */
+ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
+
+/*
+ * Gets a triangle.
+ */
+ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+
+/*
+ * Gets the point on the requested triangle and the given barycentric
+ * coordinates.
+ */
+ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+
+/*
+
+This is how the strided data works:
+
+struct StridedVertex{
+	dVector3 Vertex;
+	// Userdata
+};
+int VertexStride = sizeof(StridedVertex);
+
+struct StridedTri{
+	int Indices[3];
+	// Userdata
+};
+int TriStride = sizeof(StridedTri);
+
+*/
+
+
+ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g);
+
+ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* _ODE_COLLISION_TRIMESH_H_ */
+

ode/include/ode/common.h

@@ -0,0 +1,374 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COMMON_H_
+#define _ODE_COMMON_H_
+#include <ode/config.h>
+#include <ode/error.h>
+#include <math.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* configuration stuff */
+
+/* the efficient alignment. most platforms align data structures to some
+ * number of bytes, but this is not always the most efficient alignment.
+ * for example, many x86 compilers align to 4 bytes, but on a pentium it
+ * is important to align doubles to 8 byte boundaries (for speed), and
+ * the 4 floats in a SIMD register to 16 byte boundaries. many other
+ * platforms have similar behavior. setting a larger alignment can waste
+ * a (very) small amount of memory. NOTE: this number must be a power of
+ * two. this is set to 16 by default.
+ */
+#define EFFICIENT_ALIGNMENT 16
+
+
+/* constants */
+
+/* pi and 1/sqrt(2) are defined here if necessary because they don't get
+ * defined in <math.h> on some platforms (like MS-Windows)
+ */
+
+#ifndef M_PI
+#define M_PI REAL(3.1415926535897932384626433832795029)
+#endif
+#ifndef M_SQRT1_2
+#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
+#endif
+
+
+/* debugging:
+ *   IASSERT  is an internal assertion, i.e. a consistency check. if it fails
+ *            we want to know where.
+ *   UASSERT  is a user assertion, i.e. if it fails a nice error message
+ *            should be printed for the user.
+ *   AASSERT  is an arguments assertion, i.e. if it fails "bad argument(s)"
+ *            is printed.
+ *   DEBUGMSG just prints out a message
+ */
+
+#ifndef dNODEBUG
+#ifdef __GNUC__
+#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
+  "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
+#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
+  msg " in %s()", __FUNCTION__);
+#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT,				\
+msg " in %s() File %s Line %d", __FUNCTION__, __FILE__,__LINE__);
+#else
+#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
+  "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
+#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
+  msg " (%s:%d)", __FILE__,__LINE__);
+#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
+  msg " (%s:%d)", __FILE__,__LINE__);
+#endif
+#else
+#define dIASSERT(a) ;
+#define dUASSERT(a,msg) ;
+#define dDEBUGMSG(msg) ;
+#endif
+#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
+
+/* floating point data type, vector, matrix and quaternion types */
+
+#if defined(dSINGLE)
+typedef float dReal;
+#ifdef dDOUBLE
+#error You can only #define dSINGLE or dDOUBLE, not both.
+#endif // dDOUBLE
+#elif defined(dDOUBLE)
+typedef double dReal;
+#else
+#error You must #define dSINGLE or dDOUBLE
+#endif
+
+
+/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
+ * (used to compute matrix leading dimensions)
+ */
+#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
+
+/* these types are mainly just used in headers */
+typedef dReal dVector3[4];
+typedef dReal dVector4[4];
+typedef dReal dMatrix3[4*3];
+typedef dReal dMatrix4[4*4];
+typedef dReal dMatrix6[8*6];
+typedef dReal dQuaternion[4];
+
+
+/* precision dependent scalar math functions */
+
+#if defined(dSINGLE)
+
+#define REAL(x) (x ## f)					/* form a constant */
+#define dRecip(x) ((1.0f/(x)))				/* reciprocal */
+#define dSqrt(x) (sqrtf(x))			/* square root */
+#define dRecipSqrt(x) ((1.0f/sqrtf(x)))		/* reciprocal square root */
+#define dSin(x) (sinf(x))				/* sine */
+#define dCos(x) (cosf(x))				/* cosine */
+#define dFabs(x) (fabsf(x))			/* absolute value */
+#define dAtan2(y,x) (atan2f(y,x))		/* arc tangent with 2 args */
+#define dFMod(a,b) (fmodf(a,b))		/* modulo */
+
+#ifdef HAVE___ISNANF
+#define dIsNan(x) (__isnanf(x))
+#elif defined(HAVE__ISNANF)
+#define dIsNan(x) (_isnanf(x))
+#elif defined(HAVE_ISNANF)
+#define dIsNan(x) (isnanf(x))
+#else
+  /*
+     fall back to _isnan which is the VC way,
+     this may seem redundant since we already checked
+     for _isnan before, but if isnan is detected by
+     configure but is not found during compilation
+     we should always make sure we check for __isnanf,
+     _isnanf and isnanf in that order before falling
+     back to a default
+  */
+#define dIsNan(x) (_isnan(x))
+#endif
+
+#define dCopySign(a,b) ((dReal)copysignf(a,b))
+
+#elif defined(dDOUBLE)
+
+#define REAL(x) (x)
+#define dRecip(x) (1.0/(x))
+#define dSqrt(x) sqrt(x)
+#define dRecipSqrt(x) (1.0/sqrt(x))
+#define dSin(x) sin(x)
+#define dCos(x) cos(x)
+#define dFabs(x) fabs(x)
+#define dAtan2(y,x) atan2((y),(x))
+#define dFMod(a,b) (fmod((a),(b)))
+#ifdef HAVE___ISNAN
+#define dIsNan(x) (__isnan(x))
+#elif defined(HAVE__ISNAN)
+#define dIsNan(x) (_isnan(x))
+#elif defined(HAVE_ISNAN)
+#define dIsNan(x) (isnan(x))
+#else
+#define dIsNan(x) (_isnan(x))
+#endif
+
+#define dCopySign(a,b) (copysign((a),(b)))
+
+#else
+#error You must #define dSINGLE or dDOUBLE
+#endif
+
+
+/* utility */
+
+
+/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
+
+#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
+
+
+/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
+ * up to 15 bytes per allocation, depending on what alloca() returns.
+ */
+
+#define dALLOCA16(n) \
+  ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
+
+
+// Use the error-checking memory allocation system.  Because this system uses heap
+//  (malloc) instead of stack (alloca), it is slower.  However, it allows you to
+//  simulate larger scenes, as well as handle out-of-memory errors in a somewhat
+//  graceful manner
+
+// #define dUSE_MALLOC_FOR_ALLOCA
+
+#ifdef dUSE_MALLOC_FOR_ALLOCA
+enum {
+  d_MEMORY_OK = 0,		/* no memory errors */
+  d_MEMORY_OUT_OF_MEMORY	/* malloc failed due to out of memory error */
+};
+
+#endif
+
+
+
+/* internal object types (all prefixed with `dx') */
+
+struct dxWorld;		/* dynamics world */
+struct dxSpace;		/* collision space */
+struct dxBody;		/* rigid body (dynamics object) */
+struct dxGeom;		/* geometry (collision object) */
+struct dxJoint;
+struct dxJointNode;
+struct dxJointGroup;
+
+typedef struct dxWorld *dWorldID;
+typedef struct dxSpace *dSpaceID;
+typedef struct dxBody *dBodyID;
+typedef struct dxGeom *dGeomID;
+typedef struct dxJoint *dJointID;
+typedef struct dxJointGroup *dJointGroupID;
+
+
+/* error numbers */
+
+enum {
+  d_ERR_UNKNOWN = 0,		/* unknown error */
+  d_ERR_IASSERT,		/* internal assertion failed */
+  d_ERR_UASSERT,		/* user assertion failed */
+  d_ERR_LCP			/* user assertion failed */
+};
+
+
+/* joint type numbers */
+
+enum {
+  dJointTypeNone = 0,		/* or "unknown" */
+  dJointTypeBall,
+  dJointTypeHinge,
+  dJointTypeSlider,
+  dJointTypeContact,
+  dJointTypeUniversal,
+  dJointTypeHinge2,
+  dJointTypeFixed,
+  dJointTypeNull,
+  dJointTypeAMotor,
+  dJointTypeLMotor,
+  dJointTypePlane2D,
+  dJointTypePR
+};
+
+
+/* an alternative way of setting joint parameters, using joint parameter
+ * structures and member constants. we don't actually do this yet.
+ */
+
+/*
+typedef struct dLimot {
+  int mode;
+  dReal lostop, histop;
+  dReal vel, fmax;
+  dReal fudge_factor;
+  dReal bounce, soft;
+  dReal suspension_erp, suspension_cfm;
+} dLimot;
+
+enum {
+  dLimotLoStop		= 0x0001,
+  dLimotHiStop		= 0x0002,
+  dLimotVel		= 0x0004,
+  dLimotFMax		= 0x0008,
+  dLimotFudgeFactor	= 0x0010,
+  dLimotBounce		= 0x0020,
+  dLimotSoft		= 0x0040
+};
+*/
+
+
+/* standard joint parameter names. why are these here? - because we don't want
+ * to include all the joint function definitions in joint.cpp. hmmmm.
+ * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
+ * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
+ * paste between these two.
+ */
+
+#define D_ALL_PARAM_NAMES(start) \
+  /* parameters for limits and motors */ \
+  dParamLoStop = start, \
+  dParamHiStop, \
+  dParamVel, \
+  dParamFMax, \
+  dParamFudgeFactor, \
+  dParamBounce, \
+  dParamCFM, \
+  dParamStopERP, \
+  dParamStopCFM, \
+  /* parameters for suspension */ \
+  dParamSuspensionERP, \
+  dParamSuspensionCFM,
+
+#define D_ALL_PARAM_NAMES_X(start,x) \
+  /* parameters for limits and motors */ \
+  dParamLoStop ## x = start, \
+  dParamHiStop ## x, \
+  dParamVel ## x, \
+  dParamFMax ## x, \
+  dParamFudgeFactor ## x, \
+  dParamBounce ## x, \
+  dParamCFM ## x, \
+  dParamStopERP ## x, \
+  dParamStopCFM ## x, \
+  /* parameters for suspension */ \
+  dParamSuspensionERP ## x, \
+  dParamSuspensionCFM ## x,
+
+enum {
+  D_ALL_PARAM_NAMES(0)
+  D_ALL_PARAM_NAMES_X(0x100,2)
+  D_ALL_PARAM_NAMES_X(0x200,3)
+
+  /* add a multiple of this constant to the basic parameter numbers to get
+   * the parameters for the second, third etc axes.
+   */
+  dParamGroup=0x100
+};
+
+
+/* angular motor mode numbers */
+
+enum{
+  dAMotorUser = 0,
+  dAMotorEuler = 1
+};
+
+
+/* joint force feedback information */
+
+typedef struct dJointFeedback {
+  dVector3 f1;		/* force applied to body 1 */
+  dVector3 t1;		/* torque applied to body 1 */
+  dVector3 f2;		/* force applied to body 2 */
+  dVector3 t2;		/* torque applied to body 2 */
+} dJointFeedback;
+
+
+/* private functions that must be implemented by the collision library:
+ * (1) indicate that a geom has moved, (2) get the next geom in a body list.
+ * these functions are called whenever the position of geoms connected to a
+ * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
+ * when the ODE step function updates the body state.
+ */
+
+void dGeomMoved (dGeomID);
+dGeomID dGeomGetBodyNext (dGeomID);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/compatibility.h

@@ -0,0 +1,40 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_COMPATIBILITY_H_
+#define _ODE_COMPATIBILITY_H_
+
+/*
+ * ODE's backward compatibility system ensures that as ODE's API
+ * evolves, user code will not break.
+ */
+
+/*
+ * These new rotation function names are more consistent with the
+ * rest of the API.
+ */
+#define dQtoR(q,R) dRfromQ((R),(q))
+#define dRtoQ(R,q) dQfromR((q),(R))
+#define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q))
+
+
+#endif

ode/include/ode/config.h

@@ -0,0 +1,168 @@
+/* This file was autogenerated by Premake */
+#ifndef _ODE_CONFIG_H_
+#define _ODE_CONFIG_H_
+
+
+/******************************************************************
+ * CONFIGURATON SETTINGS - you can change these, and then rebuild
+ *   ODE to modify the behavior of the library.
+ *
+ *   dSINGLE/dDOUBLE   - force ODE to use single-precision (float)
+ *                       or double-precision (double) for numbers.
+ *                       Only one should be defined.
+ *
+ *   dTRIMESH_ENABLED  - enable/disable trimesh support
+ *   dTRIMESH_OPCODE   - use the OPCODE trimesh engine
+ *   dTRIMESH_GIMPACT  - use the GIMPACT trimesh engine
+ *
+ *   dUSE_MALLOC_FOR_ALLOCA (experimental)- 
+ *                       Use malloc() instead of alloca(). Slower, 
+ *                       but allows for larger systems and more 
+ *                       graceful out-of-memory handling.
+ ******************************************************************/
+
+//#define dSINGLE
+#define dDOUBLE
+
+#define dTRIMESH_ENABLED 1
+#define dTRIMESH_OPCODE 1
+
+/* #define dUSE_MALLOC_FOR_ALLOCA */
+
+
+/******************************************************************
+ * SYSTEM SETTINGS - you shouldn't need to change these. If you
+ *   run into an issue with these settings, please report it to
+ *   the ODE bug tracker at:
+ *      http://sf.net/tracker/?group_id=24884&atid=382799
+ ******************************************************************/
+
+/* Try to identify the platform */
+#if defined(_XENON)
+  #define ODE_PLATFORM_XBOX360
+#elif defined(SN_TARGET_PSP_HW)
+  #define ODE_PLATFORM_PSP
+#elif defined(SN_TARGET_PS3)
+  #define ODE_PLATFORM_PS3
+#elif defined(_MSC_VER) || defined(__CYGWIN32__) || defined(__MINGW32__)
+  #define ODE_PLATFORM_WINDOWS
+#elif defined(__linux__)
+  #define ODE_PLATFORM_LINUX
+#elif defined(__APPLE__) && defined(__MACH__)
+  #define ODE_PLATFORM_OSX
+#else
+  #error "Need some help identifying the platform!"
+#endif
+
+/* Additional platform defines used in the code */
+#if defined(ODE_PLATFORM_WINDOWS) && !defined(WIN32)
+  #define WIN32
+#endif
+
+#if defined(__CYGWIN32__) || defined(__MINGW32__)
+  #define CYGWIN
+#endif
+
+#if defined(ODE_PLATFORM_OSX)
+  #define macintosh
+#endif
+
+
+/* Define a DLL export symbol for those platforms that need it */
+#if defined(ODE_PLATFORM_WINDOWS)
+  #if defined(ODE_DLL)
+    #define ODE_API __declspec(dllexport)
+  #elif !defined(ODE_LIB)
+    #define ODE_DLL_API __declspec(dllimport)
+  #endif
+#endif
+
+#if !defined(ODE_API)
+  #define ODE_API
+#endif
+
+
+/* Pull in the standard headers */
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <math.h>
+#include <string.h>
+#include <float.h>
+
+#if !defined(ODE_PLATFORM_PS3)
+  #include <malloc.h>
+#endif
+
+#if !defined(ODE_PLATFORM_WINDOWS)
+  #include <alloca.h>
+#endif
+
+
+/* Visual C does not define these functions */
+#if defined(_MSC_VER)
+  #define copysignf _copysign
+  #define copysign _copysign
+#endif
+
+
+/* Define a value for infinity */
+#if defined(HUGE_VALF)
+	#define ODE_INFINITY4 HUGE_VALF
+	#define ODE_INFINITY8 HUGE_VAL
+#elif defined(FLT_MAX)
+	#define ODE_INFINITY4 FLT_MAX
+	#define ODE_INFINITY8 DBL_MAX
+#else
+	static union { unsigned char __c[4]; float  __f; }  __ode_huge_valf = {{0,0,0x80,0x7f}};
+	static union { unsigned char __c[8]; double __d; }  __ode_huge_val  = {{0,0,0,0,0,0,0xf0,0x7f}};
+	#define ODE_INFINITY4 (__ode_huge_valf.__f)
+	#define ODE_INFINITY8 (__ode_huge_val.__d)
+#endif
+
+#ifdef dSINGLE
+	#define dInfinity ODE_INFINITY4
+	#define dEpsilon  FLT_EPSILON
+#else
+	#define dInfinity ODE_INFINITY8
+	#define dEpsilon  DBL_EPSILON
+#endif
+
+
+/* Well-defined common data types...need to define for 64 bit systems */
+#if defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)
+  #define X86_64_SYSTEM   1
+  typedef int             int32;
+  typedef unsigned int    uint32;
+  typedef short           int16;
+  typedef unsigned short  uint16;
+  typedef char            int8;
+  typedef unsigned char   uint8;
+#else
+  typedef int             int32;
+  typedef unsigned int    uint32;
+  typedef short           int16;
+  typedef unsigned short  uint16;
+  typedef char            int8;
+  typedef unsigned char   uint8;
+#endif
+
+/* An integer type that can be safely cast to a pointer. This definition
+ * should be safe even on 64-bit systems */
+typedef size_t intP;
+
+
+/* The efficient alignment. most platforms align data structures to some
+ * number of bytes, but this is not always the most efficient alignment.
+ * for example, many x86 compilers align to 4 bytes, but on a pentium it is
+ * important to align doubles to 8 byte boundaries (for speed), and the 4
+ * floats in a SIMD register to 16 byte boundaries. many other platforms have
+ * similar behavior. setting a larger alignment can waste a (very) small
+ * amount of memory. NOTE: this number must be a power of two. */
+#define EFFICIENT_ALIGNMENT 16
+
+
+/* Define this if your system supports anonymous memory maps (linux does) */
+#define MMAP_ANONYMOUS
+
+#endif

ode/include/ode/contact.h

@@ -0,0 +1,103 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_CONTACT_H_
+#define _ODE_CONTACT_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+enum {
+  dContactMu2		= 0x001,
+  dContactFDir1		= 0x002,
+  dContactBounce	= 0x004,
+  dContactSoftERP	= 0x008,
+  dContactSoftCFM	= 0x010,
+  dContactMotion1	= 0x020,
+  dContactMotion2	= 0x040,
+  dContactSlip1		= 0x080,
+  dContactSlip2		= 0x100,
+
+  dContactApprox0	= 0x0000,
+  dContactApprox1_1	= 0x1000,
+  dContactApprox1_2	= 0x2000,
+  dContactApprox1	= 0x3000
+};
+
+
+typedef struct dSurfaceParameters {
+  /* must always be defined */
+  int mode;
+  dReal mu;
+
+  /* only defined if the corresponding flag is set in mode */
+  dReal mu2;
+  dReal bounce;
+  dReal bounce_vel;
+  dReal soft_erp;
+  dReal soft_cfm;
+  dReal motion1,motion2;
+  dReal slip1,slip2;
+} dSurfaceParameters;
+
+
+/**
+ * @brief Describe the contact point between two geoms.
+ *
+ * If two bodies touch, or if a body touches a static feature in its 
+ * environment, the contact is represented by one or more "contact 
+ * points", described by dContactGeom.
+ *
+ * The convention is that if body 1 is moved along the normal vector by 
+ * a distance depth (or equivalently if body 2 is moved the same distance 
+ * in the opposite direction) then the contact depth will be reduced to 
+ * zero. This means that the normal vector points "in" to body 1.
+ *
+ * @ingroup collide
+ */
+typedef struct dContactGeom {
+  dVector3 pos;          ///< contact position
+  dVector3 normal;       ///< normal vector
+  dReal depth;           ///< penetration depth
+  dGeomID g1,g2;         ///< the colliding geoms
+  int side1,side2;       ///< (to be documented)
+} dContactGeom;
+
+
+/* contact info used by contact joint */
+
+typedef struct dContact {
+  dSurfaceParameters surface;
+  dContactGeom geom;
+  dVector3 fdir1;
+} dContact;
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/error.h

@@ -0,0 +1,63 @@
+/*************************************************************************
+ *                                                                       *
+ * 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 */
+
+#ifndef _ODE_ERROR_H_
+#define _ODE_ERROR_H_
+
+#include <ode/config.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* all user defined error functions have this type. error and debug functions
+ * should not return.
+ */
+typedef void dMessageFunction (int errnum, const char *msg, va_list ap);
+
+/* set a new error, debug or warning handler. if fn is 0, the default handlers
+ * are used.
+ */
+ODE_API void dSetErrorHandler (dMessageFunction *fn);
+ODE_API void dSetDebugHandler (dMessageFunction *fn);
+ODE_API void dSetMessageHandler (dMessageFunction *fn);
+
+/* return the current error, debug or warning handler. if the return value is
+ * 0, the default handlers are in place.
+ */
+ODE_API dMessageFunction *dGetErrorHandler(void);
+ODE_API dMessageFunction *dGetDebugHandler(void);
+ODE_API dMessageFunction *dGetMessageHandler(void);
+
+/* generate a fatal error, debug trap or a message. */
+ODE_API void dError (int num, const char *msg, ...);
+ODE_API void dDebug (int num, const char *msg, ...);
+ODE_API void dMessage (int num, const char *msg, ...);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/export-dif.h

@@ -0,0 +1,32 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_EXPORT_DIF_
+#define _ODE_EXPORT_DIF_
+
+#include <ode/common.h>
+
+
+ODE_API void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name);
+
+
+#endif

ode/include/ode/mass.h

@@ -0,0 +1,123 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_MASS_H_
+#define _ODE_MASS_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct dMass;
+typedef struct dMass dMass;
+
+/**
+ * Check if a mass structure has valid value.
+ * The function check if the mass and innertia matrix are positive definits
+ *
+ * @param m A mass structure to check
+ *
+ * @return 1 if both codition are met
+ */
+ODE_API int dMassCheck(const dMass *m);
+
+ODE_API void dMassSetZero (dMass *);
+
+ODE_API void dMassSetParameters (dMass *, dReal themass,
+			 dReal cgx, dReal cgy, dReal cgz,
+			 dReal I11, dReal I22, dReal I33,
+			 dReal I12, dReal I13, dReal I23);
+
+ODE_API void dMassSetSphere (dMass *, dReal density, dReal radius);
+ODE_API void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
+
+ODE_API void dMassSetCapsule (dMass *, dReal density, int direction,
+		  	dReal radius, dReal length);
+ODE_API void dMassSetCapsuleTotal (dMass *, dReal total_mass, int direction,
+			dReal radius, dReal length);
+
+ODE_API void dMassSetCylinder (dMass *, dReal density, int direction,
+		       dReal radius, dReal length);
+ODE_API void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
+			    dReal radius, dReal length);
+
+ODE_API void dMassSetBox (dMass *, dReal density,
+		  dReal lx, dReal ly, dReal lz);
+ODE_API void dMassSetBoxTotal (dMass *, dReal total_mass,
+		       dReal lx, dReal ly, dReal lz);
+
+ODE_API void dMassSetTrimesh (dMass *, dReal density, dGeomID g);
+
+ODE_API void dMassAdjust (dMass *, dReal newmass);
+
+ODE_API void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
+
+ODE_API void dMassRotate (dMass *, const dMatrix3 R);
+
+ODE_API void dMassAdd (dMass *a, const dMass *b);
+
+// Backwards compatible API
+#define dMassSetCappedCylinder dMassSetCapsule
+#define dMassSetCappedCylinderTotal dMassSetCapsuleTotal
+
+
+struct dMass {
+  dReal mass;
+  dVector4 c;
+  dMatrix3 I;
+
+#ifdef __cplusplus
+  dMass()
+    { dMassSetZero (this); }
+  void setZero()
+    { dMassSetZero (this); }
+  void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
+		      dReal I11, dReal I22, dReal I33,
+		      dReal I12, dReal I13, dReal I23)
+    { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
+  void setSphere (dReal density, dReal radius)
+    { dMassSetSphere (this,density,radius); }
+  void setCapsule (dReal density, int direction, dReal a, dReal b)
+    { dMassSetCappedCylinder (this,density,direction,a,b); }
+  void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
+    { setCapsule(density, direction, a, b); }
+  void setBox (dReal density, dReal lx, dReal ly, dReal lz)
+    { dMassSetBox (this,density,lx,ly,lz); }
+  void adjust (dReal newmass)
+    { dMassAdjust (this,newmass); }
+  void translate (dReal x, dReal y, dReal z)
+    { dMassTranslate (this,x,y,z); }
+  void rotate (const dMatrix3 R)
+    { dMassRotate (this,R); }
+  void add (const dMass *b)
+    { dMassAdd (this,b); }
+#endif
+};
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/matrix.h

@@ -0,0 +1,194 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* optimized and unoptimized vector and matrix functions */
+
+#ifndef _ODE_MATRIX_H_
+#define _ODE_MATRIX_H_
+
+#include <ode/common.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* set a vector/matrix of size n to all zeros, or to a specific value. */
+
+ODE_API void dSetZero (dReal *a, int n);
+ODE_API void dSetValue (dReal *a, int n, dReal value);
+
+
+/* get the dot product of two n*1 vectors. if n <= 0 then
+ * zero will be returned (in which case a and b need not be valid).
+ */
+
+ODE_API dReal dDot (const dReal *a, const dReal *b, int n);
+
+
+/* get the dot products of (a0,b), (a1,b), etc and return them in outsum.
+ * all vectors are n*1. if n <= 0 then zeroes will be returned (in which case
+ * the input vectors need not be valid). this function is somewhat faster
+ * than calling dDot() for all of the combinations separately.
+ */
+
+/* NOT INCLUDED in the library for now.
+void dMultidot2 (const dReal *a0, const dReal *a1,
+		 const dReal *b, dReal *outsum, int n);
+*/
+
+
+/* matrix multiplication. all matrices are stored in standard row format.
+ * the digit refers to the argument that is transposed:
+ *   0:   A = B  * C   (sizes: A:p*r B:p*q C:q*r)
+ *   1:   A = B' * C   (sizes: A:p*r B:q*p C:q*r)
+ *   2:   A = B  * C'  (sizes: A:p*r B:p*q C:r*q)
+ * case 1,2 are equivalent to saying that the operation is A=B*C but
+ * B or C are stored in standard column format.
+ */
+
+ODE_API void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+ODE_API void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+ODE_API void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+
+
+/* do an in-place cholesky decomposition on the lower triangle of the n*n
+ * symmetric matrix A (which is stored by rows). the resulting lower triangle
+ * will be such that L*L'=A. return 1 on success and 0 on failure (on failure
+ * the matrix is not positive definite).
+ */
+
+ODE_API int dFactorCholesky (dReal *A, int n);
+
+
+/* solve for x: L*L'*x = b, and put the result back into x.
+ * L is size n*n, b is size n*1. only the lower triangle of L is considered.
+ */
+
+ODE_API void dSolveCholesky (const dReal *L, dReal *b, int n);
+
+
+/* compute the inverse of the n*n positive definite matrix A and put it in
+ * Ainv. this is not especially fast. this returns 1 on success (A was
+ * positive definite) or 0 on failure (not PD).
+ */
+
+ODE_API int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n);
+
+
+/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no).
+ * positive definite means that x'*A*x > 0 for any x. this performs a
+ * cholesky decomposition of A. if the decomposition fails then the matrix
+ * is not positive definite. A is stored by rows. A is not altered.
+ */
+
+ODE_API int dIsPositiveDefinite (const dReal *A, int n);
+
+
+/* factorize a matrix A into L*D*L', where L is lower triangular with ones on
+ * the diagonal, and D is diagonal.
+ * A is an n*n matrix stored by rows, with a leading dimension of n rounded
+ * up to 4. L is written into the strict lower triangle of A (the ones are not
+ * written) and the reciprocal of the diagonal elements of D are written into
+ * d.
+ */
+ODE_API void dFactorLDLT (dReal *A, dReal *d, int n, int nskip);
+
+
+/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal,
+ * and x,b are n*1. b is overwritten with x.
+ * the leading dimension of L is `nskip'.
+ */
+ODE_API void dSolveL1 (const dReal *L, dReal *b, int n, int nskip);
+
+
+/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal,
+ * and x,b are n*1. b is overwritten with x.
+ * the leading dimension of L is `nskip'.
+ */
+ODE_API void dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
+
+
+/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */
+
+ODE_API void dVectorScale (dReal *a, const dReal *d, int n);
+
+
+/* given `L', a n*n lower triangular matrix with ones on the diagonal,
+ * and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix
+ * D, solve L*D*L'*x=b where x,b are n*1. x overwrites b.
+ * the leading dimension of L is `nskip'.
+ */
+
+ODE_API void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip);
+
+
+/* given an L*D*L' factorization of an n*n matrix A, return the updated
+ * factorization L2*D2*L2' of A plus the following "top left" matrix:
+ *
+ *    [ b a' ]     <-- b is a[0]
+ *    [ a 0  ]     <-- a is a[1..n-1]
+ *
+ *   - L has size n*n, its leading dimension is nskip. L is lower triangular
+ *     with ones on the diagonal. only the lower triangle of L is referenced.
+ *   - d has size n. d contains the reciprocal diagonal elements of D.
+ *   - a has size n.
+ * the result is written into L, except that the left column of L and d[0]
+ * are not actually modified. see ldltaddTL.m for further comments. 
+ */
+ODE_API void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip);
+
+
+/* given an L*D*L' factorization of a permuted matrix A, produce a new
+ * factorization for row and column `r' removed.
+ *   - A has size n1*n1, its leading dimension in nskip. A is symmetric and
+ *     positive definite. only the lower triangle of A is referenced.
+ *     A itself may actually be an array of row pointers.
+ *   - L has size n2*n2, its leading dimension in nskip. L is lower triangular
+ *     with ones on the diagonal. only the lower triangle of L is referenced.
+ *   - d has size n2. d contains the reciprocal diagonal elements of D.
+ *   - p is a permutation vector. it contains n2 indexes into A. each index
+ *     must be in the range 0..n1-1.
+ *   - r is the row/column of L to remove.
+ * the new L will be written within the old L, i.e. will have the same leading
+ * dimension. the last row and column of L, and the last element of d, are
+ * undefined on exit.
+ *
+ * a fast O(n^2) algorithm is used. see ldltremove.m for further comments.
+ */
+ODE_API void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
+		  int n1, int n2, int r, int nskip);
+
+
+/* given an n*n matrix A (with leading dimension nskip), remove the r'th row
+ * and column by moving elements. the new matrix will have the same leading
+ * dimension. the last row and column of A are untouched on exit.
+ */
+ODE_API void dRemoveRowCol (dReal *A, int n, int nskip, int r);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/memory.h

@@ -0,0 +1,59 @@
+/*************************************************************************
+ *                                                                       *
+ * 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 */
+
+#ifndef _ODE_MEMORY_H_
+#define _ODE_MEMORY_H_
+
+#include "ode/config.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* function types to allocate and free memory */
+typedef void * dAllocFunction (size_t size);
+typedef void * dReallocFunction (void *ptr, size_t oldsize, size_t newsize);
+typedef void dFreeFunction (void *ptr, size_t size);
+
+/* set new memory management functions. if fn is 0, the default handlers are
+ * used. */
+ODE_API void dSetAllocHandler (dAllocFunction *fn);
+ODE_API void dSetReallocHandler (dReallocFunction *fn);
+ODE_API void dSetFreeHandler (dFreeFunction *fn);
+
+/* get current memory management functions */
+ODE_API dAllocFunction *dGetAllocHandler (void);
+ODE_API dReallocFunction *dGetReallocHandler (void);
+ODE_API dFreeFunction *dGetFreeHandler (void);
+
+/* allocate and free memory. */
+ODE_API void * dAlloc (size_t size);
+ODE_API void * dRealloc (void *ptr, size_t oldsize, size_t newsize);
+ODE_API void dFree (void *ptr, size_t size);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/misc.h

@@ -0,0 +1,85 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* miscellaneous math functions. these are mostly useful for testing */
+
+#ifndef _ODE_MISC_H_
+#define _ODE_MISC_H_
+
+#include <ode/common.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* return 1 if the random number generator is working. */
+ODE_API int dTestRand(void);
+
+/* return next 32 bit random number. this uses a not-very-random linear
+ * congruential method.
+ */
+ODE_API unsigned long dRand(void);
+
+/* get and set the current random number seed. */
+ODE_API unsigned long  dRandGetSeed(void);
+ODE_API void dRandSetSeed (unsigned long s);
+
+/* return a random integer between 0..n-1. the distribution will get worse
+ * as n approaches 2^32.
+ */
+ODE_API int dRandInt (int n);
+
+/* return a random real number between 0..1 */
+ODE_API dReal dRandReal(void);
+
+/* print out a matrix */
+#ifdef __cplusplus
+ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ",
+		   FILE *f=stdout);
+#else
+ODE_API void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f);
+#endif
+
+/* make a random vector with entries between +/- range. A has n elements. */
+ODE_API void dMakeRandomVector (dReal *A, int n, dReal range);
+
+/* make a random matrix with entries between +/- range. A has size n*m. */
+ODE_API void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
+
+/* clear the upper triangle of a square matrix */
+ODE_API void dClearUpperTriangle (dReal *A, int n);
+
+/* return the maximum element difference between the two n*m matrices */
+ODE_API dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m);
+
+/* return the maximum element difference between the lower triangle of two
+ * n*n matrices */
+ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/ode.h

@@ -0,0 +1,47 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_ODE_H_
+#define _ODE_ODE_H_
+
+/* include *everything* here */
+
+#include <ode/config.h>
+#include <ode/compatibility.h>
+#include <ode/common.h>
+#include <ode/contact.h>
+#include <ode/error.h>
+#include <ode/memory.h>
+#include <ode/odemath.h>
+#include <ode/matrix.h>
+#include <ode/timer.h>
+#include <ode/rotation.h>
+#include <ode/mass.h>
+#include <ode/misc.h>
+#include <ode/objects.h>
+#include <ode/odecpp.h>
+#include <ode/collision_space.h>
+#include <ode/collision.h>
+#include <ode/odecpp_collision.h>
+#include <ode/export-dif.h>
+
+#endif

ode/include/ode/odecpp.h

@@ -0,0 +1,702 @@
+/*************************************************************************
+ *									 *
+ * 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.			 *
+ *									 *
+ *************************************************************************/
+
+/* C++ interface for non-collision stuff */
+
+
+#ifndef _ODE_ODECPP_H_
+#define _ODE_ODECPP_H_
+#ifdef __cplusplus
+
+#include <ode/error.h>
+
+
+class dWorld {
+  dWorldID _id;
+
+  // intentionally undefined, don't use these
+  dWorld (const dWorld &);
+  void operator= (const dWorld &);
+
+public:
+  dWorld()
+    { _id = dWorldCreate(); }
+  ~dWorld()
+    { dWorldDestroy (_id); }
+
+  dWorldID id() const
+    { return _id; }
+  operator dWorldID() const
+    { return _id; }
+
+  void setGravity (dReal x, dReal y, dReal z)
+    { dWorldSetGravity (_id,x,y,z); }
+  void getGravity (dVector3 g) const
+    { dWorldGetGravity (_id,g); }
+
+  void setERP (dReal erp)
+    { dWorldSetERP(_id, erp); }
+  dReal getERP() const
+    { return dWorldGetERP(_id); }
+
+  void setCFM (dReal cfm)
+    { dWorldSetCFM(_id, cfm); }
+  dReal getCFM() const
+    { return dWorldGetCFM(_id); }
+
+  void step (dReal stepsize)
+    { dWorldStep (_id,stepsize); }
+
+  void stepFast1 (dReal stepsize, int maxiterations)
+    { dWorldStepFast1 (_id,stepsize,maxiterations); }
+  void setAutoEnableDepthSF1(dWorldID, int depth)
+    { dWorldSetAutoEnableDepthSF1 (_id, depth); }
+  int getAutoEnableDepthSF1(dWorldID)
+    { return dWorldGetAutoEnableDepthSF1 (_id); }
+
+  void  setAutoDisableLinearThreshold (dReal threshold) 
+    { dWorldSetAutoDisableLinearThreshold (_id,threshold); }
+  dReal getAutoDisableLinearThreshold()
+    { return dWorldGetAutoDisableLinearThreshold (_id); }
+  void setAutoDisableAngularThreshold (dReal threshold)
+    { dWorldSetAutoDisableAngularThreshold (_id,threshold); }
+  dReal getAutoDisableAngularThreshold()
+    { return dWorldGetAutoDisableAngularThreshold (_id); }
+  void setAutoDisableSteps (int steps)
+    { dWorldSetAutoDisableSteps (_id,steps); }
+  int getAutoDisableSteps()
+    { return dWorldGetAutoDisableSteps (_id); }
+  void setAutoDisableTime (dReal time)
+    { dWorldSetAutoDisableTime (_id,time); }
+  dReal getAutoDisableTime()
+    { return dWorldGetAutoDisableTime (_id); }
+  void setAutoDisableFlag (int do_auto_disable)
+    { dWorldSetAutoDisableFlag (_id,do_auto_disable); }
+  int getAutoDisableFlag()
+    { return dWorldGetAutoDisableFlag (_id); }
+
+  void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
+		       dVector3 force)
+    { dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); }
+};
+
+
+class dBody {
+  dBodyID _id;
+
+  // intentionally undefined, don't use these
+  dBody (const dBody &);
+  void operator= (const dBody &);
+
+public:
+  dBody()
+    { _id = 0; }
+  dBody (dWorldID world)
+    { _id = dBodyCreate (world); }
+  ~dBody()
+    { if (_id) dBodyDestroy (_id); }
+
+  void create (dWorldID world) {
+    if (_id) dBodyDestroy (_id);
+    _id = dBodyCreate (world);
+  }
+
+  dBodyID id() const
+    { return _id; }
+  operator dBodyID() const
+    { return _id; }
+
+  void setData (void *data)
+    { dBodySetData (_id,data); }
+  void *getData() const
+    { return dBodyGetData (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dBodySetPosition (_id,x,y,z); }
+  void setRotation (const dMatrix3 R)
+    { dBodySetRotation (_id,R); }
+  void setQuaternion (const dQuaternion q)
+    { dBodySetQuaternion (_id,q); }
+  void setLinearVel  (dReal x, dReal y, dReal z)
+    { dBodySetLinearVel (_id,x,y,z); }
+  void setAngularVel (dReal x, dReal y, dReal z)
+    { dBodySetAngularVel (_id,x,y,z); }
+
+  const dReal * getPosition() const
+    { return dBodyGetPosition (_id); }
+  const dReal * getRotation() const
+    { return dBodyGetRotation (_id); }
+  const dReal * getQuaternion() const
+    { return dBodyGetQuaternion (_id); }
+  const dReal * getLinearVel() const
+    { return dBodyGetLinearVel (_id); }
+  const dReal * getAngularVel() const
+    { return dBodyGetAngularVel (_id); }
+
+  void setMass (const dMass *mass)
+    { dBodySetMass (_id,mass); }
+  void getMass (dMass *mass) const
+    { dBodyGetMass (_id,mass); }
+
+  void addForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddForce (_id, fx, fy, fz); }
+  void addTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddTorque (_id, fx, fy, fz); }
+  void addRelForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelForce (_id, fx, fy, fz); }
+  void addRelTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelTorque (_id, fx, fy, fz); }
+  void addForceAtPos (dReal fx, dReal fy, dReal fz,
+		      dReal px, dReal py, dReal pz)
+    { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
+		      dReal px, dReal py, dReal pz)
+    { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
+			 dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
+			    dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
+
+  const dReal * getForce() const
+    { return dBodyGetForce(_id); }
+  const dReal * getTorque() const
+    { return dBodyGetTorque(_id); }
+  void setForce (dReal x, dReal y, dReal z)
+    { dBodySetForce (_id,x,y,z); }
+  void setTorque (dReal x, dReal y, dReal z)
+    { dBodySetTorque (_id,x,y,z); }
+
+  void enable()
+    { dBodyEnable (_id); }
+  void disable()
+    { dBodyDisable (_id); }
+  int isEnabled() const
+    { return dBodyIsEnabled (_id); }
+
+  void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetRelPointPos (_id, px, py, pz, result); }
+  void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetRelPointVel (_id, px, py, pz, result); }
+  void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetPointVel (_id,px,py,pz,result); }
+  void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetPosRelPoint (_id,px,py,pz,result); }
+  void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyVectorToWorld (_id,px,py,pz,result); }
+  void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyVectorFromWorld (_id,px,py,pz,result); }
+
+  void setFiniteRotationMode (int mode)
+    { dBodySetFiniteRotationMode (_id, mode); }
+  void setFiniteRotationAxis (dReal x, dReal y, dReal z)
+    { dBodySetFiniteRotationAxis (_id, x, y, z); }
+
+  int getFiniteRotationMode() const
+    { return dBodyGetFiniteRotationMode (_id); }
+  void getFiniteRotationAxis (dVector3 result) const
+    { dBodyGetFiniteRotationAxis (_id, result); }
+
+  int getNumJoints() const
+    { return dBodyGetNumJoints (_id); }
+  dJointID getJoint (int index) const
+    { return dBodyGetJoint (_id, index); }
+
+  void setGravityMode (int mode)
+    { dBodySetGravityMode (_id,mode); }
+  int getGravityMode() const
+    { return dBodyGetGravityMode (_id); }
+
+  int isConnectedTo (dBodyID body) const
+    { return dAreConnected (_id, body); }
+
+  void  setAutoDisableLinearThreshold (dReal threshold) 
+    { dBodySetAutoDisableLinearThreshold (_id,threshold); }
+  dReal getAutoDisableLinearThreshold()
+    { return dBodyGetAutoDisableLinearThreshold (_id); }
+  void setAutoDisableAngularThreshold (dReal threshold)
+    { dBodySetAutoDisableAngularThreshold (_id,threshold); }
+  dReal getAutoDisableAngularThreshold()
+    { return dBodyGetAutoDisableAngularThreshold (_id); }
+  void setAutoDisableSteps (int steps)
+    { dBodySetAutoDisableSteps (_id,steps); }
+  int getAutoDisableSteps()
+    { return dBodyGetAutoDisableSteps (_id); }
+  void setAutoDisableTime (dReal time)
+    { dBodySetAutoDisableTime (_id,time); }
+  dReal getAutoDisableTime()
+    { return dBodyGetAutoDisableTime (_id); }
+  void setAutoDisableFlag (int do_auto_disable)
+    { dBodySetAutoDisableFlag (_id,do_auto_disable); }
+  int getAutoDisableFlag()
+    { return dBodyGetAutoDisableFlag (_id); }
+};
+
+
+class dJointGroup {
+  dJointGroupID _id;
+
+  // intentionally undefined, don't use these
+  dJointGroup (const dJointGroup &);
+  void operator= (const dJointGroup &);
+
+public:
+  dJointGroup (int dummy_arg=0)
+    { _id = dJointGroupCreate (0); }
+  ~dJointGroup()
+    { dJointGroupDestroy (_id); }
+  void create (int dummy_arg=0) {
+    if (_id) dJointGroupDestroy (_id);
+    _id = dJointGroupCreate (0);
+  }
+
+  dJointGroupID id() const
+    { return _id; }
+  operator dJointGroupID() const
+    { return _id; }
+
+  void empty()
+    { dJointGroupEmpty (_id); }
+};
+
+
+class dJoint {
+private:
+  // intentionally undefined, don't use these
+  dJoint (const dJoint &) ;
+  void operator= (const dJoint &);
+
+protected:
+  dJointID _id;
+
+public:
+  dJoint()
+    { _id = 0; }
+  ~dJoint()
+    { if (_id) dJointDestroy (_id); }
+
+  dJointID id() const
+    { return _id; }
+  operator dJointID() const
+    { return _id; }
+
+  void attach (dBodyID body1, dBodyID body2)
+    { dJointAttach (_id, body1, body2); }
+
+  void setData (void *data)
+    { dJointSetData (_id, data); }
+  void *getData() const
+    { return dJointGetData (_id); }
+
+  int getType() const
+    { return dJointGetType (_id); }
+
+  dBodyID getBody (int index) const
+    { return dJointGetBody (_id, index); }
+
+  void setFeedback(dJointFeedback *fb)
+    { dJointSetFeedback(_id, fb); }
+  dJointFeedback *getFeedback() const
+    { return dJointGetFeedback(_id); }
+};
+
+
+class dBallJoint : public dJoint {
+private:
+  // intentionally undefined, don't use these
+  dBallJoint (const dBallJoint &);
+  void operator= (const dBallJoint &);
+
+public:
+  dBallJoint() { }
+  dBallJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateBall (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateBall (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetBallAnchor (_id, x, y, z); }
+  void getAnchor (dVector3 result) const
+    { dJointGetBallAnchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetBallAnchor2 (_id, result); }
+} ;
+
+
+class dHingeJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dHingeJoint (const dHingeJoint &);
+  void operator = (const dHingeJoint &);
+
+public:
+  dHingeJoint() { }
+  dHingeJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateHinge (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateHinge (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetHingeAnchor (_id, x, y, z); }
+  void getAnchor (dVector3 result) const
+    { dJointGetHingeAnchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetHingeAnchor2 (_id, result); }
+
+  void setAxis (dReal x, dReal y, dReal z)
+    { dJointSetHingeAxis (_id, x, y, z); }
+  void getAxis (dVector3 result) const
+    { dJointGetHingeAxis (_id, result); }
+
+  dReal getAngle() const
+    { return dJointGetHingeAngle (_id); }
+  dReal getAngleRate() const
+    { return dJointGetHingeAngleRate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetHingeParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetHingeParam (_id, parameter); }
+
+  void addTorque (dReal torque)
+	{ dJointAddHingeTorque(_id, torque); }
+};
+
+
+class dSliderJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dSliderJoint (const dSliderJoint &);
+  void operator = (const dSliderJoint &);
+
+public:
+  dSliderJoint() { }
+  dSliderJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateSlider (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateSlider (world, group);
+  }
+
+  void setAxis (dReal x, dReal y, dReal z)
+    { dJointSetSliderAxis (_id, x, y, z); }
+  void getAxis (dVector3 result) const
+    { dJointGetSliderAxis (_id, result); }
+
+  dReal getPosition() const
+    { return dJointGetSliderPosition (_id); }
+  dReal getPositionRate() const
+    { return dJointGetSliderPositionRate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetSliderParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetSliderParam (_id, parameter); }
+
+  void addForce (dReal force)
+	{ dJointAddSliderForce(_id, force); }
+};
+
+
+class dUniversalJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dUniversalJoint (const dUniversalJoint &);
+  void operator = (const dUniversalJoint &);
+
+public:
+  dUniversalJoint() { }
+  dUniversalJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateUniversal (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateUniversal (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetUniversalAnchor (_id, x, y, z); }
+  void setAxis1 (dReal x, dReal y, dReal z)
+    { dJointSetUniversalAxis1 (_id, x, y, z); }
+  void setAxis2 (dReal x, dReal y, dReal z)
+    { dJointSetUniversalAxis2 (_id, x, y, z); }
+  void setParam (int parameter, dReal value)
+    { dJointSetUniversalParam (_id, parameter, value); }
+
+  void getAnchor (dVector3 result) const
+    { dJointGetUniversalAnchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetUniversalAnchor2 (_id, result); }
+  void getAxis1 (dVector3 result) const
+    { dJointGetUniversalAxis1 (_id, result); }
+  void getAxis2 (dVector3 result) const
+    { dJointGetUniversalAxis2 (_id, result); }
+  dReal getParam (int parameter) const
+    { return dJointGetUniversalParam (_id, parameter); }
+ void getAngles(dReal *angle1, dReal *angle2) const
+    { dJointGetUniversalAngles (_id, angle1, angle2); }
+
+  dReal getAngle1() const
+    { return dJointGetUniversalAngle1 (_id); }
+  dReal getAngle1Rate() const
+    { return dJointGetUniversalAngle1Rate (_id); }
+  dReal getAngle2() const
+    { return dJointGetUniversalAngle2 (_id); }
+  dReal getAngle2Rate() const
+    { return dJointGetUniversalAngle2Rate (_id); }
+
+  void addTorques (dReal torque1, dReal torque2)
+	{ dJointAddUniversalTorques(_id, torque1, torque2); }
+};
+
+
+class dHinge2Joint : public dJoint {
+  // intentionally undefined, don't use these
+  dHinge2Joint (const dHinge2Joint &);
+  void operator = (const dHinge2Joint &);
+
+public:
+  dHinge2Joint() { }
+  dHinge2Joint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateHinge2 (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateHinge2 (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetHinge2Anchor (_id, x, y, z); }
+  void setAxis1 (dReal x, dReal y, dReal z)
+    { dJointSetHinge2Axis1 (_id, x, y, z); }
+  void setAxis2 (dReal x, dReal y, dReal z)
+    { dJointSetHinge2Axis2 (_id, x, y, z); }
+
+  void getAnchor (dVector3 result) const
+    { dJointGetHinge2Anchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetHinge2Anchor2 (_id, result); }
+  void getAxis1 (dVector3 result) const
+    { dJointGetHinge2Axis1 (_id, result); }
+  void getAxis2 (dVector3 result) const
+    { dJointGetHinge2Axis2 (_id, result); }
+
+  dReal getAngle1() const
+    { return dJointGetHinge2Angle1 (_id); }
+  dReal getAngle1Rate() const
+    { return dJointGetHinge2Angle1Rate (_id); }
+  dReal getAngle2Rate() const
+    { return dJointGetHinge2Angle2Rate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetHinge2Param (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetHinge2Param (_id, parameter); }
+
+  void addTorques(dReal torque1, dReal torque2)
+	{ dJointAddHinge2Torques(_id, torque1, torque2); }
+};
+
+
+class dPRJoint : public dJoint {
+  dPRJoint (const dPRJoint &);
+  void operator = (const dPRJoint &);
+
+public:
+  dPRJoint() { }
+  dPRJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreatePR (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreatePR (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetPRAnchor (_id, x, y, z); }
+  void setAxis1 (dReal x, dReal y, dReal z)
+    { dJointSetPRAxis1 (_id, x, y, z); }
+  void setAxis2 (dReal x, dReal y, dReal z)
+    { dJointSetPRAxis2 (_id, x, y, z); }
+
+  void getAnchor (dVector3 result) const
+    { dJointGetPRAnchor (_id, result); }
+  void getAxis1 (dVector3 result) const
+    { dJointGetPRAxis1 (_id, result); }
+  void getAxis2 (dVector3 result) const
+    { dJointGetPRAxis2 (_id, result); }
+
+  dReal getPosition() const
+    { return dJointGetPRPosition (_id); }
+  dReal getPositionRate() const
+    { return dJointGetPRPositionRate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetPRParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetPRParam (_id, parameter); }
+};
+
+
+class dFixedJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dFixedJoint (const dFixedJoint &);
+  void operator = (const dFixedJoint &);
+
+public:
+  dFixedJoint() { }
+  dFixedJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateFixed (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateFixed (world, group);
+  }
+
+  void set()
+    { dJointSetFixed (_id); }
+};
+
+
+class dContactJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dContactJoint (const dContactJoint &);
+  void operator = (const dContactJoint &);
+
+public:
+  dContactJoint() { }
+  dContactJoint (dWorldID world, dJointGroupID group, dContact *contact)
+    { _id = dJointCreateContact (world, group, contact); }
+
+  void create (dWorldID world, dJointGroupID group, dContact *contact) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateContact (world, group, contact);
+  }
+};
+
+
+class dNullJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dNullJoint (const dNullJoint &);
+  void operator = (const dNullJoint &);
+
+public:
+  dNullJoint() { }
+  dNullJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateNull (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateNull (world, group);
+  }
+};
+
+
+class dAMotorJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dAMotorJoint (const dAMotorJoint &);
+  void operator = (const dAMotorJoint &);
+
+public:
+  dAMotorJoint() { }
+  dAMotorJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateAMotor (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateAMotor (world, group);
+  }
+
+  void setMode (int mode)
+    { dJointSetAMotorMode (_id, mode); }
+  int getMode() const
+    { return dJointGetAMotorMode (_id); }
+
+  void setNumAxes (int num)
+    { dJointSetAMotorNumAxes (_id, num); }
+  int getNumAxes() const
+    { return dJointGetAMotorNumAxes (_id); }
+
+  void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
+    { dJointSetAMotorAxis (_id, anum, rel, x, y, z); }
+  void getAxis (int anum, dVector3 result) const
+    { dJointGetAMotorAxis (_id, anum, result); }
+  int getAxisRel (int anum) const
+    { return dJointGetAMotorAxisRel (_id, anum); }
+
+  void setAngle (int anum, dReal angle)
+    { dJointSetAMotorAngle (_id, anum, angle); }
+  dReal getAngle (int anum) const
+    { return dJointGetAMotorAngle (_id, anum); }
+  dReal getAngleRate (int anum)
+    { return dJointGetAMotorAngleRate (_id,anum); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetAMotorParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetAMotorParam (_id, parameter); }
+
+  void addTorques(dReal torque1, dReal torque2, dReal torque3)
+	{ dJointAddAMotorTorques(_id, torque1, torque2, torque3); }
+};
+
+
+class dLMotorJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dLMotorJoint (const dLMotorJoint &);
+  void operator = (const dLMotorJoint &);
+
+public:
+  dLMotorJoint() { }
+  dLMotorJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateLMotor (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateLMotor (world, group);
+  }
+
+  void setNumAxes (int num)
+    { dJointSetLMotorNumAxes (_id, num); }
+  int getNumAxes() const
+    { return dJointGetLMotorNumAxes (_id); }
+
+  void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
+    { dJointSetLMotorAxis (_id, anum, rel, x, y, z); }
+  void getAxis (int anum, dVector3 result) const
+    { dJointGetLMotorAxis (_id, anum, result); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetLMotorParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetLMotorParam (_id, parameter); }
+};
+
+
+
+#endif
+#endif

ode/include/ode/odecpp_collision.h

@@ -0,0 +1,346 @@
+/*************************************************************************
+ *									 *
+ * 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.			 *
+ *									 *
+ *************************************************************************/
+
+/* C++ interface for new collision API */
+
+
+#ifndef _ODE_ODECPP_COLLISION_H_
+#define _ODE_ODECPP_COLLISION_H_
+#ifdef __cplusplus
+
+#include <ode/error.h>
+
+
+class dGeom {
+  // intentionally undefined, don't use these
+  dGeom (dGeom &);
+  void operator= (dGeom &);
+
+protected:
+  dGeomID _id;
+
+public:
+  dGeom()
+    { _id = 0; }
+  ~dGeom()
+    { if (_id) dGeomDestroy (_id); }
+
+  dGeomID id() const
+    { return _id; }
+  operator dGeomID() const
+    { return _id; }
+
+  void destroy() {
+    if (_id) dGeomDestroy (_id);
+    _id = 0;
+  }
+
+  int getClass() const
+    { return dGeomGetClass (_id); }
+
+  dSpaceID getSpace() const
+    { return dGeomGetSpace (_id); }
+
+  void setData (void *data)
+    { dGeomSetData (_id,data); }
+  void *getData() const
+    { return dGeomGetData (_id); }
+
+  void setBody (dBodyID b)
+    { dGeomSetBody (_id,b); }
+  dBodyID getBody() const
+    { return dGeomGetBody (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dGeomSetPosition (_id,x,y,z); }
+  const dReal * getPosition() const
+    { return dGeomGetPosition (_id); }
+
+  void setRotation (const dMatrix3 R)
+    { dGeomSetRotation (_id,R); }
+  const dReal * getRotation() const
+    { return dGeomGetRotation (_id); }
+    
+  void setQuaternion (const dQuaternion quat)
+    { dGeomSetQuaternion (_id,quat); }
+  void getQuaternion (dQuaternion quat) const
+    { dGeomGetQuaternion (_id,quat); }
+
+  void getAABB (dReal aabb[6]) const
+    { dGeomGetAABB (_id, aabb); }
+
+  int isSpace()
+    { return dGeomIsSpace (_id); }
+
+  void setCategoryBits (unsigned long bits)
+    { dGeomSetCategoryBits (_id, bits); }
+  void setCollideBits (unsigned long bits)
+    { dGeomSetCollideBits (_id, bits); }
+  unsigned long getCategoryBits()
+    { return dGeomGetCategoryBits (_id); }
+  unsigned long getCollideBits()
+    { return dGeomGetCollideBits (_id); }
+
+  void enable()
+    { dGeomEnable (_id); }
+  void disable()
+    { dGeomDisable (_id); }
+  int isEnabled()
+    { return dGeomIsEnabled (_id); }
+
+  void collide2 (dGeomID g, void *data, dNearCallback *callback)
+    { dSpaceCollide2 (_id,g,data,callback); }
+};
+
+
+class dSpace : public dGeom {
+  // intentionally undefined, don't use these
+  dSpace (dSpace &);
+  void operator= (dSpace &);
+
+protected:
+  // the default constructor is protected so that you
+  // can't instance this class. you must instance one
+  // of its subclasses instead.
+  dSpace () { _id = 0; }
+
+public:
+  dSpaceID id() const
+    { return (dSpaceID) _id; }
+  operator dSpaceID() const
+    { return (dSpaceID) _id; }
+
+  void setCleanup (int mode)
+    { dSpaceSetCleanup (id(), mode); }
+  int getCleanup()
+    { return dSpaceGetCleanup (id()); }
+
+  void add (dGeomID x)
+    { dSpaceAdd (id(), x); }
+  void remove (dGeomID x)
+    { dSpaceRemove (id(), x); }
+  int query (dGeomID x)
+    { return dSpaceQuery (id(),x); }
+
+  int getNumGeoms()
+    { return dSpaceGetNumGeoms (id()); }
+  dGeomID getGeom (int i)
+    { return dSpaceGetGeom (id(),i); }
+
+  void collide (void *data, dNearCallback *callback)
+    { dSpaceCollide (id(),data,callback); }
+};
+
+
+class dSimpleSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dSimpleSpace (dSimpleSpace &);
+  void operator= (dSimpleSpace &);
+
+public:
+  dSimpleSpace (dSpaceID space)
+    { _id = (dGeomID) dSimpleSpaceCreate (space); }
+};
+
+
+class dHashSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dHashSpace (dHashSpace &);
+  void operator= (dHashSpace &);
+
+public:
+  dHashSpace (dSpaceID space)
+    { _id = (dGeomID) dHashSpaceCreate (space); }
+  void setLevels (int minlevel, int maxlevel)
+    { dHashSpaceSetLevels (id(),minlevel,maxlevel); }
+};
+
+
+class dQuadTreeSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dQuadTreeSpace (dQuadTreeSpace &);
+  void operator= (dQuadTreeSpace &);
+
+public:
+  dQuadTreeSpace (dSpaceID space, dVector3 center, dVector3 extents, int depth)
+    { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); }
+};
+
+
+class dSphere : public dGeom {
+  // intentionally undefined, don't use these
+  dSphere (dSphere &);
+  void operator= (dSphere &);
+
+public:
+  dSphere () { }
+  dSphere (dSpaceID space, dReal radius)
+    { _id = dCreateSphere (space, radius); }
+
+  void create (dSpaceID space, dReal radius) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateSphere (space, radius);
+  }
+
+  void setRadius (dReal radius)
+    { dGeomSphereSetRadius (_id, radius); }
+  dReal getRadius() const
+    { return dGeomSphereGetRadius (_id); }
+};
+
+
+class dBox : public dGeom {
+  // intentionally undefined, don't use these
+  dBox (dBox &);
+  void operator= (dBox &);
+
+public:
+  dBox () { }
+  dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
+    { _id = dCreateBox (space,lx,ly,lz); }
+
+  void create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateBox (space,lx,ly,lz);
+  }
+
+  void setLengths (dReal lx, dReal ly, dReal lz)
+    { dGeomBoxSetLengths (_id, lx, ly, lz); }
+  void getLengths (dVector3 result) const
+    { dGeomBoxGetLengths (_id,result); }
+};
+
+
+class dPlane : public dGeom {
+  // intentionally undefined, don't use these
+  dPlane (dPlane &);
+  void operator= (dPlane &);
+
+public:
+  dPlane() { }
+  dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
+    { _id = dCreatePlane (space,a,b,c,d); }
+
+  void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreatePlane (space,a,b,c,d);
+  }
+
+  void setParams (dReal a, dReal b, dReal c, dReal d)
+    { dGeomPlaneSetParams (_id, a, b, c, d); }
+  void getParams (dVector4 result) const
+    { dGeomPlaneGetParams (_id,result); }
+};
+
+
+class dCapsule : public dGeom {
+  // intentionally undefined, don't use these
+  dCapsule (dCapsule &);
+  void operator= (dCapsule &);
+
+public:
+  dCapsule() { }
+  dCapsule (dSpaceID space, dReal radius, dReal length)
+    { _id = dCreateCapsule (space,radius,length); }
+
+  void create (dSpaceID space, dReal radius, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateCapsule (space,radius,length);
+  }
+
+  void setParams (dReal radius, dReal length)
+    { dGeomCapsuleSetParams (_id, radius, length); }
+  void getParams (dReal *radius, dReal *length) const
+    { dGeomCapsuleGetParams (_id,radius,length); }
+};
+
+
+class dRay : public dGeom {
+  // intentionally undefined, don't use these
+  dRay (dRay &);
+  void operator= (dRay &);
+
+public:
+  dRay() { }
+  dRay (dSpaceID space, dReal length)
+    { _id = dCreateRay (space,length); }
+
+  void create (dSpaceID space, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateRay (space,length);
+  }
+
+  void setLength (dReal length)
+    { dGeomRaySetLength (_id, length); }
+  dReal getLength()
+    { return dGeomRayGetLength (_id); }
+
+  void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz)
+    { dGeomRaySet (_id, px, py, pz, dx, dy, dz); }
+  void get (dVector3 start, dVector3 dir)
+    { dGeomRayGet (_id, start, dir); }
+
+  void setParams (int firstContact, int backfaceCull)
+    { dGeomRaySetParams (_id, firstContact, backfaceCull); }
+  void getParams (int *firstContact, int *backfaceCull)
+    { dGeomRayGetParams (_id, firstContact, backfaceCull); }
+  void setClosestHit (int closestHit)
+    { dGeomRaySetClosestHit (_id, closestHit); }
+  int getClosestHit()
+    { return dGeomRayGetClosestHit (_id); }
+};
+
+
+class dGeomTransform : public dGeom {
+  // intentionally undefined, don't use these
+  dGeomTransform (dGeomTransform &);
+  void operator= (dGeomTransform &);
+
+public:
+  dGeomTransform() { }
+  dGeomTransform (dSpaceID space)
+    { _id = dCreateGeomTransform (space); }
+
+  void create (dSpaceID space=0) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateGeomTransform (space);
+  }
+
+  void setGeom (dGeomID geom)
+    { dGeomTransformSetGeom (_id, geom); }
+  dGeomID getGeom() const
+    { return dGeomTransformGetGeom (_id); }
+
+  void setCleanup (int mode)
+    { dGeomTransformSetCleanup (_id,mode); }
+  int getCleanup ()
+    { return dGeomTransformGetCleanup (_id); }
+
+  void setInfo (int mode)
+    { dGeomTransformSetInfo (_id,mode); }
+  int getInfo()
+    { return dGeomTransformGetInfo (_id); }
+};
+
+
+#endif
+#endif

ode/include/ode/odecpp_old.h

@@ -0,0 +1,316 @@
+/*************************************************************************
+ *                                                                       *
+ * 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 the old C++ interface, the new C++ interface is not quite
+ * compatible with this. but this file is kept around in case you were
+ * using the old interface.
+ */
+
+#ifndef _ODE_ODECPP_H_
+#define _ODE_ODECPP_H_
+#ifdef __cplusplus
+
+#include <ode/error.h>
+
+
+class dWorld {
+  dWorldID _id;
+
+  dWorld (dWorld &) { dDebug (0,"bad"); }
+  void operator= (dWorld &) { dDebug (0,"bad"); }
+
+public:
+  dWorld()
+    { _id = dWorldCreate(); }
+  ~dWorld()
+    { dWorldDestroy (_id); }
+  dWorldID id()
+    { return _id; }
+
+  void setGravity (dReal x, dReal y, dReal z)
+    { dWorldSetGravity (_id,x,y,z); }
+  void getGravity (dVector3 g)
+    { dWorldGetGravity (_id,g); }
+  void step (dReal stepsize)
+    { dWorldStep (_id,stepsize); }
+};
+
+
+class dBody {
+  dBodyID _id;
+
+  dBody (dBody &) { dDebug (0,"bad"); }
+  void operator= (dBody &) { dDebug (0,"bad"); }
+
+public:
+  dBody()
+    { _id = 0; }
+  dBody (dWorld &world)
+    { _id = dBodyCreate (world.id()); }
+  ~dBody()
+    { dBodyDestroy (_id); }
+  void create (dWorld &world)
+    { if (_id) dBodyDestroy (_id); _id = dBodyCreate (world.id()); }
+  dBodyID id()
+    { return _id; }
+
+  void setData (void *data)
+    { dBodySetData (_id,data); }
+  void *getData()
+    { return dBodyGetData (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dBodySetPosition (_id,x,y,z); }
+  void setRotation (const dMatrix3 R)
+    { dBodySetRotation (_id,R); }
+  void setQuaternion (const dQuaternion q)
+    { dBodySetQuaternion (_id,q); }
+  void setLinearVel  (dReal x, dReal y, dReal z)
+    { dBodySetLinearVel (_id,x,y,z); }
+  void setAngularVel (dReal x, dReal y, dReal z)
+    { dBodySetAngularVel (_id,x,y,z); }
+
+  const dReal * getPosition()
+    { return dBodyGetPosition (_id); }
+  const dReal * getRotation()
+    { return dBodyGetRotation (_id); }
+  const dReal * getQuaternion()
+    { return dBodyGetQuaternion (_id); }
+  const dReal * getLinearVel()
+    { return dBodyGetLinearVel (_id); }
+  const dReal * getAngularVel()
+    { return dBodyGetAngularVel (_id); }
+
+  void setMass (const dMass *mass)
+    { dBodySetMass (_id,mass); }
+  void getMass (dMass *mass)
+    { dBodyGetMass (_id,mass); }
+
+  void addForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddForce (_id, fx, fy, fz); }
+  void addTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddTorque (_id, fx, fy, fz); }
+  void addRelForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelForce (_id, fx, fy, fz); }
+  void addRelTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelTorque (_id, fx, fy, fz); }
+  void addForceAtPos (dReal fx, dReal fy, dReal fz,
+		      dReal px, dReal py, dReal pz)
+    { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
+			 dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
+			    dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
+
+  void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result)
+    { dBodyGetRelPointPos (_id, px, py, pz, result); }
+  void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result)
+    { dBodyGetRelPointVel (_id, px, py, pz, result); }
+
+  int isConnectedTo (const dBody &b)
+    { return dAreConnected (_id,b._id); }
+};
+
+
+class dJointGroup {
+  dJointGroupID _id;
+
+  dJointGroup (dJointGroup &) { dDebug (0,"bad"); }
+  void operator= (dJointGroup &) { dDebug (0,"bad"); }
+
+public:
+  dJointGroup()
+    { _id = 0; }
+  dJointGroup (int max_size)
+    { _id = dJointGroupCreate (max_size); }
+  ~dJointGroup()
+    { dJointGroupDestroy (_id); }
+  void create (int max_size)
+    { if (_id) dJointGroupDestroy (_id); _id = dJointGroupCreate (max_size); }
+  dJointGroupID id()
+    { return _id; }
+
+  void empty()
+    { dJointGroupEmpty (_id); }
+};
+
+
+class dJoint {
+  dJointID _id;
+
+  dJoint (dJoint &) { dDebug (0,"bad"); }
+  void operator= (dJoint &) { dDebug (0,"bad"); }
+
+public:
+  dJoint()
+    { _id = 0; }
+  ~dJoint()
+    { dJointDestroy (_id); }
+  dJointID id()
+    { return _id; }
+
+  void createBall (dWorld &world, dJointGroup *group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateBall (world.id(), group ? group->id() : 0);
+  }
+  void createHinge (dWorld &world, dJointGroup *group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateHinge (world.id(), group ? group->id() : 0);
+  }
+  void createSlider (dWorld &world, dJointGroup *group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateSlider (world.id(), group ? group->id() : 0);
+  }
+  void createContact (dWorld &world, dJointGroup *group, dContact *contact) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateContact (world.id(), group ? group->id() : 0, contact);
+  }
+
+  void attach (dBody &body1, dBody &body2)
+    { dJointAttach (_id, body1.id(), body2.id()); }
+
+  void setBallAnchor (dReal x, dReal y, dReal z)
+    { dJointSetBallAnchor (_id, x, y, z); }
+  void setHingeAnchor (dReal x, dReal y, dReal z)
+    { dJointSetHingeAnchor (_id, x, y, z); }
+
+  void setHingeAxis (dReal x, dReal y, dReal z)
+    { dJointSetHingeAxis (_id, x, y, z); }
+  void setSliderAxis (dReal x, dReal y, dReal z)
+    { dJointSetSliderAxis (_id, x, y, z); }
+
+  void getBallAnchor (dVector3 result)
+    { dJointGetBallAnchor (_id, result); }
+  void getHingeAnchor (dVector3 result)
+    { dJointGetHingeAnchor (_id, result); }
+
+  void getHingeAxis (dVector3 result)
+    { dJointGetHingeAxis (_id, result); }
+  void getSliderAxis (dVector3 result)
+    { dJointGetSliderAxis (_id, result); }
+};
+
+
+class dSpace {
+  dSpaceID _id;
+
+  dSpace (dSpace &) { dDebug (0,"bad"); }
+  void operator= (dSpace &) { dDebug (0,"bad"); }
+
+public:
+  dSpace ()
+    { _id = dHashSpaceCreate(); }
+  ~dSpace()
+    { dSpaceDestroy (_id); }
+  dSpaceID id()
+    { return _id; }
+  void collide (void *data, dNearCallback *callback)
+    { dSpaceCollide (_id,data,callback); }
+};
+
+
+class dGeom {
+  dGeomID _id;
+
+  dGeom (dGeom &) { dDebug (0,"bad"); }
+  void operator= (dGeom &) { dDebug (0,"bad"); }
+
+public:
+  dGeom()
+    { _id = 0; }
+  ~dGeom()
+    { dGeomDestroy (_id); }
+  dGeomID id()
+    { return _id; }
+
+  void createSphere (dSpace &space, dReal radius) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateSphere (space.id(),radius);
+  }
+
+  void createBox (dSpace &space, dReal lx, dReal ly, dReal lz) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateBox (space.id(),lx,ly,lz);
+  }
+
+  void createPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreatePlane (space.id(),a,b,c,d);
+  }
+
+  void createCCylinder (dSpace &space, dReal radius, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateCCylinder (space.id(),radius,length);
+  }
+
+  void destroy() {
+    if (_id) dGeomDestroy (_id);
+    _id = 0;
+  }
+
+  int getClass()
+    { return dGeomGetClass (_id); }
+
+  dReal sphereGetRadius()
+    { return dGeomSphereGetRadius (_id); }
+
+  void boxGetLengths (dVector3 result)
+    { dGeomBoxGetLengths (_id,result); }
+
+  void planeGetParams (dVector4 result)
+    { dGeomPlaneGetParams (_id,result); }
+
+  void CCylinderGetParams (dReal *radius, dReal *length)
+    { dGeomCCylinderGetParams (_id,radius,length); }
+
+  void setData (void *data)
+    { dGeomSetData (_id,data); }
+
+  void *getData()
+    { return dGeomGetData (_id); }
+
+  void setBody (dBody &b)
+    { dGeomSetBody (_id,b.id()); }
+  void setBody (dBodyID b)
+    { dGeomSetBody (_id,b); }
+
+  dBodyID getBody()
+    { return dGeomGetBody (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dGeomSetPosition (_id,x,y,z); }
+
+  void setRotation (const dMatrix3 R)
+    { dGeomSetRotation (_id,R); }
+
+  const dReal * getPosition()
+    { return dGeomGetPosition (_id); }
+
+  const dReal * getRotation()
+    { return dGeomGetRotation (_id); }
+};
+
+
+#endif
+#endif

ode/include/ode/odemath.h

@@ -0,0 +1,308 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_ODEMATH_H_
+#define _ODE_ODEMATH_H_
+
+#include <ode/common.h>
+
+#ifdef __GNUC__
+#define PURE_INLINE extern inline
+#else
+#define PURE_INLINE inline
+#endif
+
+/*
+ * macro to access elements i,j in an NxM matrix A, independent of the
+ * matrix storage convention.
+ */
+#define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
+
+/*
+ * Macro to test for valid floating point values
+ */
+#define dVALIDVEC3(v) (!(dIsNan(v[0]) || dIsNan(v[1]) || dIsNan(v[2])))
+#define dVALIDVEC4(v) (!(dIsNan(v[0]) || dIsNan(v[2]) || dIsNan(v[2]) || dIsNan(v[3])))
+#define dVALIDMAT3(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11])))
+#define dVALIDMAT4(m) (!(dIsNan(m[0]) || dIsNan(m[1]) || dIsNan(m[2]) || dIsNan(m[3]) || dIsNan(m[4]) || dIsNan(m[5]) || dIsNan(m[6]) || dIsNan(m[7]) || dIsNan(m[8]) || dIsNan(m[9]) || dIsNan(m[10]) || dIsNan(m[11]) || dIsNan(m[12]) || dIsNan(m[13]) || dIsNan(m[14]) || dIsNan(m[15]) ))
+
+
+
+/*
+ * General purpose vector operations with other vectors or constants.
+ */
+
+#define dOP(a,op,b,c) \
+    (a)[0] = ((b)[0]) op ((c)[0]); \
+    (a)[1] = ((b)[1]) op ((c)[1]); \
+    (a)[2] = ((b)[2]) op ((c)[2]);
+#define dOPC(a,op,b,c) \
+    (a)[0] = ((b)[0]) op (c); \
+    (a)[1] = ((b)[1]) op (c); \
+    (a)[2] = ((b)[2]) op (c);
+#define dOPE(a,op,b) \
+    (a)[0] op ((b)[0]); \
+    (a)[1] op ((b)[1]); \
+    (a)[2] op ((b)[2]);
+#define dOPEC(a,op,c) \
+    (a)[0] op (c); \
+    (a)[1] op (c); \
+    (a)[2] op (c);
+
+
+/*
+ * Length, and squared length helpers. dLENGTH returns the length of a dVector3.
+ * dLENGTHSQUARED return the squared length of a dVector3.
+ */
+
+#define dLENGTHSQUARED(a) (((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]))
+
+#ifdef __cplusplus
+
+PURE_INLINE dReal dLENGTH (const dReal *a) { return dSqrt(dLENGTHSQUARED(a)); }
+
+#else
+
+#define dLENGTH(a) ( dSqrt( ((a)[0])*((a)[0]) + ((a)[1])*((a)[1]) + ((a)[2])*((a)[2]) ) )
+
+#endif /* __cplusplus */
+
+
+
+
+
+/*
+ * 3-way dot product. dDOTpq means that elements of `a' and `b' are spaced
+ * p and q indexes apart respectively. dDOT() means dDOT11.
+ * in C++ we could use function templates to get all the versions of these
+ * functions - but on some compilers this will result in sub-optimal code.
+ */
+
+#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
+
+#ifdef __cplusplus
+
+PURE_INLINE dReal dDOT   (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,1); }
+PURE_INLINE dReal dDOT13 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,3); }
+PURE_INLINE dReal dDOT31 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,1); }
+PURE_INLINE dReal dDOT33 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,3); }
+PURE_INLINE dReal dDOT14 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,4); }
+PURE_INLINE dReal dDOT41 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,1); }
+PURE_INLINE dReal dDOT44 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,4); }
+
+#else
+
+#define dDOT(a,b)   dDOTpq(a,b,1,1)
+#define dDOT13(a,b) dDOTpq(a,b,1,3)
+#define dDOT31(a,b) dDOTpq(a,b,3,1)
+#define dDOT33(a,b) dDOTpq(a,b,3,3)
+#define dDOT14(a,b) dDOTpq(a,b,1,4)
+#define dDOT41(a,b) dDOTpq(a,b,4,1)
+#define dDOT44(a,b) dDOTpq(a,b,4,4)
+
+#endif /* __cplusplus */
+
+
+/*
+ * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
+ * and `c' are spaced p, q and r indexes apart respectively.
+ * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
+ * +=, -= etc to get other effects.
+ */
+
+#define dCROSS(a,op,b,c) \
+do { \
+  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
+  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
+  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
+} while(0)
+#define dCROSSpqr(a,op,b,c,p,q,r) \
+do { \
+  (a)[  0] op ((b)[  q]*(c)[2*r] - (b)[2*q]*(c)[  r]); \
+  (a)[  p] op ((b)[2*q]*(c)[  0] - (b)[  0]*(c)[2*r]); \
+  (a)[2*p] op ((b)[  0]*(c)[  r] - (b)[  q]*(c)[  0]); \
+} while(0)
+#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
+#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
+#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
+#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
+#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
+#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
+#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
+
+
+/*
+ * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
+ * A is stored by rows, and has `skip' elements per row. the matrix is
+ * assumed to be already zero, so this does not write zero elements!
+ * if (plus,minus) is (+,-) then a positive version will be written.
+ * if (plus,minus) is (-,+) then a negative version will be written.
+ */
+
+#define dCROSSMAT(A,a,skip,plus,minus) \
+do { \
+  (A)[1] = minus (a)[2]; \
+  (A)[2] = plus (a)[1]; \
+  (A)[(skip)+0] = plus (a)[2]; \
+  (A)[(skip)+2] = minus (a)[0]; \
+  (A)[2*(skip)+0] = minus (a)[1]; \
+  (A)[2*(skip)+1] = plus (a)[0]; \
+} while(0)
+
+
+/*
+ * compute the distance between two 3D-vectors
+ */
+
+#ifdef __cplusplus
+PURE_INLINE dReal dDISTANCE (const dVector3 a, const dVector3 b)
+	{ return dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]) ); }
+#else
+#define dDISTANCE(a,b) \
+	(dSqrt( ((a)[0]-(b)[0])*((a)[0]-(b)[0]) + ((a)[1]-(b)[1])*((a)[1]-(b)[1]) + ((a)[2]-(b)[2])*((a)[2]-(b)[2]) ))
+#endif
+
+
+/*
+ * special case matrix multipication, with operator selection
+ */
+
+#define dMULTIPLYOP0_331(A,op,B,C) \
+do { \
+  (A)[0] op dDOT((B),(C)); \
+  (A)[1] op dDOT((B+4),(C)); \
+  (A)[2] op dDOT((B+8),(C)); \
+} while(0)
+#define dMULTIPLYOP1_331(A,op,B,C) \
+do { \
+  (A)[0] op dDOT41((B),(C)); \
+  (A)[1] op dDOT41((B+1),(C)); \
+  (A)[2] op dDOT41((B+2),(C)); \
+} while(0)
+#define dMULTIPLYOP0_133(A,op,B,C) \
+do { \
+  (A)[0] op dDOT14((B),(C)); \
+  (A)[1] op dDOT14((B),(C+1)); \
+  (A)[2] op dDOT14((B),(C+2)); \
+} while(0)
+#define dMULTIPLYOP0_333(A,op,B,C) \
+do { \
+  (A)[0] op dDOT14((B),(C)); \
+  (A)[1] op dDOT14((B),(C+1)); \
+  (A)[2] op dDOT14((B),(C+2)); \
+  (A)[4] op dDOT14((B+4),(C)); \
+  (A)[5] op dDOT14((B+4),(C+1)); \
+  (A)[6] op dDOT14((B+4),(C+2)); \
+  (A)[8] op dDOT14((B+8),(C)); \
+  (A)[9] op dDOT14((B+8),(C+1)); \
+  (A)[10] op dDOT14((B+8),(C+2)); \
+} while(0)
+#define dMULTIPLYOP1_333(A,op,B,C) \
+do { \
+  (A)[0] op dDOT44((B),(C)); \
+  (A)[1] op dDOT44((B),(C+1)); \
+  (A)[2] op dDOT44((B),(C+2)); \
+  (A)[4] op dDOT44((B+1),(C)); \
+  (A)[5] op dDOT44((B+1),(C+1)); \
+  (A)[6] op dDOT44((B+1),(C+2)); \
+  (A)[8] op dDOT44((B+2),(C)); \
+  (A)[9] op dDOT44((B+2),(C+1)); \
+  (A)[10] op dDOT44((B+2),(C+2)); \
+} while(0)
+#define dMULTIPLYOP2_333(A,op,B,C) \
+do { \
+  (A)[0] op dDOT((B),(C)); \
+  (A)[1] op dDOT((B),(C+4)); \
+  (A)[2] op dDOT((B),(C+8)); \
+  (A)[4] op dDOT((B+4),(C)); \
+  (A)[5] op dDOT((B+4),(C+4)); \
+  (A)[6] op dDOT((B+4),(C+8)); \
+  (A)[8] op dDOT((B+8),(C)); \
+  (A)[9] op dDOT((B+8),(C+4)); \
+  (A)[10] op dDOT((B+8),(C+8)); \
+} while(0)
+
+#ifdef __cplusplus
+
+#define DECL template <class TA, class TB, class TC> PURE_INLINE void
+
+DECL dMULTIPLY0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,=,B,C); }
+DECL dMULTIPLY1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,=,B,C); }
+DECL dMULTIPLY0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,=,B,C); }
+DECL dMULTIPLY0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,=,B,C); }
+DECL dMULTIPLY1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,=,B,C); }
+DECL dMULTIPLY2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,=,B,C); }
+
+DECL dMULTIPLYADD0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,+=,B,C); }
+DECL dMULTIPLYADD1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,+=,B,C); }
+DECL dMULTIPLYADD0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,+=,B,C); }
+DECL dMULTIPLYADD0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,+=,B,C); }
+DECL dMULTIPLYADD1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,+=,B,C); }
+DECL dMULTIPLYADD2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,+=,B,C); }
+
+#undef DECL
+
+#else
+
+#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
+#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
+#define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C)
+#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
+#define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C)
+#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
+
+#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
+#define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C)
+#define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C)
+#define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C)
+#define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C)
+#define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C)
+
+#endif
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length)
+ */
+ODE_API void dNormalize3 (dVector3 a);
+ODE_API void dNormalize4 (dVector4 a);
+
+
+/*
+ * given a unit length "normal" vector n, generate vectors p and q vectors
+ * that are an orthonormal basis for the plane space perpendicular to n.
+ * i.e. this makes p,q such that n,p,q are all perpendicular to each other.
+ * q will equal n x p. if n is not unit length then p will be unit length but
+ * q wont be.
+ */
+
+ODE_API void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/rotation.h

@@ -0,0 +1,70 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_ROTATION_H_
+#define _ODE_ROTATION_H_
+
+#include <ode/common.h>
+#include <ode/compatibility.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+ODE_API void dRSetIdentity (dMatrix3 R);
+
+ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
+			 dReal angle);
+
+ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
+
+ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
+		  dReal bx, dReal by, dReal bz);
+
+ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
+
+ODE_API void dQSetIdentity (dQuaternion q);
+
+ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
+			 dReal angle);
+
+/* Quaternion multiplication, analogous to the matrix multiplication routines. */
+/* qa = rotate by qc, then qb */
+ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by qc, then by inverse of qb */
+ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by inverse of qc, then by qb */
+ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by inverse of qc, then by inverse of qb */
+ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+
+ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q);
+ODE_API void dQfromR (dQuaternion q, const dMatrix3 R);
+ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

ode/include/ode/timer.h

@@ -0,0 +1,76 @@
+/*************************************************************************
+ *                                                                       *
+ * 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_TIMER_H_
+#define _ODE_TIMER_H_
+
+#include <ode/config.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* stop watch objects */
+
+typedef struct dStopwatch {
+  double time;			/* total clock count */
+  unsigned long cc[2];		/* clock count since last `start' */
+} dStopwatch;
+
+ODE_API void dStopwatchReset (dStopwatch *);
+ODE_API void dStopwatchStart (dStopwatch *);
+ODE_API void dStopwatchStop  (dStopwatch *);
+ODE_API double dStopwatchTime (dStopwatch *);	/* returns total time in secs */
+
+
+/* code timers */
+
+ODE_API void dTimerStart (const char *description);	/* pass a static string here */
+ODE_API void dTimerNow (const char *description);	/* pass a static string here */
+ODE_API void dTimerEnd(void);
+
+/* print out a timer report. if `average' is nonzero, print out the average
+ * time for each slot (this is only meaningful if the same start-now-end
+ * calls are being made repeatedly.
+ */
+ODE_API void dTimerReport (FILE *fout, int average);
+
+
+/* resolution */
+
+/* returns the timer ticks per second implied by the timing hardware or API.
+ * the actual timer resolution may not be this great.
+ */
+ODE_API double dTimerTicksPerSecond(void);
+
+/* returns an estimate of the actual timer resolution, in seconds. this may
+ * be greater than 1/ticks_per_second.
+ */
+ODE_API double dTimerResolution(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif