add ode

13 files changed, 3906 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/GIMPACT/src/Makefile.am b/libs/ode-0.16.1/GIMPACT/src/Makefile.am
new file mode 100644
index 0000000..2cd230b
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/Makefile.am
@@ -0,0 +1,19 @@
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+                        gim_trimesh_capsule_collision.cpp \
+                        gim_trimesh_ray_collision.cpp \
+                        gim_trimesh_sphere_collision.cpp \
+                        gim_trimesh_trimesh_collision.cpp \
+                        gimpact.cpp
+
diff --git a/libs/ode-0.16.1/GIMPACT/src/Makefile.in b/libs/ode-0.16.1/GIMPACT/src/Makefile.in
new file mode 100644
index 0000000..70ab49e
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/Makefile.in
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+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_boxpruning.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_boxpruning.cpp
new file mode 100644
index 0000000..f2e77d7
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_boxpruning.cpp
@@ -0,0 +1,519 @@
+

+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+

+#include "GIMPACT/gim_boxpruning.h"

+

+

+

+//! Allocate memory for all aabb set.

+void gim_aabbset_alloc(GIM_AABB_SET * aabbset, GUINT32 count)

+{

+    aabbset->m_count = count;

+    aabbset->m_boxes = (aabb3f *)gim_alloc(sizeof(aabb3f)*count);

+

+    if(count<GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES)

+    {

+        aabbset->m_maxcoords = 0;

+        aabbset->m_sorted_mincoords = 0;

+    }

+    else

+    {

+        aabbset->m_maxcoords = (GUINT32 *)gim_alloc(sizeof(GUINT32)*aabbset->m_count );

+        aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count);

+    }

+    aabbset->m_shared = 0;

+    INVALIDATE_AABB(aabbset->m_global_bound);

+}

+

+//! Destroys the aabb set.

+void gim_aabbset_destroy(GIM_AABB_SET * aabbset)

+{

+    aabbset->m_count = 0;

+    if(aabbset->m_shared==0)

+    {

+        gim_free(aabbset->m_boxes,0);

+        gim_free(aabbset->m_maxcoords,0);

+        gim_free(aabbset->m_sorted_mincoords,0);

+    }

+    aabbset->m_boxes = 0;

+    aabbset->m_sorted_mincoords = 0;

+    aabbset->m_maxcoords = 0;

+}

+

+void gim_aabbset_calc_global_bound(GIM_AABB_SET * aabbset)

+{

+    aabb3f * paabb = aabbset->m_boxes;

+    aabb3f * globalbox = &aabbset->m_global_bound;

+    AABB_COPY((*globalbox),(*paabb));

+

+    GUINT32 count = aabbset->m_count-1;

+    paabb++;

+    while(count)

+    {

+        MERGEBOXES(*globalbox,*paabb)

+        paabb++;

+        count--;

+    }

+}

+

+

+//! Sorts the boxes for box prunning.

+/*!

+1) find the integer representation of the aabb coords

+2) Sorts the min coords

+3) Calcs the global bound

+\pre aabbset must be allocated. And the boxes must be already set.

+\param aabbset

+\param calc_global_bound If 1 , calcs the global bound

+\post If aabbset->m_sorted_mincoords == 0, then it allocs the sorted coordinates

+*/

+void gim_aabbset_sort(GIM_AABB_SET * aabbset, char calc_global_bound)

+{

+    if(aabbset->m_sorted_mincoords == 0)

+    {//allocate

+        aabbset->m_maxcoords = (GUINT32 *)gim_alloc(sizeof(GUINT32)*aabbset->m_count );

+        aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count);

+    }

+

+    GUINT32 i, count = aabbset->m_count;

+    aabb3f * paabb = aabbset->m_boxes;

+    GUINT32 * maxcoords = aabbset->m_maxcoords;

+    GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords;

+

+    if(count<860)//Calibrated on a Pentium IV

+    {

+        //Sort by quick sort

+            //Calculate keys

+        for(i=0;i<count;i++)

+        {

+            GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(paabb[i].maxX,paabb[i].maxZ,maxcoords[i]);

+            GIM_CONVERT_VEC3F_GUINT_XZ(paabb[i].minX,paabb[i].minZ,sorted_tokens[i].m_key);

+            sorted_tokens[i].m_value = i;

+        }

+        GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , sorted_tokens, count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);

+    }

+    else

+    {

+        //Sort by radix sort

+        GIM_RSORT_TOKEN * unsorted = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN )*count);

+        //Calculate keys

+        for(i=0;i<count;i++)

+        {

+            GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(paabb[i].maxX,paabb[i].maxZ,maxcoords[i]);

+            GIM_CONVERT_VEC3F_GUINT_XZ(paabb[i].minX,paabb[i].minZ,unsorted[i].m_key);

+            unsorted[i].m_value = i;

+        }

+        GIM_RADIX_SORT_RTOKENS(unsorted,sorted_tokens,count);

+        gim_free(unsorted,0);

+    }

+

+    if(calc_global_bound) gim_aabbset_calc_global_bound(aabbset);

+}

+

+//utility macros

+

+/*#define PUSH_PAIR(i,j,pairset)\

+{\

+    GIM_PAIR _pair={i,j};\

+    GIM_DYNARRAY_PUSH_ITEM(GIM_PAIR,pairset,_pair);\

+}*/

+

+#define PUSH_PAIR(i,j,pairset)\

+{\

+    GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\

+    GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\

+    _pair->m_index1 = i;\

+    _pair->m_index2 = j;\

+}

+

+#define PUSH_PAIR_INV(i,j,pairset)\

+{\

+    GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\

+    GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\

+    _pair->m_index1 = j;\

+    _pair->m_index2 = i;\

+}

+

+#define FIND_OVERLAPPING_FOWARD(\

+ curr_index,\

+ test_count,\

+ test_aabb,\

+ max_coord_uint,\

+ sorted_tokens,\

+ aabbarray,\

+ pairset,\

+ push_pair_macro)\

+{\

+    GUINT32 _i = test_count;\

+    char _intersected;\

+    GIM_RSORT_TOKEN * _psorted_tokens = sorted_tokens;\

+    while(_i>0 && max_coord_uint >= _psorted_tokens->m_key)\

+    {\

+        AABBCOLLISION(_intersected,test_aabb,aabbarray[_psorted_tokens->m_value]);\

+    	if(_intersected)\

+    	{\

+    	    push_pair_macro(curr_index, _psorted_tokens->m_value,pairset);\

+    	}\

+    	_psorted_tokens++;\

+    	_i--;\

+    }\

+}

+

+//! log(N) Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.

+/*!

+\pre aabbset must be allocated and sorted, the boxes must be already set.

+\param aabbset Must be sorted. Global bound isn't required

+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

+*/

+void gim_aabbset_self_intersections_sorted(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)

+{

+    collision_pairs->m_size = 0;

+    GUINT32 count = aabbset->m_count;

+    aabb3f * paabb = aabbset->m_boxes;

+    GUINT32 * maxcoords = aabbset->m_maxcoords;

+    GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords;

+    aabb3f test_aabb;

+    while(count>1)

+    {

+        ///current cache variables

+        GUINT32  curr_index = sorted_tokens->m_value;

+        GUINT32 max_coord_uint = maxcoords[curr_index];

+        AABB_COPY(test_aabb,paabb[curr_index]);

+

+        ///next pairs

+        sorted_tokens++;

+        count--;

+    	FIND_OVERLAPPING_FOWARD( curr_index, count, test_aabb, max_coord_uint, sorted_tokens , paabb, (*collision_pairs),PUSH_PAIR);

+    }

+}

+

+//! NxN Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.

+/*!

+\pre aabbset must be allocated, the boxes must be already set.

+\param aabbset Global bound isn't required. Doen't need to be sorted.

+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

+*/

+void gim_aabbset_self_intersections_brute_force(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)

+{

+    collision_pairs->m_size = 0;

+    GUINT32 i,j;

+    GUINT32 count = aabbset->m_count;

+    aabb3f * paabb = aabbset->m_boxes;

+    char intersected;

+    for (i=0;i< count-1 ;i++ )

+    {

+        for (j=i+1;j<count ;j++ )

+        {

+            AABBCOLLISION(intersected,paabb[i],paabb[j]);

+            if(intersected)

+            {

+                PUSH_PAIR(i,j,(*collision_pairs));

+            }

+        }

+    }

+}

+

+//! log(N) Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.

+/*!

+\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.

+\param aabbset1 Must be sorted, Global bound is required.

+\param aabbset2 Must be sorted, Global bound is required.

+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

+*/

+void gim_aabbset_bipartite_intersections_sorted(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)

+{

+    char intersected;

+    collision_pairs->m_size = 0;

+

+    AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound);

+    if(intersected == 0) return;

+

+    GUINT32 count1 = aabbset1->m_count;

+    aabb3f * paabb1 = aabbset1->m_boxes;

+    GUINT32 * maxcoords1 = aabbset1->m_maxcoords;

+    GIM_RSORT_TOKEN * sorted_tokens1 = aabbset1->m_sorted_mincoords;

+

+    GUINT32 count2 = aabbset2->m_count;

+    aabb3f * paabb2 = aabbset2->m_boxes;

+    GUINT32 * maxcoords2 = aabbset2->m_maxcoords;

+    GIM_RSORT_TOKEN * sorted_tokens2 = aabbset2->m_sorted_mincoords;

+

+    GUINT32  curr_index;

+

+    GUINT32 max_coord_uint;

+    aabb3f test_aabb;

+

+    //Classify boxes

+    //Find  Set intersection

+    aabb3f int_abbb;

+    BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb);

+

+    //Clasify set 1

+    GIM_RSORT_TOKEN * classified_tokens1 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count1);

+    GUINT32 i,classified_count1 = 0,classified_count2 = 0;

+

+

+    for (i=0;i<count1;i++ )

+    {

+        curr_index = sorted_tokens1[i].m_value;

+        AABBCOLLISION(intersected,paabb1[curr_index],int_abbb);

+    	if(intersected)

+    	{

+    	    classified_tokens1[classified_count1] = sorted_tokens1[i];

+    	    classified_count1++;

+    	}

+    }

+

+    if(classified_count1==0)

+    {

+        gim_free(classified_tokens1 ,0);

+        return; // no pairs

+    }

+

+    //Clasify set 2

+    GIM_RSORT_TOKEN * classified_tokens2 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count2);

+

+    for (i=0;i<count2;i++ )

+    {

+        curr_index = sorted_tokens2[i].m_value;

+        AABBCOLLISION(intersected,paabb2[curr_index],int_abbb);

+    	if(intersected)

+    	{

+    	    classified_tokens2[classified_count2] = sorted_tokens2[i];

+    	    classified_count2++;

+    	}

+    }

+

+    if(classified_count2==0)

+    {

+        gim_free(classified_tokens1 ,0);

+        gim_free(classified_tokens2 ,0);

+        return; // no pairs

+    }

+

+    sorted_tokens1 = classified_tokens1;

+    sorted_tokens2 = classified_tokens2;

+

+    while(classified_count1>0&&classified_count2>0)

+    {

+        if(sorted_tokens1->m_key <= sorted_tokens2->m_key)

+        {

+            ///current cache variables

+            curr_index = sorted_tokens1->m_value;

+            max_coord_uint = maxcoords1[curr_index];

+            AABB_COPY(test_aabb,paabb1[curr_index]);

+            ///next pairs

+            sorted_tokens1++;

+            classified_count1--;

+            FIND_OVERLAPPING_FOWARD( curr_index, classified_count2, test_aabb, max_coord_uint, sorted_tokens2 , paabb2, (*collision_pairs), PUSH_PAIR);

+        }

+        else ///Switch test

+        {

+            ///current cache variables

+            curr_index = sorted_tokens2->m_value;

+            max_coord_uint = maxcoords2[curr_index];

+            AABB_COPY(test_aabb,paabb2[curr_index]);

+            ///next pairs

+            sorted_tokens2++;

+            classified_count2--;

+            FIND_OVERLAPPING_FOWARD( curr_index, classified_count1, test_aabb, max_coord_uint, sorted_tokens1 , paabb1, (*collision_pairs), PUSH_PAIR_INV );

+        }

+    }

+    gim_free(classified_tokens1 ,0);

+    gim_free(classified_tokens2 ,0);

+}

+

+//! NxM Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.

+/*!

+\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.

+\param aabbset1 Must be sorted, Global bound is required.

+\param aabbset2 Must be sorted, Global bound is required.

+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

+*/

+void gim_aabbset_bipartite_intersections_brute_force(GIM_AABB_SET * aabbset1,GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)

+{

+    char intersected;

+    collision_pairs->m_size = 0;

+    AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound);

+    if(intersected == 0) return;

+

+    aabb3f int_abbb;

+    //Find  Set intersection

+    BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb);

+    //Clasify set 1

+    GUINT32 i,j;

+    GUINT32 classified_count = 0;

+

+    GUINT32 count = aabbset1->m_count;

+    aabb3f * paabb1 = aabbset1->m_boxes;

+    aabb3f * paabb2 = aabbset2->m_boxes;

+

+    GUINT32 * classified = (GUINT32 *) gim_alloc(sizeof(GUINT32)*count);

+

+    for (i=0;i<count;i++ )

+    {

+        AABBCOLLISION(intersected,paabb1[i],int_abbb);

+    	if(intersected)

+    	{

+    	    classified[classified_count] = i;

+    	    classified_count++;

+    	}

+    }

+

+    if(classified_count==0)

+    {

+        gim_free(classified,0);

+        return; // no pairs

+    }

+

+    //intesect set2

+    count = aabbset2->m_count;

+    for (i=0;i<count;i++)

+    {

+        AABBCOLLISION(intersected,paabb2[i],int_abbb);

+        if(intersected)

+        {

+            for (j=0;j<classified_count;j++)

+            {

+                AABBCOLLISION(intersected,paabb2[i],paabb1[classified[j]]);

+                if(intersected)

+                {

+                    PUSH_PAIR(classified[j],i,(*collision_pairs));

+                }

+            }

+        }

+    }

+    gim_free(classified,0);

+}

+

+

+//! Initalizes the set. Sort Boxes if needed.

+/*!

+\pre aabbset must be allocated. And the boxes must be already set.

+\post If the set has less of GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES boxes, only calcs the global box,

+ else it Sorts the entire set( Only applicable for large sets)

+*/

+void gim_aabbset_update(GIM_AABB_SET * aabbset)

+{

+    if(aabbset->m_count < GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES)

+    {//Brute force approach

+        gim_aabbset_calc_global_bound(aabbset);

+    }

+    else

+    {//Sorted force approach

+        gim_aabbset_sort(aabbset,1);

+    }

+}

+

+//! Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.

+/*!

+This function sorts the set and then it calls to gim_aabbset_self_intersections_brute_force or gim_aabbset_self_intersections_sorted.

+

+\param aabbset Set of boxes. Sorting isn't required.

+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

+\pre aabbset must be allocated and initialized.

+\post If aabbset->m_count >= GIM_MIN_SORTED_PRUNING_BOXES, then it calls to gim_aabbset_sort and then to gim_aabbset_self_intersections_sorted.

+*/

+void gim_aabbset_self_intersections(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)

+{

+    if(aabbset->m_count < GIM_MIN_SORTED_PRUNING_BOXES)

+    {//Brute force approach

+        gim_aabbset_self_intersections_brute_force(aabbset,collision_pairs);

+    }

+    else

+    {//Sorted force approach

+        gim_aabbset_sort(aabbset,0);

+        gim_aabbset_self_intersections_sorted(aabbset,collision_pairs);

+    }

+}

+

+//! Collides two sets. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.

+/*!

+\pre aabbset1 and aabbset2 must be allocated and updated. See .

+\param aabbset1 Must be sorted, Global bound is required.

+\param aabbset2 Must be sorted, Global bound is required.

+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

+*/

+void gim_aabbset_bipartite_intersections(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)

+{

+    if(aabbset1->m_sorted_mincoords == 0||aabbset2->m_sorted_mincoords == 0)

+    {//Brute force approach

+        gim_aabbset_bipartite_intersections_brute_force(aabbset1,aabbset2,collision_pairs);

+    }

+    else

+    {//Sorted force approach

+        gim_aabbset_bipartite_intersections_sorted(aabbset1,aabbset2,collision_pairs);

+    }

+}

+

+void gim_aabbset_box_collision(aabb3f *test_aabb, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided)

+{

+    collided->m_size = 0;

+    char intersected;

+    AABBCOLLISION(intersected,aabbset->m_global_bound,(*test_aabb));

+    if(intersected == 0) return;

+

+    GUINT32 i;

+    GUINT32 count = aabbset->m_count;

+    aabb3f * paabb = aabbset->m_boxes;

+    aabb3f _testaabb;

+    AABB_COPY(_testaabb,*test_aabb);

+

+    for (i=0;i< count;i++ )

+    {

+        AABBCOLLISION(intersected,paabb[i],_testaabb);

+        if(intersected)

+        {

+            GIM_DYNARRAY_PUSH_ITEM(GUINT32,(*collided),i);

+        }

+    }

+}

+

+void gim_aabbset_ray_collision(vec3f vorigin,vec3f vdir, GREAL tmax, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided)

+{

+    collided->m_size = 0;

+    char intersected;

+    GREAL tparam = 0;

+    BOX_INTERSECTS_RAY(aabbset->m_global_bound, vorigin, vdir, tparam, tmax,intersected);

+    if(intersected==0) return;

+

+    GUINT32 i;

+    GUINT32 count = aabbset->m_count;

+    aabb3f * paabb = aabbset->m_boxes;

+

+    for (i=0;i< count;i++ )

+    {

+        BOX_INTERSECTS_RAY(paabb[i], vorigin, vdir, tparam, tmax,intersected);

+        if(intersected)

+        {

+            GIM_DYNARRAY_PUSH_ITEM(GUINT32,(*collided),i);

+        }

+    }

+    (void)tparam;

+}

diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp
new file mode 100644
index 0000000..4b61298
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp
@@ -0,0 +1,132 @@
+

+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+#include "GIMPACT/gim_contact.h"

+

+void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts,

+					GDYNAMIC_ARRAY * dest_contacts)

+{

+    dest_contacts->m_size = 0;

+

+	GUINT32 source_count = source_contacts->m_size;

+	GIM_CONTACT * psource_contacts	= GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));

+	//create keys

+	GIM_RSORT_TOKEN * keycontacts = (GIM_RSORT_TOKEN * )gim_alloc(sizeof(GIM_RSORT_TOKEN)*source_count);

+

+    GUINT32 i;

+	for(i=0;i<source_count;i++)

+	{

+		keycontacts[i].m_value = i;

+		GIM_CALC_KEY_CONTACT(psource_contacts[i].m_point,keycontacts[i].m_key);

+	}

+

+	//sort keys

+	GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , keycontacts, source_count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);

+

+	// Merge contacts

+	GIM_CONTACT * pcontact = 0;

+	GIM_CONTACT * scontact = 0;

+	GUINT32 key,last_key=0;

+

+	for(i=0;i<source_contacts->m_size;i++)

+	{

+	    key = keycontacts[i].m_key;

+		scontact = &psource_contacts[keycontacts[i].m_value];

+

+		if(i>0 && last_key ==  key)

+		{

+			//merge contact

+			if(pcontact->m_depth > scontact->m_depth + CONTACT_DIFF_EPSILON)

+			{

+			    GIM_COPY_CONTACTS(pcontact, scontact);

+			}

+		}

+		else

+		{//add new contact

+		    GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));

+            pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));

+		    GIM_COPY_CONTACTS(pcontact, scontact);

+        }

+		last_key = key;

+	}

+	gim_free(keycontacts,0);

+}

+

+void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts,

+					GDYNAMIC_ARRAY * dest_contacts)

+{

+    dest_contacts->m_size = 0;

+    //Traverse the source contacts

+	GUINT32 source_count = source_contacts->m_size;

+	if(source_count==0) return;

+

+	GIM_CONTACT * psource_contacts	= GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));

+

+	//add the unique contact

+	GIM_CONTACT * pcontact = 0;

+    GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));

+    pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));

+    //set the first contact

+    GIM_COPY_CONTACTS(pcontact, psource_contacts);

+

+    if(source_count==1) return;

+    //scale the first contact

+    VEC_SCALE(pcontact->m_normal,pcontact->m_depth,pcontact->m_normal);

+

+    psource_contacts++;

+

+	//Average the contacts

+    GUINT32 i;

+	for(i=1;i<source_count;i++)

+	{

+	    VEC_SUM(pcontact->m_point,pcontact->m_point,psource_contacts->m_point);

+	    VEC_ACCUM(pcontact->m_normal,psource_contacts->m_depth,psource_contacts->m_normal);

+	    psource_contacts++;

+	}

+

+	GREAL divide_average = 1.0f/((GREAL)source_count);

+

+	VEC_SCALE(pcontact->m_point,divide_average,pcontact->m_point);

+

+	pcontact->m_depth = VEC_DOT(pcontact->m_normal,pcontact->m_normal)*divide_average;

+	GIM_SQRT(pcontact->m_depth,pcontact->m_depth);

+

+	VEC_NORMALIZE(pcontact->m_normal);

+

+	/*GREAL normal_len;

+    VEC_INV_LENGTH(pcontact->m_normal,normal_len);

+	VEC_SCALE(pcontact->m_normal,normal_len,pcontact->m_normal);

+

+    //Deep = LEN(normal)/SQRT(source_count)

+    GIM_SQRT(divide_average,divide_average);

+	pcontact->m_depth = divide_average/normal_len;

+	*/

+}

+

+

+

diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_math.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_math.cpp
new file mode 100644
index 0000000..18efb2c
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_math.cpp
@@ -0,0 +1,60 @@
+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+

+#include "GIMPACT/gim_math.h"

+#include "stdlib.h"

+#include "time.h"

+

+

+GREAL gim_inv_sqrt(GREAL f)

+{

+    GREAL r;

+    GIM_INV_SQRT(f,r);

+    return r;

+}

+

+GREAL gim_sqrt(GREAL f)

+{

+    GREAL r;

+    GIM_SQRT(f,r);

+    return r;

+}

+

+//!Initializes mathematical functions

+void gim_init_math()

+{

+    srand( static_cast< unsigned int >( time( 0 ) ) );

+}

+

+//! Generates an unit random

+GREAL gim_unit_random()

+{

+    GREAL rn = static_cast< GREAL >( rand() );

+    rn/=(GREAL)RAND_MAX;

+    return rn;

+}

diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp
new file mode 100644
index 0000000..cc5188d
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp
@@ -0,0 +1,878 @@
+

+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+

+#include <assert.h>

+#include <stdlib.h>

+#include "GIMPACT/gim_memory.h"

+#include <ode/odeconfig.h>

+#include "config.h"

+//#include "malloc.h"

+//#include "mm_malloc.h"

+

+static gim_alloc_function *g_allocfn = 0;

+// static gim_alloca_function *g_allocafn = 0; -- a nonsense

+static gim_realloc_function *g_reallocfn = 0;

+static gim_free_function *g_freefn = 0;

+

+

+#define VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)\

+    if(buffer_manager_id>=G_BUFFER_MANAGER__MAX) return G_BUFFER_OP_INVALID;\

+    GBUFFER_MANAGER_DATA * bm_data;\

+    gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data);\

+    if(bm_data == 0) return G_BUFFER_OP_INVALID;\

+

+#define VALIDATE_BUFFER_ID_PT(buffer_id)\

+	GBUFFER_MANAGER_DATA * bm_data = buffer_id->m_bm_data;\

+	if(bm_data == 0) return G_BUFFER_OP_INVALID;\

+    if(buffer_id->m_buffer_id>=bm_data->m_buffer_array.m_size) return G_BUFFER_OP_INVALID;\

+    GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);\

+    pbuffer += buffer_id->m_buffer_id;\

+    if(pbuffer->m_buffer_handle==0) return G_BUFFER_OP_INVALID;\

+

+

+void GIM_BUFFER_ARRAY_DESTROY(GBUFFER_ARRAY & array_data)

+{

+    gim_buffer_array_unlock(&array_data);

+    gim_buffer_free(&(array_data).m_buffer_id);

+}

+

+void GIM_DYNARRAY_DESTROY(GDYNAMIC_ARRAY & array_data)

+{

+    if(array_data.m_pdata != 0)

+    {

+        gim_free(array_data.m_pdata,0);

+        array_data.m_reserve_size = 0;

+        array_data.m_size = 0;

+        array_data.m_pdata = 0;

+    }

+}

+

+void gim_set_alloc_handler (gim_alloc_function *fn)

+{

+  g_allocfn = fn;

+}

+

+/* -- a nonsense

+void gim_set_alloca_handler (gim_alloca_function *fn)

+{

+  g_allocafn = fn;

+}

+*/

+

+void gim_set_realloc_handler (gim_realloc_function *fn)

+{

+  g_reallocfn = fn;

+}

+

+void gim_set_free_handler (gim_free_function *fn)

+{

+  g_freefn = fn;

+}

+

+gim_alloc_function *gim_get_alloc_handler()

+{

+  return g_allocfn;

+}

+

+/* -- a nonsense

+gim_alloca_function *gim_get_alloca_handler()

+{

+  return g_allocafn;

+}

+*/

+

+gim_realloc_function *gim_get_realloc_handler ()

+{

+  return g_reallocfn;

+}

+

+

+gim_free_function  *gim_get_free_handler ()

+{

+  return g_freefn;

+}

+

+

+void * gim_alloc(size_t size)

+{

+  void * ptr;

+/*

+  if (g_allocfn)

+  {

+	  ptr = g_allocfn(size);

+  }

+  else 

+*/

+  {

+	  ptr = malloc(size);//_mm_malloc(size,0);*/

+  }

+  assert(ptr);

+  return ptr;

+}

+

+/* -- a nonsense

+void * gim_alloca(size_t size)

+{

+  if (g_allocafn) return g_allocafn(size); else return alloca(size);

+}

+*/

+

+void * gim_realloc(void *ptr, size_t oldsize, size_t newsize)

+{

+  /*if (g_reallocfn) return g_reallocfn(ptr,oldsize,newsize);

+  else return realloc(ptr,newsize);*/

+  //return realloc(ptr,newsize);

+	void * newptr = gim_alloc(newsize);

+	size_t copysize = newsize> oldsize? oldsize: newsize;

+	memcpy(newptr,ptr,copysize);

+	gim_free(ptr,oldsize);

+	return newptr;

+}

+

+void gim_free(void *ptr, size_t size)

+{

+  if (!ptr) return;

+/* -- if custom allocation function is not used, custom free must not be used too

+  if (g_freefn)

+  {

+       g_freefn(ptr,size);

+  }

+  else

+*/

+  {

+      free(ptr);//_mm_free(ptr);

+  }

+}

+

+///******************************* BUFFER MANAGERS ******************************///

+

+//!** Basic buffer prototype functions

+

+static GPTR _system_buffer_alloc_function(GUINT32 size,int usage)

+{

+    void * newdata = gim_alloc(size);

+    memset(newdata,0,size);

+    return (GPTR)newdata;

+}

+

+static GPTR _system_buffer_alloc_data_function(const void * pdata,GUINT32 size,int usage)

+{

+    void * newdata = gim_alloc(size);

+    memcpy(newdata,pdata,size);

+    return (GPTR)(newdata);

+}

+

+static GPTR _system_buffer_realloc_function(GPTR buffer_handle,GUINT32 oldsize,int old_usage,GUINT32 newsize,int new_usage)

+{

+    void * newdata = gim_realloc(buffer_handle,oldsize,newsize);

+    return (GPTR)(newdata);

+}

+

+static void _system_buffer_free_function(GPTR buffer_handle,GUINT32 size)

+{

+    gim_free(buffer_handle,size);

+}

+

+static char * _system_lock_buffer_function(GPTR buffer_handle,int access)

+{

+    return (char * )(buffer_handle);

+}

+

+

+static void _system_unlock_buffer_function(GPTR buffer_handle)

+{

+}

+

+static void _system_download_from_buffer_function(

+        GPTR source_buffer_handle,

+		GUINT32 source_pos,

+		void * destdata,

+		GUINT32 copysize)

+{

+    char * pdata;

+	pdata = (char *)source_buffer_handle;

+	memcpy(destdata,pdata+source_pos,copysize);

+}

+

+static void  _system_upload_to_buffer_function(

+        GPTR dest_buffer_handle,

+		GUINT32 dest_pos,

+		void * sourcedata,

+		GUINT32 copysize)

+{

+    char * pdata;

+	pdata = (char * )dest_buffer_handle;

+	memcpy(pdata+dest_pos,sourcedata,copysize);

+}

+

+static void  _system_copy_buffers_function(

+		GPTR source_buffer_handle,

+		GUINT32 source_pos,

+		GPTR dest_buffer_handle,

+		GUINT32 dest_pos,

+		GUINT32 copysize)

+{

+    char * pdata1,*pdata2;

+	pdata1 = (char *)source_buffer_handle;

+	pdata2 = (char *)dest_buffer_handle;

+	memcpy(pdata2+dest_pos,pdata1+source_pos,copysize);

+}

+

+static GPTR _shared_buffer_alloc_function(GUINT32 size,int usage)

+{

+    return 0;

+}

+

+static GPTR _shared_buffer_alloc_data_function(const void * pdata,GUINT32 size,int usage)

+{

+    return (GPTR)pdata;

+}

+

+#if 0

+static GPTR _shared_buffer_realloc_function(GPTR buffer_handle,GUINT32 oldsize,int old_usage,GUINT32 newsize,int new_usage)

+{

+    return 0;

+}

+#endif

+

+static void _shared_buffer_free_function(GPTR buffer_handle,GUINT32 size)

+{

+}

+

+static inline int _is_buffer_manager_data_active(GBUFFER_MANAGER_DATA * bm_data)

+{

+	return bm_data->m_buffer_array.m_pdata != 0;

+}

+

+static inline void _init_buffer_manager_data(GBUFFER_MANAGER_DATA * bm_data)

+{

+	bm_data->m_buffer_array.m_pdata = 0;

+}

+

+static const GBUFFER_MANAGER_PROTOTYPE g_bm_prototypes[G_BUFFER_MANAGER__MAX] =

+{

+	{

+		&_system_buffer_alloc_function, // alloc_fn;

+		&_system_buffer_alloc_data_function, // alloc_data_fn;

+		&_system_buffer_realloc_function, // realloc_fn;

+		&_system_buffer_free_function, // free_fn;

+		&_system_lock_buffer_function, // lock_buffer_fn;

+		&_system_unlock_buffer_function, // unlock_buffer_fn;

+		&_system_download_from_buffer_function, // download_from_buffer_fn;

+		&_system_upload_to_buffer_function, // upload_to_buffer_fn;

+		&_system_copy_buffers_function, // copy_buffers_fn;

+	}, // G_BUFFER_MANAGER_SYSTEM

+

+	{

+		&_shared_buffer_alloc_function, // alloc_fn;

+		&_shared_buffer_alloc_data_function, // alloc_data_fn;

+		&_system_buffer_realloc_function, // realloc_fn;

+		&_shared_buffer_free_function, // free_fn;

+		&_system_lock_buffer_function, // lock_buffer_fn;

+		&_system_unlock_buffer_function, // unlock_buffer_fn;

+		&_system_download_from_buffer_function, // download_from_buffer_fn;

+		&_system_upload_to_buffer_function, // upload_to_buffer_fn;

+		&_system_copy_buffers_function, // copy_buffers_fn;

+	}, // G_BUFFER_MANAGER_SHARED

+};

+

+int gim_is_buffer_manager_active(GBUFFER_MANAGER_DATA buffer_managers[],

+	GUINT32 buffer_manager_id)

+{

+	GBUFFER_MANAGER_DATA * bm_data;

+	bm_data = &buffer_managers[buffer_manager_id];

+	return _is_buffer_manager_data_active(bm_data);

+}

+

+//!** Buffer manager operations

+void gim_create_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[],

+	GUINT32 buffer_manager_id)

+{

+    GBUFFER_MANAGER_DATA * bm_data;

+    bm_data = &buffer_managers[buffer_manager_id];

+

+	if (_is_buffer_manager_data_active(bm_data))

+	{

+		gim_destroy_buffer_manager(buffer_managers, buffer_manager_id);

+	}

+

+    //CREATE ARRAYS

+    GIM_DYNARRAY_CREATE(GBUFFER_DATA,bm_data->m_buffer_array,G_ARRAY_BUFFERMANAGER_INIT_SIZE);

+    GIM_DYNARRAY_CREATE(GUINT32,bm_data->m_free_positions,G_ARRAY_BUFFERMANAGER_INIT_SIZE);

+	bm_data->m_prototype = g_bm_prototypes + buffer_manager_id;

+	bm_data->m_buffer_manager_id = buffer_manager_id;

+}

+

+void gim_destroy_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[], GUINT32 buffer_manager_id)

+{

+    GBUFFER_MANAGER_DATA * bm_data;

+    gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data);

+    if(bm_data == 0) return;

+    //Destroy all buffers

+

+    GBUFFER_DATA * buffers = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);

+    GUINT32 i, buffer_count = bm_data->m_buffer_array.m_size;

+    for (i=0;i<buffer_count ;i++ )

+    {

+		GBUFFER_DATA * current_buffer = buffers + i;

+    	if(current_buffer->m_buffer_handle!=0) //Is active

+    	{

+    	    // free handle

+    	    bm_data->m_prototype->free_fn(current_buffer->m_buffer_handle,current_buffer->m_size);

+    	}

+    }

+

+    //destroy buffer array

+    GIM_DYNARRAY_DESTROY(bm_data->m_buffer_array);

+    //destroy free positions

+    GIM_DYNARRAY_DESTROY(bm_data->m_free_positions);

+}

+void gim_get_buffer_manager_data(GBUFFER_MANAGER_DATA buffer_managers[], 

+	GUINT32 buffer_manager_id,GBUFFER_MANAGER_DATA ** pbm_data)

+{

+	GBUFFER_MANAGER_DATA * bm_data;

+    bm_data = &buffer_managers[buffer_manager_id];

+

+    if (_is_buffer_manager_data_active(bm_data))

+    {

+		*pbm_data = bm_data;

+    }

+    else

+    {

+		*pbm_data = 0;

+    }

+}

+

+void gim_init_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[])

+{

+    GUINT32 i;

+    for (i=0;i<G_BUFFER_MANAGER__MAX;i++)

+    {

+		_init_buffer_manager_data(buffer_managers + i);

+    }

+

+	// Add the two most important buffer managers

+

+    //add system buffer manager

+    gim_create_buffer_manager(buffer_managers,G_BUFFER_MANAGER_SYSTEM );

+

+    //add shared buffer manager

+    gim_create_buffer_manager(buffer_managers,G_BUFFER_MANAGER_SHARED);

+}

+

+void gim_terminate_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[])

+{

+    GUINT32 i;

+    for (i=0;i<G_BUFFER_MANAGER__MAX;i++)

+    {

+        gim_destroy_buffer_manager(buffer_managers,i);

+    }

+}

+

+//!** Buffer operations

+

+void GET_AVALIABLE_BUFFER_ID(GBUFFER_MANAGER_DATA * buffer_manager, GUINT32 & buffer_id)

+{

+    if(buffer_manager->m_free_positions.m_size>0)\

+    {

+        GUINT32 * _pointer = GIM_DYNARRAY_POINTER(GUINT32,buffer_manager->m_free_positions);

+        buffer_id = _pointer[buffer_manager->m_free_positions.m_size-1];

+        GIM_DYNARRAY_POP_ITEM(buffer_manager->m_free_positions);

+    }

+    else

+    {

+        buffer_id = buffer_manager->m_buffer_array.m_size;

+        GIM_DYNARRAY_PUSH_EMPTY(GBUFFER_DATA,buffer_manager->m_buffer_array);

+    }

+}

+

+GINT32 _validate_buffer_id(GBUFFER_ID * buffer_id,GBUFFER_DATA ** ppbuffer,GBUFFER_MANAGER_DATA ** pbm_data)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    *ppbuffer = pbuffer;

+    *pbm_data = bm_data;

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GUINT32 gim_create_buffer(

+	GBUFFER_MANAGER_DATA buffer_managers[],

+    GUINT32 buffer_manager_id,

+    GUINT32 buffer_size,

+    int usage,

+    GBUFFER_ID * buffer_id)

+{

+    VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)

+

+    GPTR newbufferhandle = bm_data->m_prototype->alloc_fn(buffer_size,usage);

+    if(newbufferhandle==0) return G_BUFFER_OP_INVALID;

+

+    GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id);

+    buffer_id->m_bm_data = bm_data;

+

+    GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);

+    pbuffer += buffer_id->m_buffer_id ;

+    pbuffer->m_buffer_handle = newbufferhandle;

+    pbuffer->m_size = buffer_size;

+    pbuffer->m_usage = usage;

+    pbuffer->m_lock_count = 0;

+    pbuffer->m_refcount = 0;

+    pbuffer->m_mapped_pointer = 0;

+

+    //set shadow buffer if needed

+

+    if(usage == G_MU_STATIC_READ ||

+			usage == G_MU_STATIC_READ_DYNAMIC_WRITE||

+			usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)

+    {

+        gim_create_common_buffer(buffer_managers,buffer_size,&pbuffer->m_shadow_buffer);

+    }

+    else

+    {

+		pbuffer->m_shadow_buffer.m_bm_data = 0;

+        pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;

+    }

+    return G_BUFFER_OP_SUCCESS;

+}

+

+

+GUINT32 gim_create_buffer_from_data(

+	GBUFFER_MANAGER_DATA buffer_managers[],

+    GUINT32 buffer_manager_id,

+    const void * pdata,

+    GUINT32 buffer_size,

+    int usage,

+    GBUFFER_ID * buffer_id)

+{

+    VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)

+

+    GPTR newbufferhandle = bm_data->m_prototype->alloc_data_fn(pdata,buffer_size,usage);

+    if(newbufferhandle==0) return G_BUFFER_OP_INVALID;

+

+    GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id);

+    buffer_id->m_bm_data = bm_data;

+

+    GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);

+    pbuffer += buffer_id->m_buffer_id ;

+    pbuffer->m_buffer_handle = newbufferhandle;

+    pbuffer->m_size = buffer_size;

+    pbuffer->m_usage = usage;

+    pbuffer->m_lock_count = 0;

+    pbuffer->m_mapped_pointer = 0;

+    pbuffer->m_refcount = 0;

+

+    //set shadow buffer if needed

+

+    if(usage == G_MU_STATIC_READ ||

+			usage == G_MU_STATIC_READ_DYNAMIC_WRITE||

+			usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)

+    {

+        gim_create_common_buffer_from_data(buffer_managers,pdata,buffer_size,&pbuffer->m_shadow_buffer);

+    }

+    else

+    {

+		pbuffer->m_shadow_buffer.m_bm_data = 0;

+        pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;

+    }

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GUINT32 gim_create_common_buffer(GBUFFER_MANAGER_DATA buffer_managers[],

+	GUINT32 buffer_size, GBUFFER_ID * buffer_id)

+{

+    return gim_create_buffer(buffer_managers,G_BUFFER_MANAGER_SYSTEM,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);

+}

+

+GUINT32 gim_create_common_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[],

+    const void * pdata, GUINT32 buffer_size, GBUFFER_ID * buffer_id)

+{

+    return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SYSTEM,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);

+}

+

+GUINT32 gim_create_shared_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[],

+    const void * pdata, GUINT32 buffer_size, GBUFFER_ID * buffer_id)

+{

+    return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SHARED,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);

+}

+

+GINT32 gim_buffer_realloc(GBUFFER_ID * buffer_id,GUINT32 newsize)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID;

+    GPTR newhandle = buffer_id->m_bm_data->m_prototype->realloc_fn(

+		pbuffer->m_buffer_handle,pbuffer->m_size,pbuffer->m_usage,newsize,pbuffer->m_usage);

+    if(newhandle==0) return G_BUFFER_OP_INVALID;

+    pbuffer->m_buffer_handle = newhandle;

+    //realloc shadow buffer if any

+    gim_buffer_realloc(&pbuffer->m_shadow_buffer,newsize);

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GINT32 gim_buffer_add_ref(GBUFFER_ID * buffer_id)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    pbuffer->m_refcount++;

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GINT32 gim_buffer_free(GBUFFER_ID * buffer_id)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID;

+    if(pbuffer->m_refcount>0) pbuffer->m_refcount--;

+    if(pbuffer->m_refcount>0) return G_BUFFER_OP_STILLREFCOUNTED;

+

+    buffer_id->m_bm_data->m_prototype->free_fn(

+		pbuffer->m_buffer_handle,pbuffer->m_size);

+    //destroy shadow buffer if needed

+    gim_buffer_free(&pbuffer->m_shadow_buffer);

+    // Obtain a free slot index for a new buffer

+    GIM_DYNARRAY_PUSH_ITEM(GUINT32,bm_data->m_free_positions,buffer_id->m_buffer_id);

+	pbuffer->m_buffer_handle = 0;

+	pbuffer->m_size = 0;

+	pbuffer->m_shadow_buffer.m_bm_data = 0;

+	pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GINT32 gim_lock_buffer(GBUFFER_ID * buffer_id,int access,char ** map_pointer)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    if(pbuffer->m_lock_count>0)

+    {

+        if(pbuffer->m_access!=access) return G_BUFFER_OP_INVALID;

+        pbuffer->m_lock_count++;

+        *map_pointer = pbuffer->m_mapped_pointer;

+        return G_BUFFER_OP_SUCCESS;

+    }

+

+    pbuffer->m_access = access;

+

+    GUINT32 result;

+    if(pbuffer->m_usage==G_MU_STATIC_WRITE)

+	{

+		*map_pointer = 0;///no access

+		return G_BUFFER_OP_INVALID;

+	}

+	else if(pbuffer->m_usage==G_MU_STATIC_READ)

+	{

+		if(pbuffer->m_access == G_MA_READ_ONLY)

+		{

+			result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);

+			if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

+			pbuffer->m_mapped_pointer = *map_pointer;

+			pbuffer->m_lock_count++;

+		}

+		else

+		{

+			*map_pointer = 0;

+			return G_BUFFER_OP_INVALID;

+		}

+	}

+	else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE)

+	{

+		if(pbuffer->m_access == G_MA_READ_ONLY)

+		{

+			result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);

+			if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

+			pbuffer->m_mapped_pointer = *map_pointer;

+			pbuffer->m_lock_count++;

+		}

+		else if(pbuffer->m_access == G_MA_WRITE_ONLY)

+		{

+		    pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn(

+				pbuffer->m_buffer_handle,access);

+            *map_pointer = pbuffer->m_mapped_pointer;

+			pbuffer->m_lock_count++;

+		}

+		else if(pbuffer->m_access == G_MA_READ_WRITE)

+		{

+			*map_pointer = 0;

+			return G_BUFFER_OP_INVALID;

+		}

+	}

+	else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)

+	{

+		result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);

+        if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

+        pbuffer->m_mapped_pointer = *map_pointer;

+        pbuffer->m_lock_count++;

+	}

+	else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ)

+	{

+		if(pbuffer->m_access == G_MA_READ_ONLY)

+		{

+			pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn(

+				pbuffer->m_buffer_handle,access);

+            *map_pointer = pbuffer->m_mapped_pointer;

+			pbuffer->m_lock_count++;

+		}

+		else

+		{

+			*map_pointer = 0;

+			return G_BUFFER_OP_INVALID;

+		}

+	}

+	else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE)

+	{

+		pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn(

+			pbuffer->m_buffer_handle,access);

+        *map_pointer = pbuffer->m_mapped_pointer;

+        pbuffer->m_lock_count++;

+	}

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GINT32 gim_unlock_buffer(GBUFFER_ID * buffer_id)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    if(pbuffer->m_lock_count==0) return G_BUFFER_OP_INVALID;

+

+    if(pbuffer->m_lock_count>1)

+    {

+        pbuffer->m_lock_count--;

+        return G_BUFFER_OP_SUCCESS;

+    }

+

+

+    GUINT32 result;

+    if(pbuffer->m_usage==G_MU_STATIC_WRITE)

+	{

+		pbuffer->m_mapped_pointer = 0;

+        pbuffer->m_lock_count=0;

+        return G_BUFFER_OP_INVALID;

+	}

+	else if(pbuffer->m_usage==G_MU_STATIC_READ)

+	{

+		if(pbuffer->m_access == G_MA_READ_ONLY)

+		{

+			result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);

+			if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

+			pbuffer->m_mapped_pointer = 0;

+			pbuffer->m_lock_count=0;

+		}

+		else

+		{

+			pbuffer->m_mapped_pointer = 0;

+			pbuffer->m_lock_count=0;

+			return G_BUFFER_OP_INVALID;

+		}

+	}

+	else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE)

+	{

+		if(pbuffer->m_access == G_MA_READ_ONLY)

+		{

+			result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);

+			if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

+			pbuffer->m_mapped_pointer = 0;

+			pbuffer->m_lock_count=0;

+		}

+		else if(pbuffer->m_access == G_MA_WRITE_ONLY)

+		{

+		    buffer_id->m_bm_data->m_prototype->unlock_buffer_fn(

+				pbuffer->m_buffer_handle);

+            pbuffer->m_mapped_pointer = 0;

+			pbuffer->m_lock_count=0;

+		}

+		else if(pbuffer->m_access == G_MA_READ_WRITE)

+		{

+			pbuffer->m_mapped_pointer = 0;

+			pbuffer->m_lock_count=0;

+			return G_BUFFER_OP_INVALID;

+		}

+	}

+	else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)

+	{

+	    result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);

+        if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

+        pbuffer->m_mapped_pointer = 0;

+        pbuffer->m_lock_count=0;

+	    if(pbuffer->m_access == G_MA_WRITE_ONLY||pbuffer->m_access == G_MA_READ_WRITE)

+		{

+		    gim_copy_buffers(&pbuffer->m_shadow_buffer,0,buffer_id,0,pbuffer->m_size);

+		}

+	}

+	else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ)

+	{

+		if(pbuffer->m_access == G_MA_READ_ONLY)

+		{

+			buffer_id->m_bm_data->m_prototype->unlock_buffer_fn(

+				pbuffer->m_buffer_handle);

+            pbuffer->m_mapped_pointer = 0;

+			pbuffer->m_lock_count=0;

+		}

+		else

+		{

+			pbuffer->m_mapped_pointer = 0;

+			pbuffer->m_lock_count=0;

+			return G_BUFFER_OP_INVALID;

+		}

+	}

+	else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE)

+	{

+		buffer_id->m_bm_data->m_prototype->unlock_buffer_fn(

+			pbuffer->m_buffer_handle);

+        pbuffer->m_mapped_pointer = 0;

+        pbuffer->m_lock_count=0;

+	}

+	return G_BUFFER_OP_SUCCESS;

+}

+

+GINT32 gim_get_buffer_size(GBUFFER_ID * buffer_id,GUINT32 * buffer_size)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    *buffer_size =  pbuffer->m_size;

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GINT32 gim_get_buffer_is_locked(GBUFFER_ID * buffer_id,GUINT32 * lock_count)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    *lock_count =  pbuffer->m_lock_count;

+    return G_BUFFER_OP_SUCCESS;

+}

+

+

+GINT32 gim_download_from_buffer(

+        GBUFFER_ID * buffer_id,

+		GUINT32 source_pos,

+		void * destdata,

+		GUINT32 copysize)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    buffer_id->m_bm_data->m_prototype->download_from_buffer_fn(

+        pbuffer->m_buffer_handle,source_pos,destdata,copysize);

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GINT32  gim_upload_to_buffer(

+		GBUFFER_ID * buffer_id,

+		GUINT32 dest_pos,

+		void * sourcedata,

+		GUINT32 copysize)

+{

+    VALIDATE_BUFFER_ID_PT(buffer_id)

+    buffer_id->m_bm_data->m_prototype->upload_to_buffer_fn(

+        pbuffer->m_buffer_handle,dest_pos,sourcedata,copysize);

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GINT32  gim_copy_buffers(

+		GBUFFER_ID * source_buffer_id,

+		GUINT32 source_pos,

+		GBUFFER_ID * dest_buffer_id,

+		GUINT32 dest_pos,

+		GUINT32 copysize)

+{

+    GBUFFER_MANAGER_DATA * bm_data1,* bm_data2;

+    GBUFFER_DATA * pbuffer1, * pbuffer2;

+    void * tempdata;

+    if(_validate_buffer_id(source_buffer_id,&pbuffer1,&bm_data1)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

+

+    if(_validate_buffer_id(dest_buffer_id,&pbuffer2,&bm_data2)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

+

+    if((bm_data1->m_buffer_manager_id == bm_data2->m_buffer_manager_id)||

+        (bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)||

+        (bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM)

+    )

+    {//smooth copy

+        bm_data1->m_prototype->copy_buffers_fn(

+			pbuffer1->m_buffer_handle,source_pos,pbuffer2->m_buffer_handle,dest_pos,copysize);

+    }

+    else if(bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM || 

+		bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)

+    {

+        //hard copy

+        tempdata = (void *)pbuffer1->m_buffer_handle;

+        //upload data

+        bm_data2->m_prototype->upload_to_buffer_fn(

+			pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize);

+    }

+    else

+    {

+        //very hard copy

+        void * tempdata = gim_alloc(copysize);

+        //download data

+        bm_data1->m_prototype->download_from_buffer_fn(

+			pbuffer1->m_buffer_handle,source_pos,tempdata,copysize);

+

+        //upload data

+        bm_data2->m_prototype->upload_to_buffer_fn(

+			pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize);

+        //delete temp buffer

+        gim_free(tempdata,copysize);

+    }

+    return G_BUFFER_OP_SUCCESS;

+}

+

+GINT32 gim_buffer_array_lock(GBUFFER_ARRAY * array_data, int access)

+{

+    if(array_data->m_buffer_data != 0) return G_BUFFER_OP_SUCCESS;

+    GINT32 result = gim_lock_buffer(&array_data->m_buffer_id,access,&array_data->m_buffer_data);

+    if(result!= G_BUFFER_OP_SUCCESS) return result;

+    array_data->m_buffer_data += array_data->m_byte_offset;

+    return result;

+}

+

+GINT32 gim_buffer_array_unlock(GBUFFER_ARRAY * array_data)

+{

+    if(array_data->m_buffer_data == 0) return G_BUFFER_OP_SUCCESS;

+    GINT32 result = gim_unlock_buffer(&array_data->m_buffer_id);

+    if(result!= G_BUFFER_OP_SUCCESS) return result;

+    array_data->m_buffer_data = 0;

+    return result;

+}

+

+void gim_buffer_array_copy_ref(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY  * dest_data)

+{

+    dest_data->m_buffer_id.m_buffer_id = source_data->m_buffer_id.m_buffer_id;

+    dest_data->m_buffer_id.m_bm_data = source_data->m_buffer_id.m_bm_data;

+    dest_data->m_buffer_data = 0;

+    dest_data->m_byte_stride = source_data->m_byte_stride;

+    dest_data->m_byte_offset = source_data->m_byte_offset;

+    dest_data->m_element_count = source_data->m_element_count;

+    gim_buffer_add_ref(&dest_data->m_buffer_id);

+}

+

+void gim_buffer_array_copy_value(GBUFFER_ARRAY * source_data,

+	GBUFFER_MANAGER_DATA dest_buffer_managers[],GBUFFER_ARRAY  * dest_data, 

+	GUINT32 buffer_manager_id,int usage)

+{

+    //Create new buffer

+    GUINT32 buffsize = source_data->m_element_count*source_data->m_byte_stride;

+    gim_create_buffer(dest_buffer_managers,buffer_manager_id,buffsize,usage,&dest_data->m_buffer_id);

+

+    //copy ref data

+    dest_data->m_buffer_data = 0;

+    dest_data->m_byte_stride = source_data->m_byte_stride;

+    dest_data->m_byte_offset = 0;

+    dest_data->m_element_count = source_data->m_element_count;

+    gim_buffer_add_ref(&dest_data->m_buffer_id);

+    //copy buffers

+    gim_copy_buffers(&source_data->m_buffer_id,source_data->m_byte_offset,&dest_data->m_buffer_id,0,buffsize);

+}

diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp
new file mode 100644
index 0000000..5b4e08d
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp
@@ -0,0 +1,251 @@
+

+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+#include "GIMPACT/gim_trimesh.h"

+

+

+#define FABS(x) (float(fabs(x)))        /* implement as is fastest on your machine */

+

+/* some macros */

+

+#define CLASSIFY_TRIPOINTS_BY_FACE(v1,v2,v3,faceplane,out_of_face)\

+{   \

+    _distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\

+    _distances[1] =  _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\

+    _distances[2] =  _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \

+	if(_distances[1]>0.0f && _distances[2]>0.0f)\

+	{\

+	    out_of_face = 1;\

+	}\

+	else\

+	{\

+	    out_of_face = 0;\

+	}\

+}\

+

+/* sort so that a<=b */

+#define SORT(a,b)       \

+             if(a>b)    \

+             {          \

+               float c; \

+               c=a;     \

+               a=b;     \

+               b=c;     \

+             }

+

+

+/* this edge to edge test is based on Franlin Antonio's gem:

+   "Faster Line Segment Intersection", in Graphics Gems III,

+   pp. 199-202 */

+#define EDGE_EDGE_TEST(V0,U0,U1)                      \

+  Bx=U0[i0]-U1[i0];                                   \

+  By=U0[i1]-U1[i1];                                   \

+  Cx=V0[i0]-U0[i0];                                   \

+  Cy=V0[i1]-U0[i1];                                   \

+  f=Ay*Bx-Ax*By;                                      \

+  d=By*Cx-Bx*Cy;                                      \

+  if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f))  \

+  {                                                   \

+    e=Ax*Cy-Ay*Cx;                                    \

+    if(f>0)                                           \

+    {                                                 \

+      if(e>=0 && e<=f) return 1;                      \

+    }                                                 \

+    else                                              \

+    {                                                 \

+      if(e<=0 && e>=f) return 1;                      \

+    }                                                 \

+  }

+

+#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \

+{                                              \

+  float Ax,Ay,Bx,By,Cx,Cy,e,d,f;               \

+  Ax=V1[i0]-V0[i0];                            \

+  Ay=V1[i1]-V0[i1];                            \

+  /* test edge U0,U1 against V0,V1 */          \

+  EDGE_EDGE_TEST(V0,U0,U1);                    \

+  /* test edge U1,U2 against V0,V1 */          \

+  EDGE_EDGE_TEST(V0,U1,U2);                    \

+  /* test edge U2,U1 against V0,V1 */          \

+  EDGE_EDGE_TEST(V0,U2,U0);                    \

+}

+

+#define POINT_IN_TRI(V0,U0,U1,U2)           \

+{                                           \

+  float a,b,c,d0,d1,d2;                     \

+  /* is T1 completly inside T2? */          \

+  /* check if V0 is inside tri(U0,U1,U2) */ \

+  a=U1[i1]-U0[i1];                          \

+  b=-(U1[i0]-U0[i0]);                       \

+  c=-a*U0[i0]-b*U0[i1];                     \

+  d0=a*V0[i0]+b*V0[i1]+c;                   \

+                                            \

+  a=U2[i1]-U1[i1];                          \

+  b=-(U2[i0]-U1[i0]);                       \

+  c=-a*U1[i0]-b*U1[i1];                     \

+  d1=a*V0[i0]+b*V0[i1]+c;                   \

+                                            \

+  a=U0[i1]-U2[i1];                          \

+  b=-(U0[i0]-U2[i0]);                       \

+  c=-a*U2[i0]-b*U2[i1];                     \

+  d2=a*V0[i0]+b*V0[i1]+c;                   \

+  if(d0*d1>0.0)                             \

+  {                                         \

+    if(d0*d2>0.0) return 1;                 \

+  }                                         \

+}

+

+int coplanar_tri_tri(GIM_TRIANGLE_DATA *tri1,

+                    GIM_TRIANGLE_DATA *tri2)

+{

+   short i0,i1;

+   /* first project onto an axis-aligned plane, that maximizes the area */

+   /* of the triangles, compute indices: i0,i1. */

+   PLANE_MINOR_AXES(tri1->m_planes.m_planes[0], i0, i1);

+

+    /* test all edges of triangle 1 against the edges of triangle 2 */

+    EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[0],tri1->m_vertices[1],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);

+    EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);

+    EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[2],tri1->m_vertices[0],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);

+

+    /* finally, test if tri1 is totally contained in tri2 or vice versa */

+    POINT_IN_HULL(tri1->m_vertices[0],(&tri2->m_planes.m_planes[1]),3,i0);

+    if(i0==0) return 1;

+

+    POINT_IN_HULL(tri2->m_vertices[0],(&tri1->m_planes.m_planes[1]),3,i0);

+    if(i0==0) return 1;

+

+    return 0;

+}

+

+

+

+#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \

+{ \

+        if(D0D1>0.0f) \

+        { \

+                /* here we know that D0D2<=0.0 */ \

+            /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \

+                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \

+        } \

+        else if(D0D2>0.0f)\

+        { \

+                /* here we know that d0d1<=0.0 */ \

+            A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \

+        } \

+        else if(D1*D2>0.0f || D0!=0.0f) \

+        { \

+                /* here we know that d0d1<=0.0 or that D0!=0.0 */ \

+                A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \

+        } \

+        else if(D1!=0.0f) \

+        { \

+                A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \

+        } \

+        else if(D2!=0.0f) \

+        { \

+                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \

+        } \

+        else \

+        { \

+                /* triangles are coplanar */ \

+                return coplanar_tri_tri(tri1,tri2); \

+        } \

+}\

+

+

+

+int gim_triangle_triangle_overlap(

+							GIM_TRIANGLE_DATA *tri1,

+							GIM_TRIANGLE_DATA *tri2)

+{

+    vec3f _distances;

+    char out_of_face;

+    CLASSIFY_TRIPOINTS_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);

+    if(out_of_face==1) return 0;

+

+    CLASSIFY_TRIPOINTS_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);

+    if(out_of_face==1) return 0;

+

+

+    float du0=0,du1=0,du2=0,dv0=0,dv1=0,dv2=0;

+    float D[3];

+    float isect1[2], isect2[2];

+    float du0du1=0,du0du2=0,dv0dv1=0,dv0dv2=0;

+    short index;

+    float vp0,vp1,vp2;

+    float up0,up1,up2;

+    float bb,cc,max;

+

+    /* compute direction of intersection line */

+    VEC_CROSS(D,tri1->m_planes.m_planes[0],tri2->m_planes.m_planes[0]);

+

+    /* compute and index to the largest component of D */

+    max=(float)FABS(D[0]);

+    index=0;

+    bb=(float)FABS(D[1]);

+    cc=(float)FABS(D[2]);

+    if(bb>max) max=bb,index=1;

+    if(cc>max) max=cc,index=2;

+

+     /* this is the simplified projection onto L*/

+     vp0= tri1->m_vertices[0][index];

+     vp1= tri1->m_vertices[1][index];

+     vp2= tri1->m_vertices[2][index];

+

+     up0= tri2->m_vertices[0][index];

+     up1= tri2->m_vertices[1][index];

+     up2= tri2->m_vertices[2][index];

+

+    /* compute interval for triangle 1 */

+    float a,b,c,x0,x1;

+    NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1);

+

+    /* compute interval for triangle 2 */

+    float d,e,f,y0,y1;

+    NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1);

+

+    float xx,yy,xxyy,tmp;

+    xx=x0*x1;

+    yy=y0*y1;

+    xxyy=xx*yy;

+

+    tmp=a*xxyy;

+    isect1[0]=tmp+b*x1*yy;

+    isect1[1]=tmp+c*x0*yy;

+

+    tmp=d*xxyy;

+    isect2[0]=tmp+e*xx*y1;

+    isect2[1]=tmp+f*xx*y0;

+

+    SORT(isect1[0],isect1[1]);

+    SORT(isect2[0],isect2[1]);

+

+    if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;

+    return 1;

+}

diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh.cpp
new file mode 100644
index 0000000..7be639b
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh.cpp
@@ -0,0 +1,391 @@
+

+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+

+#include <assert.h>

+#include "GIMPACT/gim_trimesh.h"

+

+GUINT32 gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh)

+{

+    return trimesh->m_tri_index_buffer.m_element_count/3;

+}

+

+//! Creates the aabb set and the triangles cache

+/*!

+

+\param trimesh

+\param vertex_array

+\param triindex_array

+\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.

+\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer)

+*/

+void gim_trimesh_create_from_arrays(GBUFFER_MANAGER_DATA buffer_managers[],

+	GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply)

+{

+    assert(trimesh);

+    assert(vertex_array);

+    assert(triindex_array);

+    gim_buffer_array_copy_ref(vertex_array,&trimesh->m_source_vertex_buffer);

+    gim_buffer_array_copy_ref(triindex_array,&trimesh->m_tri_index_buffer);

+

+    trimesh->m_mask = GIM_TRIMESH_NEED_UPDATE;//needs update

+    //Create the transformed vertices

+    if(transformed_reply==1)

+    {

+        trimesh->m_mask |= GIM_TRIMESH_TRANSFORMED_REPLY;

+        gim_buffer_array_copy_value(vertex_array,

+			buffer_managers,&trimesh->m_transformed_vertex_buffer,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);

+    }

+    else

+    {

+        gim_buffer_array_copy_ref(vertex_array,&trimesh->m_transformed_vertex_buffer);

+    }

+    //create the box set

+    GUINT32 facecount = gim_trimesh_get_triangle_count(trimesh);

+

+    gim_aabbset_alloc(&trimesh->m_aabbset,facecount);

+    //create the planes cache

+    GIM_DYNARRAY_CREATE_SIZED(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer,facecount);

+    //Create the bitset

+    GIM_BITSET_CREATE_SIZED(trimesh->m_planes_cache_bitset,facecount);

+    //Callback is 0

+    trimesh->m_update_callback = 0;

+    //set to identity

+    IDENTIFY_MATRIX_4X4(trimesh->m_transform);

+}

+

+

+

+//! Create a trimesh from vertex array and an index array

+/*!

+

+\param trimesh An uninitialized GIM_TRIMESH  structure

+\param vertex_array A buffer to a vec3f array

+\param vertex_count

+\param triindex_array

+\param index_count

+\param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.

+\param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.

+\param transformed_reply If , then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.

+*/

+void gim_trimesh_create_from_data(GBUFFER_MANAGER_DATA buffer_managers[],

+	GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT32 vertex_count,char copy_vertices, 

+	GUINT32 * triindex_array, GUINT32 index_count,char copy_indices,char transformed_reply)

+{

+    GBUFFER_ARRAY buffer_vertex_array;

+    GBUFFER_ARRAY buffer_triindex_array;

+

+    //Create vertices

+    if(copy_vertices == 1)

+    {

+        gim_create_common_buffer_from_data(buffer_managers, 

+			vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);

+    }

+    else//Create a shared buffer

+    {

+        gim_create_shared_buffer_from_data(buffer_managers, 

+			vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);

+    }

+    GIM_BUFFER_ARRAY_INIT_TYPE(vec3f,buffer_vertex_array,buffer_vertex_array.m_buffer_id,vertex_count);

+

+

+    //Create vertices

+    if(copy_indices == 1)

+    {

+        gim_create_common_buffer_from_data(buffer_managers, 

+			triindex_array, index_count*sizeof(GUINT32), &buffer_triindex_array.m_buffer_id);

+    }

+    else//Create a shared buffer

+    {

+        gim_create_shared_buffer_from_data(buffer_managers, 

+			triindex_array, index_count*sizeof(GUINT32), &buffer_triindex_array.m_buffer_id);

+    }

+    GIM_BUFFER_ARRAY_INIT_TYPE(GUINT32,buffer_triindex_array,buffer_triindex_array.m_buffer_id,index_count);

+

+    gim_trimesh_create_from_arrays(buffer_managers, trimesh, 

+		&buffer_vertex_array, &buffer_triindex_array,transformed_reply);

+

+    ///always call this after create a buffer_array

+    GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);

+    GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);

+}

+

+//! Clears auxiliary data and releases buffer arrays

+void gim_trimesh_destroy(GIM_TRIMESH * trimesh)

+{

+    gim_aabbset_destroy(&trimesh->m_aabbset);

+

+    GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_buffer);

+    GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_bitset);

+

+    GIM_BUFFER_ARRAY_DESTROY(trimesh->m_transformed_vertex_buffer);

+    GIM_BUFFER_ARRAY_DESTROY(trimesh->m_source_vertex_buffer);

+    GIM_BUFFER_ARRAY_DESTROY(trimesh->m_tri_index_buffer);

+}

+

+//! Copies two meshes

+/*!

+\pre dest_trimesh shouldn't be created

+\post dest_trimesh will be created

+\param source_trimesh

+\param dest_trimesh

+\param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices

+\param transformed_reply IF 1, then it forces the m_trasnformed_vertices to be  a reply of the source vertices

+*/

+void gim_trimesh_copy(GIM_TRIMESH * source_trimesh,

+	GBUFFER_MANAGER_DATA dest_buffer_managers[], GIM_TRIMESH * dest_trimesh, 

+	char copy_by_reference, char transformed_reply)

+{

+/* -- trimesh can not be copied by reference until GBUFFER_MANAGER_DATA is rewritten

+	to be thread safe and until it is moved back to global variables.

+    if(copy_by_reference==1)

+    {

+        gim_trimesh_create_from_arrays(dest_trimesh, &source_trimesh->m_source_vertex_buffer, &source_trimesh->m_tri_index_buffer,transformed_reply);

+    }

+    else

+*/

+    {

+        GBUFFER_ARRAY buffer_vertex_array;

+        GBUFFER_ARRAY buffer_triindex_array;

+

+        gim_buffer_array_copy_value(&source_trimesh->m_source_vertex_buffer,

+			dest_buffer_managers,&buffer_vertex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);

+

+        gim_buffer_array_copy_value(&source_trimesh->m_tri_index_buffer,

+			dest_buffer_managers,&buffer_triindex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);

+

+        gim_trimesh_create_from_arrays(dest_buffer_managers, dest_trimesh, 

+			&buffer_vertex_array, &buffer_triindex_array,transformed_reply);

+

+        ///always call this after create a buffer_array

+        GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);

+        GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);

+    }

+}

+//! Locks the trimesh for working with it

+/*!

+\post locks m_tri_index_buffer and m_transformed_vertex_buffer.

+\param trimesh

+*/

+void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh)

+{

+    GINT32 res;

+    res=gim_buffer_array_lock(&trimesh->m_tri_index_buffer,G_MA_READ_ONLY);

+    assert(res==G_BUFFER_OP_SUCCESS);

+    res=gim_buffer_array_lock(&trimesh->m_transformed_vertex_buffer,G_MA_READ_ONLY);

+    assert(res==G_BUFFER_OP_SUCCESS);

+}

+

+//! unlocks the trimesh

+/*!

+\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer.

+\param trimesh

+*/

+void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh)

+{

+    gim_buffer_array_unlock(&trimesh->m_tri_index_buffer);

+    gim_buffer_array_unlock(&trimesh->m_transformed_vertex_buffer);

+}

+

+

+//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer

+char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh)

+{

+    if(trimesh->m_mask&GIM_TRIMESH_TRANSFORMED_REPLY) return 1;

+    return 0;

+}

+

+//! Returns 1 if the trimesh needs to update their aabbset and the planes cache.

+char gim_trimesh_needs_update(GIM_TRIMESH * trimesh)

+{

+    if(trimesh->m_mask&GIM_TRIMESH_NEED_UPDATE) return 1;

+    return 0;

+}

+

+//! Change the state of the trimesh for force it to update

+/*!

+Call it after made changes to the trimesh.

+\post gim_trimesh_need_update(trimesh) will return 1

+*/

+void gim_trimesh_post_update(GIM_TRIMESH * trimesh)

+{

+    trimesh->m_mask |= GIM_TRIMESH_NEED_UPDATE;

+}

+

+//kernel

+#define MULT_MAT_VEC4_KERNEL(_mat,_src,_dst) MAT_DOT_VEC_3X4((_dst),(_mat),(_src))

+

+//! Updates m_transformed_vertex_buffer

+/*!

+\pre m_transformed_vertex_buffer must be unlocked

+*/

+void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh)

+{

+    if(gim_trimesh_has_tranformed_reply(trimesh) == 0) return; //Don't perform transformation

+

+    //Vertices

+    GBUFFER_ARRAY * psource_vertex_buffer = &trimesh->m_source_vertex_buffer;

+    GBUFFER_ARRAY * ptransformed_vertex_buffer = &trimesh->m_transformed_vertex_buffer;

+    //Temp transform

+    mat4f transform;

+    COPY_MATRIX_4X4(transform,trimesh->m_transform);

+

+    GIM_PROCESS_BUFFER_ARRAY(transform,(*psource_vertex_buffer),(*ptransformed_vertex_buffer),MULT_MAT_VEC4_KERNEL,vec3f,vec3f);

+}

+

+//! Updates m_aabbset and m_planes_cache_bitset

+/*!

+\pre gim_trimesh_locks_work_data must be called before

+*/

+void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh)

+{

+    vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

+    assert(transformed_vertices);

+

+    GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,0);

+    assert(triangle_indices);

+    // box set

+    aabb3f * paabb = trimesh->m_aabbset.m_boxes;

+    GUINT32 triangle_count = gim_trimesh_get_triangle_count(trimesh);

+    float * v1,*v2,*v3;

+    GUINT32 i;

+    for (i=0; i<triangle_count;i++)

+    {

+        v1 = &transformed_vertices[triangle_indices[0]][0];

+        v2 = &transformed_vertices[triangle_indices[1]][0];

+        v3 = &transformed_vertices[triangle_indices[2]][0];

+        COMPUTEAABB_FOR_TRIANGLE((*paabb),v1,v2,v3);

+        triangle_indices+=3;

+        paabb++;

+    }

+    //Clear planes cache

+    GIM_BITSET_CLEAR_ALL(trimesh->m_planes_cache_bitset);

+    //Sorts set

+    gim_aabbset_update(&trimesh->m_aabbset);

+}

+

+//! Updates the trimesh if needed

+/*!

+\post If gim_trimesh_needs_update returns 1, then it calls  gim_trimesh_update_vertices and gim_trimesh_update_aabbset

+*/

+void gim_trimesh_update(GIM_TRIMESH * trimesh)

+{

+    if(gim_trimesh_needs_update(trimesh)==0) return;

+    gim_trimesh_update_vertices(trimesh);

+    gim_trimesh_locks_work_data(trimesh);

+    gim_trimesh_update_aabbset(trimesh);

+    gim_trimesh_unlocks_work_data(trimesh);

+

+    //Clear update flag

+     trimesh->m_mask &= ~GIM_TRIMESH_NEED_UPDATE;

+}

+

+void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform)

+{

+    GREAL diff = 0.0f;

+    float * originaltrans = &trimesh->m_transform[0][0];

+    float * newtrans = &transform[0][0];

+    GUINT32 i;

+    for (i=0;i<16;i++)

+    {

+    	diff += fabs(originaltrans[i]-newtrans[i]);

+    }

+

+//    if(IS_ZERO(diff)) return ;///don't need to update

+    if(diff< 0.00001f) return ;///don't need to update

+

+    COPY_MATRIX_4X4(trimesh->m_transform,transform);

+

+    gim_trimesh_post_update(trimesh);

+}

+

+void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT32 triangle_index, GIM_TRIANGLE_DATA * tri_data)

+{

+    vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

+

+    GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,triangle_index*3);

+

+

+    //Copy the vertices

+    VEC_COPY(tri_data->m_vertices[0],transformed_vertices[triangle_indices[0]]);

+    VEC_COPY(tri_data->m_vertices[1],transformed_vertices[triangle_indices[1]]);

+    VEC_COPY(tri_data->m_vertices[2],transformed_vertices[triangle_indices[2]]);

+

+    //Get the planes

+    GIM_TRIPLANES_CACHE * planes = GIM_DYNARRAY_POINTER(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer);

+    planes += triangle_index;

+

+    //verify planes cache

+    GUINT32 bit_eval;

+    GIM_BITSET_GET(trimesh->m_planes_cache_bitset,triangle_index,bit_eval);

+    if(bit_eval == 0)// Needs to calc the planes

+    {

+        //Calc the face plane

+        TRIANGLE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],tri_data->m_vertices[2],planes->m_planes[0]);

+        //Calc the edge 1

+        EDGE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],(planes->m_planes[0]),(planes->m_planes[1]));

+

+        //Calc the edge 2

+        EDGE_PLANE(tri_data->m_vertices[1],tri_data->m_vertices[2],(planes->m_planes[0]),(planes->m_planes[2]));

+

+        //Calc the edge 3

+        EDGE_PLANE(tri_data->m_vertices[2],tri_data->m_vertices[0],(planes->m_planes[0]), (planes->m_planes[3]));

+

+        //mark

+        GIM_BITSET_SET(trimesh->m_planes_cache_bitset,triangle_index);

+    }

+

+

+    VEC_COPY_4((tri_data->m_planes.m_planes[0]),(planes->m_planes[0]));//face plane

+    VEC_COPY_4((tri_data->m_planes.m_planes[1]),(planes->m_planes[1]));//edge1

+    VEC_COPY_4((tri_data->m_planes.m_planes[2]),(planes->m_planes[2]));//edge2

+    VEC_COPY_4((tri_data->m_planes.m_planes[3]),(planes->m_planes[3]));//edge3

+}

+

+void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT32 triangle_index, vec3f v1, vec3f v2, vec3f v3)

+{

+    vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

+

+    GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,triangle_index*3);

+

+    //Copy the vertices

+    if (v1 != NULL)

+    {

+        VEC_COPY(v1,transformed_vertices[triangle_indices[0]]);

+    }

+

+    if (v2 != NULL)

+    {

+        VEC_COPY(v2,transformed_vertices[triangle_indices[1]]);

+    }

+    

+    if (v3 != NULL)

+    {

+        VEC_COPY(v3,transformed_vertices[triangle_indices[2]]);

+    }

+}

diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp
new file mode 100644
index 0000000..bc48aa5
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp
@@ -0,0 +1,285 @@
+
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) The GNU Lesser General Public License as published by the Free
+       Software Foundation; either version 2.1 of the License, or (at
+       your option) any later version. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "GIMPACT/gim_trimesh.h"
+
+//! Utility function for find the closest point between a segment and a triangle
+/*!
+
+\param triangle
+\param s1
+\param s2
+\param contacts Contains the closest points on the segment (1,2), and the normal points to segment, and m_depth contains the distance
+
+\post The contacts array is not set to 0. It adds aditional contacts
+*/
+void gim_closest_point_triangle_segment(GIM_TRIANGLE_DATA * triangle, vec3f s1,vec3f s2, GDYNAMIC_ARRAY * contacts)
+{
+    vec3f segment_points[4] = {{0}};
+    vec3f closest_points[2] = {{0}};
+    GUINT32 intersection_type, out_edge= 10;
+    GREAL dis, dis_temp,perpend;
+    vec4f sdiff;
+
+    dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s1);
+    dis_temp = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s2);
+
+    if(dis<=0.0f && dis_temp<=0.0f) return;
+
+    VEC_DIFF(sdiff,s2,s1);
+    perpend = VEC_DOT(sdiff,triangle->m_planes.m_planes[0]);
+
+    if(!IS_ZERO(perpend)) // Not perpendicular
+    {
+        if(dis<dis_temp)
+        {
+            VEC_COPY(closest_points[0],s1);
+        }
+        else
+        {
+            dis = dis_temp;
+            VEC_COPY(closest_points[0],s2);
+        }
+
+        //Testing segment vertices over triangle
+        if(dis>=0.0f && dis_temp>=0.0f)
+        {
+            POINT_IN_HULL(closest_points[0],(&triangle->m_planes.m_planes[1]),3,out_edge);
+
+            if(out_edge==0)//Point over face
+            {
+                GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
+                return;
+            }
+        }
+        else
+        {
+
+            PLANE_CLIP_SEGMENT(s1,s2,triangle->m_planes.m_planes[0],closest_points[1]);
+
+            POINT_IN_HULL(closest_points[1],(&triangle->m_planes.m_planes[1]),3,out_edge);
+
+            if(out_edge==0)//Point over face
+            {
+                GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
+                return;
+            }
+        }
+
+    }
+    else // Perpendicular Face
+    {
+        //out_edge=10
+        //Clip segment by triangle
+    //    Edge1
+        PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,triangle->m_planes.m_planes[1],segment_points[0],segment_points[1],intersection_type);
+        if(intersection_type==0||intersection_type==1)
+        {
+            out_edge = 0;
+            VEC_COPY(closest_points[0],segment_points[0]);
+        }
+        else
+        {
+            //Edge2
+            PLANE_CLIP_SEGMENT_CLOSEST(segment_points[0],segment_points[1],triangle->m_planes.m_planes[2],segment_points[2],segment_points[3],intersection_type);
+            if(intersection_type==0||intersection_type==1)
+            {
+                out_edge = 1;
+                VEC_COPY(closest_points[0],segment_points[3]);
+            }
+            else
+            {
+                //Edge3
+                PLANE_CLIP_SEGMENT_CLOSEST(segment_points[2],segment_points[3],triangle->m_planes.m_planes[3],closest_points[0],closest_points[1],intersection_type);
+                if(intersection_type==0||intersection_type==1)
+                {
+                    out_edge = 2;
+                }
+            }
+        }
+        //POST closest_points[0] and closest_points[1] are inside the triangle, if out_edge>2
+        if(out_edge>2) // Over triangle
+        {
+            dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],closest_points[0]);
+            GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
+            GIM_PUSH_CONTACT((*contacts),closest_points[1] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);
+            return;
+        }
+    }
+
+    //Find closest edges
+    out_edge = 10;
+    dis = G_REAL_INFINITY;
+    GUINT32 i;
+    for(i=0;i<3;i++)
+    {
+        SEGMENT_COLLISION(s1,s2,triangle->m_vertices[i],triangle->m_vertices[(i+1)%3],segment_points[0],segment_points[1]);
+        VEC_DIFF(sdiff,segment_points[0],segment_points[1]);
+        dis_temp = VEC_DOT(sdiff,sdiff);
+        if(dis_temp< dis)
+        {
+            dis = dis_temp;
+            out_edge = i;
+            VEC_COPY(closest_points[0],segment_points[0]);
+            VEC_COPY(closest_points[1],sdiff);//normal
+        }
+    }
+    if(out_edge>2) return ;// ???? ASSERT this please
+
+    if(IS_ZERO(dis))
+    {
+        //Set face plane
+        GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,0.0f,0, 0, 0,0);
+
+    }
+    else
+    {
+        GIM_SQRT(dis,dis);
+        VEC_SCALE(closest_points[1],(1.0f/dis),closest_points[1]);//normal
+        GIM_PUSH_CONTACT((*contacts),closest_points[0] ,closest_points[1],dis,0, 0, 0,0);
+    }
+}
+
+
+//! Utility function for find the closest point between a capsule and a triangle
+/*!
+
+\param triangle
+\param capsule
+\param contacts Contains the closest points on the capsule, and the normal points to triangle
+
+\post The contacts array is not set to 0. It adds aditional contacts
+*/
+int gim_triangle_capsule_collision(GIM_TRIANGLE_DATA * triangle, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts)
+{
+    GUINT32 old_contact_size = contacts->m_size;
+    gim_closest_point_triangle_segment(triangle,capsule->m_point1,capsule->m_point2,contacts);
+    
+    if (contacts->m_size == old_contact_size)
+    {
+        return 0;
+    }
+
+	GIM_CONTACT * pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,(*contacts));
+    pcontact+= old_contact_size;
+
+    if(pcontact->m_depth > capsule->m_radius)
+    {
+        contacts->m_size = old_contact_size;
+        return 0;
+    }
+
+    vec3f vec;
+    while(old_contact_size<contacts->m_size)
+    {
+        //Scale the normal for pointing to triangle
+        VEC_SCALE(pcontact->m_normal,-1.0f,pcontact->m_normal);
+        //Fix the contact point
+        VEC_SCALE(vec,capsule->m_radius,pcontact->m_normal);
+        VEC_SUM(pcontact->m_point,vec,pcontact->m_point);
+        //Fix the depth
+        pcontact->m_depth = capsule->m_radius - pcontact->m_depth;
+
+        pcontact++;
+        old_contact_size++;
+    }
+
+    return 1;
+}
+
+
+//! Trimesh Capsule collision
+/*!
+Find the closest primitive collided by the ray
+\param trimesh
+\param capsule
+\param contact
+\param contacts A GIM_CONTACT array. Must be initialized
+*/
+void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts)
+{
+    contacts->m_size = 0;
+
+    aabb3f test_aabb;
+    CALC_CAPSULE_AABB((*capsule),test_aabb);
+
+	GDYNAMIC_ARRAY collision_result;
+	GIM_CREATE_BOXQUERY_LIST(collision_result);
+
+	gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);
+
+	if(collision_result.m_size==0)
+	{
+	    GIM_DYNARRAY_DESTROY(collision_result);
+	}
+
+	//collide triangles
+	//Locks trimesh
+	gim_trimesh_locks_work_data(trimesh);
+	 //dummy contacts
+    GDYNAMIC_ARRAY dummycontacts;
+    GIM_CREATE_CONTACT_LIST(dummycontacts);
+
+	int cresult;
+	unsigned int i;
+	GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
+	GIM_TRIANGLE_DATA tri_data;
+	GUINT32 old_contact_size;
+	GIM_CONTACT * pcontact;
+
+	for(i=0;i<collision_result.m_size;i++)
+	{
+	    old_contact_size = dummycontacts.m_size;
+		gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);
+		cresult = gim_triangle_capsule_collision(&tri_data, capsule, &dummycontacts);
+		if(cresult!=0)
+		{
+		    pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,dummycontacts);
+            pcontact+= old_contact_size;
+		    while(old_contact_size<dummycontacts.m_size)
+            {
+                pcontact->m_handle1 = trimesh;
+                pcontact->m_handle2 = capsule;
+                pcontact->m_feature1 = boxesresult[i];
+                pcontact->m_feature2 = 0;
+                pcontact++;
+                old_contact_size++;
+            }
+		}
+	}
+	///unlocks
+	gim_trimesh_unlocks_work_data(trimesh);
+	///Destroy box result
+	GIM_DYNARRAY_DESTROY(collision_result);
+
+	 //merge contacts
+    gim_merge_contacts(&dummycontacts,contacts);
+
+    //Destroy dummy
+    GIM_DYNARRAY_DESTROY(dummycontacts);
+}
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp
new file mode 100644
index 0000000..e83993e
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp
@@ -0,0 +1,149 @@
+

+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+#include "GIMPACT/gim_trimesh.h"

+

+

+//! Trimesh Ray Collisions

+/*!

+

+\param trimesh

+\param contact

+\return 1 if the ray collides, else 0

+*/

+int gim_trimesh_ray_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)

+{

+    GDYNAMIC_ARRAY collision_result;

+	GIM_CREATE_BOXQUERY_LIST(collision_result);

+

+	gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);

+

+	if(collision_result.m_size==0)

+	{

+	    GIM_DYNARRAY_DESTROY(collision_result);

+	    return 0;

+	}

+

+	//collide triangles

+

+	GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);

+	GIM_TRIANGLE_DATA  tridata;

+	vec3f pout;

+	GREAL tparam,u,v;

+	char does_intersect;

+

+	gim_trimesh_locks_work_data(trimesh);

+

+	for(unsigned int i=0;i<collision_result.m_size;i++)

+	{

+		gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);

+        

+		// flip plane for correct result in ODE

+		// for more info: martijn@bytehazard.com

+		vec4f flippedPlane;

+		VEC_SCALE_4(flippedPlane, -1.0f, tridata.m_planes.m_planes[0]);

+        

+		RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],flippedPlane,pout,u,v,tparam,tmax,does_intersect);

+		if(does_intersect)

+		{

+		    contact->tparam = tparam;

+		    contact->u = u;

+		    contact->v = v;

+		    contact->m_face_id = boxesresult[i];

+		    VEC_COPY(contact->m_point,pout);

+		    VEC_COPY(contact->m_normal,flippedPlane);

+

+		    gim_trimesh_unlocks_work_data(trimesh);

+            GIM_DYNARRAY_DESTROY(collision_result);

+		    return 1;

+		}

+	}

+

+	gim_trimesh_unlocks_work_data(trimesh);

+	GIM_DYNARRAY_DESTROY(collision_result);

+	return 0;//no collisiion

+}

+

+

+//! Trimesh Ray Collisions closest

+/*!

+Find the closest primitive collided by the ray

+\param trimesh

+\param contact

+\return 1 if the ray collides, else 0

+*/

+int gim_trimesh_ray_closest_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)

+{

+    GDYNAMIC_ARRAY collision_result;

+	GIM_CREATE_BOXQUERY_LIST(collision_result);

+

+	gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);

+

+	if(collision_result.m_size==0)

+	{

+	    GIM_DYNARRAY_DESTROY(collision_result);

+	    return 0;

+	}

+

+	//collide triangles

+

+	GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);

+	GIM_TRIANGLE_DATA  tridata;

+	vec3f pout;

+	GREAL tparam,u,v;

+	char does_intersect;

+	contact->tparam = tmax + 0.1f;

+

+	gim_trimesh_locks_work_data(trimesh);

+

+	for(unsigned int i=0;i<collision_result.m_size;i++)

+	{

+		gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);

+

+		// flip plane for correct result in ODE

+		// for more info: martijn@bytehazard.com

+		vec4f flippedPlane;

+		VEC_SCALE_4(flippedPlane, -1.0f, tridata.m_planes.m_planes[0]);

+

+		RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],flippedPlane,pout,u,v,tparam,tmax,does_intersect);

+		if(does_intersect && (tparam < contact->tparam))

+		{

+            contact->tparam = tparam;

+		    contact->u = u;

+		    contact->v = v;

+		    contact->m_face_id = boxesresult[i];

+		    VEC_COPY(contact->m_point,pout);

+		    VEC_COPY(contact->m_normal,flippedPlane);

+		}

+	}

+

+	gim_trimesh_unlocks_work_data(trimesh);

+	GIM_DYNARRAY_DESTROY(collision_result);

+	if(contact->tparam > tmax) return 0;

+	return 1;

+}

diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp
new file mode 100644
index 0000000..0d61715
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp
@@ -0,0 +1,196 @@
+

+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+#include "GIMPACT/gim_trimesh.h"

+

+int gim_triangle_sphere_collision(

+							GIM_TRIANGLE_DATA *tri,

+							vec3f center, GREAL radius,

+							GIM_TRIANGLE_CONTACT_DATA * contact_data)

+{

+    contact_data->m_point_count = 0;

+

+    //Find Face plane distance

+    GREAL  dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[0],center);

+    if(dis>radius) return 0; //out

+    if(dis<-radius) return 0;//Out of triangle

+    contact_data->m_penetration_depth = dis;

+

+    //Find the most edge

+    GUINT32 most_edge = 4;//no edge

+    GREAL max_dis = 0.0f;

+    dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[1],center);

+    if(dis>radius) return 0;//Out of triangle

+    if(dis>0.0f)

+    {

+        max_dis = dis;

+        most_edge = 0;

+    }

+

+    dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[2],center);

+    if(dis>radius) return 0;//Out of triangle

+    if(dis>max_dis)// && dis>0.0f)

+    {

+        max_dis = dis;

+        most_edge = 1;

+    }

+

+    dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[3],center);

+    if(dis>radius) return 0;//Out of triangle

+    if(dis>max_dis)// && dis>0.0f)

+    {

+        max_dis = dis;

+        most_edge = 2;

+    }

+

+    if(most_edge == 4) //Box is into triangle

+    {

+        //contact_data->m_penetration_depth = dis is set above

+        //Find Face plane point

+        VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[0]);

+        //Find point projection on plane

+        if(contact_data->m_penetration_depth>=0.0f)

+        {

+            VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);

+        }

+        else

+        {

+            VEC_SCALE(contact_data->m_points[0],radius,contact_data->m_separating_normal);

+        }

+        contact_data->m_penetration_depth = radius - contact_data->m_penetration_depth;

+

+        VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);

+        //Scale normal for pointing to triangle

+        VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal);

+        contact_data->m_point_count = 1;

+        return 1;

+    }

+    //find the edge

+    vec3f e1,e2;

+    VEC_COPY(e1,tri->m_vertices[most_edge]);

+    VEC_COPY(e2,tri->m_vertices[(most_edge+1)%3]);

+

+    CLOSEST_POINT_ON_SEGMENT(contact_data->m_points[0],center,e1,e2);

+    //find distance

+    VEC_DIFF(e1,center,contact_data->m_points[0]);

+    VEC_LENGTH(e1,dis);

+    if(dis>radius) return 0;

+

+    contact_data->m_penetration_depth = radius - dis;

+

+    if(IS_ZERO(dis))

+    {

+        VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[most_edge+1]);

+        VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);

+        VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);

+    }

+    else

+    {

+        VEC_SCALE(contact_data->m_separating_normal,1.0f/dis,e1);

+        VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);

+        VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);

+    }

+

+    //Scale normal for pointing to triangle

+    VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal);

+

+    contact_data->m_point_count = 1;

+    return 1;

+

+}

+

+//! Trimesh Sphere Collisions

+/*!

+In each contact

+<ul>

+<li> m_handle1 points to trimesh.

+<li> m_handle2 points to NULL.

+<li> m_feature1 Is a triangle index of trimesh.

+</ul>

+

+\param trimesh

+\param center

+\param radius

+\param contacts A GIM_CONTACT array. Must be initialized

+*/

+void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts)

+{

+    contacts->m_size = 0;

+

+    aabb3f test_aabb;

+	test_aabb.minX = center[0]-radius;

+	test_aabb.maxX = center[0]+radius;

+	test_aabb.minY = center[1]-radius;

+	test_aabb.maxY = center[1]+radius;

+	test_aabb.minZ = center[2]-radius;

+	test_aabb.maxZ = center[2]+radius;

+

+	GDYNAMIC_ARRAY collision_result;

+	GIM_CREATE_BOXQUERY_LIST(collision_result);

+

+	gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);

+

+	if(collision_result.m_size==0)

+	{

+	    GIM_DYNARRAY_DESTROY(collision_result);

+	}

+

+	//collide triangles

+	//Locks trimesh

+	gim_trimesh_locks_work_data(trimesh);

+	 //dummy contacts

+    GDYNAMIC_ARRAY dummycontacts;

+    GIM_CREATE_CONTACT_LIST(dummycontacts);

+

+	int cresult;

+	unsigned int i;

+	GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);

+	GIM_TRIANGLE_CONTACT_DATA tri_contact_data;

+	GIM_TRIANGLE_DATA tri_data;

+

+	for(i=0;i<collision_result.m_size;i++)

+	{

+		gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);

+		cresult = gim_triangle_sphere_collision(&tri_data,center,radius,&tri_contact_data);

+		if(cresult!=0)

+		{

+		    GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[0],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh, 0, boxesresult[i],0);

+		}

+	}

+	///unlocks

+	gim_trimesh_unlocks_work_data(trimesh);

+	///Destroy box result

+	GIM_DYNARRAY_DESTROY(collision_result);

+

+	 //merge contacts

+    gim_merge_contacts(&dummycontacts,contacts);

+

+    //Destroy dummy

+    GIM_DYNARRAY_DESTROY(dummycontacts);

+}

+

diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_trimesh_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_trimesh_collision.cpp
new file mode 100644
index 0000000..e5e3c06
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_trimesh_collision.cpp
@@ -0,0 +1,348 @@
+

+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+#include "GIMPACT/gim_trimesh.h"

+

+#define CLASSIFY_TRI_BY_FACE(v1,v2,v3,faceplane,out_of_face)\

+{   \

+    _distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\

+    _distances[1] =  _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\

+    _distances[2] =  _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \

+	if(_distances[1]>0.0f && _distances[2]>0.0f)\

+	{\

+	    out_of_face = 1;\

+	}\

+	else\

+	{\

+	    out_of_face = 0;\

+	}\

+}\

+

+

+//! Receives the 3 edge planes

+#define MOST_DEEP_POINTS(plane,points,point_count,deep_points,deep_points_count,maxdeep)\

+{\

+    maxdeep=-1000.0f;\

+    GUINT32 _k;\

+	GREAL _dist;\

+	deep_points_count = 0;\

+	for(_k=0;_k<point_count;_k++)\

+	{\

+	    _dist = -DISTANCE_PLANE_POINT(plane,points[_k]);\

+		if(_dist>maxdeep)\

+		{\

+			maxdeep = _dist;\

+			_max_candidates[0] = _k;\

+			deep_points_count=1;\

+		}\

+		else if((_dist+G_EPSILON)>=maxdeep)\

+		{\

+		    _max_candidates[deep_points_count] = _k;\

+			deep_points_count++;\

+		}\

+	}\

+	if(maxdeep<0.0f)\

+    {\

+        deep_points_count = 0;\

+    }\

+    else\

+    {\

+        for(_k=0;_k<deep_points_count;_k++)\

+        {\

+            VEC_COPY(deep_points[_k],points[_max_candidates[_k]]);\

+        }\

+    }\

+}\

+

+//! Receives the 3 edge planes

+#define CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri_points,tri_edge_planes, clipped_points, clipped_point_count)\

+{\

+    clipped_point_count = 0;    \

+    _temp_clip_count = 0;\

+    PLANE_CLIP_POLYGON(tri_edge_planes[0],tri_points,3,_temp_clip,_temp_clip_count,MAX_TRI_CLIPPING);\

+    if(_temp_clip_count>0)\

+    {\

+        _temp_clip_count2 = 0;\

+        PLANE_CLIP_POLYGON(tri_edge_planes[1],_temp_clip,_temp_clip_count,_temp_clip2,_temp_clip_count2,MAX_TRI_CLIPPING);\

+        if(_temp_clip_count2>0)\

+        {\

+            PLANE_CLIP_POLYGON(tri_edge_planes[2],_temp_clip2,_temp_clip_count2,clipped_points,clipped_point_count,MAX_TRI_CLIPPING);\

+        }\

+    }\

+}\

+

+

+

+int _gim_triangle_triangle_collision(

+							GIM_TRIANGLE_DATA *tri1,

+							GIM_TRIANGLE_DATA *tri2,

+							GIM_TRIANGLE_CONTACT_DATA * contact_data)

+{

+    //Cache variables for triangle intersection

+    GUINT32 _max_candidates[MAX_TRI_CLIPPING];

+    vec3f _temp_clip[MAX_TRI_CLIPPING];

+    GUINT32 _temp_clip_count = 0;

+    vec3f _temp_clip2[MAX_TRI_CLIPPING];

+    GUINT32 _temp_clip_count2 = 0;

+    vec3f clipped_points2[MAX_TRI_CLIPPING];

+    vec3f deep_points2[MAX_TRI_CLIPPING];

+    vec3f clipped_points1[MAX_TRI_CLIPPING];

+    vec3f deep_points1[MAX_TRI_CLIPPING];

+

+

+

+    //State variabnles

+	GUINT32 mostdir=0;

+	GUINT32 clipped2_count=0;

+

+	//Clip tri2 by tri1 edges

+

+	CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri2->m_vertices,(&tri1->m_planes.m_planes[1]), clipped_points2, clipped2_count);

+

+	if(clipped2_count == 0 )

+	{

+	     return 0;//Reject

+	}

+

+	//find most deep interval face1

+	GUINT32 deep2_count=0;

+

+	GREAL maxdeep;

+

+	MOST_DEEP_POINTS((tri1->m_planes.m_planes[0]), clipped_points2, clipped2_count, deep_points2, deep2_count, maxdeep);

+	if(deep2_count==0)

+	{

+//	    *perror = 0.0f;

+	     return 0;//Reject

+	}

+

+	//Normal pointing to triangle1

+	VEC_SCALE(contact_data->m_separating_normal,-1.0f,(tri1->m_planes.m_planes[0]));

+

+

+	//Clip tri1 by tri2 edges

+

+	GUINT32 clipped1_count=0;

+

+	CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri1->m_vertices,(&tri2->m_planes.m_planes[1]), clipped_points1, clipped1_count);

+

+	if(clipped2_count == 0 )

+	{

+//	    *perror = 0.0f;

+	     return 0;//Reject

+	}

+

+

+	//find interval face2

+	GUINT32 deep1_count=0;

+

+	GREAL dist;

+

+	MOST_DEEP_POINTS((tri2->m_planes.m_planes[0]), clipped_points1, clipped1_count, deep_points1, deep1_count, dist);

+

+	if(deep1_count==0)

+	{

+//	    *perror = 0.0f;

+	    return 0;

+	}

+

+	if(dist<maxdeep)

+	{

+		maxdeep = dist;

+		mostdir = 1;

+		VEC_COPY(contact_data->m_separating_normal,(tri2->m_planes.m_planes[0]));

+	}

+	//set deep

+	contact_data->m_penetration_depth = maxdeep;

+

+	////check most dir for contacts

+	if(mostdir==0)

+	{

+	    contact_data->m_point_count = deep2_count;

+	    for(mostdir=0;mostdir<deep2_count;mostdir++)

+	    {

+	        VEC_COPY(contact_data->m_points[mostdir] ,deep_points2[mostdir]);

+	    }

+	}

+	else

+	{

+		contact_data->m_point_count = deep1_count;

+	    for(mostdir=0;mostdir<deep1_count;mostdir++)

+	    {

+	        VEC_COPY(contact_data->m_points[mostdir] ,deep_points1[mostdir]);

+	    }

+	}

+	return 1;

+}

+

+

+

+//! Finds the contact points from a collision of two triangles

+/*!

+Returns the contact points, the penetration depth and the separating normal of the collision

+between two triangles. The normal is pointing toward triangle 1 from triangle 2

+*/

+int gim_triangle_triangle_collision(

+							GIM_TRIANGLE_DATA *tri1,

+							GIM_TRIANGLE_DATA *tri2,

+							GIM_TRIANGLE_CONTACT_DATA * contact_data)

+{

+    vec3f _distances;

+    char out_of_face=0;

+

+    CLASSIFY_TRI_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);

+    if(out_of_face==1) return 0;

+

+    CLASSIFY_TRI_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);

+    if(out_of_face==1) return 0;

+

+    return _gim_triangle_triangle_collision(tri1,tri2,contact_data);

+}

+

+//! Trimesh Trimesh Collisions

+/*!

+

+In each contact

+<ul>

+<li> m_handle1 points to trimesh1.

+<li> m_handle2 points to trimesh2.

+<li> m_feature1 Is a triangle index of trimesh1.

+<li> m_feature2 Is a triangle index of trimesh2.

+</ul>

+

+\param trimesh1 Collider

+\param trimesh2 Collidee

+\param contacts A GIM_CONTACT array. Must be initialized

+*/

+void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts)

+{

+    contacts->m_size = 0;

+    GDYNAMIC_ARRAY collision_pairs;

+    GIM_CREATE_PAIR_SET(collision_pairs)

+

+    gim_aabbset_bipartite_intersections(&trimesh1->m_aabbset,&trimesh2->m_aabbset,&collision_pairs);

+

+    if(collision_pairs.m_size==0)

+    {

+        GIM_DYNARRAY_DESTROY(collision_pairs);

+         return; //no collisioin

+    }

+

+    //Locks meshes

+    gim_trimesh_locks_work_data(trimesh1);

+    gim_trimesh_locks_work_data(trimesh2);

+

+

+    //pair pointer

+    GIM_PAIR *pairs = GIM_DYNARRAY_POINTER(GIM_PAIR,collision_pairs);

+    //dummy contacts

+    GDYNAMIC_ARRAY dummycontacts;

+    GIM_CREATE_CONTACT_LIST(dummycontacts);

+

+    //Auxiliary triangle data

+    GIM_TRIANGLE_CONTACT_DATA tri_contact_data;

+    GIM_TRIANGLE_DATA tri1data,tri2data;

+

+

+    GUINT32 i, ti1,ti2,ci;

+    int colresult;

+    for (i=0;i<collision_pairs.m_size; i++)

+    {

+        ti1 = pairs[i].m_index1;

+        ti2 = pairs[i].m_index2;

+        //Get triangles data

+        gim_trimesh_get_triangle_data(trimesh1,ti1,&tri1data);

+        gim_trimesh_get_triangle_data(trimesh2,ti2,&tri2data);

+

+        //collide triangles

+        colresult = gim_triangle_triangle_collision(&tri1data,&tri2data,&tri_contact_data);

+        if(colresult == 1)

+        {

+            //Add contacts

+            for (ci=0;ci<tri_contact_data.m_point_count ;ci++ )

+            {

+                GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[ci],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh1, trimesh2, ti1, ti2);

+            }

+        }

+    }

+

+    if(dummycontacts.m_size == 0) //reject

+    {

+        GIM_DYNARRAY_DESTROY(dummycontacts);

+        GIM_DYNARRAY_DESTROY(collision_pairs);

+        return;

+    }

+    //merge contacts

+    gim_merge_contacts(&dummycontacts,contacts);

+

+    //Terminate

+    GIM_DYNARRAY_DESTROY(dummycontacts);

+    GIM_DYNARRAY_DESTROY(collision_pairs);

+

+    //Unlocks meshes

+    gim_trimesh_unlocks_work_data(trimesh1);

+    gim_trimesh_unlocks_work_data(trimesh2);

+}

+

+

+//! Trimesh Plane Collisions

+/*!

+

+\param trimesh

+\param plane vec4f plane

+\param contacts A vec4f array. Must be initialized (~100). Each element have the coordinate point in the first 3 elements, and vec4f[3] has the penetration depth.

+*/

+void gim_trimesh_plane_collision(GIM_TRIMESH * trimesh,vec4f plane, GDYNAMIC_ARRAY * contacts)

+{

+    contacts->m_size = 0;

+    char classify;

+    PLANE_CLASSIFY_BOX(plane,trimesh->m_aabbset.m_global_bound,classify);

+    if(classify>1) return; // in front of plane

+

+    //Locks mesh

+    gim_trimesh_locks_work_data(trimesh);

+    //Get vertices

+    GUINT32 i, vertcount = trimesh->m_transformed_vertex_buffer.m_element_count;

+    vec3f * vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

+

+    GREAL dist;

+    vec4f * result_contact;

+

+    for (i=0;i<vertcount;i++)

+    {

+        dist = DISTANCE_PLANE_POINT(plane,vertices[i]);

+        if(dist<=0.0f)

+        {

+             GIM_DYNARRAY_PUSH_EMPTY(vec4f,(*contacts));

+             result_contact = GIM_DYNARRAY_POINTER_LAST(vec4f,(*contacts));

+             VEC_COPY((*result_contact),vertices[i]);

+             (*result_contact)[3] = -dist;

+        }

+    }

+    gim_trimesh_unlocks_work_data(trimesh);

+}

diff --git a/libs/ode-0.16.1/GIMPACT/src/gimpact.cpp b/libs/ode-0.16.1/GIMPACT/src/gimpact.cpp
new file mode 100644
index 0000000..b7fdf42
--- /dev/null
+++ b/libs/ode-0.16.1/GIMPACT/src/gimpact.cpp
@@ -0,0 +1,40 @@
+

+/*

+-----------------------------------------------------------------------------

+This source file is part of GIMPACT Library.

+

+For the latest info, see http://gimpact.sourceforge.net/

+

+Copyright (c) 2006 Francisco Leon. C.C. 80087371.

+email: projectileman@yahoo.com

+

+ This library is free software; you can redistribute it and/or

+ modify it under the terms of EITHER:

+   (1) The GNU Lesser General Public License as published by the Free

+       Software Foundation; either version 2.1 of the License, or (at

+       your option) any later version. The text of the GNU Lesser

+       General Public License is included with this library in the

+       file GIMPACT-LICENSE-LGPL.TXT.

+   (2) The BSD-style license that is included with this library in

+       the file GIMPACT-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

+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

+

+-----------------------------------------------------------------------------

+*/

+

+#include "GIMPACT/gimpact.h"

+

+

+

+void gimpact_init()

+{

+    gim_init_math();

+}

+

+void gimpact_terminate()

+{

+}