add ode

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diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING
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+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
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+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
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+Program, unless a warranty or assumption of liability accompanies a
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+
+                     END OF TERMS AND CONDITIONS
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+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
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+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
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+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
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+    This program is free software: you can redistribute it and/or modify
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+    This program is distributed in the hope that it will be useful,
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+The hypothetical commands `show w' and `show c' should show the appropriate
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+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
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diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING.LESSER b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING.LESSER
new file mode 100644
index 0000000..fc8a5de
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/COPYING.LESSER
@@ -0,0 +1,165 @@
+		   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions. 
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
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diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.am b/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.am
new file mode 100644
index 0000000..66d6daf
--- /dev/null
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diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.in b/libs/ode-0.16.1/libccd/src/testsuites/cu/Makefile.in
new file mode 100644
index 0000000..6c6a3a0
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+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure:  $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4):  $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+clean-checkLTLIBRARIES:
+	-test -z "$(check_LTLIBRARIES)" || rm -f $(check_LTLIBRARIES)
+	@list='$(check_LTLIBRARIES)'; \
+	locs=`for p in $$list; do echo $$p; done | \
+	      sed 's|^[^/]*$$|.|; s|/[^/]*$$||; s|$$|/so_locations|' | \
+	      sort -u`; \
+	test -z "$$locs" || { \
+	  echo rm -f $${locs}; \
+	  rm -f $${locs}; \
+	}
+
+libcu.la: $(libcu_la_OBJECTS) $(libcu_la_DEPENDENCIES) $(EXTRA_libcu_la_DEPENDENCIES) 
+	$(AM_V_CCLD)$(LINK)  $(libcu_la_OBJECTS) $(libcu_la_LIBADD) $(LIBS)
+
+mostlyclean-compile:
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+
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/cu.Plo@am__quote@
+
+.c.o:
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+@am__fastdepCC_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	$(AM_V_CC)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
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+
+.c.obj:
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+@am__fastdepCC_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	$(AM_V_CC)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
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+@am__fastdepCC_FALSE@	$(AM_V_CC@am__nodep@)$(COMPILE) -c -o $@ `$(CYGPATH_W) '$<'`
+
+.c.lo:
+@am__fastdepCC_TRUE@	$(AM_V_CC)$(LTCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCC_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Plo
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	$(AM_V_CC)source='$<' object='$@' libtool=yes @AMDEPBACKSLASH@
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+@am__fastdepCC_FALSE@	$(AM_V_CC@am__nodep@)$(LTCOMPILE) -c -o $@ $<
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+
+ID: $(am__tagged_files)
+	$(am__define_uniq_tagged_files); mkid -fID $$unique
+tags: tags-am
+TAGS: tags
+
+tags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	set x; \
+	here=`pwd`; \
+	$(am__define_uniq_tagged_files); \
+	shift; \
+	if test -z "$(ETAGS_ARGS)$$*$$unique"; then :; else \
+	  test -n "$$unique" || unique=$$empty_fix; \
+	  if test $$# -gt 0; then \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      "$$@" $$unique; \
+	  else \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      $$unique; \
+	  fi; \
+	fi
+ctags: ctags-am
+
+CTAGS: ctags
+ctags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	$(am__define_uniq_tagged_files); \
+	test -z "$(CTAGS_ARGS)$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && $(am__cd) $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) "$$here"
+cscopelist: cscopelist-am
+
+cscopelist-am: $(am__tagged_files)
+	list='$(am__tagged_files)'; \
+	case "$(srcdir)" in \
+	  [\\/]* | ?:[\\/]*) sdir="$(srcdir)" ;; \
+	  *) sdir=$(subdir)/$(srcdir) ;; \
+	esac; \
+	for i in $$list; do \
+	  if test -f "$$i"; then \
+	    echo "$(subdir)/$$i"; \
+	  else \
+	    echo "$$sdir/$$i"; \
+	  fi; \
+	done >> $(top_builddir)/cscope.files
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+	$(MAKE) $(AM_MAKEFLAGS) $(check_LTLIBRARIES)
+check: check-am
+all-am: Makefile
+installdirs:
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-checkLTLIBRARIES clean-generic clean-libtool \
+	mostlyclean-am
+
+distclean: distclean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+	distclean-tags
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
+
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+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
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+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic \
+	mostlyclean-libtool
+
+pdf: pdf-am
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+ps: ps-am
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+ps-am:
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+uninstall-am:
+
+.MAKE: check-am install-am install-strip
+
+.PHONY: CTAGS GTAGS TAGS all all-am check check-am clean \
+	clean-checkLTLIBRARIES clean-generic clean-libtool \
+	cscopelist-am ctags ctags-am distclean distclean-compile \
+	distclean-generic distclean-libtool distclean-tags distdir dvi \
+	dvi-am html html-am info info-am install install-am \
+	install-data install-data-am install-dvi install-dvi-am \
+	install-exec install-exec-am install-html install-html-am \
+	install-info install-info-am install-man install-pdf \
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+	maintainer-clean-generic mostlyclean mostlyclean-compile \
+	mostlyclean-generic mostlyclean-libtool pdf pdf-am ps ps-am \
+	tags tags-am uninstall uninstall-am
+
+.PRECIOUS: Makefile
+
+
+# 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/libccd/src/testsuites/cu/cu.c b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.c
new file mode 100644
index 0000000..7449b4b
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.c
@@ -0,0 +1,387 @@
+/***
+ * CU - C unit testing framework
+ * ---------------------------------
+ * Copyright (c)2007,2008,2009 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of CU.
+ *
+ *  CU is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU Lesser General Public License as
+ *  published by the Free Software Foundation; either version 3 of
+ *  the License, or (at your option) any later version.
+ *
+ *  CU 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
+ *  GNU Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <sys/wait.h>
+
+#include "cu.h"
+
+/** Declared here, because I didn't find header file where it is declared */
+char *strsignal(int sig);
+
+const char *cu_current_test;
+const char *cu_current_test_suite;
+int cu_success_test_suites = 0;
+int cu_fail_test_suites = 0;
+int cu_success_tests = 0;
+int cu_fail_tests = 0;
+int cu_success_checks = 0;
+int cu_fail_checks = 0;
+
+char cu_out_prefix[CU_OUT_PREFIX_LENGTH+1] = "";
+
+
+/* globally used file descriptor for reading/writing messages */
+int fd;
+
+/* indicate if test was failed */
+int test_failed;
+
+/* codes of messages */
+#define CHECK_FAILED '0'
+#define CHECK_SUCCEED '1'
+#define TEST_FAILED '2'
+#define TEST_SUCCEED '3'
+#define TEST_SUITE_FAILED '4'
+#define TEST_SUITE_SUCCEED '5'
+#define END '6'
+#define TEST_NAME '7'
+
+/* predefined messages */
+#define MSG_CHECK_SUCCEED write(fd, "1\n", 2)
+#define MSG_TEST_FAILED write(fd, "2\n", 2)
+#define MSG_TEST_SUCCEED write(fd, "3\n", 2)
+#define MSG_TEST_SUITE_FAILED write(fd, "4\n", 2)
+#define MSG_TEST_SUITE_SUCCEED write(fd, "5\n", 2)
+#define MSG_END write(fd, "6\n", 2)
+
+/* length of buffers */
+#define BUF_LEN 1000
+#define MSGBUF_LEN 300
+
+
+static void redirect_out_err(const char *testName);
+static void close_out_err(void);
+static void run_test_suite(const char *ts_name, cu_test_suite_t *ts);
+static void receive_messages(void);
+
+static void cu_run_fork(const char *ts_name, cu_test_suite_t *test_suite);
+static void cu_print_results(void);
+
+void cu_run(int argc, char *argv[])
+{
+    cu_test_suites_t *tss;
+    int i;
+    char found = 0;
+
+    if (argc > 1){
+        for (i=1; i < argc; i++){
+            tss = cu_test_suites;
+            while (tss->name != NULL && tss->test_suite != NULL){
+                if (strcmp(argv[i], tss->name) == 0){
+                    found = 1;
+                    cu_run_fork(tss->name, tss->test_suite);
+                    break;
+                }
+                tss++;
+            }
+
+            if (tss->name == NULL || tss->test_suite == NULL){
+                fprintf(stderr, "ERROR: Could not find test suite '%s'\n", argv[i]);
+            }
+        }
+
+        if (found == 1)
+            cu_print_results();
+
+    }else{
+        tss = cu_test_suites;
+        while (tss->name != NULL && tss->test_suite != NULL){
+            cu_run_fork(tss->name, tss->test_suite);
+            tss++;
+        }
+        cu_print_results();
+    }
+
+
+}
+
+static void cu_run_fork(const char *ts_name, cu_test_suite_t *ts)
+{
+    int pipefd[2];
+    int pid;
+    int status;
+
+    if (pipe(pipefd) == -1){
+        perror("Pipe error");
+        exit(-1);
+    }
+
+    fprintf(stdout, " -> %s [IN PROGESS]\n", ts_name);
+    fflush(stdout);
+
+    pid = fork();
+    if (pid < 0){
+        perror("Fork error");
+        exit(-1);
+    }
+
+    if (pid == 0){
+        /* close read end of pipe */
+        close(pipefd[0]);
+
+        fd = pipefd[1];
+
+        /* run testsuite, messages go to fd */
+        run_test_suite(ts_name, ts);
+
+        MSG_END;
+        close(fd);
+
+        /* stop process where running testsuite */
+        exit(0);
+    }else{
+        /* close write end of pipe */
+        close(pipefd[1]);
+
+        fd = pipefd[0];
+
+        /* receive and interpret all messages */
+        receive_messages();
+
+        /* wait for children */
+        wait(&status);
+        if (!WIFEXITED(status)){ /* if child process ends up abnormaly */
+            if (WIFSIGNALED(status)){
+                fprintf(stdout, "Test suite was terminated by signal %d (%s).\n",
+                        WTERMSIG(status), strsignal(WTERMSIG(status)));
+            }else{
+                fprintf(stdout, "Test suite terminated abnormaly!\n");
+            }
+
+            /* mark this test suite as failed, because was terminated
+             * prematurely */
+            cu_fail_test_suites++;
+        }
+
+        close(fd);
+
+        fprintf(stdout, " -> %s [DONE]\n\n", ts_name);
+        fflush(stdout);
+    }
+
+}
+
+static void run_test_suite(const char *ts_name, cu_test_suite_t *ts)
+{
+    int test_suite_failed = 0;
+    char buffer[MSGBUF_LEN];
+    int len;
+
+    /* set up current test suite name for later messaging... */
+    cu_current_test_suite = ts_name;
+
+    /* redirect stdout and stderr */
+    redirect_out_err(cu_current_test_suite);
+
+    while (ts->name != NULL && ts->func != NULL){
+        test_failed = 0;
+
+        /* set up name of test for later messaging */
+        cu_current_test = ts->name;
+
+        /* send message what test is currently running */
+        len = snprintf(buffer, MSGBUF_LEN, "%c    --> Running %s...\n",
+                       TEST_NAME, cu_current_test);
+        write(fd, buffer, len);
+
+        /* run test */
+        (*(ts->func))();
+
+        if (test_failed){
+            MSG_TEST_FAILED;
+            test_suite_failed = 1;
+        }else{
+            MSG_TEST_SUCCEED;
+        }
+
+        ts++; /* next test in test suite */
+    }
+
+    if (test_suite_failed){
+        MSG_TEST_SUITE_FAILED;
+    }else{
+        MSG_TEST_SUITE_SUCCEED;
+    }
+
+    /* close redirected stdout and stderr */
+    close_out_err();
+}
+
+
+static void receive_messages(void)
+{
+    char buf[BUF_LEN]; /* buffer */
+    int buf_len; /* how many chars stored in buf */
+    char bufout[MSGBUF_LEN]; /* buffer which can be printed out */
+    int bufout_len;
+    int state = 0; /* 0 - waiting for code, 1 - copy msg to stdout */
+    int i;
+    int end = 0; /* end of messages? */
+
+    bufout_len = 0;
+    while((buf_len = read(fd, buf, BUF_LEN)) > 0 && !end){
+        for (i=0; i < buf_len; i++){
+
+            /* Prepare message for printing out */
+            if (state == 1 || state == 2){
+                if (bufout_len < MSGBUF_LEN)
+                    bufout[bufout_len++] = buf[i];
+            }
+
+            /* reset state on '\n' in msg */
+            if (buf[i] == '\n'){
+                /* copy messages out */
+                if (state == 1)
+                    write(1, bufout, bufout_len);
+                if (state == 2)
+                    write(2, bufout, bufout_len);
+
+                state = 0;
+                bufout_len = 0;
+                continue;
+            }
+
+            if (state == 0){
+                if (buf[i] == CHECK_FAILED){
+                    cu_fail_checks++;
+                    state = 2;
+                }else if (buf[i] == TEST_NAME){
+                    state = 1;
+                }else if (buf[i] == CHECK_SUCCEED){
+                    cu_success_checks++;
+                }else if (buf[i] == TEST_FAILED){
+                    cu_fail_tests++;
+                }else if (buf[i] == TEST_SUCCEED){
+                    cu_success_tests++;
+                }else if (buf[i] == TEST_SUITE_FAILED){
+                    cu_fail_test_suites++;
+                }else if (buf[i] == TEST_SUITE_SUCCEED){
+                    cu_success_test_suites++;
+                }else if (buf[i] == END){
+                    end = 1;
+                    break;
+                }
+            }
+        }
+    }
+}
+
+void cu_success_assertation(void)
+{
+    MSG_CHECK_SUCCEED;
+}
+
+void cu_fail_assertation(const char *file, int line, const char *msg)
+{
+    char buf[MSGBUF_LEN];
+    int len;
+
+    len = snprintf(buf, MSGBUF_LEN, "%c%s:%d (%s::%s) :: %s\n",
+            CHECK_FAILED,
+            file, line, cu_current_test_suite, cu_current_test, msg);
+    write(fd, buf, len);
+
+    /* enable test_failed flag */
+    test_failed = 1;
+}
+
+static void cu_print_results(void)
+{
+    fprintf(stdout, "\n");
+    fprintf(stdout, "==================================================\n");
+    fprintf(stdout, "|               |  failed  |  succeed  |  total  |\n");
+    fprintf(stdout, "|------------------------------------------------|\n");
+    fprintf(stdout, "| assertations: |  %6d  |  %7d  |  %5d  |\n",
+                cu_fail_checks, cu_success_checks,
+                cu_success_checks+cu_fail_checks);
+    fprintf(stdout, "| tests:        |  %6d  |  %7d  |  %5d  |\n",
+                cu_fail_tests, cu_success_tests,
+                cu_success_tests+cu_fail_tests);
+    fprintf(stdout, "| tests suites: |  %6d  |  %7d  |  %5d  |\n",
+                cu_fail_test_suites, cu_success_test_suites,
+                cu_success_test_suites+cu_fail_test_suites);
+    fprintf(stdout, "==================================================\n");
+}
+
+void cu_set_out_prefix(const char *str)
+{
+    strncpy(cu_out_prefix, str, CU_OUT_PREFIX_LENGTH);
+}
+
+static void redirect_out_err(const char *test_name)
+{
+    char buf[100];
+
+    snprintf(buf, 99, "%stmp.%s.out", cu_out_prefix, test_name);
+    if (freopen(buf, "w", stdout) == NULL){
+        perror("Redirecting of stdout failed");
+        exit(-1);
+    }
+
+    snprintf(buf, 99, "%stmp.%s.err", cu_out_prefix, test_name);
+    if (freopen(buf, "w", stderr) == NULL){
+        perror("Redirecting of stderr failed");
+        exit(-1);
+    }
+}
+
+static void close_out_err(void)
+{
+    fclose(stdout);
+    fclose(stderr);
+}
+
+
+#ifdef CU_ENABLE_TIMER
+/* global variables for timer functions */
+struct timespec __cu_timer;
+static struct timespec __cu_timer_start, __cu_timer_stop;
+
+const struct timespec *cuTimer(void)
+{
+    return &__cu_timer;
+}
+
+void cuTimerStart(void)
+{
+    clock_gettime(CLOCK_MONOTONIC, &__cu_timer_start);
+}
+
+const struct timespec *cuTimerStop(void)
+{
+    clock_gettime(CLOCK_MONOTONIC, &__cu_timer_stop);
+
+    /* store into t difference between time_start and time_end */
+    if (__cu_timer_stop.tv_nsec > __cu_timer_start.tv_nsec){
+        __cu_timer.tv_nsec = __cu_timer_stop.tv_nsec - __cu_timer_start.tv_nsec;
+        __cu_timer.tv_sec = __cu_timer_stop.tv_sec - __cu_timer_start.tv_sec;
+    }else{
+        __cu_timer.tv_nsec = __cu_timer_stop.tv_nsec + 1000000000L - __cu_timer_start.tv_nsec;
+        __cu_timer.tv_sec = __cu_timer_stop.tv_sec - 1 - __cu_timer_start.tv_sec;
+    }
+
+    return &__cu_timer;
+}
+#endif /* CU_ENABLE_TIMER */
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h
new file mode 100644
index 0000000..06574cf
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/cu/cu.h
@@ -0,0 +1,164 @@
+/***
+ * CU - C unit testing framework
+ * ---------------------------------
+ * Copyright (c)2007,2008,2009 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of CU.
+ *
+ *  CU is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU Lesser General Public License as
+ *  published by the Free Software Foundation; either version 3 of
+ *  the License, or (at your option) any later version.
+ *
+ *  CU 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
+ *  GNU Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef _CU_H_
+#define _CU_H_
+
+#ifdef CU_ENABLE_TIMER
+# include <time.h>
+#endif /* CU_ENABLE_TIMER */
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/***** PUBLIC API *****/
+/**
+ * Define test
+ */
+#define TEST(name) \
+    void name(void)
+
+/**
+ * Define testsuite
+ */
+#define TEST_SUITE(name) \
+    cu_test_suite_t test_suite_##name[] =
+/**
+ * Must be on the end of list of tests.
+ */
+#define TEST_SUITE_CLOSURE \
+    { NULL, NULL }
+
+#define TEST_SUITES \
+    cu_test_suites_t cu_test_suites[] =
+#define TEST_SUITES_CLOSURE \
+    { NULL, NULL }
+#define TEST_SUITE_ADD(name) \
+    { #name, test_suite_##name }
+
+/**
+ * Add test to testsuite
+ */
+#define TEST_ADD(name) \
+    { #name, name }
+
+#define CU_RUN(argc, argv) \
+    cu_run(argc, argv)
+
+/**
+ * Set prefix for files printed out. Must contain trailing /.
+ */
+#define CU_SET_OUT_PREFIX(str) \
+    cu_set_out_prefix(str)
+
+/**
+ * Assertations
+ * Assertations with suffix 'M' (e.g. assertTrueM) is variation of macro
+ * where is possible to specify error message.
+ */
+#define assertTrueM(a, message) \
+    if (a){ \
+        cu_success_assertation(); \
+    }else{ \
+        cu_fail_assertation(__FILE__, __LINE__, message); \
+    }
+#define assertTrue(a) \
+    assertTrueM((a), #a " is not true")
+
+#define assertFalseM(a, message) \
+    assertTrueM(!(a), message)
+#define assertFalse(a) \
+    assertFalseM((a), #a " is not false")
+
+#define assertEqualsM(a,b,message) \
+    assertTrueM((a) == (b), message)
+#define assertEquals(a,b) \
+    assertEqualsM((a), (b), #a " not equals " #b)
+
+#define assertNotEqualsM(a,b,message) \
+    assertTrueM((a) != (b), message)
+#define assertNotEquals(a,b) \
+    assertNotEqualsM((a), (b), #a " equals " #b)
+/***** PUBLIC API END *****/
+
+
+#include <unistd.h>
+
+#define CU_MAX_NAME_LENGTH 30
+
+typedef void (*cu_test_func_t)(void);
+typedef struct _cu_test_suite_t {
+    const char *name;
+    cu_test_func_t func;
+} cu_test_suite_t;
+typedef struct _cu_test_suites_t {
+    const char *name;
+    cu_test_suite_t *test_suite;
+} cu_test_suites_t;
+
+extern cu_test_suites_t cu_test_suites[];
+
+extern const char *cu_current_test;
+extern const char *cu_current_test_suite;
+
+extern int cu_success_test_suites;
+extern int cu_fail_test_suites;
+extern int cu_success_tests;
+extern int cu_fail_tests;
+extern int cu_success_checks;
+extern int cu_fail_checks;
+
+#define CU_OUT_PREFIX_LENGTH 30
+extern char cu_out_prefix[CU_OUT_PREFIX_LENGTH+1];
+
+void cu_run(int argc, char *argv[]);
+void cu_success_assertation(void);
+void cu_fail_assertation(const char *file, int line, const char *msg);
+void cu_set_out_prefix(const char *str);
+
+/** Timer **/
+#ifdef CU_ENABLE_TIMER
+extern struct timespec __cu_timer;
+
+/**
+ * Returns value of timer. (as timespec struct)
+ */
+const struct timespec *cuTimer(void);
+
+/**
+ * Starts timer.
+ */
+void cuTimerStart(void);
+
+/**
+ * Stops timer and record elapsed time from last call of cuTimerStart().
+ * Returns current value of timer.
+ */
+const struct timespec *cuTimerStop(void);
+#endif /* CU_ENABLE_TIMER */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif