add ode

author: sanine <sanine.not@pm.me> 2022-10-01 20:59:36 -0500
committer: sanine <sanine.not@pm.me> 2022-10-01 20:59:36 -0500
commit: c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 (patch)
tree: 277dd280daf10bf77013236b8edfa5f88708c7e0 /libs/ode-0.16.1/ode/demo
parent: 1cf9cc3408af7008451f9133fb95af66a9697d15 (diff)
49 files changed, 23120 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/demo/Makefile.am b/libs/ode-0.16.1/ode/demo/Makefile.am
new file mode 100644
index 0000000..5d02b87
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/Makefile.am
@@ -0,0 +1,75 @@
+AM_CPPFLAGS = -I$(top_srcdir)/include \
+        -I$(top_builddir)/include \
+        -DDRAWSTUFF_TEXTURE_PATH="\"$(abs_top_srcdir)/drawstuff/textures\""
+
+if X11
+AM_LDFLAGS = $(X_PRE_LIBS) $(X_LIBS) $(X_EXTRA_LIBS)
+endif
+
+# On Windows, GL_LIBS must go after libdrawstuff.la.
+LDADD = $(top_builddir)/drawstuff/src/libdrawstuff.la \
+        $(top_builddir)/ode/src/libode.la @GL_LIBS@
+
+noinst_HEADERS = basket_geom.h bunny_geom.h convex_bunny_geom.h convex_prism.h \
+                 icosahedron_geom.h halton235_geom.h texturepath.h world_geom3.h
+
+AM_DEFAULT_SOURCE_EXT = .cpp
+
+noinst_PROGRAMS = \
+                demo_boxstack \
+                demo_buggy \
+                demo_cards \
+                demo_chain1 \
+                demo_chain2 \
+                demo_collision \
+                demo_convex \
+                demo_crash \
+                demo_cylvssphere \
+                demo_dball \
+                demo_dhinge \
+                demo_transmission \
+                demo_feedback \
+                demo_friction \
+                demo_gyroscopic \
+                demo_gyro2 \
+                demo_heightfield \
+                demo_hinge \
+                demo_I \
+                demo_jointPR \
+                demo_joints \
+                demo_jointPU \
+                demo_kinematic \
+                demo_motion \
+                demo_motor \
+                demo_ode \
+                demo_piston \
+                demo_plane2d \
+                demo_rfriction \
+                demo_slider \
+                demo_space \
+                demo_space_stress \
+                demo_step \
+                demo_tracks
+
+demo_chain1_SOURCES = demo_chain1.c
+demo_chain1_LDADD = $(LDADD) -lstdc++ 
+
+
+if TRIMESH
+noinst_PROGRAMS += \
+                demo_basket \
+                demo_cyl \
+                demo_moving_trimesh \
+                demo_moving_convex \
+                demo_trimesh
+
+AM_CPPFLAGS += -DdTRIMESH_ENABLED
+endif
+
+
+
+if WIN32
+resources.o: $(top_srcdir)/drawstuff/src/resources.rc $(top_srcdir)/drawstuff/src/resource.h
+	@WINDRES@ $(top_srcdir)/drawstuff/src/resources.rc -o resources.o
+LDADD += resources.o
+endif
diff --git a/libs/ode-0.16.1/ode/demo/Makefile.in b/libs/ode-0.16.1/ode/demo/Makefile.in
new file mode 100644
index 0000000..368a5d1
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/Makefile.in
@@ -0,0 +1,1133 @@
+# Makefile.in generated by automake 1.15 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2014 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+
+
+VPATH = @srcdir@
+am__is_gnu_make = { \
+  if test -z '$(MAKELEVEL)'; then \
+    false; \
+  elif test -n '$(MAKE_HOST)'; then \
+    true; \
+  elif test -n '$(MAKE_VERSION)' && test -n '$(CURDIR)'; then \
+    true; \
+  else \
+    false; \
+  fi; \
+}
+am__make_running_with_option = \
+  case $${target_option-} in \
+      ?) ;; \
+      *) echo "am__make_running_with_option: internal error: invalid" \
+              "target option '$${target_option-}' specified" >&2; \
+         exit 1;; \
+  esac; \
+  has_opt=no; \
+  sane_makeflags=$$MAKEFLAGS; \
+  if $(am__is_gnu_make); then \
+    sane_makeflags=$$MFLAGS; \
+  else \
+    case $$MAKEFLAGS in \
+      *\\[\ \	]*) \
+        bs=\\; \
+        sane_makeflags=`printf '%s\n' "$$MAKEFLAGS" \
+          | sed "s/$$bs$$bs[$$bs $$bs	]*//g"`;; \
+    esac; \
+  fi; \
+  skip_next=no; \
+  strip_trailopt () \
+  { \
+    flg=`printf '%s\n' "$$flg" | sed "s/$$1.*$$//"`; \
+  }; \
+  for flg in $$sane_makeflags; do \
+    test $$skip_next = yes && { skip_next=no; continue; }; \
+    case $$flg in \
+      *=*|--*) continue;; \
+        -*I) strip_trailopt 'I'; skip_next=yes;; \
+      -*I?*) strip_trailopt 'I';; \
+        -*O) strip_trailopt 'O'; skip_next=yes;; \
+      -*O?*) strip_trailopt 'O';; \
+        -*l) strip_trailopt 'l'; skip_next=yes;; \
+      -*l?*) strip_trailopt 'l';; \
+      -[dEDm]) skip_next=yes;; \
+      -[JT]) skip_next=yes;; \
+    esac; \
+    case $$flg in \
+      *$$target_option*) has_opt=yes; break;; \
+    esac; \
+  done; \
+  test $$has_opt = yes
+am__make_dryrun = (target_option=n; $(am__make_running_with_option))
+am__make_keepgoing = (target_option=k; $(am__make_running_with_option))
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
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+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
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+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+noinst_PROGRAMS = demo_boxstack$(EXEEXT) demo_buggy$(EXEEXT) \
+	demo_cards$(EXEEXT) demo_chain1$(EXEEXT) demo_chain2$(EXEEXT) \
+	demo_collision$(EXEEXT) demo_convex$(EXEEXT) \
+	demo_crash$(EXEEXT) demo_cylvssphere$(EXEEXT) \
+	demo_dball$(EXEEXT) demo_dhinge$(EXEEXT) \
+	demo_transmission$(EXEEXT) demo_feedback$(EXEEXT) \
+	demo_friction$(EXEEXT) demo_gyroscopic$(EXEEXT) \
+	demo_gyro2$(EXEEXT) demo_heightfield$(EXEEXT) \
+	demo_hinge$(EXEEXT) demo_I$(EXEEXT) demo_jointPR$(EXEEXT) \
+	demo_joints$(EXEEXT) demo_jointPU$(EXEEXT) \
+	demo_kinematic$(EXEEXT) demo_motion$(EXEEXT) \
+	demo_motor$(EXEEXT) demo_ode$(EXEEXT) demo_piston$(EXEEXT) \
+	demo_plane2d$(EXEEXT) demo_rfriction$(EXEEXT) \
+	demo_slider$(EXEEXT) demo_space$(EXEEXT) \
+	demo_space_stress$(EXEEXT) demo_step$(EXEEXT) \
+	demo_tracks$(EXEEXT) $(am__EXEEXT_1)
+@TRIMESH_TRUE@am__append_1 = \
+@TRIMESH_TRUE@                demo_basket \
+@TRIMESH_TRUE@                demo_cyl \
+@TRIMESH_TRUE@                demo_moving_trimesh \
+@TRIMESH_TRUE@                demo_moving_convex \
+@TRIMESH_TRUE@                demo_trimesh
+
+@TRIMESH_TRUE@am__append_2 = -DdTRIMESH_ENABLED
+@WIN32_TRUE@am__append_3 = resources.o
+subdir = ode/demo
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/m4/libtool.m4 \
+	$(top_srcdir)/m4/ltoptions.m4 $(top_srcdir)/m4/ltsugar.m4 \
+	$(top_srcdir)/m4/ltversion.m4 $(top_srcdir)/m4/lt~obsolete.m4 \
+	$(top_srcdir)/m4/pkg.m4 $(top_srcdir)/configure.ac
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+	$(ACLOCAL_M4)
+DIST_COMMON = $(srcdir)/Makefile.am $(noinst_HEADERS) \
+	$(am__DIST_COMMON)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/ode/src/config.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+@TRIMESH_TRUE@am__EXEEXT_1 = demo_basket$(EXEEXT) demo_cyl$(EXEEXT) \
+@TRIMESH_TRUE@	demo_moving_trimesh$(EXEEXT) \
+@TRIMESH_TRUE@	demo_moving_convex$(EXEEXT) \
+@TRIMESH_TRUE@	demo_trimesh$(EXEEXT)
+PROGRAMS = $(noinst_PROGRAMS)
+demo_I_SOURCES = demo_I.cpp
+demo_I_OBJECTS = demo_I.$(OBJEXT)
+demo_I_LDADD = $(LDADD)
+demo_I_DEPENDENCIES = $(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
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+demo_basket_SOURCES = demo_basket.cpp
+demo_basket_OBJECTS = demo_basket.$(OBJEXT)
+demo_basket_LDADD = $(LDADD)
+demo_basket_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_boxstack_SOURCES = demo_boxstack.cpp
+demo_boxstack_OBJECTS = demo_boxstack.$(OBJEXT)
+demo_boxstack_LDADD = $(LDADD)
+demo_boxstack_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_buggy_SOURCES = demo_buggy.cpp
+demo_buggy_OBJECTS = demo_buggy.$(OBJEXT)
+demo_buggy_LDADD = $(LDADD)
+demo_buggy_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_cards_SOURCES = demo_cards.cpp
+demo_cards_OBJECTS = demo_cards.$(OBJEXT)
+demo_cards_LDADD = $(LDADD)
+demo_cards_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+am_demo_chain1_OBJECTS = demo_chain1.$(OBJEXT)
+demo_chain1_OBJECTS = $(am_demo_chain1_OBJECTS)
+am__DEPENDENCIES_1 = $(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_chain1_DEPENDENCIES = $(am__DEPENDENCIES_1)
+demo_chain2_SOURCES = demo_chain2.cpp
+demo_chain2_OBJECTS = demo_chain2.$(OBJEXT)
+demo_chain2_LDADD = $(LDADD)
+demo_chain2_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_collision_SOURCES = demo_collision.cpp
+demo_collision_OBJECTS = demo_collision.$(OBJEXT)
+demo_collision_LDADD = $(LDADD)
+demo_collision_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_convex_SOURCES = demo_convex.cpp
+demo_convex_OBJECTS = demo_convex.$(OBJEXT)
+demo_convex_LDADD = $(LDADD)
+demo_convex_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_crash_SOURCES = demo_crash.cpp
+demo_crash_OBJECTS = demo_crash.$(OBJEXT)
+demo_crash_LDADD = $(LDADD)
+demo_crash_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_cyl_SOURCES = demo_cyl.cpp
+demo_cyl_OBJECTS = demo_cyl.$(OBJEXT)
+demo_cyl_LDADD = $(LDADD)
+demo_cyl_DEPENDENCIES = $(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_cylvssphere_SOURCES = demo_cylvssphere.cpp
+demo_cylvssphere_OBJECTS = demo_cylvssphere.$(OBJEXT)
+demo_cylvssphere_LDADD = $(LDADD)
+demo_cylvssphere_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_dball_SOURCES = demo_dball.cpp
+demo_dball_OBJECTS = demo_dball.$(OBJEXT)
+demo_dball_LDADD = $(LDADD)
+demo_dball_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_dhinge_SOURCES = demo_dhinge.cpp
+demo_dhinge_OBJECTS = demo_dhinge.$(OBJEXT)
+demo_dhinge_LDADD = $(LDADD)
+demo_dhinge_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_feedback_SOURCES = demo_feedback.cpp
+demo_feedback_OBJECTS = demo_feedback.$(OBJEXT)
+demo_feedback_LDADD = $(LDADD)
+demo_feedback_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_friction_SOURCES = demo_friction.cpp
+demo_friction_OBJECTS = demo_friction.$(OBJEXT)
+demo_friction_LDADD = $(LDADD)
+demo_friction_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_gyro2_SOURCES = demo_gyro2.cpp
+demo_gyro2_OBJECTS = demo_gyro2.$(OBJEXT)
+demo_gyro2_LDADD = $(LDADD)
+demo_gyro2_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_gyroscopic_SOURCES = demo_gyroscopic.cpp
+demo_gyroscopic_OBJECTS = demo_gyroscopic.$(OBJEXT)
+demo_gyroscopic_LDADD = $(LDADD)
+demo_gyroscopic_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_heightfield_SOURCES = demo_heightfield.cpp
+demo_heightfield_OBJECTS = demo_heightfield.$(OBJEXT)
+demo_heightfield_LDADD = $(LDADD)
+demo_heightfield_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_hinge_SOURCES = demo_hinge.cpp
+demo_hinge_OBJECTS = demo_hinge.$(OBJEXT)
+demo_hinge_LDADD = $(LDADD)
+demo_hinge_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_jointPR_SOURCES = demo_jointPR.cpp
+demo_jointPR_OBJECTS = demo_jointPR.$(OBJEXT)
+demo_jointPR_LDADD = $(LDADD)
+demo_jointPR_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_jointPU_SOURCES = demo_jointPU.cpp
+demo_jointPU_OBJECTS = demo_jointPU.$(OBJEXT)
+demo_jointPU_LDADD = $(LDADD)
+demo_jointPU_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_joints_SOURCES = demo_joints.cpp
+demo_joints_OBJECTS = demo_joints.$(OBJEXT)
+demo_joints_LDADD = $(LDADD)
+demo_joints_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_kinematic_SOURCES = demo_kinematic.cpp
+demo_kinematic_OBJECTS = demo_kinematic.$(OBJEXT)
+demo_kinematic_LDADD = $(LDADD)
+demo_kinematic_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_motion_SOURCES = demo_motion.cpp
+demo_motion_OBJECTS = demo_motion.$(OBJEXT)
+demo_motion_LDADD = $(LDADD)
+demo_motion_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_motor_SOURCES = demo_motor.cpp
+demo_motor_OBJECTS = demo_motor.$(OBJEXT)
+demo_motor_LDADD = $(LDADD)
+demo_motor_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_moving_convex_SOURCES = demo_moving_convex.cpp
+demo_moving_convex_OBJECTS = demo_moving_convex.$(OBJEXT)
+demo_moving_convex_LDADD = $(LDADD)
+demo_moving_convex_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_moving_trimesh_SOURCES = demo_moving_trimesh.cpp
+demo_moving_trimesh_OBJECTS = demo_moving_trimesh.$(OBJEXT)
+demo_moving_trimesh_LDADD = $(LDADD)
+demo_moving_trimesh_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_ode_SOURCES = demo_ode.cpp
+demo_ode_OBJECTS = demo_ode.$(OBJEXT)
+demo_ode_LDADD = $(LDADD)
+demo_ode_DEPENDENCIES = $(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_piston_SOURCES = demo_piston.cpp
+demo_piston_OBJECTS = demo_piston.$(OBJEXT)
+demo_piston_LDADD = $(LDADD)
+demo_piston_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_plane2d_SOURCES = demo_plane2d.cpp
+demo_plane2d_OBJECTS = demo_plane2d.$(OBJEXT)
+demo_plane2d_LDADD = $(LDADD)
+demo_plane2d_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_rfriction_SOURCES = demo_rfriction.cpp
+demo_rfriction_OBJECTS = demo_rfriction.$(OBJEXT)
+demo_rfriction_LDADD = $(LDADD)
+demo_rfriction_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_slider_SOURCES = demo_slider.cpp
+demo_slider_OBJECTS = demo_slider.$(OBJEXT)
+demo_slider_LDADD = $(LDADD)
+demo_slider_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_space_SOURCES = demo_space.cpp
+demo_space_OBJECTS = demo_space.$(OBJEXT)
+demo_space_LDADD = $(LDADD)
+demo_space_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_space_stress_SOURCES = demo_space_stress.cpp
+demo_space_stress_OBJECTS = demo_space_stress.$(OBJEXT)
+demo_space_stress_LDADD = $(LDADD)
+demo_space_stress_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_step_SOURCES = demo_step.cpp
+demo_step_OBJECTS = demo_step.$(OBJEXT)
+demo_step_LDADD = $(LDADD)
+demo_step_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_tracks_SOURCES = demo_tracks.cpp
+demo_tracks_OBJECTS = demo_tracks.$(OBJEXT)
+demo_tracks_LDADD = $(LDADD)
+demo_tracks_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_transmission_SOURCES = demo_transmission.cpp
+demo_transmission_OBJECTS = demo_transmission.$(OBJEXT)
+demo_transmission_LDADD = $(LDADD)
+demo_transmission_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+demo_trimesh_SOURCES = demo_trimesh.cpp
+demo_trimesh_OBJECTS = demo_trimesh.$(OBJEXT)
+demo_trimesh_LDADD = $(LDADD)
+demo_trimesh_DEPENDENCIES =  \
+	$(top_builddir)/drawstuff/src/libdrawstuff.la \
+	$(top_builddir)/ode/src/libode.la $(am__append_3)
+AM_V_P = $(am__v_P_@AM_V@)
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+am__v_P_0 = false
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+	demo_cylvssphere.cpp demo_dball.cpp demo_dhinge.cpp \
+	demo_feedback.cpp demo_friction.cpp demo_gyro2.cpp \
+	demo_gyroscopic.cpp demo_heightfield.cpp demo_hinge.cpp \
+	demo_jointPR.cpp demo_jointPU.cpp demo_joints.cpp \
+	demo_kinematic.cpp demo_motion.cpp demo_motor.cpp \
+	demo_moving_convex.cpp demo_moving_trimesh.cpp demo_ode.cpp \
+	demo_piston.cpp demo_plane2d.cpp demo_rfriction.cpp \
+	demo_slider.cpp demo_space.cpp demo_space_stress.cpp \
+	demo_step.cpp demo_tracks.cpp demo_transmission.cpp \
+	demo_trimesh.cpp
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+	demo_buggy.cpp demo_cards.cpp $(demo_chain1_SOURCES) \
+	demo_chain2.cpp demo_collision.cpp demo_convex.cpp \
+	demo_crash.cpp demo_cyl.cpp demo_cylvssphere.cpp \
+	demo_dball.cpp demo_dhinge.cpp demo_feedback.cpp \
+	demo_friction.cpp demo_gyro2.cpp demo_gyroscopic.cpp \
+	demo_heightfield.cpp demo_hinge.cpp demo_jointPR.cpp \
+	demo_jointPU.cpp demo_joints.cpp demo_kinematic.cpp \
+	demo_motion.cpp demo_motor.cpp demo_moving_convex.cpp \
+	demo_moving_trimesh.cpp demo_ode.cpp demo_piston.cpp \
+	demo_plane2d.cpp demo_rfriction.cpp demo_slider.cpp \
+	demo_space.cpp demo_space_stress.cpp demo_step.cpp \
+	demo_tracks.cpp demo_transmission.cpp demo_trimesh.cpp
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+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign ode/demo/Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --foreign ode/demo/Makefile
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+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
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+	rm -f $$list || exit $$?; \
+	test -n "$(EXEEXT)" || exit 0; \
+	list=`for p in $$list; do echo "$$p"; done | sed 's/$(EXEEXT)$$//'`; \
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+	rm -f $$list
+
+demo_I$(EXEEXT): $(demo_I_OBJECTS) $(demo_I_DEPENDENCIES) $(EXTRA_demo_I_DEPENDENCIES) 
+	@rm -f demo_I$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_I_OBJECTS) $(demo_I_LDADD) $(LIBS)
+
+demo_basket$(EXEEXT): $(demo_basket_OBJECTS) $(demo_basket_DEPENDENCIES) $(EXTRA_demo_basket_DEPENDENCIES) 
+	@rm -f demo_basket$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_basket_OBJECTS) $(demo_basket_LDADD) $(LIBS)
+
+demo_boxstack$(EXEEXT): $(demo_boxstack_OBJECTS) $(demo_boxstack_DEPENDENCIES) $(EXTRA_demo_boxstack_DEPENDENCIES) 
+	@rm -f demo_boxstack$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_boxstack_OBJECTS) $(demo_boxstack_LDADD) $(LIBS)
+
+demo_buggy$(EXEEXT): $(demo_buggy_OBJECTS) $(demo_buggy_DEPENDENCIES) $(EXTRA_demo_buggy_DEPENDENCIES) 
+	@rm -f demo_buggy$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_buggy_OBJECTS) $(demo_buggy_LDADD) $(LIBS)
+
+demo_cards$(EXEEXT): $(demo_cards_OBJECTS) $(demo_cards_DEPENDENCIES) $(EXTRA_demo_cards_DEPENDENCIES) 
+	@rm -f demo_cards$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_cards_OBJECTS) $(demo_cards_LDADD) $(LIBS)
+
+demo_chain1$(EXEEXT): $(demo_chain1_OBJECTS) $(demo_chain1_DEPENDENCIES) $(EXTRA_demo_chain1_DEPENDENCIES) 
+	@rm -f demo_chain1$(EXEEXT)
+	$(AM_V_CCLD)$(LINK) $(demo_chain1_OBJECTS) $(demo_chain1_LDADD) $(LIBS)
+
+demo_chain2$(EXEEXT): $(demo_chain2_OBJECTS) $(demo_chain2_DEPENDENCIES) $(EXTRA_demo_chain2_DEPENDENCIES) 
+	@rm -f demo_chain2$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_chain2_OBJECTS) $(demo_chain2_LDADD) $(LIBS)
+
+demo_collision$(EXEEXT): $(demo_collision_OBJECTS) $(demo_collision_DEPENDENCIES) $(EXTRA_demo_collision_DEPENDENCIES) 
+	@rm -f demo_collision$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_collision_OBJECTS) $(demo_collision_LDADD) $(LIBS)
+
+demo_convex$(EXEEXT): $(demo_convex_OBJECTS) $(demo_convex_DEPENDENCIES) $(EXTRA_demo_convex_DEPENDENCIES) 
+	@rm -f demo_convex$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_convex_OBJECTS) $(demo_convex_LDADD) $(LIBS)
+
+demo_crash$(EXEEXT): $(demo_crash_OBJECTS) $(demo_crash_DEPENDENCIES) $(EXTRA_demo_crash_DEPENDENCIES) 
+	@rm -f demo_crash$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_crash_OBJECTS) $(demo_crash_LDADD) $(LIBS)
+
+demo_cyl$(EXEEXT): $(demo_cyl_OBJECTS) $(demo_cyl_DEPENDENCIES) $(EXTRA_demo_cyl_DEPENDENCIES) 
+	@rm -f demo_cyl$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_cyl_OBJECTS) $(demo_cyl_LDADD) $(LIBS)
+
+demo_cylvssphere$(EXEEXT): $(demo_cylvssphere_OBJECTS) $(demo_cylvssphere_DEPENDENCIES) $(EXTRA_demo_cylvssphere_DEPENDENCIES) 
+	@rm -f demo_cylvssphere$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_cylvssphere_OBJECTS) $(demo_cylvssphere_LDADD) $(LIBS)
+
+demo_dball$(EXEEXT): $(demo_dball_OBJECTS) $(demo_dball_DEPENDENCIES) $(EXTRA_demo_dball_DEPENDENCIES) 
+	@rm -f demo_dball$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_dball_OBJECTS) $(demo_dball_LDADD) $(LIBS)
+
+demo_dhinge$(EXEEXT): $(demo_dhinge_OBJECTS) $(demo_dhinge_DEPENDENCIES) $(EXTRA_demo_dhinge_DEPENDENCIES) 
+	@rm -f demo_dhinge$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_dhinge_OBJECTS) $(demo_dhinge_LDADD) $(LIBS)
+
+demo_feedback$(EXEEXT): $(demo_feedback_OBJECTS) $(demo_feedback_DEPENDENCIES) $(EXTRA_demo_feedback_DEPENDENCIES) 
+	@rm -f demo_feedback$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_feedback_OBJECTS) $(demo_feedback_LDADD) $(LIBS)
+
+demo_friction$(EXEEXT): $(demo_friction_OBJECTS) $(demo_friction_DEPENDENCIES) $(EXTRA_demo_friction_DEPENDENCIES) 
+	@rm -f demo_friction$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_friction_OBJECTS) $(demo_friction_LDADD) $(LIBS)
+
+demo_gyro2$(EXEEXT): $(demo_gyro2_OBJECTS) $(demo_gyro2_DEPENDENCIES) $(EXTRA_demo_gyro2_DEPENDENCIES) 
+	@rm -f demo_gyro2$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_gyro2_OBJECTS) $(demo_gyro2_LDADD) $(LIBS)
+
+demo_gyroscopic$(EXEEXT): $(demo_gyroscopic_OBJECTS) $(demo_gyroscopic_DEPENDENCIES) $(EXTRA_demo_gyroscopic_DEPENDENCIES) 
+	@rm -f demo_gyroscopic$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_gyroscopic_OBJECTS) $(demo_gyroscopic_LDADD) $(LIBS)
+
+demo_heightfield$(EXEEXT): $(demo_heightfield_OBJECTS) $(demo_heightfield_DEPENDENCIES) $(EXTRA_demo_heightfield_DEPENDENCIES) 
+	@rm -f demo_heightfield$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_heightfield_OBJECTS) $(demo_heightfield_LDADD) $(LIBS)
+
+demo_hinge$(EXEEXT): $(demo_hinge_OBJECTS) $(demo_hinge_DEPENDENCIES) $(EXTRA_demo_hinge_DEPENDENCIES) 
+	@rm -f demo_hinge$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_hinge_OBJECTS) $(demo_hinge_LDADD) $(LIBS)
+
+demo_jointPR$(EXEEXT): $(demo_jointPR_OBJECTS) $(demo_jointPR_DEPENDENCIES) $(EXTRA_demo_jointPR_DEPENDENCIES) 
+	@rm -f demo_jointPR$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_jointPR_OBJECTS) $(demo_jointPR_LDADD) $(LIBS)
+
+demo_jointPU$(EXEEXT): $(demo_jointPU_OBJECTS) $(demo_jointPU_DEPENDENCIES) $(EXTRA_demo_jointPU_DEPENDENCIES) 
+	@rm -f demo_jointPU$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_jointPU_OBJECTS) $(demo_jointPU_LDADD) $(LIBS)
+
+demo_joints$(EXEEXT): $(demo_joints_OBJECTS) $(demo_joints_DEPENDENCIES) $(EXTRA_demo_joints_DEPENDENCIES) 
+	@rm -f demo_joints$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_joints_OBJECTS) $(demo_joints_LDADD) $(LIBS)
+
+demo_kinematic$(EXEEXT): $(demo_kinematic_OBJECTS) $(demo_kinematic_DEPENDENCIES) $(EXTRA_demo_kinematic_DEPENDENCIES) 
+	@rm -f demo_kinematic$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_kinematic_OBJECTS) $(demo_kinematic_LDADD) $(LIBS)
+
+demo_motion$(EXEEXT): $(demo_motion_OBJECTS) $(demo_motion_DEPENDENCIES) $(EXTRA_demo_motion_DEPENDENCIES) 
+	@rm -f demo_motion$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_motion_OBJECTS) $(demo_motion_LDADD) $(LIBS)
+
+demo_motor$(EXEEXT): $(demo_motor_OBJECTS) $(demo_motor_DEPENDENCIES) $(EXTRA_demo_motor_DEPENDENCIES) 
+	@rm -f demo_motor$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_motor_OBJECTS) $(demo_motor_LDADD) $(LIBS)
+
+demo_moving_convex$(EXEEXT): $(demo_moving_convex_OBJECTS) $(demo_moving_convex_DEPENDENCIES) $(EXTRA_demo_moving_convex_DEPENDENCIES) 
+	@rm -f demo_moving_convex$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_moving_convex_OBJECTS) $(demo_moving_convex_LDADD) $(LIBS)
+
+demo_moving_trimesh$(EXEEXT): $(demo_moving_trimesh_OBJECTS) $(demo_moving_trimesh_DEPENDENCIES) $(EXTRA_demo_moving_trimesh_DEPENDENCIES) 
+	@rm -f demo_moving_trimesh$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_moving_trimesh_OBJECTS) $(demo_moving_trimesh_LDADD) $(LIBS)
+
+demo_ode$(EXEEXT): $(demo_ode_OBJECTS) $(demo_ode_DEPENDENCIES) $(EXTRA_demo_ode_DEPENDENCIES) 
+	@rm -f demo_ode$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_ode_OBJECTS) $(demo_ode_LDADD) $(LIBS)
+
+demo_piston$(EXEEXT): $(demo_piston_OBJECTS) $(demo_piston_DEPENDENCIES) $(EXTRA_demo_piston_DEPENDENCIES) 
+	@rm -f demo_piston$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_piston_OBJECTS) $(demo_piston_LDADD) $(LIBS)
+
+demo_plane2d$(EXEEXT): $(demo_plane2d_OBJECTS) $(demo_plane2d_DEPENDENCIES) $(EXTRA_demo_plane2d_DEPENDENCIES) 
+	@rm -f demo_plane2d$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_plane2d_OBJECTS) $(demo_plane2d_LDADD) $(LIBS)
+
+demo_rfriction$(EXEEXT): $(demo_rfriction_OBJECTS) $(demo_rfriction_DEPENDENCIES) $(EXTRA_demo_rfriction_DEPENDENCIES) 
+	@rm -f demo_rfriction$(EXEEXT)
+	$(AM_V_CXXLD)$(CXXLINK) $(demo_rfriction_OBJECTS) $(demo_rfriction_LDADD) $(LIBS)
+
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diff --git a/libs/ode-0.16.1/ode/demo/basket_geom.h b/libs/ode-0.16.1/ode/demo/basket_geom.h
new file mode 100644
index 0000000..ec88327
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/basket_geom.h
@@ -0,0 +1,599 @@
+
+static float world_normals[] = {
+    0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,-0,0,1,0,0,1,0,0,1,0,0,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,-0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,1,0,-0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,0,-0.948064f,0.318080f,0,-0.989482f,0.144655f,0,-0.983494f,0.180939f,0,-0.983494f,0.180939f,0,-0.908999f,0.416798f,0,-0.948064f,0.318080f,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,-1,0,-0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,-0.132460f,0.991188f,0,0.264920f,0.964270f,0,0.132460f,0.991188f,0,0.132460f,0.991188f,0,-0.264920f,0.964270f,0,-0.132460f,0.991188f,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,-0.687592f,-0.726097f,-0,-0.881727f,-0.471761f,0,-0.687592f,-0.726097f,-0,-0.881727f,-0.471761f,0,-0.881727f,-0.471761f,0,-0.687592f,-0.726097f,-0,0.687592f,-0.726097f,0,0.928375f,-0.371644f,0,0.824321f,-0.566123f,0,0.687592f,-0.726097f,0,0.824321f,-0.566123f,0,0.687592f,-0.726097f,0,-0.881727f,-0.471761f,0,-0.985594f,-0.169128f,0,-0.985594f,-0.169128f,0,-0.985594f,-0.169128f,0,-0.881727f,-0.471761f,0,-0.881727f,-0.471761f,0,0.928375f,-0.371644f,0,0.985594f,-0.169128f,0,0.985594f,-0.169128f,0,0.928375f,-0.371644f,0,0.985594f,-0.169128f,0,0.824321f,-0.566123f,0,-0.870167f,0.492758f,0,-0.870167f,0.492758f,0,-0.870167f,0.492758f,0,-0.870167f,0.492758f,0,-0.870167f,0.492758f,0,-0.870167f,0.492758f,0,0.870167f,0.492758f,0,0.870167f,0.492758f,0,0.870167f,0.492758f,0,0.870167f,0.492758f,0,0.870167f,0.492758f,0,0.870167f,0.492758f,-0,-0.390313f,0.920682f,0,-0.132460f,0.991188f,0,-0.264920f,0.964270f,0,-0.264920f,0.964270f,0,-0.390313f,0.920682f,0,-0.390313f,0.920682f,0,0.390313f,0.920682f,0,0.132460f,0.991188f,0,0.264920f,0.964270f,0,0.390313f,0.920682f,0,0.264920f,0.964270f,0,0.390313f,0.920682f,-0,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,-1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0.985594f,0.169128f,0,0.824321f,0.566123f,0,0.928375f,0.371644f,0,0.928375f,0.371644f,0,0.985594f,0.169128f,0,0.985594f,0.169128f,0,0.824321f,0.566123f,0,0.687592f,0.726097f,0,0.687592f,0.726097f,0,0.687592f,0.726097f,0,0.928375f,0.371644f,0,0.824321f,0.566123f,0,0,1,0,-0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,-0.687592f,0.726097f,0,-0.687592f,0.726097f,0,-0.881727f,0.471761f,0,-0.881727f,0.471761f,0,-0.881727f,0.471761f,0,-0.687592f,0.726097f,0,-0.881727f,0.471761f,0,-0.985594f,0.169128f,0,-0.985594f,0.169128f,0,-0.985594f,0.169128f,0,-0.881727f,0.471761f,0,-0.881727f,0.471761f,0,-0.870166f,-0.492758f,0,-0.870166f,-0.492758f,0,-0.870166f,-0.492758f,0,-0.870166f,-0.492758f,0,-0.870166f,-0.492758f,0,-0.870166f,-0.492758f,0,-0.390314f,-0.920682f,0,-0.132460f,-0.991188f,0,-0.264921f,-0.964270f,0,-0.264921f,-0.964270f,0,-0.390314f,-0.920682f,0,-0.390314f,-0.920682f,0,-0.132460f,-0.991188f,0,0.264921f,-0.964270f,0,0.132460f,-0.991188f,0,0.132460f,-0.991188f,0,-0.264921f,-0.964270f,0,-0.132460f,-0.991188f,0,0.264921f,-0.964270f,0,0.390314f,-0.920682f,0,0.390314f,-0.920682f,0,0.390314f,-0.920682f,0,0.132460f,-0.991188f,0,0.264921f,-0.964270f,0,0.870166f,-0.492758f,0,0.870166f,-0.492758f,0,0.870166f,-0.492758f,0,0.870166f,-0.492758f,0,0.870166f,-0.492758f,0,0.870166f,-0.492758f,0,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,-0.527606f,0.849489f,0,-0.793893f,0.608057f,0,-0.715135f,0.698986f,0,-0.715135f,0.698986f,0,-0.418249f,0.908332f,0,-0.527606f,0.849489f,0,-0.075284f,0.997162f,0,-0.253577f,0.967315f,0,-0.202069f,0.979371f,0,-0.202069f,0.979371f,0,-0.075284f,0.997162f,0,-0.075284f,0.997162f,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0.160137f,0.987095f,0,0.049305f,0.998784f,0,0.049305f,0.998784f,0,0.049305f,0.998784f,0,0.221401f,0.975183f,0,0.160137f,0.987095f,0,0.696124f,0.717921f,0,0.696124f,0.717921f,0,0.433340f,0.901230f,0,0.433340f,0.901230f,0,0.433340f,0.901230f,0,0.696124f,0.717921f,0,0.696124f,0.717921f,0,0.696124f,0.717921f,0,0.838308f,0.545197f,0,0.696124f,0.717921f,0,0.872167f,0.489208f,0,0.838308f,0.545197f,0,-0.994126f,0.108225f,0,-0.983494f,0.180939f,0,-0.989482f,0.144655f,0,-0.994126f,0.108225f,0,-0.989482f,0.144655f,0,-0.994126f,0.108225f,0,-0.948064f,0.318080f,0,-0.908999f,0.416798f,0,-0.793893f,0.608057f,0,-0.908999f,0.416798f,0,-0.715135f,0.698986f,0,-0.793893f,0.608057f,0,-0.527606f,0.849489f,0,-0.418249f,0.908332f,0,-0.253577f,0.967315f,0,-0.418249f,0.908332f,0,-0.202069f,0.979371f,0,-0.253577f,0.967315f,0,-0.075284f,0.997162f,0,-0.075284f,0.997162f,0,0,1,0,-0.075284f,0.997162f,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0,1,0,0.049305f,0.998784f,0,0,1,0,0.049305f,0.998784f,0,0.049305f,0.998784f,0,0.160137f,0.987095f,0,0.221401f,0.975183f,0,0.433340f,0.901230f,0,0.221401f,0.975183f,0,0.433340f,0.901230f,0,0.433340f,0.901230f,0,0.902172f,0.431376f,0,0.838308f,0.545197f,0,0.872167f,0.489208f,0,0.872167f,0.489208f,0,0.902172f,0.431376f,0,0.902172f,0.431376f,
+};
+
+static float world_vertices[] = {
+    -4,-4,-0.100000f, 
+    4,-4,-0.100000f, 
+    4,-4,0.100000f, 
+    -4,-4,0.100000f, 
+    4,0,0.100000f, 
+    4,4,-0.100000f, 
+    4,4,0.100000f, 
+    -4,4,-0.100000f, 
+    0.066000f,-2.060000f,2, 
+    0.066000f,-1.940000f,2, 
+    -0.066000f,-2.060000f,2, 
+    -0.066000f,-1.940000f,2, 
+    -4,4,0.100000f, 
+    -4,0,0.100000f, 
+    0.360000f,3.244444f,1.466974f, 
+    0.360000f,3.422222f,2.266974f, 
+    -0.360000f,3.422222f,2.266974f, 
+    -0.360000f,3.244444f,1.466974f, 
+    0.066000f,-2.060000f,0.100000f, 
+    -0.066000f,-2.060000f,0.100000f, 
+    0.066000f,-1.940000f,0.100000f, 
+    -0.066000f,-1.940000f,0.100000f, 
+    0.066000f,-1.940000f,1.950000f, 
+    -0.052853f,-1.506390f,2, 
+    0.052853f,-1.506390f,2, 
+    0.052853f,-1.506390f,1.950000f, 
+    -0.052853f,-1.506390f,1.950000f, 
+    -0.066000f,-1.940000f,1.950000f, 
+    -0.066000f,-1.840000f,1.950000f, 
+    0.066000f,-1.840000f,1.950000f, 
+    -0.066000f,-1.840000f,2, 
+    0.066000f,-1.840000f,2, 
+    -0.171600f,-1.740000f,2, 
+    -0.171600f,-1.740000f,1.950000f, 
+    0.171600f,-1.740000f,1.950000f, 
+    0.171600f,-1.740000f,2, 
+    -0.188760f,-1.640000f,2, 
+    -0.188760f,-1.640000f,1.950000f, 
+    0.188760f,-1.640000f,1.950000f, 
+    0.188760f,-1.640000f,2, 
+    -0.132132f,-1.540000f,2, 
+    -0.132132f,-1.540000f,1.950000f, 
+    0.132132f,-1.540000f,1.950000f, 
+    0.132132f,-1.540000f,2, 
+    0.173397f,-1.642679f,1.950000f, 
+    0.121808f,-1.551577f,1.950000f, 
+    0.157950f,-1.732697f,1.950000f, 
+    0.060149f,-1.825311f,1.950000f, 
+    -0.060149f,-1.825311f,1.950000f, 
+    -0.157950f,-1.732697f,1.950000f, 
+    -0.173397f,-1.642679f,1.950000f, 
+    -0.121808f,-1.551577f,1.950000f, 
+    -0.049868f,-1.521079f,1.950000f, 
+    0.049868f,-1.521079f,1.950000f, 
+    -0.173397f,-1.642679f,2, 
+    -0.121808f,-1.551577f,2, 
+    -0.157950f,-1.732697f,2, 
+    -0.060149f,-1.825311f,2, 
+    0.060149f,-1.825311f,2, 
+    0.157950f,-1.732697f,2, 
+    0.173397f,-1.642679f,2, 
+    0.121808f,-1.551577f,2, 
+    0.049868f,-1.521079f,2, 
+    -0.049868f,-1.521079f,2, 
+    -0.360000f,3.600000f,0.100000f, 
+    0.360000f,3.600000f,0.100000f, 
+    -0.360000f,0.400000f,0.100000f, 
+    0.360000f,0.400000f,0.100000f, 
+    0.360000f,2.888889f,1.023752f, 
+    0.360000f,3.066667f,1.166974f, 
+    -0.360000f,3.066667f,1.166974f, 
+    -0.360000f,2.888889f,1.023752f, 
+    0.360000f,2.533333f,0.939976f, 
+    0.360000f,2.711111f,0.966974f, 
+    -0.360000f,2.711111f,0.966974f, 
+    -0.360000f,2.533333f,0.939976f, 
+    -0.360000f,2.177778f,0.939976f, 
+    0.360000f,2.177778f,0.939976f, 
+    0.360000f,2.355556f,0.939976f, 
+    -0.360000f,2.355556f,0.939976f, 
+    -0.360000f,1.822222f,0.939976f, 
+    0.360000f,1.822222f,0.939976f, 
+    0.360000f,2,0.939976f, 
+    -0.360000f,2,0.939976f, 
+    -0.360000f,1.466667f,0.939976f, 
+    0.360000f,1.466667f,0.939976f, 
+    0.360000f,1.644444f,0.939976f, 
+    -0.360000f,1.644444f,0.939976f, 
+    0.360000f,1.111111f,0.957571f, 
+    0.360000f,1.288889f,0.939976f, 
+    -0.360000f,1.288889f,0.939976f, 
+    -0.360000f,1.111111f,0.957571f, 
+    -0.360000f,0.755556f,1.134246f, 
+    0.360000f,0.755556f,1.134246f, 
+    0.360000f,0.933333f,1.009739f, 
+    -0.360000f,0.933333f,1.009739f, 
+    0.360000f,0.577778f,1.372130f, 
+    -0.360000f,0.577778f,1.372130f, 
+    -0.360000f,3.600000f,3.900000f, 
+    0.360000f,3.600000f,3.900000f, 
+    0.360000f,0.400000f,1.743932f, 
+    -0.360000f,0.400000f,1.743932f, 
+};
+
+static dTriIndex world_indices[] = {
+    0, 
+    1, 
+    2, 
+    0, 
+    2, 
+    3, 
+    4, 
+    1, 
+    5, 
+    4, 
+    5, 
+    6, 
+    4, 
+    2, 
+    1, 
+    0, 
+    7, 
+    5, 
+    0, 
+    5, 
+    1, 
+    8, 
+    9, 
+    10, 
+    9, 
+    11, 
+    10, 
+    12, 
+    6, 
+    5, 
+    5, 
+    7, 
+    12, 
+    3, 
+    13, 
+    0, 
+    13, 
+    12, 
+    7, 
+    13, 
+    7, 
+    0, 
+    14, 
+    15, 
+    16, 
+    16, 
+    17, 
+    14, 
+    2, 
+    18, 
+    19, 
+    19, 
+    3, 
+    2, 
+    4, 
+    20, 
+    2, 
+    20, 
+    18, 
+    2, 
+    21, 
+    20, 
+    4, 
+    4, 
+    13, 
+    21, 
+    19, 
+    21, 
+    13, 
+    13, 
+    3, 
+    19, 
+    8, 
+    10, 
+    19, 
+    19, 
+    18, 
+    8, 
+    22, 
+    9, 
+    8, 
+    8, 
+    18, 
+    22, 
+    18, 
+    20, 
+    22, 
+    23, 
+    24, 
+    25, 
+    25, 
+    26, 
+    23, 
+    19, 
+    10, 
+    27, 
+    19, 
+    27, 
+    21, 
+    10, 
+    11, 
+    27, 
+    21, 
+    27, 
+    22, 
+    21, 
+    22, 
+    20, 
+    27, 
+    28, 
+    22, 
+    28, 
+    29, 
+    22, 
+    11, 
+    30, 
+    28, 
+    28, 
+    27, 
+    11, 
+    9, 
+    31, 
+    11, 
+    31, 
+    30, 
+    11, 
+    22, 
+    29, 
+    31, 
+    22, 
+    31, 
+    9, 
+    30, 
+    32, 
+    28, 
+    32, 
+    33, 
+    28, 
+    29, 
+    34, 
+    35, 
+    29, 
+    35, 
+    31, 
+    32, 
+    36, 
+    37, 
+    37, 
+    33, 
+    32, 
+    34, 
+    38, 
+    39, 
+    34, 
+    39, 
+    35, 
+    36, 
+    40, 
+    41, 
+    41, 
+    37, 
+    36, 
+    38, 
+    42, 
+    43, 
+    38, 
+    43, 
+    39, 
+    40, 
+    23, 
+    26, 
+    26, 
+    41, 
+    40, 
+    42, 
+    25, 
+    24, 
+    42, 
+    24, 
+    43, 
+    38, 
+    44, 
+    45, 
+    45, 
+    42, 
+    38, 
+    34, 
+    46, 
+    44, 
+    34, 
+    44, 
+    38, 
+    34, 
+    29, 
+    47, 
+    34, 
+    47, 
+    46, 
+    28, 
+    48, 
+    29, 
+    48, 
+    47, 
+    29, 
+    33, 
+    49, 
+    48, 
+    33, 
+    48, 
+    28, 
+    50, 
+    49, 
+    33, 
+    33, 
+    37, 
+    50, 
+    51, 
+    50, 
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diff --git a/libs/ode-0.16.1/ode/demo/bunny_geom.h b/libs/ode-0.16.1/ode/demo/bunny_geom.h
new file mode 100644
index 0000000..78f8eb0
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/bunny_geom.h
@@ -0,0 +1,1366 @@
+// Bunny mesh ripped from Opcode
+const int VertexCount = 453;
+const int IndexCount = 902 * 3;
+
+
+float Vertices[VertexCount * 3] = {
+        -0.334392f, 0.133007f, 0.062259f,
+	-0.350189f, 0.150354f, -0.147769f,
+	-0.234201f, 0.343811f, -0.174307f,
+	-0.200259f, 0.285207f, 0.093749f,
+	0.003520f, 0.475208f, -0.159365f,
+	0.001856f, 0.419203f, 0.098582f,
+	-0.252802f, 0.093666f, 0.237538f,
+	-0.162901f, 0.237984f, 0.206905f,
+	0.000865f, 0.318141f, 0.235370f,
+	-0.414624f, 0.164083f, -0.278254f,
+	-0.262213f, 0.357334f, -0.293246f,
+	0.004628f, 0.482694f, -0.338626f,
+	-0.402162f, 0.133528f, -0.443247f,
+	-0.243781f, 0.324275f, -0.436763f,
+	0.005293f, 0.437592f, -0.458332f,
+	-0.339884f, -0.041150f, -0.668211f,
+	-0.248382f, 0.255825f, -0.627493f,
+	0.006261f, 0.376103f, -0.631506f,
+	-0.216201f, -0.126776f, -0.886936f,
+	-0.171075f, 0.011544f, -0.881386f,
+	-0.181074f, 0.098223f, -0.814779f,
+	-0.119891f, 0.218786f, -0.760153f,
+	-0.078895f, 0.276780f, -0.739281f,
+	0.006801f, 0.310959f, -0.735661f,
+	-0.168842f, 0.102387f, -0.920381f,
+	-0.104072f, 0.177278f, -0.952530f,
+	-0.129704f, 0.211848f, -0.836678f,
+	-0.099875f, 0.310931f, -0.799381f,
+	0.007237f, 0.361687f, -0.794439f,
+	-0.077913f, 0.258753f, -0.921640f,
+	0.007957f, 0.282241f, -0.931680f,
+	-0.252222f, -0.550401f, -0.557810f,
+	-0.267633f, -0.603419f, -0.655209f,
+	-0.446838f, -0.118517f, -0.466159f,
+	-0.459488f, -0.093017f, -0.311341f,
+	-0.370645f, -0.100108f, -0.159454f,
+	-0.371984f, -0.091991f, -0.011044f,
+	-0.328945f, -0.098269f, 0.088659f,
+	-0.282452f, -0.018862f, 0.311501f,
+	-0.352403f, -0.131341f, 0.144902f,
+	-0.364126f, -0.200299f, 0.202388f,
+	-0.283965f, -0.231869f, 0.023668f,
+	-0.298943f, -0.155218f, 0.369716f,
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+	-0.256702f, -0.663406f, 0.286079f,
+	-0.280948f, -0.428359f, 0.055790f,
+	-0.184974f, -0.508894f, 0.326265f,
+	-0.279971f, -0.526918f, 0.395319f,
+	-0.282599f, -0.663393f, 0.412411f,
+	-0.188329f, -0.475093f, 0.417954f,
+	-0.263384f, -0.663396f, 0.466604f,
+	-0.209063f, -0.663393f, 0.509344f,
+	-0.002044f, -0.319624f, 0.553078f,
+	-0.001266f, -0.371260f, 0.413296f,
+	-0.219753f, -0.339762f, -0.040921f,
+	-0.256986f, -0.282511f, -0.006349f,
+	-0.271706f, -0.260881f, 0.001764f,
+	-0.091191f, -0.419184f, -0.045912f,
+	-0.114944f, -0.429752f, -0.124739f,
+	-0.113970f, -0.382987f, -0.188540f,
+	-0.243012f, -0.464942f, -0.242850f,
+	-0.314815f, -0.505402f, -0.324768f,
+	0.002774f, -0.437526f, -0.262766f,
+	-0.072625f, -0.417748f, -0.221440f,
+	-0.160112f, -0.476932f, -0.293450f,
+	0.003859f, -0.453425f, -0.443916f,
+	-0.120363f, -0.581567f, -0.438689f,
+	-0.091499f, -0.584191f, -0.294511f,
+	-0.116469f, -0.599861f, -0.188308f,
+	-0.208032f, -0.513640f, -0.134649f,
+	-0.235749f, -0.610017f, -0.040939f,
+	-0.344916f, -0.622487f, -0.085380f,
+	-0.336401f, -0.531864f, -0.212298f,
+	0.001961f, -0.459550f, -0.135547f,
+	-0.058296f, -0.430536f, -0.043440f,
+	0.001378f, -0.449511f, -0.037762f,
+	-0.130135f, -0.510222f, 0.079144f,
+	0.000142f, -0.477549f, 0.157064f,
+	-0.114284f, -0.453206f, 0.304397f,
+	-0.000592f, -0.443558f, 0.285401f,
+	-0.056215f, -0.663402f, 0.326073f,
+	-0.026248f, -0.568010f, 0.273318f,
+	-0.049261f, -0.531064f, 0.389854f,
+	-0.127096f, -0.663398f, 0.479316f,
+	-0.058384f, -0.663401f, 0.372891f,
+	-0.303961f, 0.054199f, 0.625921f,
+	-0.268594f, 0.193403f, 0.502766f,
+	-0.277159f, 0.126123f, 0.443289f,
+	-0.287605f, -0.005722f, 0.531844f,
+	-0.231396f, -0.121289f, 0.587387f,
+	-0.253475f, -0.081797f, 0.756541f,
+	-0.195164f, -0.137969f, 0.728011f,
+	-0.167673f, -0.156573f, 0.609388f,
+	-0.145917f, -0.169029f, 0.697600f,
+	-0.077776f, -0.214247f, 0.622586f,
+	-0.076873f, -0.214971f, 0.696301f,
+	-0.002341f, -0.233135f, 0.622859f,
+	-0.002730f, -0.213526f, 0.691267f,
+	-0.003136f, -0.192628f, 0.762731f,
+	-0.056136f, -0.201222f, 0.763806f,
+	-0.114589f, -0.166192f, 0.770723f,
+	-0.155145f, -0.129632f, 0.791738f,
+	-0.183611f, -0.058705f, 0.847012f,
+	-0.165562f, 0.001980f, 0.833386f,
+	-0.220084f, 0.019914f, 0.768935f,
+	-0.255730f, 0.090306f, 0.670782f,
+	-0.255594f, 0.113833f, 0.663389f,
+	-0.226380f, 0.212655f, 0.617740f,
+	-0.003367f, -0.195342f, 0.799680f,
+	-0.029743f, -0.210508f, 0.827180f,
+	-0.003818f, -0.194783f, 0.873636f,
+	-0.004116f, -0.157907f, 0.931268f,
+	-0.031280f, -0.184555f, 0.889476f,
+	-0.059885f, -0.184448f, 0.841330f,
+	-0.135333f, -0.164332f, 0.878200f,
+	-0.085574f, -0.170948f, 0.925547f,
+	-0.163833f, -0.094170f, 0.897114f,
+	-0.138444f, -0.104250f, 0.945975f,
+	-0.083497f, -0.084934f, 0.979607f,
+	-0.004433f, -0.146642f, 0.985872f,
+	-0.150715f, 0.032650f, 0.884111f,
+	-0.135892f, -0.035520f, 0.945455f,
+	-0.070612f, 0.036849f, 0.975733f,
+	-0.004458f, -0.042526f, 1.015670f,
+	-0.004249f, 0.046042f, 1.003240f,
+	-0.086969f, 0.133224f, 0.947633f,
+	-0.003873f, 0.161605f, 0.970499f,
+	-0.125544f, 0.140012f, 0.917678f,
+	-0.125651f, 0.250246f, 0.857602f,
+	-0.003127f, 0.284070f, 0.878870f,
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+	-0.183807f, 0.196970f, 0.844480f,
+	-0.159890f, 0.291736f, 0.732480f,
+	-0.199495f, 0.207230f, 0.779864f,
+	-0.206182f, 0.164608f, 0.693257f,
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+	-0.192827f, 0.166706f, 0.782271f,
+	-0.175112f, 0.110008f, 0.860621f,
+	-0.161022f, 0.057420f, 0.855111f,
+	-0.172319f, 0.036155f, 0.816189f,
+	-0.190318f, 0.064083f, 0.760605f,
+	-0.195072f, 0.129179f, 0.731104f,
+	-0.203126f, 0.410287f, 0.680536f,
+	-0.216677f, 0.309274f, 0.642272f,
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+	-0.088230f, 0.396265f, 0.678635f,
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+	-0.160521f, 0.067766f, 0.830650f,
+	-0.181546f, 0.139805f, 0.812146f,
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+	-0.180255f, 0.129125f, 0.744192f,
+	-0.186298f, 0.078308f, 0.769352f,
+	-0.167622f, 0.060539f, 0.806675f,
+	-0.189876f, 0.102760f, 0.802582f,
+	-0.108340f, 0.455446f, 0.657174f,
+	-0.241585f, 0.527592f, 0.669296f,
+	-0.265676f, 0.513366f, 0.634594f,
+	-0.203073f, 0.478550f, 0.581526f,
+	-0.266772f, 0.642330f, 0.602061f,
+	-0.216961f, 0.564846f, 0.535435f,
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+	-0.156445f, 0.536396f, 0.378302f,
+	-0.136496f, 0.444358f, 0.425226f,
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+	-0.129042f, 0.270145f, 0.434495f,
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+	-0.113060f, 0.236984f, 0.385554f,
+	0.007260f, 0.016311f, -0.883396f,
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+	-0.086439f, -0.584866f, -0.608343f,
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+};
+
+dTriIndex Indices[IndexCount / 3][3] = {
+	{126,134,133},
+	{342,138,134},
+	{133,134,138},
+	{126,342,134},
+	{312,316,317},
+	{169,163,162},
+	{312,317,319},
+	{312,319,318},
+	{169,162,164},
+	{169,168,163},
+	{312,314,315},
+	{169,164,165},
+	{169,167,168},
+	{312,315,316},
+	{312,313,314},
+	{169,165,166},
+	{169,166,167},
+	{312,318,313},
+	{308,304,305},
+	{308,305,306},
+	{179,181,188},
+	{177,173,175},
+	{177,175,176},
+	{302,293,300},
+	{322,294,304},
+	{188,176,175},
+	{188,175,179},
+	{158,177,187},
+	{305,293,302},
+	{305,302,306},
+	{322,304,308},
+	{188,181,183},
+	{158,173,177},
+	{293,298,300},
+	{304,294,296},
+	{304,296,305},
+	{185,176,188},
+	{185,188,183},
+	{187,177,176},
+	{187,176,185},
+	{305,296,298},
+	{305,298,293},
+	{436,432, 28},
+	{436, 28, 23},
+	{434,278,431},
+	{ 30,208,209},
+	{ 30,209, 29},
+	{ 19, 20, 24},
+	{208,207,211},
+	{208,211,209},
+	{ 19,210,212},
+	{433,434,431},
+	{433,431,432},
+	{433,432,436},
+	{436,437,433},
+	{277,275,276},
+	{277,276,278},
+	{209,210, 25},
+	{ 21, 26, 24},
+	{ 21, 24, 20},
+	{ 25, 26, 27},
+	{ 25, 27, 29},
+	{435,439,277},
+	{439,275,277},
+	{432,431, 30},
+	{432, 30, 28},
+	{433,437,438},
+	{433,438,435},
+	{434,277,278},
+	{ 24, 25,210},
+	{ 24, 26, 25},
+	{ 29, 27, 28},
+	{ 29, 28, 30},
+	{ 19, 24,210},
+	{208, 30,431},
+	{208,431,278},
+	{435,434,433},
+	{435,277,434},
+	{ 25, 29,209},
+	{ 27, 22, 23},
+	{ 27, 23, 28},
+	{ 26, 22, 27},
+	{ 26, 21, 22},
+	{212,210,209},
+	{212,209,211},
+	{207,208,278},
+	{207,278,276},
+	{439,435,438},
+	{ 12,  9, 10},
+	{ 12, 10, 13},
+	{  2,  3,  5},
+	{  2,  5,  4},
+	{ 16, 13, 14},
+	{ 16, 14, 17},
+	{ 22, 21, 16},
+	{ 13, 10, 11},
+	{ 13, 11, 14},
+	{  1,  0,  3},
+	{  1,  3,  2},
+	{ 15, 12, 16},
+	{ 19, 18, 15},
+	{ 19, 15, 16},
+	{ 19, 16, 20},
+	{  9,  1,  2},
+	{  9,  2, 10},
+	{  3,  7,  8},
+	{  3,  8,  5},
+	{ 16, 17, 23},
+	{ 16, 23, 22},
+	{ 21, 20, 16},
+	{ 10,  2,  4},
+	{ 10,  4, 11},
+	{  0,  6,  7},
+	{  0,  7,  3},
+	{ 12, 13, 16},
+	{451,446,445},
+	{451,445,450},
+	{442,440,439},
+	{442,439,438},
+	{442,438,441},
+	{421,420,422},
+	{412,411,426},
+	{412,426,425},
+	{408,405,407},
+	{413, 67, 68},
+	{413, 68,414},
+	{391,390,412},
+	{ 80,384,386},
+	{404,406,378},
+	{390,391,377},
+	{390,377, 88},
+	{400,415,375},
+	{398,396,395},
+	{398,395,371},
+	{398,371,370},
+	{112,359,358},
+	{112,358,113},
+	{351,352,369},
+	{125,349,348},
+	{345,343,342},
+	{342,340,339},
+	{341,335,337},
+	{328,341,327},
+	{331,323,333},
+	{331,322,323},
+	{327,318,319},
+	{327,319,328},
+	{315,314,324},
+	{302,300,301},
+	{302,301,303},
+	{320,311,292},
+	{285,284,289},
+	{310,307,288},
+	{310,288,290},
+	{321,350,281},
+	{321,281,282},
+	{423,448,367},
+	{272,273,384},
+	{272,384,274},
+	{264,265,382},
+	{264,382,383},
+	{440,442,261},
+	{440,261,263},
+	{252,253,254},
+	{252,254,251},
+	{262,256,249},
+	{262,249,248},
+	{228,243,242},
+	{228, 31,243},
+	{213,215,238},
+	{213,238,237},
+	{ 19,212,230},
+	{224,225,233},
+	{224,233,231},
+	{217,218, 56},
+	{217, 56, 54},
+	{217,216,239},
+	{217,239,238},
+	{217,238,215},
+	{218,217,215},
+	{218,215,214},
+	{  6,102,206},
+	{186,199,200},
+	{197,182,180},
+	{170,171,157},
+	{201,200,189},
+	{170,190,191},
+	{170,191,192},
+	{175,174,178},
+	{175,178,179},
+	{168,167,155},
+	{122,149,158},
+	{122,158,159},
+	{135,153,154},
+	{135,154,118},
+	{143,140,141},
+	{143,141,144},
+	{132,133,136},
+	{130,126,133},
+	{124,125,127},
+	{122,101,100},
+	{122,100,121},
+	{110,108,107},
+	{110,107,109},
+	{ 98, 99, 97},
+	{ 98, 97, 64},
+	{ 98, 64, 66},
+	{ 87, 55, 57},
+	{ 83, 82, 79},
+	{ 83, 79, 84},
+	{ 78, 74, 50},
+	{ 49, 71, 41},
+	{ 49, 41, 37},
+	{ 49, 37, 36},
+	{ 58, 44, 60},
+	{ 60, 59, 58},
+	{ 51, 34, 33},
+	{ 39, 40, 42},
+	{ 39, 42, 38},
+	{243,240, 33},
+	{243, 33,229},
+	{ 39, 38,  6},
+	{ 44, 46, 40},
+	{ 55, 56, 57},
+	{ 64, 62, 65},
+	{ 64, 65, 66},
+	{ 41, 71, 45},
+	{ 75, 50, 51},
+	{ 81, 79, 82},
+	{ 77, 88, 73},
+	{ 93, 92, 94},
+	{ 68, 47, 46},
+	{ 96, 97, 99},
+	{ 96, 99, 95},
+	{110,109,111},
+	{111,112,110},
+	{114,113,123},
+	{114,123,124},
+	{132,131,129},
+	{133,137,136},
+	{135,142,145},
+	{145,152,135},
+	{149,147,157},
+	{157,158,149},
+	{164,150,151},
+	{153,163,168},
+	{153,168,154},
+	{185,183,182},
+	{185,182,184},
+	{161,189,190},
+	{200,199,191},
+	{200,191,190},
+	{180,178,195},
+	{180,195,196},
+	{102,101,204},
+	{102,204,206},
+	{ 43, 48,104},
+	{ 43,104,103},
+	{216,217, 54},
+	{216, 54, 32},
+	{207,224,231},
+	{230,212,211},
+	{230,211,231},
+	{227,232,241},
+	{227,241,242},
+	{235,234,241},
+	{235,241,244},
+	{430,248,247},
+	{272,274,253},
+	{272,253,252},
+	{439,260,275},
+	{225,224,259},
+	{225,259,257},
+	{269,270,407},
+	{269,407,405},
+	{270,269,273},
+	{270,273,272},
+	{273,269,268},
+	{273,268,267},
+	{273,267,266},
+	{273,266,265},
+	{273,265,264},
+	{448,279,367},
+	{281,350,368},
+	{285,286,301},
+	{290,323,310},
+	{290,311,323},
+	{282,281,189},
+	{292,311,290},
+	{292,290,291},
+	{307,306,302},
+	{307,302,303},
+	{316,315,324},
+	{316,324,329},
+	{331,351,350},
+	{330,334,335},
+	{330,335,328},
+	{341,337,338},
+	{344,355,354},
+	{346,345,348},
+	{346,348,347},
+	{364,369,352},
+	{364,352,353},
+	{365,363,361},
+	{365,361,362},
+	{376,401,402},
+	{373,372,397},
+	{373,397,400},
+	{376, 92,377},
+	{381,378,387},
+	{381,387,385},
+	{386, 77, 80},
+	{390,389,412},
+	{416,417,401},
+	{403,417,415},
+	{408,429,430},
+	{419,423,418},
+	{427,428,444},
+	{427,444,446},
+	{437,436,441},
+	{450,445, 11},
+	{450, 11,  4},
+	{447,449,  5},
+	{447,  5,  8},
+	{441,438,437},
+	{425,426,451},
+	{425,451,452},
+	{417,421,415},
+	{408,407,429},
+	{399,403,400},
+	{399,400,397},
+	{394,393,416},
+	{389,411,412},
+	{386,383,385},
+	{408,387,378},
+	{408,378,406},
+	{377,391,376},
+	{ 94,375,415},
+	{372,373,374},
+	{372,374,370},
+	{359,111,360},
+	{359,112,111},
+	{113,358,349},
+	{113,349,123},
+	{346,343,345},
+	{343,340,342},
+	{338,336,144},
+	{338,144,141},
+	{327,341,354},
+	{327,354,326},
+	{331,350,321},
+	{331,321,322},
+	{314,313,326},
+	{314,326,325},
+	{300,298,299},
+	{300,299,301},
+	{288,287,289},
+	{189,292,282},
+	{287,288,303},
+	{284,285,297},
+	{368,280,281},
+	{448,447,279},
+	{274,226,255},
+	{267,268,404},
+	{267,404,379},
+	{429,262,430},
+	{439,440,260},
+	{257,258,249},
+	{257,249,246},
+	{430,262,248},
+	{234,228,242},
+	{234,242,241},
+	{237,238,239},
+	{237,239,236},
+	{ 15, 18,227},
+	{ 15,227,229},
+	{222,223, 82},
+	{222, 82, 83},
+	{214,215,213},
+	{214,213, 81},
+	{ 38,102,  6},
+	{122,159,200},
+	{122,200,201},
+	{174,171,192},
+	{174,192,194},
+	{197,193,198},
+	{190,170,161},
+	{181,179,178},
+	{181,178,180},
+	{166,156,155},
+	{163,153,152},
+	{163,152,162},
+	{120,156,149},
+	{120,149,121},
+	{152,153,135},
+	{140,143,142},
+	{135,131,132},
+	{135,132,136},
+	{130,129,128},
+	{130,128,127},
+	{100,105,119},
+	{100,119,120},
+	{106,104,107},
+	{106,107,108},
+	{ 91, 95, 59},
+	{ 93, 94, 68},
+	{ 91, 89, 92},
+	{ 76, 53, 55},
+	{ 76, 55, 87},
+	{ 81, 78, 79},
+	{ 74, 73, 49},
+	{ 69, 60, 45},
+	{ 58, 62, 64},
+	{ 58, 64, 61},
+	{ 53, 31, 32},
+	{ 32, 54, 53},
+	{ 42, 43, 38},
+	{ 35, 36,  0},
+	{ 35,  0,  1},
+	{ 34, 35,  1},
+	{ 34,  1,  9},
+	{ 44, 40, 41},
+	{ 44, 41, 45},
+	{ 33,240, 51},
+	{ 63, 62, 58},
+	{ 63, 58, 59},
+	{ 45, 71, 70},
+	{ 76, 75, 51},
+	{ 76, 51, 52},
+	{ 86, 85, 84},
+	{ 86, 84, 87},
+	{ 89, 72, 73},
+	{ 89, 73, 88},
+	{ 91, 92, 96},
+	{ 91, 96, 95},
+	{ 72, 91, 60},
+	{ 72, 60, 69},
+	{104,106,105},
+	{119,105,117},
+	{119,117,118},
+	{124,127,128},
+	{117,116,129},
+	{117,129,131},
+	{118,117,131},
+	{135,140,142},
+	{146,150,152},
+	{146,152,145},
+	{149,122,121},
+	{166,165,151},
+	{166,151,156},
+	{158,172,173},
+	{161,160,189},
+	{199,198,193},
+	{199,193,191},
+	{204,201,202},
+	{178,174,194},
+	{200,159,186},
+	{109, 48, 67},
+	{ 48,107,104},
+	{216, 32,236},
+	{216,236,239},
+	{223,214, 81},
+	{223, 81, 82},
+	{ 33, 12, 15},
+	{ 32,228,234},
+	{ 32,234,236},
+	{240, 31, 52},
+	{256,255,246},
+	{256,246,249},
+	{258,263,248},
+	{258,248,249},
+	{275,260,259},
+	{275,259,276},
+	{207,276,259},
+	{270,271,429},
+	{270,429,407},
+	{413,418,366},
+	{413,366,365},
+	{368,367,279},
+	{368,279,280},
+	{303,301,286},
+	{303,286,287},
+	{283,282,292},
+	{283,292,291},
+	{320,292,189},
+	{298,296,297},
+	{298,297,299},
+	{318,327,326},
+	{318,326,313},
+	{329,330,317},
+	{336,333,320},
+	{326,354,353},
+	{334,332,333},
+	{334,333,336},
+	{342,339,139},
+	{342,139,138},
+	{345,342,126},
+	{347,357,356},
+	{369,368,351},
+	{363,356,357},
+	{363,357,361},
+	{366,367,368},
+	{366,368,369},
+	{375,373,400},
+	{ 92, 90,377},
+	{409,387,408},
+	{386,385,387},
+	{386,387,388},
+	{412,394,391},
+	{396,398,399},
+	{408,406,405},
+	{415,421,419},
+	{415,419,414},
+	{425,452,448},
+	{425,448,424},
+	{444,441,443},
+	{448,452,449},
+	{448,449,447},
+	{446,444,443},
+	{446,443,445},
+	{250,247,261},
+	{250,261,428},
+	{421,422,423},
+	{421,423,419},
+	{427,410,250},
+	{417,403,401},
+	{403,402,401},
+	{420,392,412},
+	{420,412,425},
+	{420,425,424},
+	{386,411,389},
+	{383,382,381},
+	{383,381,385},
+	{378,379,404},
+	{372,371,395},
+	{372,395,397},
+	{371,372,370},
+	{361,359,360},
+	{361,360,362},
+	{368,350,351},
+	{349,347,348},
+	{356,355,344},
+	{356,344,346},
+	{344,341,340},
+	{344,340,343},
+	{338,337,336},
+	{328,335,341},
+	{324,352,351},
+	{324,351,331},
+	{320,144,336},
+	{314,325,324},
+	{322,308,309},
+	{310,309,307},
+	{287,286,289},
+	{203,280,279},
+	{203,279,205},
+	{297,295,283},
+	{297,283,284},
+	{447,205,279},
+	{274,384, 80},
+	{274, 80,226},
+	{266,267,379},
+	{266,379,380},
+	{225,257,246},
+	{225,246,245},
+	{256,254,253},
+	{256,253,255},
+	{430,247,250},
+	{226,235,244},
+	{226,244,245},
+	{232,233,244},
+	{232,244,241},
+	{230, 18, 19},
+	{ 32, 31,228},
+	{219,220, 86},
+	{219, 86, 57},
+	{226,213,235},
+	{206,  7,  6},
+	{122,201,101},
+	{201,204,101},
+	{180,196,197},
+	{170,192,171},
+	{200,190,189},
+	{194,193,195},
+	{183,181,180},
+	{183,180,182},
+	{155,154,168},
+	{149,156,151},
+	{149,151,148},
+	{155,156,120},
+	{145,142,143},
+	{145,143,146},
+	{136,137,140},
+	{133,132,130},
+	{128,129,116},
+	{100,120,121},
+	{110,112,113},
+	{110,113,114},
+	{ 66, 65, 63},
+	{ 66, 63, 99},
+	{ 66, 99, 98},
+	{ 96, 46, 61},
+	{ 89, 88, 90},
+	{ 86, 87, 57},
+	{ 80, 78, 81},
+	{ 72, 69, 49},
+	{ 67, 48, 47},
+	{ 67, 47, 68},
+	{ 56, 55, 53},
+	{ 50, 49, 36},
+	{ 50, 36, 35},
+	{ 40, 39, 41},
+	{242,243,229},
+	{242,229,227},
+	{  6, 37, 39},
+	{ 42, 47, 48},
+	{ 42, 48, 43},
+	{ 61, 46, 44},
+	{ 45, 70, 69},
+	{ 69, 70, 71},
+	{ 69, 71, 49},
+	{ 74, 78, 77},
+	{ 83, 84, 85},
+	{ 73, 74, 77},
+	{ 93, 96, 92},
+	{ 68, 46, 93},
+	{ 95, 99, 63},
+	{ 95, 63, 59},
+	{115,108,110},
+	{115,110,114},
+	{125,126,127},
+	{129,130,132},
+	{137,133,138},
+	{137,138,139},
+	{148,146,143},
+	{148,143,147},
+	{119,118,154},
+	{161,147,143},
+	{165,164,151},
+	{158,157,171},
+	{158,171,172},
+	{159,158,187},
+	{159,187,186},
+	{194,192,191},
+	{194,191,193},
+	{189,202,201},
+	{182,197,184},
+	{205,  8,  7},
+	{ 48,109,107},
+	{218,219, 57},
+	{218, 57, 56},
+	{207,231,211},
+	{232,230,231},
+	{232,231,233},
+	{ 53, 52, 31},
+	{388,411,386},
+	{409,430,250},
+	{262,429,254},
+	{262,254,256},
+	{442,444,428},
+	{273,264,383},
+	{273,383,384},
+	{429,271,251},
+	{429,251,254},
+	{413,365,362},
+	{ 67,413,360},
+	{282,283,295},
+	{285,301,299},
+	{202,281,280},
+	{284,283,291},
+	{284,291,289},
+	{320,189,160},
+	{308,306,307},
+	{307,309,308},
+	{319,317,330},
+	{319,330,328},
+	{353,352,324},
+	{332,331,333},
+	{340,341,338},
+	{354,341,344},
+	{349,358,357},
+	{349,357,347},
+	{364,355,356},
+	{364,356,363},
+	{364,365,366},
+	{364,366,369},
+	{374,376,402},
+	{375, 92,373},
+	{ 77,389,390},
+	{382,380,381},
+	{389, 77,386},
+	{393,394,412},
+	{393,412,392},
+	{401,394,416},
+	{415,400,403},
+	{411,410,427},
+	{411,427,426},
+	{422,420,424},
+	{247,248,263},
+	{247,263,261},
+	{445,443, 14},
+	{445, 14, 11},
+	{449,450,  4},
+	{449,  4,  5},
+	{443,441, 17},
+	{443, 17, 14},
+	{436, 23, 17},
+	{436, 17,441},
+	{424,448,422},
+	{448,423,422},
+	{414,419,418},
+	{414,418,413},
+	{406,404,405},
+	{399,397,395},
+	{399,395,396},
+	{420,416,392},
+	{388,410,411},
+	{386,384,383},
+	{390, 88, 77},
+	{375, 94, 92},
+	{415,414, 68},
+	{415, 68, 94},
+	{370,374,402},
+	{370,402,398},
+	{361,357,358},
+	{361,358,359},
+	{125,348,126},
+	{346,344,343},
+	{340,338,339},
+	{337,335,334},
+	{337,334,336},
+	{325,353,324},
+	{324,331,332},
+	{324,332,329},
+	{323,322,309},
+	{323,309,310},
+	{294,295,297},
+	{294,297,296},
+	{289,286,285},
+	{202,280,203},
+	{288,307,303},
+	{282,295,321},
+	{ 67,360,111},
+	{418,423,367},
+	{418,367,366},
+	{272,252,251},
+	{272,251,271},
+	{272,271,270},
+	{255,253,274},
+	{265,266,380},
+	{265,380,382},
+	{442,428,261},
+	{440,263,258},
+	{440,258,260},
+	{409,250,410},
+	{255,226,245},
+	{255,245,246},
+	{ 31,240,243},
+	{236,234,235},
+	{236,235,237},
+	{233,225,245},
+	{233,245,244},
+	{220,221, 85},
+	{220, 85, 86},
+	{ 81,213,226},
+	{ 81,226, 80},
+	{  7,206,205},
+	{186,184,198},
+	{186,198,199},
+	{204,203,205},
+	{204,205,206},
+	{195,193,196},
+	{171,174,172},
+	{173,174,175},
+	{173,172,174},
+	{155,167,166},
+	{160,161,143},
+	{160,143,144},
+	{119,154,155},
+	{148,151,150},
+	{148,150,146},
+	{140,137,139},
+	{140,139,141},
+	{127,126,130},
+	{114,124,128},
+	{114,128,115},
+	{117,105,106},
+	{117,106,116},
+	{104,105,100},
+	{104,100,103},
+	{ 59, 60, 91},
+	{ 97, 96, 61},
+	{ 97, 61, 64},
+	{ 91, 72, 89},
+	{ 87, 84, 79},
+	{ 87, 79, 76},
+	{ 78, 80, 77},
+	{ 49, 50, 74},
+	{ 60, 44, 45},
+	{ 61, 44, 58},
+	{ 51, 50, 35},
+	{ 51, 35, 34},
+	{ 39, 37, 41},
+	{ 33, 34,  9},
+	{ 33,  9, 12},
+	{  0, 36, 37},
+	{  0, 37,  6},
+	{ 40, 46, 47},
+	{ 40, 47, 42},
+	{ 53, 54, 56},
+	{ 65, 62, 63},
+	{ 72, 49, 73},
+	{ 79, 78, 75},
+	{ 79, 75, 76},
+	{ 52, 53, 76},
+	{ 92, 89, 90},
+	{ 96, 93, 46},
+	{102,103,100},
+	{102,100,101},
+	{116,106,108},
+	{116,108,115},
+	{123,125,124},
+	{116,115,128},
+	{118,131,135},
+	{140,135,136},
+	{148,147,149},
+	{120,119,155},
+	{164,162,152},
+	{164,152,150},
+	{157,147,161},
+	{157,161,170},
+	{186,187,185},
+	{186,185,184},
+	{193,197,196},
+	{202,203,204},
+	{194,195,178},
+	{198,184,197},
+	{ 67,111,109},
+	{ 38, 43,103},
+	{ 38,103,102},
+	{214,223,222},
+	{214,222,221},
+	{214,221,220},
+	{214,220,219},
+	{214,219,218},
+	{213,237,235},
+	{221,222, 83},
+	{221, 83, 85},
+	{ 15,229, 33},
+	{227, 18,230},
+	{227,230,232},
+	{ 52, 51,240},
+	{ 75, 78, 50},
+	{408,430,409},
+	{260,258,257},
+	{260,257,259},
+	{224,207,259},
+	{268,269,405},
+	{268,405,404},
+	{413,362,360},
+	{447,  8,205},
+	{299,297,285},
+	{189,281,202},
+	{290,288,289},
+	{290,289,291},
+	{322,321,295},
+	{322,295,294},
+	{333,323,311},
+	{333,311,320},
+	{317,316,329},
+	{320,160,144},
+	{353,325,326},
+	{329,332,334},
+	{329,334,330},
+	{339,338,141},
+	{339,141,139},
+	{348,345,126},
+	{347,356,346},
+	{123,349,125},
+	{364,353,354},
+	{364,354,355},
+	{365,364,363},
+	{376,391,394},
+	{376,394,401},
+	{ 92,376,374},
+	{ 92,374,373},
+	{377, 90, 88},
+	{380,379,378},
+	{380,378,381},
+	{388,387,409},
+	{388,409,410},
+	{416,393,392},
+	{399,398,402},
+	{399,402,403},
+	{250,428,427},
+	{421,417,416},
+	{421,416,420},
+	{426,427,446},
+	{426,446,451},
+	{444,442,441},
+	{452,451,450},
+	{452,450,449}
+};
+
diff --git a/libs/ode-0.16.1/ode/demo/convex_bunny_geom.h b/libs/ode-0.16.1/ode/demo/convex_bunny_geom.h
new file mode 100644
index 0000000..09fe6de
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/convex_bunny_geom.h
@@ -0,0 +1,468 @@
+const unsigned int convexBunnyPlaneCount = 176;
+dReal convexBunnyPlanes[] =
+{
+	0.986167, -0.0612533, -0.154021, 0.399481,
+	0.982735, -0.0691036, -0.171628, 0.409884,
+	-0.984387, -0.0582774, -0.166089, 0.403079,
+	0.985044, -0.172279, 0.00302105, 0.437531,
+	0.976915, -0.184361, 0.107929, 0.465334,
+	0.951478, -0.281619, 0.124019, 0.475223,
+	0.798136, -0.502214, 0.332805, 0.535555,
+	0.949728, -0.211128, -0.231176, 0.528156,
+	-0.000894561, -0.995066, -0.0992088, 0.80299,
+	-0.000896015, -0.995066, -0.0992131, 0.802991,
+	-0.0035709, -0.935822, 0.352454, 0.618504,
+	-0.291551, -0.828515, 0.478081, 0.681579,
+	-0.978715, -0.181408, 0.0959605, 0.468907,
+	-0.985523, -0.169302, -0.00904739, 0.441129,
+	-0.953768, -0.278749, 0.11236, 0.478704,
+	0.372745, -0.827499, 0.419888, 0.630174,
+	0.976911, -0.18316, 0.109991, 0.466086,
+	0.817827, -0.387738, 0.425227, 0.569153,
+	-0.978732, -0.180211, 0.0980152, 0.469656,
+	0.662794, -0.0277654, 0.748287, 0.803459,
+	0.00359857, -0.660581, -0.750746, 0.877267,
+	0.00359952, -0.660579, -0.750748, 0.877266,
+	-0.947456, -0.208272, -0.242797, 0.531628,
+	-0.980764, -0.0661375, -0.18365, 0.413468,
+	-0.940835, -0.0698657, -0.331585, 0.494827,
+	0.983751, 0.0529367, -0.171556, 0.403533,
+	0.981839, 0.0996302, -0.16145, 0.410144,
+	0.977938, 0.0857834, -0.190468, 0.411823,
+	0.959636, 0.106068, -0.260476, 0.44898,
+	0.85334, -0.0495414, -0.518996, 0.60489,
+	-0.803667, -0.499793, 0.322995, 0.538478,
+	-0.689742, -0.615484, 0.381361, 0.574754,
+	-0.380353, -0.826364, 0.415277, 0.63155,
+	-0.39985, -0.817283, 0.414933, 0.630682,
+	-0.380309, -0.826285, 0.415473, 0.631677,
+	-0.981411, 0.0559147, -0.183592, 0.407121,
+	-0.979526, 0.101914, -0.173615, 0.413635,
+	-0.975381, 0.0881975, -0.202119, 0.415257,
+	0.988445, 0.140182, 0.0576755, 0.485174,
+	0.876515, 0.0408992, 0.479634, 0.620093,
+	0.848907, -0.0996824, 0.519057, 0.631268,
+	0.895754, -0.195088, 0.399457, 0.563346,
+	0.861448, -0.256989, 0.438023, 0.574909,
+	0.775672, -0.447481, 0.445076, 0.586422,
+	0.683157, -0.617557, 0.389768, 0.572247,
+	0.391755, -0.818722, 0.419789, 0.629264,
+	0.28317, -0.829384, 0.481599, 0.680529,
+	0.3727, -0.827422, 0.420079, 0.630298,
+	-0.824143, -0.385255, 0.415171, 0.57215,
+	-0.782413, -0.445128, 0.435536, 0.589267,
+	0.00152876, 0.999994, -0.00308275, 0.665646,
+	0.00242466, 0.999989, -0.0038994, 0.665879,
+	-0.979892, 0.121321, -0.158406, 0.420287,
+	0.767537, -0.190214, -0.612132, 0.695479,
+	0.372649, -0.42747, -0.823652, 0.869878,
+	0.537245, -0.335515, -0.77382, 0.82472,
+	0.0263648, -0.598975, -0.800334, 0.873623,
+	0.00393345, -0.60959, -0.792707, 0.869865,
+	-0.0183706, -0.598907, -0.800608, 0.873704,
+	0.00875728, 0.676014, -0.736836, 0.825597,
+	0.852333, -0.0355955, -0.521786, 0.607886,
+	0.392036, 0.534934, -0.748434, 0.818042,
+	0.847696, -0.122973, -0.516033, 0.615814,
+	0.884763, -0.0760716, -0.45979, 0.565893,
+	0.9446, -0.0727144, -0.320069, 0.491401,
+	0.904971, -0.0675211, -0.420081, 0.541673,
+	-0.899959, -0.0647928, -0.431134, 0.544968,
+	-0.955972, 0.108494, -0.272667, 0.452769,
+	-0.363823, -0.426358, -0.828161, 0.871222,
+	-0.528689, -0.333936, -0.780368, 0.826685,
+	0.982068, 0.118277, -0.146811, 0.416542,
+	0.98951, 0.144455, 0.00164104, 0.468616,
+	0.50797, -0.0708041, 0.85846, 0.883126,
+	0.748614, -0.431275, 0.503565, 0.634026,
+	0.214863, -0.405791, 0.888351, 0.94048,
+	-0.901162, -0.192379, 0.388455, 0.566627,
+	-0.867521, -0.254376, 0.427435, 0.578065,
+	-0.226957, -0.405135, 0.885639, 0.941284,
+	-0.756029, -0.429007, 0.494341, 0.636765,
+	-0.00629553, -0.188362, 0.982079, 0.968197,
+	0.0165684, 0.999846, -0.00581961, 0.670373,
+	0.00313267, 0.999987, -0.00405124, 0.666103,
+	0.545069, 0.472158, -0.692796, 0.780052,
+	0.932011, 0.148856, -0.330451, 0.498417,
+	0.844043, 0.227673, -0.485547, 0.599903,
+	-0.019033, 0.999801, -0.00590978, 0.672252,
+	-0.959662, 0.239262, -0.147656, 0.488538,
+	0.00151234, 0.999999, -0.000399466, 0.665855,
+	-0.988649, 0.143168, 0.0455675, 0.488784,
+	-0.989015, 0.147444, -0.01048, 0.472227,
+	-0.972439, 0.232727, -0.01415, 0.518344,
+	0.587681, -0.160147, -0.793085, 0.823999,
+	0.640479, -0.269179, -0.719256, 0.778142,
+	0.541109, -0.332896, -0.772257, 0.823226,
+	0.546185, -0.14771, -0.824538, 0.84854,
+	0.528519, -0.026044, -0.848522, 0.873136,
+	0.447231, -0.0756684, -0.891212, 0.903953,
+	0.490619, -0.0795123, -0.867739, 0.884255,
+	0.279393, 0.264257, -0.923097, 0.950045,
+	0.374653, 0.39486, -0.83888, 0.886593,
+	0.00050174, 0.999994, -0.00331563, 0.665976,
+	-0.0103777, 0.999934, -0.00487936, 0.669494,
+	-0.927571, 0.150741, -0.341889, 0.501807,
+	-0.267268, 0.265084, -0.926444, 0.951043,
+	-0.845984, -0.0330207, -0.532184, 0.610986,
+	-0.518165, -0.0244575, -0.854931, 0.875047,
+	-0.83753, 0.228953, -0.496108, 0.603116,
+	-0.535666, 0.472122, -0.700116, 0.78259,
+	-0.381083, 0.534649, -0.754272, 0.820328,
+	-0.363157, 0.395975, -0.843398, 0.88794,
+	-0.326829, -0.256634, -0.909572, 0.922946,
+	0.394875, -0.128601, -0.90969, 0.920236,
+	0.337169, -0.257642, -0.905504, 0.921733,
+	0.398433, -0.193767, -0.896496, 0.910015,
+	-0.536477, -0.146072, -0.831177, 0.850523,
+	-0.436512, -0.0743406, -0.896622, 0.905564,
+	-0.480187, -0.0780522, -0.873687, 0.886029,
+	-0.384093, -0.127432, -0.914458, 0.921656,
+	-0.388009, -0.192572, -0.901313, 0.911451,
+	0.977045, 0.15796, 0.14294, 0.521934,
+	0.930035, 0.231515, 0.28537, 0.600301,
+	-0.855499, -0.0971121, 0.508616, 0.634376,
+	-0.875419, 0.136849, 0.463589, 0.62897,
+	-0.882196, 0.0435387, 0.468864, 0.623303,
+	0.0204398, -0.0238739, 0.999506, 0.958419,
+	-0.0062197, -0.0777937, 0.99695, 0.962769,
+	0.907123, 0.250746, 0.338015, 0.623205,
+	0.902358, 0.173321, 0.394601, 0.607696,
+	0.870085, 0.134211, 0.474278, 0.625782,
+	0.0015108, 0.999999, 6.34978e-06, 0.665945,
+	0.00150567, 0.999999, 0.000568537, 0.666143,
+	0.00150738, 0.999999, 0.000565012, 0.666141,
+	-0.963954, 0.266039, -0.00405118, 0.539571,
+	0.0015136, 0.999999, -0.000393102, 0.665856,
+	0.00151117, 0.999999, 4.32104e-06, 0.665944,
+	0.0272711, 0.999604, -0.00696439, 0.673709,
+	0.962047, 0.236383, -0.136341, 0.484917,
+	0.973236, 0.229796, -0.00223071, 0.514797,
+	0.964728, 0.263133, 0.00776342, 0.536054,
+	-0.906596, 0.176056, 0.383521, 0.610999,
+	-0.978237, 0.160918, 0.130987, 0.525513,
+	-0.910434, 0.253486, 0.326887, 0.626522,
+	-0.932759, 0.234321, 0.27396, 0.603697,
+	0.800621, -0.0921333, -0.592045, 0.665278,
+	0.679569, -0.15358, -0.717356, 0.765121,
+	0.684928, -0.199829, -0.700672, 0.756959,
+	-0.532604, -0.33128, -0.778837, 0.82519,
+	-0.578395, -0.158384, -0.800234, 0.826134,
+	-0.671209, -0.151537, -0.725613, 0.767576,
+	-0.00530287, 0.323551, 0.946196, 0.94547,
+	-0.719766, 0.229227, 0.655281, 0.774388,
+	-0.604194, 0.29171, 0.741522, 0.841564,
+	-0.544989, 0.302925, 0.781808, 0.866398,
+	-0.518662, -0.0692529, 0.85217, 0.884999,
+	-0.671987, -0.0257512, 0.740115, 0.805898,
+	-0.00613626, -0.00823685, 0.999947, 0.957141,
+	-0.032747, -0.0237908, 0.99918, 0.958516,
+	-0.00530611, 0.323546, 0.946198, 0.945471,
+	-0.545061, 0.302657, 0.781861, 0.866377,
+	-0.639902, 0.23832, 0.730568, 0.823722,
+	0.00149706, 0.999997, 0.00193434, 0.667038,
+	0.00149731, 0.999997, 0.00193252, 0.667037,
+	-0.0048341, 0.44008, 0.897946, 0.936327,
+	-0.00483143, 0.440078, 0.897947, 0.936327,
+	-0.632454, -0.267241, -0.727039, 0.780455,
+	-0.67691, -0.197765, -0.709, 0.759436,
+	-0.841667, -0.120432, -0.526396, 0.618913,
+	-0.760706, -0.187792, -0.621337, 0.698143,
+	-0.87929, -0.0734062, -0.470597, 0.569116,
+	-0.847068, -0.0469762, -0.529405, 0.607991,
+	-0.793572, -0.0897399, -0.601823, 0.668201,
+	0.536355, 0.301024, 0.788485, 0.864403,
+	0.536284, 0.301291, 0.788431, 0.864424,
+	0.595945, 0.289897, 0.748872, 0.839373,
+	0.631626, 0.236397, 0.738353, 0.8214,
+	0.712378, 0.227061, 0.664049, 0.771772,
+};
+const unsigned int convexBunnyPointCount = 105;
+dReal convexBunnyPoints[] =
+{
+	-0.459488, -0.093017, -0.311341,
+	0.466635, -0.094416, -0.305669,
+	-0.309239, 0.776868, 0.304726,
+	-0.004458, -0.042526, 1.01567,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	0.007957, 0.282241, -0.93168,
+	0.204445, -0.66438, 0.513353,
+	-0.303961, 0.054199, 0.625921,
+	0.265619, 0.756464, 0.504187,
+	-0.402162, 0.133528, -0.443247,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	-0.266772, 0.64233, 0.602061,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	0.411612, 0.132299, -0.438264,
+	0.31148, 0.775931, 0.308527,
+	0.300086, 0.053287, 0.62962,
+	-0.414624, 0.164083, -0.278254,
+	-0.248382, 0.255825, -0.627493,
+	-0.216201, -0.126776, -0.886936,
+	0.267564, -0.666174, -0.654834,
+	-0.135892, -0.03552, 0.945455,
+	-0.265837, 0.757267, 0.500933,
+	-0.003873, 0.161605, 0.970499,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	-0.282599, -0.663393, 0.412411,
+	0.007237, 0.361687, -0.794439,
+	0.093627, 0.258494, -0.920589,
+	0.422146, 0.162819, -0.27313,
+	0.279163, -0.664604, 0.417328,
+	0.263086, 0.512567, 0.637832,
+	-0.099875, 0.310931, -0.799381,
+	-0.446838, -0.118517, -0.466159,
+	-0.168842, 0.102387, -0.920381,
+	0.455805, -0.119881, -0.460632,
+	0.337743, -0.666396, -0.074503,
+	-0.134547, -0.119852, -0.959004,
+	-0.183807, 0.19697, 0.84448,
+	0.264969, 0.641527, 0.605317,
+	-0.209063, -0.663393, 0.509344,
+	-0.364126, -0.200299, 0.202388,
+	-0.253475, -0.081797, 0.756541,
+	0.260471, 0.255056, -0.624378,
+	0.114248, 0.310608, -0.79807,
+	0.364663, -0.201399, 0.20685,
+	0.127847, -0.035919, 0.94707,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	-0.381071, -0.629723, -0.350777,
+	-0.339884, -0.04115, -0.668211,
+	-0.077913, 0.258753, -0.92164,
+	0.184061, 0.101854, -0.91822,
+	-0.335166, -0.66538, -0.078623,
+	0.386561, -0.625221, -0.21687,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	-0.241585, 0.527592, 0.669296,
+	-0.086969, 0.133224, 0.947633,
+	-0.003127, 0.28407, 0.87887,
+	-0.004433, -0.146642, 0.985872,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	-0.138444, -0.10425, 0.945975,
+	-0.265676, 0.513366, 0.634594,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	0.247593, -0.082554, 0.75961,
+	0.07941, 0.132973, 0.948652,
+	0.238615, 0.526867, 0.672237,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	-0.382112, -0.62406, -0.221577,
+	-0.104072, 0.177278, -0.95253,
+	0.351567, -0.042194, -0.663976,
+	0.138234, -0.293905, -0.897958,
+	0.119916, 0.17694, -0.951159,
+	-0.371322, -0.665382, -0.35362,
+	-0.263384, -0.663396, 0.466604,
+	0.376722, -0.666513, -0.219833,
+	0.387086, -0.630883, -0.346073,
+	-0.125544, 0.140012, 0.917678,
+	-0.070612, 0.036849, 0.975733,
+	-0.083497, -0.084934, 0.979607,
+	0.259286, -0.664547, 0.471281,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	0.074888, -0.085173, 0.980577,
+	0.152305, 0.125256, 0.890786,
+	0.130184, -0.104656, 0.94762,
+	-0.004249, 0.046042, 1.00324,
+	0.062419, 0.036648, 0.976547,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	-0.392666, -0.488581, -0.427494,
+	0.230315, -0.12745, -0.884202,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	0.193434, -0.665946, -0.715325,
+	0.007865, 0.122104, -0.956137,
+	8.40779e-45, 3.00321e-39, 2.8026e-44,
+	-0.257884, -0.665381, -0.658052,
+	0.377265, -0.666513, -0.349036,
+	-0.372362, -0.665381, -0.22442,
+	0.400045, -0.489778, -0.42264,
+	-0.159174, 0.125726, 0.888878,
+	0.118369, 0.139643, 0.919173,
+	-0.124463, -0.293508, -0.899566,
+	0.21172, -0.302754, -0.843303,
+	0.149571, -0.120281, -0.957264,
+	-0.183019, -0.665378, -0.71763,
+	0.177696, 0.196424, 0.846693,
+	-0.198638, -0.302135, -0.845816,
+};
+unsigned int convexBunnyPolygons[] =
+{
+	3, 7, 2, 0,
+	3, 2, 7, 11,
+	3, 1, 15, 16,
+	3, 0, 2, 17,
+	3, 17, 9, 0,
+	3, 2, 9, 17,
+	3, 18, 9, 2,
+	3, 2, 11, 22,
+	3, 22, 15, 2,
+	3, 8, 15, 22,
+	3, 2, 15, 26,
+	3, 5, 26, 27,
+	3, 1, 14, 28,
+	3, 28, 15, 1,
+	3, 14, 15, 28,
+	3, 2, 26, 31,
+	3, 0, 9, 32,
+	3, 9, 18, 33,
+	3, 34, 14, 1,
+	3, 19, 33, 36,
+	3, 8, 22, 38,
+	3, 38, 22, 11,
+	3, 38, 15, 8,
+	3, 38, 16, 15,
+	3, 38, 30, 16,
+	3, 40, 7, 0,
+	3, 0, 25, 40,
+	3, 40, 25, 7,
+	3, 7, 25, 41,
+	3, 21, 37, 41,
+	3, 42, 15, 14,
+	3, 42, 27, 15,
+	3, 43, 26, 15,
+	3, 15, 27, 43,
+	3, 43, 27, 26,
+	3, 1, 16, 44,
+	3, 44, 29, 1,
+	3, 16, 29, 44,
+	3, 0, 32, 47,
+	3, 19, 32, 48,
+	3, 48, 33, 19,
+	3, 48, 32, 9,
+	3, 9, 33, 48,
+	3, 49, 33, 18,
+	3, 49, 18, 2,
+	3, 2, 31, 49,
+	3, 49, 26, 5,
+	3, 49, 31, 26,
+	3, 50, 42, 14,
+	3, 27, 42, 50,
+	3, 51, 35, 6,
+	3, 6, 39, 51,
+	3, 1, 29, 52,
+	3, 11, 37, 54,
+	3, 55, 23, 11,
+	3, 11, 54, 55,
+	3, 11, 23, 56,
+	3, 56, 38, 11,
+	3, 23, 38, 56,
+	3, 57, 39, 6,
+	3, 21, 41, 59,
+	3, 39, 57, 59,
+	3, 60, 37, 11,
+	3, 60, 41, 37,
+	3, 60, 11, 7,
+	3, 7, 41, 60,
+	3, 16, 30, 62,
+	3, 62, 29, 16,
+	3, 63, 38, 23,
+	3, 38, 63, 64,
+	3, 67, 25, 0,
+	3, 0, 47, 67,
+	3, 68, 36, 33,
+	3, 33, 49, 68,
+	3, 68, 49, 5,
+	3, 14, 34, 69,
+	3, 69, 50, 14,
+	3, 5, 27, 71,
+	3, 27, 50, 71,
+	3, 71, 68, 5,
+	3, 25, 51, 73,
+	3, 73, 51, 39,
+	3, 39, 59, 73,
+	3, 73, 41, 25,
+	3, 73, 59, 41,
+	3, 29, 35, 74,
+	3, 74, 52, 29,
+	3, 35, 51, 74,
+	3, 75, 34, 1,
+	3, 1, 52, 75,
+	3, 52, 74, 75,
+	3, 21, 55, 76,
+	3, 76, 54, 37,
+	3, 76, 55, 54,
+	3, 77, 55, 21,
+	3, 21, 59, 78,
+	3, 3, 77, 78,
+	3, 78, 77, 21,
+	3, 78, 57, 3,
+	3, 78, 59, 57,
+	3, 6, 35, 79,
+	3, 79, 35, 29,
+	3, 29, 62, 79,
+	3, 3, 57, 81,
+	3, 83, 62, 45,
+	3, 45, 81, 83,
+	3, 83, 79, 62,
+	3, 6, 79, 83,
+	3, 83, 57, 6,
+	3, 83, 81, 57,
+	3, 84, 63, 23,
+	3, 84, 77, 3,
+	3, 23, 55, 84,
+	3, 55, 77, 84,
+	3, 45, 63, 85,
+	3, 3, 81, 85,
+	3, 85, 81, 45,
+	3, 85, 84, 3,
+	3, 63, 84, 85,
+	3, 87, 47, 32,
+	3, 87, 72, 47,
+	3, 50, 69, 88,
+	3, 88, 34, 20,
+	3, 88, 69, 34,
+	3, 36, 68, 91,
+	3, 68, 71, 91,
+	3, 72, 87, 93,
+	3, 93, 87, 32,
+	3, 93, 32, 19,
+	3, 94, 74, 72,
+	3, 94, 93, 20,
+	3, 72, 93, 94,
+	3, 94, 75, 74,
+	3, 95, 74, 51,
+	3, 72, 74, 95,
+	3, 95, 51, 25,
+	3, 25, 67, 95,
+	3, 95, 67, 47,
+	3, 47, 72, 95,
+	3, 20, 34, 96,
+	3, 34, 75, 96,
+	3, 96, 94, 20,
+	3, 75, 94, 96,
+	3, 97, 37, 21,
+	3, 21, 76, 97,
+	3, 97, 76, 37,
+	3, 98, 64, 63,
+	3, 98, 63, 45,
+	3, 45, 82, 98,
+	3, 36, 70, 99,
+	3, 100, 88, 20,
+	3, 20, 90, 100,
+	3, 100, 90, 70,
+	3, 101, 71, 50,
+	3, 50, 88, 101,
+	3, 36, 91, 101,
+	3, 101, 91, 71,
+	3, 101, 70, 36,
+	3, 101, 100, 70,
+	3, 88, 100, 101,
+	3, 102, 90, 20,
+	3, 20, 93, 102,
+	3, 70, 90, 102,
+	3, 102, 99, 70,
+	3, 64, 98, 103,
+	3, 103, 98, 82,
+	3, 30, 38, 103,
+	3, 38, 64, 103,
+	3, 103, 62, 30,
+	3, 45, 62, 103,
+	3, 103, 82, 45,
+	3, 36, 99, 104,
+	3, 99, 102, 104,
+	3, 104, 102, 93,
+	3, 19, 36, 104,
+	3, 104, 93, 19,
+};
diff --git a/libs/ode-0.16.1/ode/demo/convex_prism.h b/libs/ode-0.16.1/ode/demo/convex_prism.h
new file mode 100644
index 0000000..1ee7fcb
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/convex_prism.h
@@ -0,0 +1,28 @@
+unsigned int prism_pointcount = 8;
+unsigned int prism_planecount = 6;
+dReal prism_points[24]={
+ 10.0, 1.0,-1.0,
+ 10.0,-1.0,-1.0,
+-10.0,-1.0,-1.0,
+-10.0, 1.0,-1.0,
+ 10.0, 1.0, 1.0,
+ 10.0,-1.0, 1.0,
+-10.0,-1.0, 1.0,
+-10.0, 1.0, 1.0
+};
+unsigned int prism_polygons[]={
+4,0,1,2,3,
+4,4,7,6,5,
+4,0,4,5,1,
+4,1,5,6,2,
+4,2,6,7,3,
+4,4,0,3,7,
+};
+dReal prism_planes[]={
+0.0,0.0,-1.0,1.0,
+0.0,0.0,1.0,1.0,
+1.0,0.0,0.0,10.0,
+0.0,-1.0,0.0,1.0,
+-1.0,0.0,-0.0,10.0,
+0.0,1.0,0.0,1.0,
+};
diff --git a/libs/ode-0.16.1/ode/demo/demo_I.cpp b/libs/ode-0.16.1/ode/demo/demo_I.cpp
new file mode 100644
index 0000000..156a4ad
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_I.cpp
@@ -0,0 +1,253 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+test that the rotational physics is correct.
+
+an "anchor body" has a number of other randomly positioned bodies
+("particles") attached to it by ball-and-socket joints, giving it some
+random effective inertia tensor. the effective inertia matrix is calculated,
+and then this inertia is assigned to another "test" body. a random torque is
+applied to both bodies and the difference in angular velocity and orientation
+is observed after a number of iterations.
+
+typical errors for each test cycle are about 1e-5 ... 1e-4.
+
+*/
+
+
+#include <time.h>
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+
+#define NUM 10			// number of particles
+#define SIDE 0.1		// visual size of the particles
+
+
+// dynamics objects an globals
+
+static dWorldID world=0;
+static dBodyID anchor_body,particle[NUM],test_body;
+static dJointID particle_joint[NUM];
+static dReal torque[3];
+static int iteration;
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {1.5572f,-1.8886f,1.5700f};
+  static float hpr[3] = {118.5000f,-17.0000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// compute the mass parameters of a particle set. q = particle positions,
+// pm = particle masses
+
+#define _I(i,j) I[(i)*4+(j)]
+
+void computeMassParams (dMass *m, dReal q[NUM][3], dReal pm[NUM])
+{
+  int i,j;
+  dMassSetZero (m);
+  for (i=0; i<NUM; i++) {
+    m->mass += pm[i];
+    for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j];
+    m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]);
+    m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]);
+    m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]);
+    m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]);
+    m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]);
+    m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]);
+  }
+  for (j=0; j<3; j++) m->c[j] /= m->mass;
+  m->_I(1,0) = m->_I(0,1);
+  m->_I(2,0) = m->_I(0,2);
+  m->_I(2,1) = m->_I(1,2);
+}
+
+
+void reset_test()
+{
+  int i;
+  dMass m,anchor_m;
+  dReal q[NUM][3], pm[NUM];	// particle positions and masses
+  dReal pos1[3] = {1,0,1};	// point of reference (POR)
+  dReal pos2[3] = {-1,0,1};	// point of reference (POR)
+
+  // make random particle positions (relative to POR) and masses
+  for (i=0; i<NUM; i++) {
+    pm[i] = dRandReal()+0.1;
+    q[i][0] = dRandReal()-0.5;
+    q[i][1] = dRandReal()-0.5;
+    q[i][2] = dRandReal()-0.5;
+  }
+
+  // adjust particle positions so centor of mass = POR
+  computeMassParams (&m,q,pm);
+  for (i=0; i<NUM; i++) {
+    q[i][0] -= m.c[0];
+    q[i][1] -= m.c[1];
+    q[i][2] -= m.c[2];
+  }
+
+  if (world) dWorldDestroy (world);
+  world = dWorldCreate();
+
+  anchor_body = dBodyCreate (world);
+  dBodySetPosition (anchor_body,pos1[0],pos1[1],pos1[2]);
+  dMassSetBox (&anchor_m,1,SIDE,SIDE,SIDE);
+  dMassAdjust (&anchor_m,0.1);
+  dBodySetMass (anchor_body,&anchor_m);
+
+  for (i=0; i<NUM; i++) {
+    particle[i] = dBodyCreate (world);
+    dBodySetPosition (particle[i],
+		      pos1[0]+q[i][0],pos1[1]+q[i][1],pos1[2]+q[i][2]);
+    dMassSetBox (&m,1,SIDE,SIDE,SIDE);
+    dMassAdjust (&m,pm[i]);
+    dBodySetMass (particle[i],&m);
+  }
+
+  for (i=0; i < NUM; i++) {
+    particle_joint[i] = dJointCreateBall (world,0);
+    dJointAttach (particle_joint[i],anchor_body,particle[i]);
+    const dReal *p = dBodyGetPosition (particle[i]);
+    dJointSetBallAnchor (particle_joint[i],p[0],p[1],p[2]);
+  }
+
+  // make test_body with the same mass and inertia of the anchor_body plus
+  // all the particles
+
+  test_body = dBodyCreate (world);
+  dBodySetPosition (test_body,pos2[0],pos2[1],pos2[2]);
+  computeMassParams (&m,q,pm);
+  m.mass += anchor_m.mass;
+  for (i=0; i<12; i++) m.I[i] = m.I[i] + anchor_m.I[i];
+  dBodySetMass (test_body,&m);
+
+  // rotate the test and anchor bodies by a random amount
+  dQuaternion qrot;
+  for (i=0; i<4; i++) qrot[i] = dRandReal()-0.5;
+  dNormalize4 (qrot);
+  dBodySetQuaternion (anchor_body,qrot);
+  dBodySetQuaternion (test_body,qrot);
+  dMatrix3 R;
+  dQtoR (qrot,R);
+  for (i=0; i<NUM; i++) {
+    dVector3 v;
+    dMultiply0 (v,R,&q[i][0],3,3,1);
+    dBodySetPosition (particle[i],pos1[0]+v[0],pos1[1]+v[1],pos1[2]+v[2]);
+  }
+
+  // set random torque
+  for (i=0; i<3; i++) torque[i] = (dRandReal()-0.5) * 0.1;
+
+
+  iteration=0;
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  if (!pause) {
+    dBodyAddTorque (anchor_body,torque[0],torque[1],torque[2]);
+    dBodyAddTorque (test_body,torque[0],torque[1],torque[2]);
+    dWorldStep (world,0.03);
+
+    iteration++;
+    if (iteration >= 100) {
+      // measure the difference between the anchor and test bodies
+      const dReal *w1 = dBodyGetAngularVel (anchor_body);
+      const dReal *w2 = dBodyGetAngularVel (test_body);
+      const dReal *q1 = dBodyGetQuaternion (anchor_body);
+      const dReal *q2 = dBodyGetQuaternion (test_body);
+      dReal maxdiff = dMaxDifference (w1,w2,1,3);
+      printf ("w-error = %.4e  (%.2f,%.2f,%.2f) and (%.2f,%.2f,%.2f)\n",
+	      maxdiff,w1[0],w1[1],w1[2],w2[0],w2[1],w2[2]);
+      maxdiff = dMaxDifference (q1,q2,1,4);
+      printf ("q-error = %.4e\n",maxdiff);
+      reset_test();
+    }
+  }
+
+  dReal sides[3] = {SIDE,SIDE,SIDE};
+  dReal sides2[3] = {6*SIDE,6*SIDE,6*SIDE};
+  dReal sides3[3] = {3*SIDE,3*SIDE,3*SIDE};
+  dsSetColor (1,1,1);
+  dsDrawBox (dBodyGetPosition(anchor_body), dBodyGetRotation(anchor_body),
+	     sides3);
+  dsSetColor (1,0,0);
+  dsDrawBox (dBodyGetPosition(test_body), dBodyGetRotation(test_body), sides2);
+  dsSetColor (1,1,0);
+  for (int i=0; i<NUM; i++)
+    dsDrawBox (dBodyGetPosition (particle[i]),
+	       dBodyGetRotation (particle[i]), sides);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = 0;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  dInitODE2(0);
+  dRandSetSeed (time(0));
+  reset_test();
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_basket.cpp b/libs/ode-0.16.1/ode/demo/demo_basket.cpp
new file mode 100644
index 0000000..ab6a5c8
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_basket.cpp
@@ -0,0 +1,276 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// Basket ball demo.
+// Serves as a test for the sphere vs trimesh collider
+// By Bram Stolk.
+// Press the spacebar to reset the position of the ball.
+
+#include <assert.h>
+#ifdef HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+#include "basket_geom.h" // this is our world mesh
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// some constants
+
+#define RADIUS 0.14
+
+// dynamics and collision objects (chassis, 3 wheels, environment)
+
+static dWorldID world;
+static dSpaceID space;
+
+static dBodyID sphbody;
+static dGeomID sphgeom;
+
+static dJointGroupID contactgroup;
+static dGeomID world_mesh;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+  assert(o1);
+  assert(o2);
+
+  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+  {
+      fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2);
+    // colliding a space with something
+    dSpaceCollide2(o1,o2,data,&nearCallback);
+    // Note we do not want to test intersections within a space,
+    // only between spaces.
+    return;
+  }
+
+//  fprintf(stderr,"testing geoms %p %p\n", o1, o2);
+
+  const int N = 32;
+  dContact contact[N];
+  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
+  if (n > 0) 
+  {
+    for (int i=0; i<n; i++) 
+    {
+	  // Paranoia  <-- not working for some people, temporarily removed for 0.6
+      //dIASSERT(dVALIDVEC3(contact[i].geom.pos));
+      //dIASSERT(dVALIDVEC3(contact[i].geom.normal));
+      //dIASSERT(!dIsNan(contact[i].geom.depth));
+      contact[i].surface.slip1 = 0.7;
+      contact[i].surface.slip2 = 0.7;
+      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
+      contact[i].surface.mu = 50.0; // was: dInfinity
+      contact[i].surface.soft_erp = 0.96;
+      contact[i].surface.soft_cfm = 0.04;
+      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+      dJointAttach (c,
+		    dGeomGetBody(contact[i].geom.g1),
+		    dGeomGetBody(contact[i].geom.g2));
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {-8,0,5};
+  static float hpr[3] = {0.0f,-29.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+
+static void reset_ball(void)
+{
+  float sx=0.0f, sy=3.40f, sz=7.15;
+
+  dQuaternion q;
+  dQSetIdentity(q);
+  dBodySetPosition (sphbody, sx, sy, sz);
+  dBodySetQuaternion(sphbody, q);
+  dBodySetLinearVel (sphbody, 0,0,0);
+  dBodySetAngularVel (sphbody, 0,0,0);
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  switch (cmd) 
+  {
+    case ' ':
+	  reset_ball();
+      break;
+  }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  double simstep = 0.001; // 1ms simulation steps
+  double dt = dsElapsedTime();
+
+  int nrofsteps = (int) ceilf(dt/simstep);
+//  fprintf(stderr, "dt=%f, nr of steps = %d\n", dt, nrofsteps);
+
+  for (int i=0; i<nrofsteps && !pause; i++)
+  {
+    dSpaceCollide (space,0,&nearCallback);
+    dWorldQuickStep (world, simstep);
+    dJointGroupEmpty (contactgroup);
+  }
+
+  dsSetColor (1,1,1);
+  const dReal *SPos = dBodyGetPosition(sphbody);
+  const dReal *SRot = dBodyGetRotation(sphbody);
+  float spos[3] = {SPos[0], SPos[1], SPos[2]};
+  float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
+  dsDrawSphere
+  (
+    spos, 
+    srot, 
+    RADIUS
+  );
+
+  // draw world trimesh
+  dsSetColor(0.4,0.7,0.9);
+  dsSetTexture (DS_NONE);
+
+  const dReal* Pos = dGeomGetPosition(world_mesh);
+  //dIASSERT(dVALIDVEC3(Pos));
+  float pos[3] = { Pos[0], Pos[1], Pos[2] };
+
+  const dReal* Rot = dGeomGetRotation(world_mesh);
+  //dIASSERT(dVALIDMAT3(Rot));
+  float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
+
+  int numi = sizeof(world_indices)  / sizeof(dTriIndex);
+
+  for (int i=0; i<numi/3; i++)
+  {
+    int i0 = world_indices[i*3+0];
+    int i1 = world_indices[i*3+1];
+    int i2 = world_indices[i*3+2];
+    float *v0 = world_vertices+i0*3;
+    float *v1 = world_vertices+i1*3;
+    float *v2 = world_vertices+i2*3;
+    dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
+  }
+}
+
+
+int main (int argc, char **argv)
+{
+  dMass m;
+  dMatrix3 R;
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-9.8);
+  dWorldSetQuickStepNumIterations (world, 64);
+
+  // Create a static world using a triangle mesh that we can collide with.
+  int numv = sizeof(world_vertices)/(3*sizeof(float));
+  int numi = sizeof(world_indices)/ sizeof(dTriIndex);
+  printf("numv=%d, numi=%d\n", numv, numi);
+  dTriMeshDataID Data = dGeomTriMeshDataCreate();
+
+//  fprintf(stderr,"Building Single Precision Mesh\n");
+
+  dGeomTriMeshDataBuildSingle
+  (
+    Data, 
+    world_vertices, 
+    3 * sizeof(float), 
+    numv, 
+    world_indices, 
+    numi, 
+    3 * sizeof(dTriIndex)
+  );
+
+  world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
+  dGeomTriMeshEnableTC(world_mesh, dSphereClass, false);
+  dGeomTriMeshEnableTC(world_mesh, dBoxClass, false);
+  dGeomSetPosition(world_mesh, 0, 0, 0.5);
+  dRSetIdentity(R);
+  //dIASSERT(dVALIDMAT3(R));
+
+  dGeomSetRotation (world_mesh, R);
+
+  //float sx=0.0, sy=3.40, sz=6.80;
+  (void)world_normals; // get rid of compiler warning
+  sphbody = dBodyCreate (world);
+  dMassSetSphere (&m,1,RADIUS);
+  dBodySetMass (sphbody,&m);
+  sphgeom = dCreateSphere(0, RADIUS);
+  dGeomSetBody (sphgeom,sphbody);
+  reset_ball();
+  dSpaceAdd (space, sphgeom);
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  // Causes segm violation? Why?
+  // (because dWorldDestroy() destroys body connected to geom; must call first!)
+  dGeomDestroy(sphgeom);
+  dGeomDestroy (world_mesh);
+
+  dJointGroupEmpty (contactgroup);
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
+
+
+
diff --git a/libs/ode-0.16.1/ode/demo/demo_boxstack.cpp b/libs/ode-0.16.1/ode/demo/demo_boxstack.cpp
new file mode 100644
index 0000000..ac46fcf
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_boxstack.cpp
@@ -0,0 +1,619 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+#include "icosahedron_geom.h"
+
+
+//<---- Convex Object
+dReal planes[]= // planes for a cube, these should coincide with the face array
+  {
+    1.0f ,0.0f ,0.0f ,0.25f,
+    0.0f ,1.0f ,0.0f ,0.25f,
+    0.0f ,0.0f ,1.0f ,0.25f,
+    -1.0f,0.0f ,0.0f ,0.25f,
+    0.0f ,-1.0f,0.0f ,0.25f,
+    0.0f ,0.0f ,-1.0f,0.25f
+    /*
+    1.0f ,0.0f ,0.0f ,2.0f,
+    0.0f ,1.0f ,0.0f ,1.0f,
+    0.0f ,0.0f ,1.0f ,1.0f,
+    0.0f ,0.0f ,-1.0f,1.0f,
+    0.0f ,-1.0f,0.0f ,1.0f,
+    -1.0f,0.0f ,0.0f ,0.0f
+    */
+  };
+const unsigned int planecount=6;
+
+dReal points[]= // points for a cube
+  {
+    0.25f,0.25f,0.25f,  //  point 0
+    -0.25f,0.25f,0.25f, //  point 1
+
+    0.25f,-0.25f,0.25f, //  point 2
+    -0.25f,-0.25f,0.25f,//  point 3
+
+    0.25f,0.25f,-0.25f, //  point 4
+    -0.25f,0.25f,-0.25f,//  point 5
+
+    0.25f,-0.25f,-0.25f,//  point 6
+    -0.25f,-0.25f,-0.25f,// point 7 
+  };
+const unsigned int pointcount=8;
+unsigned int polygons[] = //Polygons for a cube (6 squares)
+  {
+    4,0,2,6,4, // positive X
+    4,1,0,4,5, // positive Y
+    4,0,1,3,2, // positive Z
+    4,3,1,5,7, // negative X 
+    4,2,3,7,6, // negative Y
+    4,5,4,6,7, // negative Z
+  };
+//----> Convex Object
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawConvex dsDrawConvexD
+#endif
+
+
+// some constants
+
+#define NUM 100			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 8          // maximum number of contact points per body
+#define MAX_FEEDBACKNUM 20
+#define GRAVITY         REAL(0.5)
+
+// dynamics and collision objects
+
+struct MyObject {
+  dBodyID body;			// the body
+  dGeomID geom[GPB];		// geometries representing this body
+};
+
+static int num=0;		// number of objects in simulation
+static int nextobj=0;		// next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1;	// selected object
+static int show_aabb = 0;	// show geom AABBs?
+static int show_contacts = 0;	// show contact points?
+static int random_pos = 1;	// drop objects from random position?
+static int write_world = 0;
+static int show_body = 0;
+
+struct MyFeedback {
+  dJointFeedback fb;
+  bool first;
+};
+static int doFeedback=0;
+static MyFeedback feedbacks[MAX_FEEDBACKNUM];
+static int fbnum=0;
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+    int i;
+    // if (o1->body && o2->body) return;
+
+    // exit without doing anything if the two bodies are connected by a joint
+    dBodyID b1 = dGeomGetBody(o1);
+    dBodyID b2 = dGeomGetBody(o2);
+
+    if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact))
+        return;
+
+    dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
+    for (i=0; i<MAX_CONTACTS; i++) {
+        contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+        contact[i].surface.mu = dInfinity;
+        contact[i].surface.mu2 = 0;
+        contact[i].surface.bounce = 0.1;
+        contact[i].surface.bounce_vel = 0.1;
+        contact[i].surface.soft_cfm = 0.01;
+    }
+    if (int numc = dCollide(o1,o2,MAX_CONTACTS,&contact[0].geom,
+                            sizeof(dContact))) {
+        dMatrix3 RI;
+        dRSetIdentity (RI);
+        const dReal ss[3] = {0.02,0.02,0.02};
+        for (i=0; i<numc; i++) {
+            dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+            dJointAttach (c,b1,b2);
+            if (show_contacts) {
+                dsSetColor(0,0,1);
+                dsDrawBox(contact[i].geom.pos,RI,ss);
+            }
+            if (doFeedback && (b1==obj[selected].body || b2==obj[selected].body)) {
+                if (fbnum<MAX_FEEDBACKNUM) {
+                    feedbacks[fbnum].first = b1==obj[selected].body;
+                    dJointSetFeedback(c,&feedbacks[fbnum++].fb);
+                }
+                else fbnum++;
+            }
+        }
+    }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+    dAllocateODEDataForThread(dAllocateMaskAll);
+
+    static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+    static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+    dsSetViewpoint (xyz,hpr);
+    printf ("To drop another object, press:\n");
+    printf ("   b for box.\n");
+    printf ("   s for sphere.\n");
+    printf ("   c for capsule.\n");
+    printf ("   y for cylinder.\n");
+    printf ("   v for a convex object.\n");
+    printf ("   x for a composite object.\n");
+    printf ("To select an object, press space.\n");
+    printf ("To disable the selected object, press d.\n");
+    printf ("To enable the selected object, press e.\n");
+    printf ("To dump transformation data for the selected object, press p.\n");
+    printf ("To toggle showing the geom AABBs, press a.\n");
+    printf ("To toggle showing the contact points, press t.\n");
+    printf ("To toggle dropping from random position/orientation, press r.\n");
+    printf ("To save the current state to 'state.dif', press 1.\n");
+    printf ("To show joint feedbacks of selected object, press f.\n");
+}
+
+
+static char locase(char c)
+{
+  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+  else return c;
+}
+
+
+// called when a key pressed
+
+static void command(int cmd)
+{
+    dsizeint i;
+    int j,k;
+    dReal sides[3];
+    dMass m;
+    bool setBody = false;
+
+    cmd = locase(cmd);
+    if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y' || cmd == 'v') {
+        if (num < NUM) {
+            // new object to be created
+            i = num;
+            num++;
+        } else {
+            // recycle existing object
+            i = nextobj++;
+            nextobj %= num; // wrap-around if needed
+
+            // destroy the body and geoms for slot i
+            dBodyDestroy (obj[i].body);
+            obj[i].body = 0;
+
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k]) {
+                    dGeomDestroy(obj[i].geom[k]);
+                    obj[i].geom[k] = 0;
+                }
+        }
+
+        obj[i].body = dBodyCreate(world);
+
+        for (k=0; k<3; k++)
+            sides[k] = dRandReal()*0.5+0.1;
+
+        dMatrix3 R;
+        if (random_pos)  {
+            dBodySetPosition(obj[i].body,
+                             dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
+            dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                               dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+        } else {
+            // higher than highest body position
+            dReal maxheight = 0;
+            for (k=0; k<num; k++) {
+                const dReal *pos = dBodyGetPosition(obj[k].body);
+                if (pos[2] > maxheight)
+                    maxheight = pos[2];
+            }
+            dBodySetPosition(obj[i].body, 0,0,maxheight+1);
+            dRSetIdentity(R);
+            //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0);
+        }
+
+        dBodySetRotation(obj[i].body,R);
+
+        if (cmd == 'b') {
+
+            dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]);
+            obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]);
+
+        } else if (cmd == 'c') {
+
+            sides[0] *= 0.5;
+            dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
+
+        } else if (cmd == 'v') {
+
+            dMassSetBox(&m,DENSITY,0.25,0.25,0.25);
+#if 0
+            obj[i].geom[0] = dCreateConvex(space,
+                                           planes,
+                                           planecount,
+                                           points,
+                                           pointcount,
+                                           polygons);
+#else
+            obj[i].geom[0] = dCreateConvex(space,
+                                           Sphere_planes,
+                                           Sphere_planecount,
+                                           Sphere_points,
+                                           Sphere_pointcount,
+                                           Sphere_polygons);
+#endif
+
+        } else if (cmd == 'y') {
+
+            dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]);
+
+        } else if (cmd == 's') {
+
+            sides[0] *= 0.5;
+            dMassSetSphere (&m,DENSITY,sides[0]);
+            obj[i].geom[0] = dCreateSphere (space,sides[0]);
+
+        } else if (cmd == 'x') {
+
+            setBody = true;
+            // start accumulating masses for the composite geometries
+            dMass m2;
+            dMassSetZero (&m);
+
+            dReal dpos[GPB][3];	// delta-positions for composite geometries
+            dMatrix3 drot[GPB];
+      
+            // set random delta positions
+            for (j=0; j<GPB; j++)
+                for (k=0; k<3; k++)
+                    dpos[j][k] = dRandReal()*0.3-0.15;
+    
+            for (k=0; k<GPB; k++) {
+                if (k==0) {
+                    dReal radius = dRandReal()*0.25+0.05;
+                    obj[i].geom[k] = dCreateSphere (space,radius);
+                    dMassSetSphere (&m2,DENSITY,radius);
+                } else if (k==1) {
+                    obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
+                    dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
+                } else {
+                    dReal radius = dRandReal()*0.1+0.05;
+                    dReal length = dRandReal()*1.0+0.1;
+                    obj[i].geom[k] = dCreateCapsule(space,radius,length);
+                    dMassSetCapsule(&m2,DENSITY,3,radius,length);
+                }
+
+                dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                                   dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+                dMassRotate(&m2,drot[k]);
+		
+                dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+                // add to the total mass
+                dMassAdd(&m,&m2);
+
+            }
+            for (k=0; k<GPB; k++) {
+                dGeomSetBody(obj[i].geom[k],obj[i].body);
+                dGeomSetOffsetPosition(obj[i].geom[k],
+                                       dpos[k][0]-m.c[0],
+                                       dpos[k][1]-m.c[1],
+                                       dpos[k][2]-m.c[2]);
+                dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
+            }
+            dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
+            dBodySetMass(obj[i].body,&m);
+
+        }
+
+        if (!setBody) { // avoid calling for composite geometries
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k])
+                    dGeomSetBody(obj[i].geom[k],obj[i].body);
+
+            dBodySetMass(obj[i].body,&m);
+        }
+    }
+
+    if (cmd == ' ') {
+
+        selected++;
+        if (selected >= num)
+            selected = 0;
+        if (selected == -1)
+            selected = 0;
+
+    } else if (cmd == 'd' && selected >= 0 && selected < num) {
+
+        dBodyDisable(obj[selected].body);
+
+    } else if (cmd == 'e' && selected >= 0 && selected < num) {
+
+        dBodyEnable(obj[selected].body);
+
+    } else if (cmd == 'a') {
+
+        show_aabb = !show_aabb;
+
+    } else if (cmd == 't') {
+
+        show_contacts = !show_contacts;
+
+    } else if (cmd == 'r') {
+
+        random_pos = !random_pos;
+    } else if (cmd == '1') {
+
+        write_world = 1;
+
+    } else if (cmd == 'p'&& selected >= 0) {
+
+        const dReal* pos = dGeomGetPosition(obj[selected].geom[0]);
+        const dReal* rot = dGeomGetRotation(obj[selected].geom[0]);
+        printf("POSITION:\n\t[%f,%f,%f]\n\n",pos[0],pos[1],pos[2]);
+        printf("ROTATION:\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\t[%f,%f,%f,%f]\n\n",
+               rot[0],rot[1],rot[2],rot[3],
+               rot[4],rot[5],rot[6],rot[7],
+               rot[8],rot[9],rot[10],rot[11]);
+
+    } else if (cmd == 'f' && selected >= 0 && selected < num) {
+
+        if (dBodyIsEnabled(obj[selected].body))
+            doFeedback = 1;
+
+    }
+}
+
+
+// draw a geom
+
+void drawGeom(dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+    int i;
+	
+    if (!g)
+        return;
+    if (!pos)
+        pos = dGeomGetPosition(g);
+    if (!R)
+        R = dGeomGetRotation(g);
+
+    int type = dGeomGetClass(g);
+    if (type == dBoxClass) {
+
+        dVector3 sides;
+        dGeomBoxGetLengths (g,sides);
+        dsDrawBox(pos,R,sides);
+
+    } else if (type == dSphereClass) {
+
+        dsDrawSphere(pos,R,dGeomSphereGetRadius(g));
+
+    } else if (type == dCapsuleClass) {
+
+        dReal radius,length;
+        dGeomCapsuleGetParams(g,&radius,&length);
+        dsDrawCapsule(pos,R,length,radius);
+
+    } else if (type == dConvexClass) {
+
+#if 0
+      dsDrawConvex(pos,R,planes,
+		   planecount,
+		   points,
+		   pointcount,
+		   polygons);
+#else
+      dsDrawConvex(pos,R,
+                   Sphere_planes,
+		   Sphere_planecount,
+		   Sphere_points,
+		   Sphere_pointcount,
+		   Sphere_polygons);
+#endif
+
+    } else if (type == dCylinderClass) {
+
+        dReal radius,length;
+        dGeomCylinderGetParams(g,&radius,&length);
+        dsDrawCylinder(pos,R,length,radius);
+
+    }
+
+    if (show_body) {
+        dBodyID body = dGeomGetBody(g);
+        if (body) {
+            const dReal *bodypos = dBodyGetPosition(body); 
+            const dReal *bodyr = dBodyGetRotation(body); 
+            dReal bodySides[3] = { 0.1, 0.1, 0.1 };
+            dsSetColorAlpha(0,1,0,1);
+            dsDrawBox(bodypos,bodyr,bodySides); 
+        }
+    }
+
+    if (show_aabb) {
+        // draw the bounding box for this geom
+        dReal aabb[6];
+        dGeomGetAABB(g,aabb);
+        dVector3 bbpos;
+        for (i=0; i<3; i++)
+            bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+        dVector3 bbsides;
+        for (i=0; i<3; i++)
+            bbsides[i] = aabb[i*2+1] - aabb[i*2];
+        dMatrix3 RI;
+        dRSetIdentity (RI);
+        dsSetColorAlpha(1,0,0,0.5);
+        dsDrawBox(bbpos,RI,bbsides);
+    }
+}
+
+
+// simulation loop
+
+static void simLoop(int pause)
+{
+    dSpaceCollide(space, 0, &nearCallback);
+
+    if (!pause)
+        dWorldQuickStep(world, 0.02);
+
+    if (write_world) {
+        FILE *f = fopen("state.dif","wt");
+        if (f) {
+            dWorldExportDIF(world,f,"X");
+            fclose (f);
+        }
+        write_world = 0;
+    }
+
+
+    if (doFeedback) {
+        if (fbnum>MAX_FEEDBACKNUM)
+            printf("joint feedback buffer overflow!\n");
+        else {
+            dVector3 sum = {0, 0, 0};
+            printf("\n");
+            for (int i=0; i<fbnum; i++) {
+                dReal* f = feedbacks[i].first?feedbacks[i].fb.f1:feedbacks[i].fb.f2;
+                printf("%f %f %f\n", f[0], f[1], f[2]);
+                sum[0] += f[0];
+                sum[1] += f[1];
+                sum[2] += f[2];
+            }
+            printf("Sum: %f %f %f\n", sum[0], sum[1], sum[2]);
+            dMass m;
+            dBodyGetMass(obj[selected].body, &m);
+            printf("Object G=%f\n", GRAVITY*m.mass);
+        }
+        doFeedback = 0;
+        fbnum = 0;
+    }
+
+    // remove all contact joints
+    dJointGroupEmpty(contactgroup);
+
+    dsSetTexture(DS_WOOD);
+    for (int i=0; i<num; i++) {
+        for (int j=0; j < GPB; j++) {
+            if (i==selected) {
+                dsSetColor(0,0.7,1);
+            } else if (!dBodyIsEnabled(obj[i].body)) {
+                dsSetColor(1,0.8,0);
+            } else {
+                dsSetColor(1,1,0);
+            }
+            drawGeom(obj[i].geom[j],0,0,show_aabb);
+        }
+    }
+}
+
+
+int main (int argc, char **argv)
+{
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+    // create world
+    dInitODE2(0);
+    world = dWorldCreate();
+    space = dHashSpaceCreate(0);
+    contactgroup = dJointGroupCreate(0);
+    dWorldSetGravity(world,0,0,-GRAVITY);
+    dWorldSetCFM(world,1e-5);
+    dWorldSetAutoDisableFlag(world,1);
+
+#if 1
+
+    dWorldSetAutoDisableAverageSamplesCount( world, 10 );
+
+#endif
+
+    dWorldSetLinearDamping(world, 0.00001);
+    dWorldSetAngularDamping(world, 0.005);
+    dWorldSetMaxAngularSpeed(world, 200);
+
+    dWorldSetContactMaxCorrectingVel(world,0.1);
+    dWorldSetContactSurfaceLayer(world,0.001);
+    dCreatePlane(space,0,0,1,0);
+    memset(obj,0,sizeof(obj));
+
+    dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+    dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+    dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+    // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+    dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
+    // run simulation
+    dsSimulationLoop(argc,argv,640,480,&fn);
+
+    dThreadingImplementationShutdownProcessing(threading);
+    dThreadingFreeThreadPool(pool);
+    dWorldSetStepThreadingImplementation(world, NULL, NULL);
+    dThreadingFreeImplementation(threading);
+
+    dJointGroupDestroy(contactgroup);
+    dSpaceDestroy(space);
+    dWorldDestroy(world);
+    dCloseODE();
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_buggy.cpp b/libs/ode-0.16.1/ode/demo/demo_buggy.cpp
new file mode 100644
index 0000000..b96d93f
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_buggy.cpp
@@ -0,0 +1,308 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+buggy with suspension.
+this also shows you how to use geom groups.
+
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+
+#define LENGTH 0.7	// chassis length
+#define WIDTH 0.5	// chassis width
+#define HEIGHT 0.2	// chassis height
+#define RADIUS 0.18	// wheel radius
+#define STARTZ 0.5	// starting height of chassis
+#define CMASS 1		// chassis mass
+#define WMASS 0.2	// wheel mass
+
+static const dVector3 yunit = { 0, 1, 0 }, zunit = { 0, 0, 1 };
+
+
+// dynamics and collision objects (chassis, 3 wheels, environment)
+
+static dWorldID world;
+static dSpaceID space;
+static dBodyID body[4];
+static dJointID joint[3];	// joint[0] is the front wheel
+static dJointGroupID contactgroup;
+static dGeomID ground;
+static dSpaceID car_space;
+static dGeomID box[1];
+static dGeomID sphere[3];
+static dGeomID ground_box;
+
+
+// things that the user controls
+
+static dReal speed=0,steer=0;	// user commands
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  int i,n;
+
+  // only collide things with the ground
+  int g1 = (o1 == ground || o1 == ground_box);
+  int g2 = (o2 == ground || o2 == ground_box);
+  if (!(g1 ^ g2)) return;
+
+  const int N = 10;
+  dContact contact[N];
+  n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
+  if (n > 0) {
+    for (i=0; i<n; i++) {
+      contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
+	dContactSoftERP | dContactSoftCFM | dContactApprox1;
+      contact[i].surface.mu = dInfinity;
+      contact[i].surface.slip1 = 0.1;
+      contact[i].surface.slip2 = 0.1;
+      contact[i].surface.soft_erp = 0.5;
+      contact[i].surface.soft_cfm = 0.3;
+      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+      dJointAttach (c,
+		    dGeomGetBody(contact[i].geom.g1),
+		    dGeomGetBody(contact[i].geom.g2));
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {0.8317f,-0.9817f,0.8000f};
+  static float hpr[3] = {121.0000f,-27.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("Press:\t'a' to increase speed.\n"
+	  "\t'z' to decrease speed.\n"
+	  "\t',' to steer left.\n"
+	  "\t'.' to steer right.\n"
+	  "\t' ' to reset speed and steering.\n"
+	  "\t'1' to save the current state to 'state.dif'.\n");
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  switch (cmd) {
+  case 'a': case 'A':
+    speed += 0.3;
+    break;
+  case 'z': case 'Z':
+    speed -= 0.3;
+    break;
+  case ',':
+    steer -= 0.5;
+    break;
+  case '.':
+    steer += 0.5;
+    break;
+  case ' ':
+    speed = 0;
+    steer = 0;
+    break;
+  case '1': {
+      FILE *f = fopen ("state.dif","wt");
+      if (f) {
+        dWorldExportDIF (world,f,"");
+        fclose (f);
+      }
+    }
+  }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  int i;
+  if (!pause) {
+    // motor
+    dJointSetHinge2Param (joint[0],dParamVel2,-speed);
+    dJointSetHinge2Param (joint[0],dParamFMax2,0.1);
+
+    // steering
+    dReal v = steer - dJointGetHinge2Angle1 (joint[0]);
+    if (v > 0.1) v = 0.1;
+    if (v < -0.1) v = -0.1;
+    v *= 10.0;
+    dJointSetHinge2Param (joint[0],dParamVel,v);
+    dJointSetHinge2Param (joint[0],dParamFMax,0.2);
+    dJointSetHinge2Param (joint[0],dParamLoStop,-0.75);
+    dJointSetHinge2Param (joint[0],dParamHiStop,0.75);
+    dJointSetHinge2Param (joint[0],dParamFudgeFactor,0.1);
+
+    dSpaceCollide (space,0,&nearCallback);
+    dWorldStep (world,0.05);
+
+    // remove all contact joints
+    dJointGroupEmpty (contactgroup);
+
+  }
+
+  dsSetColor (0,1,1);
+  dsSetTexture (DS_WOOD);
+  dReal sides[3] = {LENGTH,WIDTH,HEIGHT};
+  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides);
+  dsSetColor (1,1,1);
+  for (i=1; i<=3; i++) dsDrawCylinder (dBodyGetPosition(body[i]),
+				       dBodyGetRotation(body[i]),0.02f,RADIUS);
+
+  dVector3 ss;
+  dGeomBoxGetLengths (ground_box,ss);
+  dsDrawBox (dGeomGetPosition(ground_box),dGeomGetRotation(ground_box),ss);
+
+}
+
+
+int main (int argc, char **argv)
+{
+  int i;
+  dMass m;
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-0.5);
+  ground = dCreatePlane (space,0,0,1,0);
+
+  // chassis body
+  body[0] = dBodyCreate (world);
+  dBodySetPosition (body[0],0,0,STARTZ);
+  dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
+  dMassAdjust (&m,CMASS);
+  dBodySetMass (body[0],&m);
+  box[0] = dCreateBox (0,LENGTH,WIDTH,HEIGHT);
+  dGeomSetBody (box[0],body[0]);
+
+  // wheel bodies
+  for (i=1; i<=3; i++) {
+    body[i] = dBodyCreate (world);
+    dQuaternion q;
+    dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
+    dBodySetQuaternion (body[i],q);
+    dMassSetSphere (&m,1,RADIUS);
+    dMassAdjust (&m,WMASS);
+    dBodySetMass (body[i],&m);
+    sphere[i-1] = dCreateSphere (0,RADIUS);
+    dGeomSetBody (sphere[i-1],body[i]);
+  }
+  dBodySetPosition (body[1],0.5*LENGTH,0,STARTZ-HEIGHT*0.5);
+  dBodySetPosition (body[2],-0.5*LENGTH, WIDTH*0.5,STARTZ-HEIGHT*0.5);
+  dBodySetPosition (body[3],-0.5*LENGTH,-WIDTH*0.5,STARTZ-HEIGHT*0.5);
+
+  // front and back wheel hinges
+  for (i=0; i<3; i++) {
+    joint[i] = dJointCreateHinge2 (world,0);
+    dJointAttach (joint[i],body[0],body[i+1]);
+    const dReal *a = dBodyGetPosition (body[i+1]);
+    dJointSetHinge2Anchor (joint[i],a[0],a[1],a[2]);
+    dJointSetHinge2Axes (joint[i], zunit, yunit);
+  }
+
+  // set joint suspension
+  for (i=0; i<3; i++) {
+    dJointSetHinge2Param (joint[i],dParamSuspensionERP,0.4);
+    dJointSetHinge2Param (joint[i],dParamSuspensionCFM,0.8);
+  }
+
+  // lock back wheels along the steering axis
+  for (i=1; i<3; i++) {
+    // set stops to make sure wheels always stay in alignment
+    dJointSetHinge2Param (joint[i],dParamLoStop,0);
+    dJointSetHinge2Param (joint[i],dParamHiStop,0);
+    // the following alternative method is no good as the wheels may get out
+    // of alignment:
+    //   dJointSetHinge2Param (joint[i],dParamVel,0);
+    //   dJointSetHinge2Param (joint[i],dParamFMax,dInfinity);
+  }
+
+  // create car space and add it to the top level space
+  car_space = dSimpleSpaceCreate (space);
+  dSpaceSetCleanup (car_space,0);
+  dSpaceAdd (car_space,box[0]);
+  dSpaceAdd (car_space,sphere[0]);
+  dSpaceAdd (car_space,sphere[1]);
+  dSpaceAdd (car_space,sphere[2]);
+
+  // environment
+  ground_box = dCreateBox (space,2,1.5,1);
+  dMatrix3 R;
+  dRFromAxisAndAngle (R,0,1,0,-0.15);
+  dGeomSetPosition (ground_box,2,0,-0.34);
+  dGeomSetRotation (ground_box,R);
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dGeomDestroy (box[0]);
+  dGeomDestroy (sphere[0]);
+  dGeomDestroy (sphere[1]);
+  dGeomDestroy (sphere[2]);
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_cards.cpp b/libs/ode-0.16.1/ode/demo/demo_cards.cpp
new file mode 100644
index 0000000..17284ba
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_cards.cpp
@@ -0,0 +1,237 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <vector>
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#endif
+
+static int levels = 5;
+static int ncards = 0;
+
+static dSpaceID space;
+static dWorldID world;
+static dJointGroupID contactgroup;
+
+struct Card {
+    dBodyID body;
+    dGeomID geom;
+    static const dReal sides[3];
+
+    Card()
+    {
+        body = dBodyCreate(world);
+        geom = dCreateBox(space, sides[0], sides[1], sides[2]);
+        dGeomSetBody(geom, body);
+        dGeomSetData(geom, this);
+        dMass mass;
+        mass.setBox(1, sides[0], sides[1], sides[2]);
+        dBodySetMass(body, &mass);
+    }
+
+    ~Card()
+    {
+        dBodyDestroy(body);
+        dGeomDestroy(geom);
+    }
+    
+    void draw() const
+    {
+        dsDrawBox(dBodyGetPosition(body),
+                  dBodyGetRotation(body), sides);
+    }
+};
+static const dReal cwidth=.5, cthikness=.02, clength=1;
+const dReal Card::sides[3] = { cwidth, cthikness, clength };
+
+
+std::vector<Card*> cards;
+
+int getncards(int levels)
+{
+    return (3*levels*levels + levels) / 2;
+}
+
+void place_cards()
+{
+    ncards = getncards(levels);
+    // destroy removed cards (if any)
+    int oldcards = cards.size();
+    for (int i=ncards; i<oldcards; ++i)
+        delete cards[i];
+    cards.resize(ncards);
+    // construct new cards (if any)
+    for (int i=oldcards; i<ncards; ++i)
+        cards[i] = new Card;
+    
+    // for each level
+    int c = 0;
+    dMatrix3 right, left, hrot;
+    dReal angle = 20*M_PI/180.;
+    dRFromAxisAndAngle(right, 1, 0, 0, -angle);
+    dRFromAxisAndAngle(left, 1, 0, 0, angle);
+
+    dRFromAxisAndAngle(hrot, 1, 0, 0, 91*M_PI/180.);
+    
+    dReal eps = 0.05;
+    dReal vstep = cos(angle)*clength + eps;
+    dReal hstep = sin(angle)*clength + eps;
+    
+    for (int lvl=0; lvl<levels; ++lvl) {
+        // there are 3*(levels-lvl)-1 cards in each level, except last
+        int n = (levels-lvl);
+        dReal height = (lvl)*vstep + vstep/2;
+        // inclined cards
+        for (int i=0; i<2*n; ++i, ++c) {
+            dBodySetPosition(cards[c]->body, 
+                    0,
+                    -n*hstep + hstep*i,
+                    height
+                    );
+            if (i%2)
+                dBodySetRotation(cards[c]->body, left);
+            else
+                dBodySetRotation(cards[c]->body, right);
+        }
+        
+        if (n==1) // top of the house
+            break;
+        
+        // horizontal cards
+        for (int i=0; i<n-1; ++i, ++c) {
+            dBodySetPosition(cards[c]->body,
+                    0,
+                    -(n-1 - (clength-hstep)/2)*hstep + 2*hstep*i,
+                    height + vstep/2);
+            dBodySetRotation(cards[c]->body, hrot);
+        }
+    }
+    
+}
+
+
+void start()
+{
+    puts("Controls:");
+    puts("   SPACE - reposition cards");
+    puts("   -     - one less level");
+    puts("   =     - one more level");
+}
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+    // exit without doing anything if the two bodies are connected by a joint
+    dBodyID b1 = dGeomGetBody(o1);
+    dBodyID b2 = dGeomGetBody(o2);
+
+    const int MAX_CONTACTS = 8;
+    dContact contact[MAX_CONTACTS];
+    
+    int numc = dCollide (o1, o2, MAX_CONTACTS,
+                        &contact[0].geom,
+                        sizeof(dContact));
+    
+    for (int i=0; i<numc; i++) {
+        contact[i].surface.mode = dContactApprox1;
+        contact[i].surface.mu = 5;
+        dJointID c = dJointCreateContact (world, contactgroup, contact+i);
+        dJointAttach (c, b1, b2);
+    }
+}
+
+
+void simLoop(int pause)
+{
+    if (!pause) {
+        dSpaceCollide (space, 0, &nearCallback);
+        dWorldQuickStep(world, 0.01);
+        dJointGroupEmpty(contactgroup);
+    }
+    
+    dsSetColor (1,1,0);
+    for (int i=0; i<ncards; ++i) {
+        dsSetColor (1, dReal(i)/ncards, 0);
+        cards[i]->draw();
+    }
+    
+}
+
+void command(int c)
+{
+    switch (c) {
+        case '=':
+            levels++;
+            place_cards();
+            break;
+        case '-':
+            levels--;
+            if (levels <= 0)
+                levels++;
+            place_cards();
+            break;
+        case ' ':
+            place_cards();
+            break;
+    }
+}
+
+int main(int argc, char **argv)
+{
+    dInitODE();
+    
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+    
+    
+    world = dWorldCreate();
+    dWorldSetGravity(world, 0, 0, -0.5);
+    dWorldSetQuickStepNumIterations(world, 50); // <-- increase for more stability
+    
+    space = dSimpleSpaceCreate(0);
+    contactgroup = dJointGroupCreate(0);
+    dGeomID ground = dCreatePlane(space, 0, 0, 1, 0);
+    
+    place_cards();
+    
+    // run simulation
+    dsSimulationLoop (argc, argv, 640, 480, &fn);
+    
+    levels = 0;
+    place_cards();
+    
+    dJointGroupDestroy(contactgroup);
+    dWorldDestroy(world);
+    dGeomDestroy(ground);
+    dSpaceDestroy(space);
+    
+    dCloseODE();
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_chain1.c b/libs/ode-0.16.1/ode/demo/demo_chain1.c
new file mode 100644
index 0000000..a6d7b38
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_chain1.c
@@ -0,0 +1,171 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* exercise the C interface */
+
+#include <stdio.h>
+#include "ode/ode.h"
+#include "drawstuff/drawstuff.h"
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  /* for VC++, no precision loss complaints */
+#endif
+
+/* select correct drawing functions */
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+/* some constants */
+
+#define NUM 10			/* number of boxes */
+#define SIDE (0.2)		/* side length of a box */
+#define MASS (1.0)		/* mass of a box */
+#define RADIUS (0.1732f)	/* sphere radius */
+
+
+/* dynamics and collision objects */
+
+static dWorldID world;
+static dSpaceID space;
+static dBodyID body[NUM];
+static dJointID joint[NUM-1];
+static dJointGroupID contactgroup;
+static dGeomID sphere[NUM];
+
+
+/* this is called by dSpaceCollide when two objects in space are
+ * potentially colliding.
+ */
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+  /* exit without doing anything if the two bodies are connected by a joint */
+  dBodyID b1,b2;
+  dContact contact;
+  (void)data;
+
+  b1 = dGeomGetBody(o1);
+  b2 = dGeomGetBody(o2);
+  if (b1 && b2 && dAreConnected (b1,b2)) return;
+
+  contact.surface.mode = 0;
+  contact.surface.mu = 0.1;
+  contact.surface.mu2 = 0;
+  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
+    dJointID c = dJointCreateContact (world,contactgroup,&contact);
+    dJointAttach (c,b1,b2);
+  }
+}
+
+
+/* start simulation - set viewpoint */
+
+static void start()
+{
+  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+
+  dAllocateODEDataForThread(dAllocateMaskAll);
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+/* simulation loop */
+
+static void simLoop (int pause)
+{
+  int i;
+  if (!pause) {
+    static double angle = 0;
+    angle += 0.05;
+    dBodyAddForce (body[NUM-1],0,0,1.5*(sin(angle)+1.0));
+
+    dSpaceCollide (space,0,&nearCallback);
+    dWorldStep (world,0.05);
+
+    /* remove all contact joints */
+    dJointGroupEmpty (contactgroup);
+  }
+
+  dsSetColor (1,1,0);
+  dsSetTexture (DS_WOOD);
+  for (i=0; i<NUM; i++) dsDrawSphere (dBodyGetPosition(body[i]),
+				      dBodyGetRotation(body[i]),RADIUS);
+}
+
+
+int main (int argc, char **argv)
+{
+  int i;
+  dReal k;
+  dMass m;
+
+  /* setup pointers to drawstuff callback functions */
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = 0;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  /* create world */
+  dInitODE2(0);
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+  contactgroup = dJointGroupCreate (1000000);
+  dWorldSetGravity (world,0,0,-0.5);
+  dCreatePlane (space,0,0,1,0);
+
+  for (i=0; i<NUM; i++) {
+    body[i] = dBodyCreate (world);
+    k = i*SIDE;
+    dBodySetPosition (body[i],k,k,k+0.4);
+    dMassSetBox (&m,1,SIDE,SIDE,SIDE);
+    dMassAdjust (&m,MASS);
+    dBodySetMass (body[i],&m);
+    sphere[i] = dCreateSphere (space,RADIUS);
+    dGeomSetBody (sphere[i],body[i]);
+  }
+  for (i=0; i<(NUM-1); i++) {
+    joint[i] = dJointCreateBall (world,0);
+    dJointAttach (joint[i],body[i],body[i+1]);
+    k = (i+0.5)*SIDE;
+    dJointSetBallAnchor (joint[i],k,k,k+0.4);
+  }
+
+  /* run simulation */
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_chain2.cpp b/libs/ode-0.16.1/ode/demo/demo_chain2.cpp
new file mode 100644
index 0000000..3dec131
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_chain2.cpp
@@ -0,0 +1,165 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* exercise the C++ interface */
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+
+#define NUM 10			// number of boxes
+#define SIDE (0.2)		// side length of a box
+#define MASS (1.0)		// mass of a box
+#define RADIUS (0.1732f)	// sphere radius
+
+//using namespace ode;
+
+// dynamics and collision objects
+
+static dWorld world;
+static dSimpleSpace space (0);
+static dBody body[NUM];
+static dBallJoint joint[NUM-1];
+static dJointGroup contactgroup;
+static dBox box[NUM];
+
+
+// this is called by space.collide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  // exit without doing anything if the two bodies are connected by a joint
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+  if (b1 && b2 && dAreConnected (b1,b2)) return;
+
+  // @@@ it's still more convenient to use the C interface here.
+
+  dContact contact;
+  contact.surface.mode = 0;
+  contact.surface.mu = dInfinity;
+  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
+    dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact);
+    dJointAttach (c,b1,b2);
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  if (!pause) {
+    static double angle = 0;
+    angle += 0.05;
+    body[NUM-1].addForce (0,0,1.5*(sin(angle)+1.0));
+
+    space.collide (0,&nearCallback);
+    world.step (0.05);
+
+    // remove all contact joints
+    contactgroup.empty();
+  }
+
+  dReal sides[3] = {SIDE,SIDE,SIDE};
+  dsSetColor (1,1,0);
+  dsSetTexture (DS_WOOD);
+  for (int i=0; i<NUM; i++)
+    dsDrawBox (body[i].getPosition(),body[i].getRotation(),sides);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = 0;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+
+  int i;
+  contactgroup.create ();
+  world.setGravity (0,0,-0.5);
+  dWorldSetCFM (world.id(),1e-5);
+  dPlane plane (space,0,0,1,0);
+
+  for (i=0; i<NUM; i++) {
+    body[i].create (world);
+    dReal k = i*SIDE;
+    body[i].setPosition (k,k,k+0.4);
+    dMass m;
+    m.setBox (1,SIDE,SIDE,SIDE);
+    m.adjust (MASS);
+    body[i].setMass (&m);
+    body[i].setData ((void*)(dsizeint)i);
+
+    box[i].create (space,SIDE,SIDE,SIDE);
+    box[i].setBody (body[i]);
+  }
+  for (i=0; i<(NUM-1); i++) {
+    joint[i].create (world);
+    joint[i].attach (body[i],body[i+1]);
+    dReal k = (i+0.5)*SIDE;
+    joint[i].setAnchor (k,k,k+0.4);
+  }
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_collision.cpp b/libs/ode-0.16.1/ode/demo/demo_collision.cpp
new file mode 100644
index 0000000..e45d106
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_collision.cpp
@@ -0,0 +1,1463 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+collision tests. if this program is run without any arguments it will
+perform all the tests multiple times, with different random data for each
+test. if this program is given a test number it will run that test
+graphically/interactively, in which case the space bar can be used to
+change the random test conditions.
+
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawBox dsDrawBoxD
+#define dsDrawLine dsDrawLineD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawCylinder dsDrawCylinderD
+#endif
+
+//****************************************************************************
+// test infrastructure, including constants and macros
+
+#define TEST_REPS1 1000		// run each test this many times (first batch)
+#define TEST_REPS2 10000	// run each test this many times (second batch)
+const dReal tol = 1e-8;		// tolerance used for numerical checks
+#define MAX_TESTS 1000		// maximum number of test slots
+#define Z_OFFSET 2		// z offset for drawing (to get above ground)
+
+//using namespace ode;
+
+// test function. returns 1 if the test passed or 0 if it failed
+typedef int test_function_t();
+
+struct TestSlot {
+  int number;			// number of test
+  const char *name;			// name of test
+  int failcount;
+  test_function_t *test_fn;
+  int last_failed_line;
+};
+TestSlot testslot[MAX_TESTS];
+
+
+// globals used by the test functions
+int graphical_test=0;		// show graphical results of this test, 0=none
+int current_test;		// currently execiting test
+int draw_all_objects_called;
+
+
+#define MAKE_TEST(number,function) \
+  if (testslot[number].name) dDebug (0,"test number already used"); \
+  if (number <= 0 || number >= MAX_TESTS) dDebug (0,"bad test number"); \
+  testslot[number].name = # function; \
+  testslot[number].test_fn = function;
+
+#define FAILED() { if (graphical_test==0) { \
+  testslot[current_test].last_failed_line=__LINE__; return 0; } }
+#define PASSED() { return 1; }
+
+//****************************************************************************
+// globals
+
+/* int dBoxBox (const dVector3 p1, const dMatrix3 R1,
+	     const dVector3 side1, const dVector3 p2,
+	     const dMatrix3 R2, const dVector3 side2,
+	     dVector3 normal, dReal *depth, int *code,
+	     int maxc, dContactGeom *contact, int skip); */
+
+void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
+			   const dVector3 pb, const dVector3 ub,
+			   dReal *alpha, dReal *beta);
+
+//****************************************************************************
+// draw all objects in a space, and draw all the collision contact points
+
+void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  int i,j,n;
+  const int N = 100;
+  dContactGeom contact[N];
+
+  if (dGeomGetClass (o2) == dRayClass) {
+    n = dCollide (o2,o1,N,&contact[0],sizeof(dContactGeom));
+  }
+  else {
+    n = dCollide (o1,o2,N,&contact[0],sizeof(dContactGeom));
+  }
+  if (n > 0) {
+    dMatrix3 RI;
+    dRSetIdentity (RI);
+    const dReal ss[3] = {0.01,0.01,0.01};
+    for (i=0; i<n; i++) {
+      contact[i].pos[2] += Z_OFFSET;
+      dsDrawBox (contact[i].pos,RI,ss);
+      dVector3 n;
+      for (j=0; j<3; j++) n[j] = contact[i].pos[j] + 0.1*contact[i].normal[j];
+      dsDrawLine (contact[i].pos,n);
+    }
+  }
+}
+
+
+void draw_all_objects (dSpaceID space)
+{
+  int i, j;
+
+  draw_all_objects_called = 1;
+  if (!graphical_test) return;
+  int n = dSpaceGetNumGeoms (space);
+
+  // draw all contact points
+  dsSetColor (0,1,1);
+  dSpaceCollide (space,0,&nearCallback);
+
+  // draw all rays
+  for (i=0; i<n; i++) {
+    dGeomID g = dSpaceGetGeom (space,i);
+    if (dGeomGetClass (g) == dRayClass) {
+      dsSetColor (1,1,1);
+      dVector3 origin,dir;
+      dGeomRayGet (g,origin,dir);
+      origin[2] += Z_OFFSET;
+      dReal length = dGeomRayGetLength (g);
+      for (j=0; j<3; j++) dir[j] = dir[j]*length + origin[j];
+      dsDrawLine (origin,dir);
+      dsSetColor (0,0,1);
+      dsDrawSphere (origin,dGeomGetRotation(g),0.01);
+    }
+  }
+
+  // draw all other objects
+  for (i=0; i<n; i++) {
+    dGeomID g = dSpaceGetGeom (space,i);
+    dVector3 pos;
+    if (dGeomGetClass (g) != dPlaneClass) {
+      memcpy (pos,dGeomGetPosition(g),sizeof(pos));
+      pos[2] += Z_OFFSET;
+    }
+
+    switch (dGeomGetClass (g)) {
+
+    case dSphereClass: {
+      dsSetColorAlpha (1,0,0,0.8);
+      dReal radius = dGeomSphereGetRadius (g);
+      dsDrawSphere (pos,dGeomGetRotation(g),radius);
+      break;
+    }
+
+    case dBoxClass: {
+      dsSetColorAlpha (1,1,0,0.8);
+      dVector3 sides;
+      dGeomBoxGetLengths (g,sides);
+      dsDrawBox (pos,dGeomGetRotation(g),sides);
+      break;
+    }
+
+    case dCapsuleClass: {
+      dsSetColorAlpha (0,1,0,0.8);
+      dReal radius,length;
+      dGeomCapsuleGetParams (g,&radius,&length);
+      dsDrawCapsule (pos,dGeomGetRotation(g),length,radius);
+      break;
+    }
+    case dCylinderClass: {
+      dsSetColorAlpha (0,1,0,0.8);
+      dReal radius,length;
+      dGeomCylinderGetParams (g,&radius,&length);
+      dsDrawCylinder (pos,dGeomGetRotation(g),length,radius);
+      break;
+    }
+
+    case dPlaneClass: {
+      dVector4 n;
+      dMatrix3 R,sides;
+      dVector3 pos2;
+      dGeomPlaneGetParams (g,n);
+      dRFromZAxis (R,n[0],n[1],n[2]);
+      for (j=0; j<3; j++) pos[j] = n[j]*n[3];
+      pos[2] += Z_OFFSET;
+      sides[0] = 2;
+      sides[1] = 2;
+      sides[2] = 0.001;
+      dsSetColor (1,0,1);
+      for (j=0; j<3; j++) pos2[j] = pos[j] + 0.1*n[j];
+      dsDrawLine (pos,pos2);
+      dsSetColorAlpha (1,0,1,0.8);
+      dsDrawBox (pos,R,sides);
+      break;
+    }
+
+    }
+  }
+}
+
+//****************************************************************************
+// point depth tests
+
+int test_sphere_point_depth()
+{
+  int j;
+  dVector3 p,q;
+  dMatrix3 R;
+  dReal r,d;
+
+  dSimpleSpace space(0);
+  dGeomID sphere = dCreateSphere (0,1);
+  dSpaceAdd (space,sphere);
+
+  // ********** make a random sphere of radius r at position p
+
+  r = dRandReal()+0.1;
+  dGeomSphereSetRadius (sphere,r);
+  dMakeRandomVector (p,3,1.0);
+  dGeomSetPosition (sphere,p[0],p[1],p[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (sphere,R);
+
+  // ********** test center point has depth r
+
+  if (dFabs(dGeomSpherePointDepth (sphere,p[0],p[1],p[2]) - r) > tol) FAILED();
+
+  // ********** test point on surface has depth 0
+
+  for (j=0; j<3; j++) q[j] = dRandReal()-0.5;
+  dNormalize3 (q);
+  for (j=0; j<3; j++) q[j] = q[j]*r + p[j];
+  if (dFabs(dGeomSpherePointDepth (sphere,q[0],q[1],q[2])) > tol) FAILED();
+
+  // ********** test point at random depth
+
+  d = (dRandReal()*2-1) * r;
+  for (j=0; j<3; j++) q[j] = dRandReal()-0.5;
+  dNormalize3 (q);
+  for (j=0; j<3; j++) q[j] = q[j]*(r-d) + p[j];
+  if (dFabs(dGeomSpherePointDepth (sphere,q[0],q[1],q[2])-d) > tol) FAILED();
+
+  PASSED();
+}
+
+
+int test_box_point_depth()
+{
+  int i,j;
+  dVector3 s,p,q,q2;	// s = box sides
+  dMatrix3 R;
+  dReal ss,d;		// ss = smallest side
+
+  dSimpleSpace space(0);
+  dGeomID box = dCreateBox (0,1,1,1);
+  dSpaceAdd (space,box);
+
+  // ********** make a random box
+
+  for (j=0; j<3; j++) s[j] = dRandReal() + 0.1;
+  dGeomBoxSetLengths (box,s[0],s[1],s[2]);
+  dMakeRandomVector (p,3,1.0);
+  dGeomSetPosition (box,p[0],p[1],p[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (box,R);
+
+  // ********** test center point has depth of smallest side
+
+  ss = 1e9;
+  for (j=0; j<3; j++) if (s[j] < ss) ss = s[j];
+  if (dFabs(dGeomBoxPointDepth (box,p[0],p[1],p[2]) - 0.5*ss) > tol)
+    FAILED();
+
+  // ********** test point on surface has depth 0
+
+  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
+  i = dRandInt (3);
+  if (dRandReal() > 0.5) q[i] = 0.5*s[i]; else q[i] = -0.5*s[i];
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q2[j] += p[j];
+  if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2])) > tol) FAILED();
+
+  // ********** test points outside box have -ve depth
+
+  for (j=0; j<3; j++) {
+    q[j] = 0.5*s[j] + dRandReal() + 0.01;
+    if (dRandReal() > 0.5) q[j] = -q[j];
+  }
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q2[j] += p[j];
+  if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) >= 0) FAILED();
+
+  // ********** test points inside box have +ve depth
+
+  for (j=0; j<3; j++) q[j] = s[j] * 0.99 * (dRandReal()-0.5);
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q2[j] += p[j];
+  if (dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) <= 0) FAILED();
+
+  // ********** test random depth of point aligned along axis (up to ss deep)
+
+  i = dRandInt (3);
+  for (j=0; j<3; j++) q[j] = 0;
+  d = (dRandReal()*(ss*0.5+1)-1);
+  q[i] = s[i]*0.5 - d;
+  if (dRandReal() > 0.5) q[i] = -q[i];
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q2[j] += p[j];
+  if (dFabs(dGeomBoxPointDepth (box,q2[0],q2[1],q2[2]) - d) >= tol) FAILED();
+
+  PASSED();
+}
+
+
+int test_ccylinder_point_depth()
+{
+  int j;
+  dVector3 p,a;
+  dMatrix3 R;
+  dReal r,l,beta,x,y,d;
+
+  dSimpleSpace space(0);
+  dGeomID ccyl = dCreateCapsule (0,1,1);
+  dSpaceAdd (space,ccyl);
+
+  // ********** make a random ccyl
+
+  r = dRandReal()*0.5 + 0.01;
+  l = dRandReal()*1 + 0.01;
+  dGeomCapsuleSetParams (ccyl,r,l);
+  dMakeRandomVector (p,3,1.0);
+  dGeomSetPosition (ccyl,p[0],p[1],p[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (ccyl,R);
+
+  // ********** test point on axis has depth of 'radius'
+
+  beta = dRandReal()-0.5;
+  for (j=0; j<3; j++) a[j] = p[j] + l*beta*R[j*4+2];
+  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - r) >= tol)
+    FAILED();
+
+  // ********** test point on surface (excluding caps) has depth 0
+
+  beta = dRandReal()*2*M_PI;
+  x = r*sin(beta);
+  y = r*cos(beta);
+  beta = dRandReal()-0.5;
+  for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2];
+  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED();
+
+  // ********** test point on surface of caps has depth 0
+
+  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
+  dNormalize3 (a);
+  if (dCalcVectorDot3_14(a,R+2) > 0) {
+    for (j=0; j<3; j++) a[j] = p[j] + a[j]*r + l*0.5*R[j*4+2];
+  }
+  else {
+    for (j=0; j<3; j++) a[j] = p[j] + a[j]*r - l*0.5*R[j*4+2];
+  }
+  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2])) >= tol) FAILED();
+
+  // ********** test point inside ccyl has positive depth
+
+  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
+  dNormalize3 (a);
+  beta = dRandReal()-0.5;
+  for (j=0; j<3; j++) a[j] = p[j] + a[j]*r*0.99 + l*beta*R[j*4+2];
+  if (dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) < 0) FAILED();
+
+  // ********** test point depth (1)
+
+  d = (dRandReal()*2-1) * r;
+  beta = dRandReal()*2*M_PI;
+  x = (r-d)*sin(beta);
+  y = (r-d)*cos(beta);
+  beta = dRandReal()-0.5;
+  for (j=0; j<3; j++) a[j] = p[j] + x*R[j*4+0] + y*R[j*4+1] + l*beta*R[j*4+2];
+  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol)
+    FAILED();
+
+  // ********** test point depth (2)
+
+  d = (dRandReal()*2-1) * r;
+  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
+  dNormalize3 (a);
+  if (dCalcVectorDot3_14(a,R+2) > 0) {
+    for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) + l*0.5*R[j*4+2];
+  }
+  else {
+    for (j=0; j<3; j++) a[j] = p[j] + a[j]*(r-d) - l*0.5*R[j*4+2];
+  }
+  if (dFabs(dGeomCapsulePointDepth (ccyl,a[0],a[1],a[2]) - d) >= tol)
+    FAILED();
+
+  PASSED();
+}
+
+
+int test_plane_point_depth()
+{
+  int j;
+  dVector3 n,p,q,a,b;	// n = plane normal
+  dReal d;
+
+  dSimpleSpace space(0);
+  dGeomID plane = dCreatePlane (0,0,0,1,0);
+  dSpaceAdd (space,plane);
+
+  // ********** make a random plane
+
+  for (j=0; j<3; j++) n[j] = dRandReal() - 0.5;
+  dNormalize3 (n);
+  d = dRandReal() - 0.5;
+  dGeomPlaneSetParams (plane,n[0],n[1],n[2],d);
+  dPlaneSpace (n,p,q);
+
+  // ********** test point on plane has depth 0
+
+  a[0] = dRandReal() - 0.5;
+  a[1] = dRandReal() - 0.5;
+  a[2] = 0;
+  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
+  if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2])) >= tol) FAILED();
+
+  // ********** test arbitrary depth point
+
+  a[0] = dRandReal() - 0.5;
+  a[1] = dRandReal() - 0.5;
+  a[2] = dRandReal() - 0.5;
+  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
+  if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) + a[2]) >= tol)
+    FAILED();
+
+  // ********** test depth-1 point
+
+  a[0] = dRandReal() - 0.5;
+  a[1] = dRandReal() - 0.5;
+  a[2] = -1;
+  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
+  if (dFabs(dGeomPlanePointDepth (plane,b[0],b[1],b[2]) - 1) >= tol) FAILED();
+
+  PASSED();
+}
+
+//****************************************************************************
+// ray tests
+
+int test_ray_and_sphere()
+{
+  int j;
+  dContactGeom contact;
+  dVector3 p,q,q2,n,v1;
+  dMatrix3 R;
+  dReal r,k;
+
+  dSimpleSpace space(0);
+  dGeomID ray = dCreateRay (0,0);
+  dGeomID sphere = dCreateSphere (0,1);
+  dSpaceAdd (space,ray);
+  dSpaceAdd (space,sphere);
+
+  // ********** make a random sphere of radius r at position p
+
+  r = dRandReal()+0.1;
+  dGeomSphereSetRadius (sphere,r);
+  dMakeRandomVector (p,3,1.0);
+  dGeomSetPosition (sphere,p[0],p[1],p[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (sphere,R);
+
+  // ********** test zero length ray just inside sphere
+
+  dGeomRaySetLength (ray,0);
+  dMakeRandomVector (q,3,1.0);
+  dNormalize3 (q);
+  for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j];
+  dGeomSetPosition (ray,q[0],q[1],q[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (ray,R);
+  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test zero length ray just outside that sphere
+
+  dGeomRaySetLength (ray,0);
+  dMakeRandomVector (q,3,1.0);
+  dNormalize3 (q);
+  for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j];
+  dGeomSetPosition (ray,q[0],q[1],q[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (ray,R);
+  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test finite length ray totally contained inside the sphere
+
+  dMakeRandomVector (q,3,1.0);
+  dNormalize3 (q);
+  k = dRandReal();
+  for (j=0; j<3; j++) q[j] = k*r*0.99 * q[j] + p[j];
+  dMakeRandomVector (q2,3,1.0);
+  dNormalize3 (q2);
+  k = dRandReal();
+  for (j=0; j<3; j++) q2[j] = k*r*0.99 * q2[j] + p[j];
+  for (j=0; j<3; j++) n[j] = q2[j] - q[j];
+  dNormalize3 (n);
+  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
+  dGeomRaySetLength (ray,dCalcPointsDistance3(q,q2));
+  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test finite length ray totally outside the sphere
+
+  dMakeRandomVector (q,3,1.0);
+  dNormalize3 (q);
+  do {
+    dMakeRandomVector (n,3,1.0);
+    dNormalize3 (n);
+  }
+  while (dCalcVectorDot3(n,q) < 0);	// make sure normal goes away from sphere
+  for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j];
+  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
+  dGeomRaySetLength (ray,100);
+  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test ray from outside to just above surface
+
+  dMakeRandomVector (q,3,1.0);
+  dNormalize3 (q);
+  for (j=0; j<3; j++) n[j] = -q[j];
+  for (j=0; j<3; j++) q2[j] = 2*r * q[j] + p[j];
+  dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]);
+  dGeomRaySetLength (ray,0.99*r);
+  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test ray from outside to just below surface
+
+  dGeomRaySetLength (ray,1.01*r);
+  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
+  for (j=0; j<3; j++) q2[j] = r * q[j] + p[j];
+  if (dCalcPointsDistance3 (contact.pos,q2) > tol) FAILED();
+
+  // ********** test contact point distance for random rays
+
+  dMakeRandomVector (q,3,1.0);
+  dNormalize3 (q);
+  k = dRandReal()+0.5;
+  for (j=0; j<3; j++) q[j] = k*r * q[j] + p[j];
+  dMakeRandomVector (n,3,1.0);
+  dNormalize3 (n);
+  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
+  dGeomRaySetLength (ray,100);
+  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom))) {
+    k = dCalcPointsDistance3 (contact.pos,dGeomGetPosition(sphere));
+    if (dFabs(k - r) > tol) FAILED();
+    // also check normal signs
+    if (dCalcVectorDot3 (n,contact.normal) > 0) FAILED();
+    // also check depth of contact point
+    if (dFabs (dGeomSpherePointDepth
+	       (sphere,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
+      FAILED();
+
+    draw_all_objects (space);
+  }
+
+  // ********** test tangential grazing - miss
+
+  dMakeRandomVector (q,3,1.0);
+  dNormalize3 (q);
+  dPlaneSpace (q,n,v1);
+  for (j=0; j<3; j++) q[j] = 1.01*r * q[j] + p[j];
+  for (j=0; j<3; j++) q[j] -= n[j];
+  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
+  dGeomRaySetLength (ray,2);
+  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test tangential grazing - hit
+
+  dMakeRandomVector (q,3,1.0);
+  dNormalize3 (q);
+  dPlaneSpace (q,n,v1);
+  for (j=0; j<3; j++) q[j] = 0.99*r * q[j] + p[j];
+  for (j=0; j<3; j++) q[j] -= n[j];
+  dGeomRaySet (ray,q[0],q[1],q[2],n[0],n[1],n[2]);
+  dGeomRaySetLength (ray,2);
+  if (dCollide (ray,sphere,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
+
+  PASSED();
+}
+
+
+int test_ray_and_box()
+{
+  int i,j;
+  dContactGeom contact;
+  dVector3 s,p,q,n,q2,q3,q4;		// s = box sides
+  dMatrix3 R;
+  dReal k;
+
+  dSimpleSpace space(0);
+  dGeomID ray = dCreateRay (0,0);
+  dGeomID box = dCreateBox (0,1,1,1);
+  dSpaceAdd (space,ray);
+  dSpaceAdd (space,box);
+
+  // ********** make a random box
+
+  for (j=0; j<3; j++) s[j] = dRandReal() + 0.1;
+  dGeomBoxSetLengths (box,s[0],s[1],s[2]);
+  dMakeRandomVector (p,3,1.0);
+  dGeomSetPosition (box,p[0],p[1],p[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (box,R);
+
+  // ********** test zero length ray just inside box
+
+  dGeomRaySetLength (ray,0);
+  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
+  i = dRandInt (3);
+  if (dRandReal() > 0.5) q[i] = 0.99*0.5*s[i]; else q[i] = -0.99*0.5*s[i];
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q2[j] += p[j];
+  dGeomSetPosition (ray,q2[0],q2[1],q2[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (ray,R);
+  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test zero length ray just outside box
+
+  dGeomRaySetLength (ray,0);
+  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
+  i = dRandInt (3);
+  if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q2[j] += p[j];
+  dGeomSetPosition (ray,q2[0],q2[1],q2[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (ray,R);
+  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test finite length ray totally contained inside the box
+
+  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*0.99*s[j];
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q2[j] += p[j];
+  for (j=0; j<3; j++) q3[j] = (dRandReal()-0.5)*0.99*s[j];
+  dMultiply0 (q4,dGeomGetRotation(box),q3,3,3,1);
+  for (j=0; j<3; j++) q4[j] += p[j];
+  for (j=0; j<3; j++) n[j] = q4[j] - q2[j];
+  dNormalize3 (n);
+  dGeomRaySet (ray,q2[0],q2[1],q2[2],n[0],n[1],n[2]);
+  dGeomRaySetLength (ray,dCalcPointsDistance3(q2,q4));
+  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test finite length ray totally outside the box
+
+  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
+  i = dRandInt (3);
+  if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q3[j] = q2[j] + p[j];
+  dNormalize3 (q2);
+  dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]);
+  dGeomRaySetLength (ray,10);
+  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test ray from outside to just above surface
+
+  for (j=0; j<3; j++) q[j] = (dRandReal()-0.5)*s[j];
+  i = dRandInt (3);
+  if (dRandReal() > 0.5) q[i] = 1.01*0.5*s[i]; else q[i] = -1.01*0.5*s[i];
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q3[j] = 2*q2[j] + p[j];
+  k = dSqrt(q2[0]*q2[0] + q2[1]*q2[1] + q2[2]*q2[2]);
+  for (j=0; j<3; j++) q2[j] = -q2[j];
+  dGeomRaySet (ray,q3[0],q3[1],q3[2],q2[0],q2[1],q2[2]);
+  dGeomRaySetLength (ray,k*0.99);
+  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test ray from outside to just below surface
+
+  dGeomRaySetLength (ray,k*1.01);
+  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
+
+  // ********** test contact point position for random rays
+
+  for (j=0; j<3; j++) q[j] = dRandReal()*s[j];
+  dMultiply0 (q2,dGeomGetRotation(box),q,3,3,1);
+  for (j=0; j<3; j++) q2[j] += p[j];
+  for (j=0; j<3; j++) q3[j] = dRandReal()-0.5;
+  dNormalize3 (q3);
+  dGeomRaySet (ray,q2[0],q2[1],q2[2],q3[0],q3[1],q3[2]);
+  dGeomRaySetLength (ray,10);
+  if (dCollide (ray,box,1,&contact,sizeof(dContactGeom))) {
+    // check depth of contact point
+    if (dFabs (dGeomBoxPointDepth
+	       (box,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
+      FAILED();
+    // check position of contact point
+    for (j=0; j<3; j++) contact.pos[j] -= p[j];
+    dMultiply1 (q,dGeomGetRotation(box),contact.pos,3,3,1);
+    if ( dFabs(dFabs (q[0]) - 0.5*s[0]) > tol &&
+	 dFabs(dFabs (q[1]) - 0.5*s[1]) > tol &&
+	 dFabs(dFabs (q[2]) - 0.5*s[2]) > tol) {
+      FAILED();
+    }
+    // also check normal signs
+    if (dCalcVectorDot3 (q3,contact.normal) > 0) FAILED();
+
+    draw_all_objects (space);
+  }
+
+  PASSED();
+}
+
+
+int test_ray_and_ccylinder()
+{
+  int j;
+  dContactGeom contact;
+  dVector3 p,a,b,n;
+  dMatrix3 R;
+  dReal r,l,k,x,y;
+
+  dSimpleSpace space(0);
+  dGeomID ray = dCreateRay (0,0);
+  dGeomID ccyl = dCreateCapsule (0,1,1);
+  dSpaceAdd (space,ray);
+  dSpaceAdd (space,ccyl);
+
+  // ********** make a random capped cylinder
+
+  r = dRandReal()*0.5 + 0.01;
+  l = dRandReal()*1 + 0.01;
+  dGeomCapsuleSetParams (ccyl,r,l);
+  dMakeRandomVector (p,3,1.0);
+  dGeomSetPosition (ccyl,p[0],p[1],p[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (ccyl,R);
+
+  // ********** test ray completely within ccyl
+
+  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
+  dNormalize3 (a);
+  k = (dRandReal()-0.5)*l;
+  for (j=0; j<3; j++) a[j] = p[j] + r*0.99*a[j] + k*0.99*R[j*4+2];
+  for (j=0; j<3; j++) b[j] = dRandReal()-0.5;
+  dNormalize3 (b);
+  k = (dRandReal()-0.5)*l;
+  for (j=0; j<3; j++) b[j] = p[j] + r*0.99*b[j] + k*0.99*R[j*4+2];
+  dGeomRaySetLength (ray,dCalcPointsDistance3(a,b));
+  for (j=0; j<3; j++) b[j] -= a[j];
+  dNormalize3 (b);
+  dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
+  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test ray outside ccyl that just misses (between caps)
+
+  k = dRandReal()*2*M_PI;
+  x = sin(k);
+  y = cos(k);
+  for (j=0; j<3; j++) a[j] = x*R[j*4+0] + y*R[j*4+1];
+  k = (dRandReal()-0.5)*l;
+  for (j=0; j<3; j++) b[j] = -a[j]*r*2 + k*R[j*4+2] + p[j];
+  dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]);
+  dGeomRaySetLength (ray,r*0.99);
+  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test ray outside ccyl that just hits (between caps)
+
+  dGeomRaySetLength (ray,r*1.01);
+  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
+  // check depth of contact point
+  if (dFabs (dGeomCapsulePointDepth
+	     (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
+    FAILED();
+
+  // ********** test ray outside ccyl that just misses (caps)
+
+  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
+  dNormalize3 (a);
+  if (dCalcVectorDot3_14(a,R+2) < 0) {
+    for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r + l*0.5*R[j*4+2];
+  }
+  else {
+    for (j=0; j<3; j++) b[j] = p[j] - a[j]*2*r - l*0.5*R[j*4+2];
+  }
+  dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]);
+  dGeomRaySetLength (ray,r*0.99);
+  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test ray outside ccyl that just hits (caps)
+
+  dGeomRaySetLength (ray,r*1.01);
+  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
+  // check depth of contact point
+  if (dFabs (dGeomCapsulePointDepth
+	     (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
+    FAILED();
+
+  // ********** test random rays
+
+  for (j=0; j<3; j++) a[j] = dRandReal()-0.5;
+  for (j=0; j<3; j++) n[j] = dRandReal()-0.5;
+  dNormalize3 (n);
+  dGeomRaySet (ray,a[0],a[1],a[2],n[0],n[1],n[2]);
+  dGeomRaySetLength (ray,10);
+
+  if (dCollide (ray,ccyl,1,&contact,sizeof(dContactGeom))) {
+    // check depth of contact point
+    if (dFabs (dGeomCapsulePointDepth
+	       (ccyl,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
+      FAILED();
+
+    // check normal signs
+    if (dCalcVectorDot3 (n,contact.normal) > 0) FAILED();
+
+    draw_all_objects (space);
+  }
+
+  PASSED();
+}
+
+/*
+  Test rays within the cylinder
+  -completely inside
+  -exiting through side
+  -exiting through cap
+  -exiting through corner
+  Test rays outside the cylinder
+*/
+int test_ray_and_cylinder()
+{
+  dVector3 a,b;
+
+  dSimpleSpace space(0);
+  dGeomID ray = dCreateRay(space,4);
+
+  // The first thing that happens is the ray is
+  // rotated into cylinder coordinates.  We'll trust that's
+  // done right.  The major axis is in the z-dir.
+
+
+  // Random tests
+  /*b[0]=4*dRandReal()-2;
+  b[1]=4*dRandReal()-2;
+  b[2]=4*dRandReal()-2;
+  a[0]=2*dRandReal()-1;
+  a[1]=2*dRandReal()-1;
+  a[2]=2*dRandReal()-1;*/
+  
+  // Inside out
+  b[0]=dRandReal()-0.5;
+  b[1]=dRandReal()-0.5;
+  b[2]=dRandReal()-0.5;
+  a[0]=2*dRandReal()-1;
+  a[1]=2*dRandReal()-1;
+  a[2]=2*dRandReal()-1;
+
+  // Outside in
+  /*b[0]=4*dRandReal()-2;
+  b[1]=4*dRandReal()-2;
+  b[2]=4*dRandReal()-2;
+  a[0]=-b[0];
+  a[1]=-b[1];
+  a[2]=-b[2];*/
+
+  
+  dGeomRaySet (ray,b[0],b[1],b[2],a[0],a[1],a[2]);
+  // This is just for visual inspection right now.
+  //if (dCollide (ray,cyl,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
+
+  draw_all_objects (space);
+
+  PASSED();
+}
+
+
+int test_ray_and_plane()
+{
+  int j;
+  dContactGeom contact;
+  dVector3 n,p,q,a,b,g,h;		// n,d = plane parameters
+  dMatrix3 R;
+  dReal d;
+
+  dSimpleSpace space(0);
+  dGeomID ray = dCreateRay (0,0);
+  dGeomID plane = dCreatePlane (0,0,0,1,0);
+  dSpaceAdd (space,ray);
+  dSpaceAdd (space,plane);
+
+  // ********** make a random plane
+
+  for (j=0; j<3; j++) n[j] = dRandReal() - 0.5;
+  dNormalize3 (n);
+  d = dRandReal() - 0.5;
+  dGeomPlaneSetParams (plane,n[0],n[1],n[2],d);
+  dPlaneSpace (n,p,q);
+
+  // ********** test finite length ray below plane
+
+  dGeomRaySetLength (ray,0.09);
+  a[0] = dRandReal()-0.5;
+  a[1] = dRandReal()-0.5;
+  a[2] = -dRandReal()*0.5 - 0.1;
+  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
+  dGeomSetPosition (ray,b[0],b[1],b[2]);
+  dRFromAxisAndAngle (R,dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2-1,dRandReal()*10-5);
+  dGeomSetRotation (ray,R);
+  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test finite length ray above plane
+
+  a[0] = dRandReal()-0.5;
+  a[1] = dRandReal()-0.5;
+  a[2] = dRandReal()*0.5 + 0.01;
+  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
+  g[0] = dRandReal()-0.5;
+  g[1] = dRandReal()-0.5;
+  g[2] = dRandReal() + 0.01;
+  for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j];
+  dNormalize3 (h);
+  dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]);
+  dGeomRaySetLength (ray,10);
+  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test finite length ray that intersects plane
+
+  a[0] = dRandReal()-0.5;
+  a[1] = dRandReal()-0.5;
+  a[2] = dRandReal()-0.5;
+  for (j=0; j<3; j++) b[j] = a[0]*p[j] + a[1]*q[j] + (a[2]+d)*n[j];
+  g[0] = dRandReal()-0.5;
+  g[1] = dRandReal()-0.5;
+  g[2] = dRandReal()-0.5;
+  for (j=0; j<3; j++) h[j] = g[0]*p[j] + g[1]*q[j] + g[2]*n[j];
+  dNormalize3 (h);
+  dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]);
+  dGeomRaySetLength (ray,10);
+  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom))) {
+    // test that contact is on plane surface
+    if (dFabs (dCalcVectorDot3(contact.pos,n) - d) > tol) FAILED();
+    // also check normal signs
+    if (dCalcVectorDot3 (h,contact.normal) > 0) FAILED();
+    // also check contact point depth
+    if (dFabs (dGeomPlanePointDepth
+	       (plane,contact.pos[0],contact.pos[1],contact.pos[2])) > tol)
+      FAILED();
+
+    draw_all_objects (space);
+  }
+
+  // ********** test ray that just misses
+
+  for (j=0; j<3; j++) b[j] = (1+d)*n[j];
+  for (j=0; j<3; j++) h[j] = -n[j];
+  dGeomRaySet (ray,b[0],b[1],b[2],h[0],h[1],h[2]);
+  dGeomRaySetLength (ray,0.99);
+  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 0) FAILED();
+
+  // ********** test ray that just hits
+
+  dGeomRaySetLength (ray,1.01);
+  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
+
+  // ********** test polarity with typical ground plane
+
+  dGeomPlaneSetParams (plane,0,0,1,0);
+  for (j=0; j<3; j++) a[j] = 0.1;
+  for (j=0; j<3; j++) b[j] = 0;
+  a[2] = 1;
+  b[2] = -1;
+  dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
+  dGeomRaySetLength (ray,2);
+  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
+  if (dFabs (contact.depth - 1) > tol) FAILED();
+  a[2] = -1;
+  b[2] = 1;
+  dGeomRaySet (ray,a[0],a[1],a[2],b[0],b[1],b[2]);
+  if (dCollide (ray,plane,1,&contact,sizeof(dContactGeom)) != 1) FAILED();
+  if (dFabs (contact.depth - 1) > tol) FAILED();
+
+  PASSED();
+}
+
+//****************************************************************************
+// a really inefficient, but hopefully correct implementation of
+// dBoxTouchesBox(), that does 144 edge-face tests.
+
+// return 1 if edge v1 -> v2 hits the rectangle described by p1,p2,p3
+
+static int edgeIntersectsRect (dVector3 v1, dVector3 v2,
+			       dVector3 p1, dVector3 p2, dVector3 p3)
+{
+    int k;
+    dVector3 u1, u2, n, tmp;
+
+    for (k=0; k < 3; k++) u1[k] = p3[k] - p1[k];
+    for (k=0; k < 3; k++) u2[k] = p2[k] - p1[k];
+
+    dReal d1 = dSqrt(dCalcVectorDot3(u1, u1));
+    dReal d2 = dSqrt(dCalcVectorDot3(u2, u2));
+    dNormalize3(u1);
+    dNormalize3(u2);
+
+    dReal error;
+#ifdef dSINGLE
+    const dReal uEpsilon = 1e-5, pEpsilon = 1e-6, tmpEpsilon = 1.5e-4;
+#else
+    const dReal uEpsilon = 1e-6, pEpsilon = 1e-8, tmpEpsilon = 1e-6;
+#endif
+
+    error = dFabs(dCalcVectorDot3(u1, u2));
+    if (error > uEpsilon) dDebug(0, "bad u1/u2");
+
+    dCalcVectorCross3(n, u1, u2);
+
+    for (k=0; k < 3; k++) tmp[k] = v2[k] - v1[k];
+
+    dReal d = -dCalcVectorDot3(n, p1);
+
+    error = dFabs(dCalcVectorDot3(n, p1) + d);
+    if (error > pEpsilon) dDebug(0, "bad n wrt p1");
+
+    error = dFabs(dCalcVectorDot3(n, p2) + d);
+    if (error > pEpsilon) dDebug(0, "bad n wrt p2");
+
+    error = dFabs(dCalcVectorDot3(n, p3) + d);
+    if (error > pEpsilon) dDebug(0, "bad n wrt p3");
+
+    dReal alpha = -(d + dCalcVectorDot3(n, v1)) / dCalcVectorDot3(n, tmp);
+    for (k=0; k < 3; k++) tmp[k] = v1[k] + alpha * (v2[k] - v1[k]);
+
+    error = dFabs(dCalcVectorDot3(n, tmp) + d);
+    if (error > tmpEpsilon) dDebug(0, "bad tmp");
+
+    if (alpha < 0) return 0;
+    if (alpha > 1) return 0;
+
+    for (k=0; k < 3; k++) tmp[k] -= p1[k];
+    dReal a1 = dCalcVectorDot3(u1, tmp);
+    dReal a2 = dCalcVectorDot3(u2, tmp);
+    if (a1 < 0 || a2 < 0 || a1 > d1 || a2 > d2) return 0;
+
+    return 1;
+}
+
+
+// return 1 if box 1 is completely inside box 2
+
+static int box1inside2 (const dVector3 p1, const dMatrix3 R1,
+			const dVector3 side1, const dVector3 p2,
+			const dMatrix3 R2, const dVector3 side2)
+{
+  for (int i=-1; i<=1; i+=2) {
+    for (int j=-1; j<=1; j+=2) {
+      for (int k=-1; k<=1; k+=2) {
+	dVector3 v,vv;
+	v[0] = i*0.5*side1[0];
+	v[1] = j*0.5*side1[1];
+	v[2] = k*0.5*side1[2];
+	dMultiply0_331 (vv,R1,v);
+	vv[0] += p1[0] - p2[0];
+	vv[1] += p1[1] - p2[1];
+	vv[2] += p1[2] - p2[2];
+	for (int axis=0; axis < 3; axis++) {
+	  dReal z = dCalcVectorDot3_14(vv,R2+axis);
+	  if (z < (-side2[axis]*0.5) || z > (side2[axis]*0.5)) return 0;
+	}
+      }
+    }
+  }
+  return 1;
+}
+
+
+// test if any edge from box 1 hits a face from box 2
+
+static int testBoxesTouch2 (const dVector3 p1, const dMatrix3 R1,
+			    const dVector3 side1, const dVector3 p2,
+			    const dMatrix3 R2, const dVector3 side2)
+{
+  int j,k,j1,j2;
+
+  // for 6 faces from box 2
+  for (int fd=0; fd<3; fd++) {		// direction for face
+
+    for (int fo=0; fo<2; fo++) {	// offset of face
+      // get four points on the face. first get 2 indexes that are not fd
+      int k1=0,k2=0;
+      if (fd==0) { k1 = 1; k2 = 2; }
+      if (fd==1) { k1 = 0; k2 = 2; }
+      if (fd==2) { k1 = 0; k2 = 1; }
+      dVector3 fp[4],tmp;
+      k=0;
+      for (j1=-1; j1<=1; j1+=2) {
+	for (j2=-1; j2<=1; j2+=2) {
+	  fp[k][k1] = j1;
+	  fp[k][k2] = j2;
+	  fp[k][fd] = fo*2-1;
+	  k++;
+	}
+      }
+      for (j=0; j<4; j++) {
+	for (k=0; k<3; k++) fp[j][k] *= 0.5*side2[k];
+	dMultiply0_331 (tmp,R2,fp[j]);
+	for (k=0; k<3; k++) fp[j][k] = tmp[k] + p2[k];
+      }
+
+      // for 8 vertices
+      dReal v1[3];
+      for (v1[0]=-1; v1[0] <= 1; v1[0] += 2) {
+	for (v1[1]=-1; v1[1] <= 1; v1[1] += 2) {
+	  for (v1[2]=-1; v1[2] <= 1; v1[2] += 2) {
+	    // for all possible +ve leading edges from those vertices
+	    for (int ei=0; ei < 3; ei ++) {
+	      if (v1[ei] < 0) {
+		// get vertex1 -> vertex2 = an edge from box 1
+		dVector3 vv1,vv2;
+		for (k=0; k<3; k++) vv1[k] = v1[k] * 0.5*side1[k];
+		for (k=0; k<3; k++) vv2[k] = (v1[k] + (k==ei)*2)*0.5*side1[k];
+		dVector3 vertex1,vertex2;
+		dMultiply0_331 (vertex1,R1,vv1);
+		dMultiply0_331 (vertex2,R1,vv2);
+		for (k=0; k<3; k++) vertex1[k] += p1[k];
+		for (k=0; k<3; k++) vertex2[k] += p1[k];
+
+		// see if vertex1 -> vertex2 interesects face
+		if (edgeIntersectsRect (vertex1,vertex2,fp[0],fp[1],fp[2]))
+		  return 1;
+	      }
+	    }
+	  }
+	}
+      }
+    }
+  }
+
+  if (box1inside2 (p1,R1,side1,p2,R2,side2)) return 1;
+  if (box1inside2 (p2,R2,side2,p1,R1,side1)) return 1;
+
+  return 0;
+}
+
+//****************************************************************************
+// dBoxTouchesBox() test
+
+int test_dBoxTouchesBox()
+{
+  int k,bt1,bt2;
+  dVector3 p1,p2,side1,side2;
+  dMatrix3 R1,R2;
+
+  dSimpleSpace space(0);
+  dGeomID box1 = dCreateBox (0,1,1,1);
+  dSpaceAdd (space,box1);
+  dGeomID box2 = dCreateBox (0,1,1,1);
+  dSpaceAdd (space,box2);
+
+  dMakeRandomVector (p1,3,0.5);
+  dMakeRandomVector (p2,3,0.5);
+  for (k=0; k<3; k++) side1[k] = dRandReal() + 0.01;
+  for (k=0; k<3; k++) side2[k] = dRandReal() + 0.01;
+  dRFromAxisAndAngle (R1,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+		      dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+  dRFromAxisAndAngle (R2,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+		      dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+
+  dGeomBoxSetLengths (box1,side1[0],side1[1],side1[2]);
+  dGeomBoxSetLengths (box2,side2[0],side2[1],side2[2]);
+  dGeomSetPosition (box1,p1[0],p1[1],p1[2]);
+  dGeomSetRotation (box1,R1);
+  dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
+  dGeomSetRotation (box2,R2);
+  draw_all_objects (space);
+
+  int t1 = testBoxesTouch2 (p1,R1,side1,p2,R2,side2);
+  int t2 = testBoxesTouch2 (p2,R2,side2,p1,R1,side1);
+  bt1 = t1 || t2;
+  bt2 = dBoxTouchesBox (p1,R1,side1,p2,R2,side2);
+
+  if (bt1 != bt2) FAILED();
+
+  /*
+    // some more debugging info if necessary
+    if (bt1 && bt2) printf ("agree - boxes touch\n");
+    if (!bt1 && !bt2) printf ("agree - boxes don't touch\n");
+    if (bt1 && !bt2) printf ("disagree - boxes touch but dBoxTouchesBox "
+			     "says no\n");
+    if (!bt1 && bt2) printf ("disagree - boxes don't touch but dBoxTouchesBox "
+			     "says yes\n");
+  */
+
+  PASSED();
+}
+
+//****************************************************************************
+// test box-box collision
+
+int test_dBoxBox()
+{
+  int k,bt;
+  dVector3 p1,p2,side1,side2,normal,normal2;
+  dMatrix3 R1,R2;
+  dReal depth,depth2;
+  int code;
+  dContactGeom contact[48];
+
+  dSimpleSpace space(0);
+  dGeomID box1 = dCreateBox (0,1,1,1);
+  dSpaceAdd (space,box1);
+  dGeomID box2 = dCreateBox (0,1,1,1);
+  dSpaceAdd (space,box2);
+
+  dMakeRandomVector (p1,3,0.5);
+  dMakeRandomVector (p2,3,0.5);
+  for (k=0; k<3; k++) side1[k] = dRandReal() + 0.01;
+  for (k=0; k<3; k++) side2[k] = dRandReal() + 0.01;
+
+  dRFromAxisAndAngle (R1,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+		      dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+  dRFromAxisAndAngle (R2,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+		      dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+
+  // dRSetIdentity (R1);	// we can also try this
+  // dRSetIdentity (R2);
+
+  dGeomBoxSetLengths (box1,side1[0],side1[1],side1[2]);
+  dGeomBoxSetLengths (box2,side2[0],side2[1],side2[2]);
+  dGeomSetPosition (box1,p1[0],p1[1],p1[2]);
+  dGeomSetRotation (box1,R1);
+  dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
+  dGeomSetRotation (box2,R2);
+
+  code = 0;
+  depth = 0;
+  bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal,&depth,&code,8,contact,
+		sizeof(dContactGeom));
+  if (bt==1) {
+    p2[0] += normal[0] * 0.96 * depth;
+    p2[1] += normal[1] * 0.96 * depth;
+    p2[2] += normal[2] * 0.96 * depth;
+    bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal2,&depth2,&code,8,contact,
+		  sizeof(dContactGeom));
+
+    /*
+    dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
+    draw_all_objects (space);
+    */
+
+    if (bt != 1) {
+      FAILED();
+      dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
+      draw_all_objects (space);
+    }
+
+    p2[0] += normal[0] * 0.08 * depth;
+    p2[1] += normal[1] * 0.08 * depth;
+    p2[2] += normal[2] * 0.08 * depth;
+    bt = dBoxBox (p1,R1,side1,p2,R2,side2,normal2,&depth2,&code,8,contact,
+		  sizeof(dContactGeom));
+    if (bt != 0) FAILED();
+
+    // dGeomSetPosition (box2,p2[0],p2[1],p2[2]);
+    // draw_all_objects (space);
+  }
+
+  // printf ("code=%2d  depth=%.4f  ",code,depth);
+
+  PASSED();
+}
+
+//****************************************************************************
+// graphics
+
+int space_pressed = 0;
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {2.4807,-1.8023,2.7600};
+  static float hpr[3] = {141.5000,-18.5000,0.0000};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  if (cmd == ' ') space_pressed = 1;
+}
+
+
+// simulation loop
+
+static void simLoop (int)
+{
+  do {
+    draw_all_objects_called = 0;
+    unsigned long seed = dRandGetSeed();
+    testslot[graphical_test].test_fn();
+    if (draw_all_objects_called) {
+      if (space_pressed) space_pressed = 0; else dRandSetSeed (seed);
+    }
+  }
+  while (!draw_all_objects_called);
+}
+
+//****************************************************************************
+// do all the tests
+
+void do_tests (int argc, char **argv)
+{
+  int i,j;
+
+  // process command line arguments
+  if (argc >= 2) {
+    graphical_test = atoi (argv[1]);
+  }
+
+  if (graphical_test) {
+    // do one test gaphically and interactively
+
+    if (graphical_test < 1 || graphical_test >= MAX_TESTS ||
+	!testslot[graphical_test].name) {
+      dError (0,"invalid test number");
+    }
+
+    printf ("performing test: %s\n",testslot[graphical_test].name);
+
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+    dsSetSphereQuality (3);
+    dsSetCapsuleQuality (8);
+    dsSimulationLoop (argc,argv,1280,900,&fn);
+  }
+  else {
+    // do all tests noninteractively
+
+    for (i=0; i<MAX_TESTS; i++) testslot[i].number = i;
+
+    // first put the active tests into a separate array
+    int n=0;
+    for (i=0; i<MAX_TESTS; i++) if (testslot[i].name) n++;
+    TestSlot **ts = (TestSlot**) malloc (n * sizeof(TestSlot*));
+    j = 0;
+    for (i=0; i<MAX_TESTS; i++) if (testslot[i].name) ts[j++] = testslot+i;
+    if (j != n) dDebug (0,"internal");
+
+    // do two test batches. the first test batch has far fewer reps and will
+    // catch problems quickly. if all tests in the first batch passes, the
+    // second batch is run.
+
+    for (i=0; i<n; i++) ts[i]->failcount = 0;
+    int total_reps=0;
+    for (int batch=0; batch<2; batch++) {
+      int reps = (batch==0) ? TEST_REPS1 : TEST_REPS2;
+      total_reps += reps;
+      printf ("testing batch %d (%d reps)...\n",batch+1,reps);
+
+      // run tests
+      for (j=0; j<reps; j++) {
+	for (i=0; i<n; i++) {
+	  current_test = ts[i]->number;
+	  if (ts[i]->test_fn() != 1) ts[i]->failcount++;
+	}
+      }
+
+      // check for failures
+      int total_fail_count=0;
+      for (i=0; i<n; i++) total_fail_count += ts[i]->failcount;
+      if (total_fail_count) break;
+    }
+
+    // print results
+    for (i=0; i<n; i++) {
+      printf ("%3d: %-30s: ",ts[i]->number,ts[i]->name);
+      if (ts[i]->failcount) {
+	printf ("FAILED (%.2f%%) at line %d\n",
+		double(ts[i]->failcount)/double(total_reps)*100.0,
+		ts[i]->last_failed_line);
+      }
+      else {
+	printf ("ok\n");
+      }
+    }
+  }
+}
+
+//****************************************************************************
+
+int main (int argc, char **argv)
+{
+  // setup all tests
+
+  memset (testslot,0,sizeof(testslot));
+  dInitODE2(0);
+
+  MAKE_TEST(1,test_sphere_point_depth);
+  MAKE_TEST(2,test_box_point_depth);
+  MAKE_TEST(3,test_ccylinder_point_depth);
+  MAKE_TEST(4,test_plane_point_depth);
+
+  MAKE_TEST(10,test_ray_and_sphere);
+  MAKE_TEST(11,test_ray_and_box);
+  MAKE_TEST(12,test_ray_and_ccylinder);
+  MAKE_TEST(13,test_ray_and_plane);
+  MAKE_TEST(14,test_ray_and_cylinder);
+
+  MAKE_TEST(100,test_dBoxTouchesBox);
+  MAKE_TEST(101,test_dBoxBox);
+
+  do_tests (argc,argv);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_convex.cpp b/libs/ode-0.16.1/ode/demo/demo_convex.cpp
new file mode 100644
index 0000000..eea5c6e
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_convex.cpp
@@ -0,0 +1,307 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// Convex demo.
+// Serves as a test for the convex geometry.
+// By Bram Stolk.
+
+#include <assert.h>
+#ifdef HAVE_UNISTD_H
+#	include <unistd.h>
+#endif
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#include "halton235_geom.h"
+
+#ifdef dDOUBLE
+#	define dsDrawConvex dsDrawConvexD
+#	define dsDrawLine dsDrawLineD
+#endif
+
+
+#ifdef _MSC_VER
+#	pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+
+// Height at which we drop the composite block.
+const dReal H=4.20;
+
+static dWorldID world;
+static dSpaceID space;
+
+static dBodyID mbody;
+
+static dBodyID hbody[ halton_numc ];
+static dGeomID hgeom[ halton_numc ];
+
+static dJointGroupID contactgroup;
+
+static bool drawpos=false;
+static bool solidkernel=false;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback(void *data, dGeomID o1, dGeomID o2)
+{
+	assert(o1);
+	assert(o2);
+	if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+	{
+		// colliding a space with something
+		dSpaceCollide2(o1,o2,data,&nearCallback);
+		// Note we do not want to test intersections within a space,
+		// only between spaces.
+		return;
+	}
+
+	const int N = 32;
+	dContact contact[N];
+	int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
+	if (n > 0) 
+	{
+		for (int i=0; i<n; i++) 
+		{
+			contact[i].surface.slip1 = 0.7;
+			contact[i].surface.slip2 = 0.7;
+			contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
+			contact[i].surface.mu = 500.0; // was: dInfinity
+			contact[i].surface.soft_erp = 0.50;
+			contact[i].surface.soft_cfm = 0.03;
+			dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+			dJointAttach
+			(
+				c,
+				dGeomGetBody(contact[i].geom.g1),
+				dGeomGetBody(contact[i].geom.g2)
+			);
+		}
+	}
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+	dAllocateODEDataForThread(dAllocateMaskAll);
+	static float xyz[3] = {-8,0,5};
+	static float hpr[3] = {0.0f,-29.5000f,0.0000f};
+	dsSetViewpoint (xyz,hpr);
+	fprintf(stderr,"Press SPACE to reset the simulation.\n");
+}
+
+
+static void reset()
+{
+	dQuaternion q;
+	dQSetIdentity(q);
+	dBodySetPosition(mbody,0,0,0+H);
+	dBodySetQuaternion(mbody, q);
+	dBodySetLinearVel(mbody, 0,0,0);
+	dBodySetAngularVel(mbody, 0,0,0);
+	dBodyEnable(mbody);
+	for ( int i=0; i<halton_numc; ++i )
+	{
+		dBodyID body = hbody[i];
+		if ( !body ) continue;
+		dBodySetPosition(body, halton_pos[i][0], halton_pos[i][1], halton_pos[i][2]+H);
+		dBodySetQuaternion(body, q);
+		dBodySetLinearVel(body, 0,0,0);
+		dBodySetAngularVel(body, 0,0,0);
+		dBodyEnable(body);
+	}
+}
+
+
+// called when a key pressed
+
+static void command(int cmd)
+{
+	switch (cmd) 
+	{
+		case ' ':
+			reset();
+			break;
+		default:
+			break;
+	}
+}
+
+
+
+static void simLoop(int pause)
+{
+	double simstep = 1/240.0;
+	double dt = dsElapsedTime();
+
+	int nrofsteps = (int) ceilf(dt/simstep);
+	nrofsteps = nrofsteps > 8 ? 8 : nrofsteps;
+
+	for (int i=0; i<nrofsteps && !pause; i++)
+	{
+		dSpaceCollide (space,0,&nearCallback);
+		dWorldQuickStep (world, simstep);
+		dJointGroupEmpty (contactgroup);
+	}
+
+	dsSetColor (1,1,1);
+	// Draw the convex objects.
+	for ( int i=0; i<halton_numc; ++i )
+	{
+		dGeomID geom = hgeom[i];
+		dBodyID body = dGeomGetBody(geom);
+		//const dReal *pos = dBodyGetPosition(body);
+		//const dReal *rot = dBodyGetRotation(body);
+		const dReal *pos = dGeomGetPosition(geom);
+		const dReal *rot = dGeomGetRotation(geom);
+		dsDrawConvex
+		(
+			pos, rot,
+			halton_planes[i],
+			halton_numf[i],
+			halton_verts[i],
+			halton_numv[i],
+			halton_faces[i]
+		);
+	}
+
+	if (drawpos)
+	{
+		dsSetColor(1,0,0.2);
+		dsSetTexture(DS_NONE);
+		const dReal l = 0.35;
+		for ( int i=0; i<halton_numc; ++i )
+		{
+			dBodyID body = hbody[i];
+			const dReal *pos = dBodyGetPosition(body);
+			dReal x0[3] = { pos[0]-l, pos[1], pos[2] };
+			dReal x1[3] = { pos[0]+l, pos[1], pos[2] };
+			dReal y0[3] = { pos[0], pos[1]-l, pos[2] };
+			dReal y1[3] = { pos[0], pos[1]+l, pos[2] };
+			dReal z0[3] = { pos[0], pos[1], pos[2]-l };
+			dReal z1[3] = { pos[0], pos[1], pos[2]+l };
+			dsDrawLine(x0,x1);
+			dsDrawLine(y0,y1);
+			dsDrawLine(z0,z1);
+		}
+	}
+}
+
+
+int main (int argc, char **argv)
+{
+	dMass m;
+
+	// setup pointers to drawstuff callback functions
+	dsFunctions fn;
+	fn.version = DS_VERSION;
+	fn.start = &start;
+	fn.step = &simLoop;
+	fn.command = &command;
+	fn.stop = 0;
+	fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+	// create world
+	dInitODE2(0);
+	world = dWorldCreate();
+	space = dHashSpaceCreate (0);
+	dHashSpaceSetLevels(space, -3, 5);
+	dCreatePlane(space,0,0,1,0);	// Add a ground plane.
+
+	contactgroup = dJointGroupCreate (0);
+	dWorldSetGravity(world,0,0,-9.8);
+	dWorldSetQuickStepNumIterations(world, 32);
+	dWorldSetContactMaxCorrectingVel(world, 40);
+	dWorldSetMaxAngularSpeed(world, 62.8);
+	dWorldSetERP(world, 0.7);
+	dWorldSetQuickStepW(world, 0.75); // For increased stability.
+
+	dWorldSetAutoDisableFlag( world, true );
+	dWorldSetAutoDisableLinearThreshold( world, 0.01 );
+	dWorldSetAutoDisableAngularThreshold( world, 0.03 );
+	dWorldSetAutoDisableTime( world, 0.15f );
+
+	const float kernelrad = 0.7;
+
+	mbody = dBodyCreate(world);
+	dBodySetPosition(mbody, 0,0,0+H);
+	dMassSetSphere( &m, 5, kernelrad );
+	dBodySetMass( mbody, &m );
+
+	for (int i=0; i<halton_numc; ++i )
+	{
+		dGeomID geom = dCreateConvex
+		(
+			space,
+			halton_planes[i],
+			halton_numf[i],
+			halton_verts[i],
+			halton_numv[i],
+			halton_faces[i]
+		);
+		hgeom[i] = geom;
+		const dReal x = halton_pos[i][0];
+		const dReal y = halton_pos[i][1];
+		const dReal z = halton_pos[i][2];
+		const dReal dsqr = x*x + y*y + z*z;
+
+		if ( dsqr < kernelrad*kernelrad && solidkernel )
+		{
+			dGeomSetBody(geom, mbody);
+			dGeomSetOffsetPosition(geom, x,y,z);
+		}
+		else
+		{
+			dBodyID body = dBodyCreate(world);
+			hbody[i] = body;
+			dBodySetPosition(body, x,y,z+H);
+			dReal volu = halton_volu[i];
+			dReal rad = pow( volu * 3 / (4*M_PI), (1/3.0) );
+			dMassSetSphere( &m,5,rad );
+			dBodySetMass( body,&m );
+#if 1
+			dBodySetLinearDamping (body, 0.0005);
+			dBodySetAngularDamping(body, 0.0300);
+#endif
+			dGeomSetBody(geom,body);
+		}
+	}
+
+	// run simulation
+	const int w=1280;
+	const int h=720;
+	dsSimulationLoop (argc,argv,w,h,&fn);
+
+	dJointGroupEmpty (contactgroup);
+	dJointGroupDestroy (contactgroup);
+	dSpaceDestroy (space);
+	dWorldDestroy (world);
+	dCloseODE();
+	return 0;
+}
+
+
diff --git a/libs/ode-0.16.1/ode/demo/demo_crash.cpp b/libs/ode-0.16.1/ode/demo/demo_crash.cpp
new file mode 100644
index 0000000..38ec1ad
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_crash.cpp
@@ -0,0 +1,652 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// This is a demo of the QuickStep and StepFast methods,
+// originally by David Whittaker.
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+
+#define LENGTH 3.5		// chassis length
+#define WIDTH 2.5		// chassis width
+#define HEIGHT 1.0		// chassis height
+#define RADIUS 0.5		// wheel radius
+#define STARTZ 1.0		// starting height of chassis
+#define CMASS 1			// chassis mass
+#define WMASS 1			// wheel mass
+#define COMOFFSET -5		// center of mass offset
+#define WALLMASS 1		// wall box mass
+#define BALLMASS 1		// ball mass
+#define FMAX 25			// car engine fmax
+#define ROWS 1			// rows of cars
+#define COLS 1			// columns of cars
+#define ITERS 20		// number of iterations
+#define WBOXSIZE 1.0		// size of wall boxes
+#define WALLWIDTH 12		// width of wall
+#define WALLHEIGHT 10		// height of wall
+#define DISABLE_THRESHOLD 0.008	// maximum velocity (squared) a body can have and be disabled
+#define DISABLE_STEPS 10	// number of steps a box has to have been disable-able before it will be disabled
+#define CANNON_X -10		// x position of cannon
+#define CANNON_Y 5		// y position of cannon
+#define CANNON_BALL_MASS 10	// mass of the cannon ball
+#define CANNON_BALL_RADIUS 0.5
+
+static const dVector3 xunit = { 1, 0, 0 }, yunit = { 0, 1, 0 }, zpunit = { 0, 0, 1 }, zmunit = { 0, 0, -1 };
+
+//#define BOX
+#define CARS
+#define WALL
+//#define BALLS
+//#define BALLSTACK
+//#define ONEBALL
+//#define CENTIPEDE
+#define CANNON
+
+// dynamics and collision objects (chassis, 3 wheels, environment)
+
+static dWorldID world;
+static dSpaceID space;
+static dThreadingImplementationID threading;
+static dThreadingThreadPoolID pool;
+static dBodyID body[10000];
+static int bodies;
+static dJointID joint[100000];
+static int joints;
+static dJointGroupID contactgroup;
+static dGeomID ground;
+static dGeomID box[10000];
+static int boxes;
+static dGeomID sphere[10000];
+static int spheres;
+static dGeomID wall_boxes[10000];
+static dBodyID wall_bodies[10000];
+static dGeomID cannon_ball_geom;
+static dBodyID cannon_ball_body;
+static int wb_stepsdis[10000];
+static int wb;
+static bool doFast;
+static dBodyID b;
+static dMass m;
+
+
+// things that the user controls
+
+static dReal turn = 0, speed = 0;	// user commands
+static dReal cannon_angle=0,cannon_elevation=-1.2;
+
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+	int i,n;
+	
+	dBodyID b1 = dGeomGetBody(o1);
+	dBodyID b2 = dGeomGetBody(o2);
+	if (b1 && b2 && dAreConnected(b1, b2))
+		return;
+	
+	const int N = 4;
+	dContact contact[N];
+	n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
+	if (n > 0) {
+		for (i=0; i<n; i++) {
+			contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
+			if (dGeomGetClass(o1) == dSphereClass || dGeomGetClass(o2) == dSphereClass)
+				contact[i].surface.mu = 20;
+			else
+				contact[i].surface.mu = 0.5;
+			contact[i].surface.slip1 = 0.0;
+			contact[i].surface.slip2 = 0.0;
+			contact[i].surface.soft_erp = 0.8;
+			contact[i].surface.soft_cfm = 0.01;
+			dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+			dJointAttach (c,dGeomGetBody(o1),dGeomGetBody(o2));
+		}
+	}
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+	dAllocateODEDataForThread(dAllocateMaskAll);
+
+	static float xyz[3] = {3.8548f,9.0843f,7.5900f};
+	static float hpr[3] = {-145.5f,-22.5f,0.25f};
+	dsSetViewpoint (xyz,hpr);
+	printf ("Press:\t'a' to increase speed.\n"
+			"\t'z' to decrease speed.\n"
+			"\t',' to steer left.\n"
+			"\t'.' to steer right.\n"
+			"\t' ' to reset speed and steering.\n"
+			"\t'[' to turn the cannon left.\n"
+			"\t']' to turn the cannon right.\n"
+			"\t'1' to raise the cannon.\n"
+			"\t'2' to lower the cannon.\n"
+			"\t'x' to shoot from the cannon.\n"
+			"\t'f' to toggle fast step mode.\n"
+			"\t'r' to reset simulation.\n");
+}
+
+
+void makeCar(dReal x, dReal y, int &bodyI, int &jointI, int &boxI, int &sphereI)
+{
+	int i;
+	dMass m;
+	
+	// chassis body
+	body[bodyI] = dBodyCreate (world);
+	dBodySetPosition (body[bodyI],x,y,STARTZ);
+	dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
+	dMassAdjust (&m,CMASS/2.0);
+	dBodySetMass (body[bodyI],&m);
+	box[boxI] = dCreateBox (space,LENGTH,WIDTH,HEIGHT);
+	dGeomSetBody (box[boxI],body[bodyI]);
+	
+	// wheel bodies
+	for (i=1; i<=4; i++) {
+		body[bodyI+i] = dBodyCreate (world);
+		dQuaternion q;
+		dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
+		dBodySetQuaternion (body[bodyI+i],q);
+		dMassSetSphere (&m,1,RADIUS);
+		dMassAdjust (&m,WMASS);
+		dBodySetMass (body[bodyI+i],&m);
+		sphere[sphereI+i-1] = dCreateSphere (space,RADIUS);
+		dGeomSetBody (sphere[sphereI+i-1],body[bodyI+i]);
+	}
+	dBodySetPosition (body[bodyI+1],x+0.4*LENGTH-0.5*RADIUS,y+WIDTH*0.5,STARTZ-HEIGHT*0.5);
+	dBodySetPosition (body[bodyI+2],x+0.4*LENGTH-0.5*RADIUS,y-WIDTH*0.5,STARTZ-HEIGHT*0.5);
+	dBodySetPosition (body[bodyI+3],x-0.4*LENGTH+0.5*RADIUS,y+WIDTH*0.5,STARTZ-HEIGHT*0.5);
+	dBodySetPosition (body[bodyI+4],x-0.4*LENGTH+0.5*RADIUS,y-WIDTH*0.5,STARTZ-HEIGHT*0.5);
+	
+	// front and back wheel hinges
+	for (i=0; i<4; i++) {
+		joint[jointI+i] = dJointCreateHinge2 (world,0);
+		dJointAttach (joint[jointI+i],body[bodyI],body[bodyI+i+1]);
+		const dReal *a = dBodyGetPosition (body[bodyI+i+1]);
+		dJointSetHinge2Anchor (joint[jointI+i],a[0],a[1],a[2]);
+		dJointSetHinge2Axes (joint[jointI+i], (i<2 ? zpunit : zmunit), yunit);
+		dJointSetHinge2Param (joint[jointI+i],dParamSuspensionERP,0.8);
+		dJointSetHinge2Param (joint[jointI+i],dParamSuspensionCFM,1e-5);
+		dJointSetHinge2Param (joint[jointI+i],dParamVel2,0);
+		dJointSetHinge2Param (joint[jointI+i],dParamFMax2,FMAX);
+	}
+	
+	//center of mass offset body. (hang another copy of the body COMOFFSET units below it by a fixed joint)
+	dBodyID b = dBodyCreate (world);
+	dBodySetPosition (b,x,y,STARTZ+COMOFFSET);
+	dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
+	dMassAdjust (&m,CMASS/2.0);
+	dBodySetMass (b,&m);
+	dJointID j = dJointCreateFixed(world, 0);
+	dJointAttach(j, body[bodyI], b);
+	dJointSetFixed(j);
+	//box[boxI+1] = dCreateBox(space,LENGTH,WIDTH,HEIGHT);
+	//dGeomSetBody (box[boxI+1],b);
+	
+	bodyI	+= 5;
+	jointI	+= 4;
+	boxI	+= 1;
+	sphereI	+= 4;
+}
+
+static 
+void shutdownSimulation()
+{
+    // destroy world if it exists
+    if (bodies)
+    {
+        dThreadingImplementationShutdownProcessing(threading);
+        dThreadingFreeThreadPool(pool);
+        dWorldSetStepThreadingImplementation(world, NULL, NULL);
+        dThreadingFreeImplementation(threading);
+
+        dJointGroupDestroy (contactgroup);
+        dSpaceDestroy (space);
+        dWorldDestroy (world);
+
+        bodies = 0;
+    }
+}
+
+static 
+void setupSimulation()
+{
+	int i;
+	for (i = 0; i < 1000; i++)
+		wb_stepsdis[i] = 0;
+
+	// recreate world
+	
+	world = dWorldCreate();
+
+//	space = dHashSpaceCreate( 0 );
+//	space = dSimpleSpaceCreate( 0 );
+	space = dSweepAndPruneSpaceCreate( 0, dSAP_AXES_XYZ );
+
+	contactgroup = dJointGroupCreate (0);
+	dWorldSetGravity (world,0,0,-1.5);
+	dWorldSetCFM (world, 1e-5);
+	dWorldSetERP (world, 0.8);
+	dWorldSetQuickStepNumIterations (world,ITERS);
+
+    threading = dThreadingAllocateMultiThreadedImplementation();
+    pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+    dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+    // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+    dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
+
+	ground = dCreatePlane (space,0,0,1,0);
+	
+	bodies = 0;
+	joints = 0;
+	boxes = 0;
+	spheres = 0;
+	wb = 0;
+	
+#ifdef CARS
+	for (dReal x = 0.0; x < COLS*(LENGTH+RADIUS); x += LENGTH+RADIUS)
+		for (dReal y = -((ROWS-1)*(WIDTH/2+RADIUS)); y <= ((ROWS-1)*(WIDTH/2+RADIUS)); y += WIDTH+RADIUS*2)
+			makeCar(x, y, bodies, joints, boxes, spheres);
+#endif
+#ifdef WALL
+	bool offset = false;
+	for (dReal z = WBOXSIZE/2.0; z <= WALLHEIGHT; z+=WBOXSIZE)
+	{
+		offset = !offset;
+		for (dReal y = (-WALLWIDTH+z)/2; y <= (WALLWIDTH-z)/2; y+=WBOXSIZE)
+		{
+			wall_bodies[wb] = dBodyCreate (world);
+			dBodySetPosition (wall_bodies[wb],-20,y,z);
+			dMassSetBox (&m,1,WBOXSIZE,WBOXSIZE,WBOXSIZE);
+			dMassAdjust (&m, WALLMASS);
+			dBodySetMass (wall_bodies[wb],&m);
+			wall_boxes[wb] = dCreateBox (space,WBOXSIZE,WBOXSIZE,WBOXSIZE);
+			dGeomSetBody (wall_boxes[wb],wall_bodies[wb]);
+			//dBodyDisable(wall_bodies[wb++]);
+			wb++;
+		}
+	}
+	dMessage(0,"wall boxes: %i", wb);
+#endif
+#ifdef BALLS
+	for (dReal x = -7; x <= -4; x+=1)
+		for (dReal y = -1.5; y <= 1.5; y+=1)
+			for (dReal z = 1; z <= 4; z+=1)
+			{
+				b = dBodyCreate (world);
+				dBodySetPosition (b,x*RADIUS*2,y*RADIUS*2,z*RADIUS*2);
+				dMassSetSphere (&m,1,RADIUS);
+				dMassAdjust (&m, BALLMASS);
+				dBodySetMass (b,&m);
+				sphere[spheres] = dCreateSphere (space,RADIUS);
+				dGeomSetBody (sphere[spheres++],b);
+			}
+#endif
+#ifdef ONEBALL
+	b = dBodyCreate (world);
+	dBodySetPosition (b,0,0,2);
+	dMassSetSphere (&m,1,RADIUS);
+	dMassAdjust (&m, 1);
+	dBodySetMass (b,&m);
+	sphere[spheres] = dCreateSphere (space,RADIUS);
+	dGeomSetBody (sphere[spheres++],b);
+#endif
+#ifdef BALLSTACK
+	for (dReal z = 1; z <= 6; z+=1)
+	{
+		b = dBodyCreate (world);
+		dBodySetPosition (b,0,0,z*RADIUS*2);
+		dMassSetSphere (&m,1,RADIUS);
+		dMassAdjust (&m, 0.1);
+		dBodySetMass (b,&m);
+		sphere[spheres] = dCreateSphere (space,RADIUS);
+		dGeomSetBody (sphere[spheres++],b);
+	}
+#endif
+#ifdef CENTIPEDE
+	dBodyID lastb = 0;
+	for (dReal y = 0; y < 10*LENGTH; y+=LENGTH+0.1)
+	{
+		// chassis body
+		
+		b = body[bodies] = dBodyCreate (world);
+		dBodySetPosition (body[bodies],-15,y,STARTZ);
+		dMassSetBox (&m,1,WIDTH,LENGTH,HEIGHT);
+		dMassAdjust (&m,CMASS);
+		dBodySetMass (body[bodies],&m);
+		box[boxes] = dCreateBox (space,WIDTH,LENGTH,HEIGHT);
+		dGeomSetBody (box[boxes++],body[bodies++]);
+		
+		for (dReal x = -17; x > -20; x-=RADIUS*2)
+		{
+			body[bodies] = dBodyCreate (world);
+			dBodySetPosition(body[bodies], x, y, STARTZ);
+			dMassSetSphere(&m, 1, RADIUS);
+			dMassAdjust(&m, WMASS);
+			dBodySetMass(body[bodies], &m);
+			sphere[spheres] = dCreateSphere (space, RADIUS);
+			dGeomSetBody (sphere[spheres++], body[bodies]);
+			
+			joint[joints] = dJointCreateHinge2 (world,0);
+			if (x == -17)
+				dJointAttach (joint[joints],b,body[bodies]);
+			else
+				dJointAttach (joint[joints],body[bodies-2],body[bodies]);
+			const dReal *a = dBodyGetPosition (body[bodies++]);
+			dJointSetHinge2Anchor (joint[joints],a[0],a[1],a[2]);
+			dJointSetHinge2Axes (joint[joints], zpunit, xunit);
+			dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0);
+			dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5);
+			dJointSetHinge2Param (joint[joints],dParamLoStop,0);
+			dJointSetHinge2Param (joint[joints],dParamHiStop,0);
+			dJointSetHinge2Param (joint[joints],dParamVel2,-10.0);
+			dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX);
+
+			body[bodies] = dBodyCreate (world);
+			dBodySetPosition(body[bodies], -30 - x, y, STARTZ);
+			dMassSetSphere(&m, 1, RADIUS);
+			dMassAdjust(&m, WMASS);
+			dBodySetMass(body[bodies], &m);
+			sphere[spheres] = dCreateSphere (space, RADIUS);
+			dGeomSetBody (sphere[spheres++], body[bodies]);
+			
+			joint[joints] = dJointCreateHinge2 (world,0);
+			if (x == -17)
+				dJointAttach (joint[joints],b,body[bodies]);
+			else
+				dJointAttach (joint[joints],body[bodies-2],body[bodies]);
+			const dReal *b = dBodyGetPosition (body[bodies++]);
+			dJointSetHinge2Anchor (joint[joints],b[0],b[1],b[2]);
+			dJointSetHinge2Axes (joint[joints], zpunit, xunit);
+			dJointSetHinge2Param (joint[joints],dParamSuspensionERP,1.0);
+			dJointSetHinge2Param (joint[joints],dParamSuspensionCFM,1e-5);
+			dJointSetHinge2Param (joint[joints],dParamLoStop,0);
+			dJointSetHinge2Param (joint[joints],dParamHiStop,0);
+			dJointSetHinge2Param (joint[joints],dParamVel2,10.0);
+			dJointSetHinge2Param (joint[joints++],dParamFMax2,FMAX);
+		}
+		if (lastb)
+		{
+			dJointID j = dJointCreateFixed(world,0);
+			dJointAttach (j, b, lastb);
+			dJointSetFixed(j);
+		}
+		lastb = b;
+	}
+#endif
+#ifdef BOX
+	body[bodies] = dBodyCreate (world);
+	dBodySetPosition (body[bodies],0,0,HEIGHT/2);
+	dMassSetBox (&m,1,LENGTH,WIDTH,HEIGHT);
+	dMassAdjust (&m, 1);
+	dBodySetMass (body[bodies],&m);
+	box[boxes] = dCreateBox (space,LENGTH,WIDTH,HEIGHT);
+	dGeomSetBody (box[boxes++],body[bodies++]);	
+#endif
+#ifdef CANNON
+	cannon_ball_body = dBodyCreate (world);
+	cannon_ball_geom = dCreateSphere (space,CANNON_BALL_RADIUS);
+	dMassSetSphereTotal (&m,CANNON_BALL_MASS,CANNON_BALL_RADIUS);
+	dBodySetMass (cannon_ball_body,&m);
+	dGeomSetBody (cannon_ball_geom,cannon_ball_body);
+	dBodySetPosition (cannon_ball_body,CANNON_X,CANNON_Y,CANNON_BALL_RADIUS);
+#endif
+}
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+	switch (cmd) {
+	case 'a': case 'A':
+		speed += 0.3;
+		break;
+	case 'z': case 'Z':
+		speed -= 0.3;
+		break;
+	case ',':
+		turn += 0.1;
+		if (turn > 0.3)
+			turn = 0.3;
+		break;
+	case '.':
+		turn -= 0.1;
+		if (turn < -0.3)
+			turn = -0.3;
+		break;
+	case ' ':
+		speed = 0;
+		turn = 0;
+		break;
+	case 'f': case 'F':
+		doFast = !doFast;
+		break;
+	case 'r': case 'R':
+        shutdownSimulation();
+		setupSimulation();
+		break;
+	case '[':
+		cannon_angle += 0.1;
+		break;
+	case ']':
+		cannon_angle -= 0.1;
+		break;
+	case '1':
+		cannon_elevation += 0.1;
+		break;
+	case '2':
+		cannon_elevation -= 0.1;
+		break;
+	case 'x': case 'X': {
+		dMatrix3 R2,R3,R4;
+		dRFromAxisAndAngle (R2,0,0,1,cannon_angle);
+		dRFromAxisAndAngle (R3,0,1,0,cannon_elevation);
+		dMultiply0 (R4,R2,R3,3,3,3);
+		dReal cpos[3] = {CANNON_X,CANNON_Y,1};
+		for (int i=0; i<3; i++) cpos[i] += 3*R4[i*4+2];
+		dBodySetPosition (cannon_ball_body,cpos[0],cpos[1],cpos[2]);
+		dReal force = 10;
+		dBodySetLinearVel (cannon_ball_body,force*R4[2],force*R4[6],force*R4[10]);
+		dBodySetAngularVel (cannon_ball_body,0,0,0);
+		break;
+	}
+	}
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+	int i, j;
+		
+	dsSetTexture (DS_WOOD);
+
+	if (!pause) {
+#ifdef BOX
+		dBodyAddForce(body[bodies-1],lspeed,0,0);
+#endif
+		for (j = 0; j < joints; j++)
+		{
+			dReal curturn = dJointGetHinge2Angle1 (joint[j]);
+			//dMessage (0,"curturn %e, turn %e, vel %e", curturn, turn, (turn-curturn)*1.0);
+			dJointSetHinge2Param(joint[j],dParamVel,(turn-curturn)*1.0);
+			dJointSetHinge2Param(joint[j],dParamFMax,dInfinity);
+			dJointSetHinge2Param(joint[j],dParamVel2,speed);
+			dJointSetHinge2Param(joint[j],dParamFMax2,FMAX);
+			dBodyEnable(dJointGetBody(joint[j],0));
+			dBodyEnable(dJointGetBody(joint[j],1));
+		}		
+		if (doFast)
+		{
+			dSpaceCollide (space,0,&nearCallback);
+			dWorldQuickStep (world,0.05);
+			dJointGroupEmpty (contactgroup);
+		}
+		else
+		{
+			dSpaceCollide (space,0,&nearCallback);
+			dWorldStep (world,0.05);
+			dJointGroupEmpty (contactgroup);
+		}
+		
+		for (i = 0; i < wb; i++)
+		{
+			b = dGeomGetBody(wall_boxes[i]);
+			if (dBodyIsEnabled(b)) 
+			{
+				bool disable = true;
+				const dReal *lvel = dBodyGetLinearVel(b);
+				dReal lspeed = lvel[0]*lvel[0]+lvel[1]*lvel[1]+lvel[2]*lvel[2];
+				if (lspeed > DISABLE_THRESHOLD)
+					disable = false;
+				const dReal *avel = dBodyGetAngularVel(b);
+				dReal aspeed = avel[0]*avel[0]+avel[1]*avel[1]+avel[2]*avel[2];
+				if (aspeed > DISABLE_THRESHOLD)
+					disable = false;
+				
+				if (disable)
+					wb_stepsdis[i]++;
+				else
+					wb_stepsdis[i] = 0;
+				
+				if (wb_stepsdis[i] > DISABLE_STEPS)
+				{
+					dBodyDisable(b);
+					dsSetColor(0.5,0.5,1);
+				}
+				else
+					dsSetColor(1,1,1);
+
+			}
+			else
+				dsSetColor(0.4,0.4,0.4);
+			dVector3 ss;
+			dGeomBoxGetLengths (wall_boxes[i], ss);
+			dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss);
+		}
+	}
+	else
+	{
+		for (i = 0; i < wb; i++)
+		{
+			b = dGeomGetBody(wall_boxes[i]);
+			if (dBodyIsEnabled(b))
+				dsSetColor(1,1,1);
+			else
+				dsSetColor(0.4,0.4,0.4);
+			dVector3 ss;
+			dGeomBoxGetLengths (wall_boxes[i], ss);
+			dsDrawBox(dGeomGetPosition(wall_boxes[i]), dGeomGetRotation(wall_boxes[i]), ss);
+		}
+	}
+	
+	dsSetColor (0,1,1);
+	dReal sides[3] = {LENGTH,WIDTH,HEIGHT};
+	for (i = 0; i < boxes; i++)
+		dsDrawBox (dGeomGetPosition(box[i]),dGeomGetRotation(box[i]),sides);
+	dsSetColor (1,1,1);
+	for (i=0; i< spheres; i++) dsDrawSphere (dGeomGetPosition(sphere[i]),
+				   dGeomGetRotation(sphere[i]),RADIUS);
+	
+	// draw the cannon
+	dsSetColor (1,1,0);
+	dMatrix3 R2,R3,R4;
+	dRFromAxisAndAngle (R2,0,0,1,cannon_angle);
+	dRFromAxisAndAngle (R3,0,1,0,cannon_elevation);
+	dMultiply0 (R4,R2,R3,3,3,3);
+	dReal cpos[3] = {CANNON_X,CANNON_Y,1};
+	dReal csides[3] = {2,2,2};
+	dsDrawBox (cpos,R2,csides);
+	for (i=0; i<3; i++) cpos[i] += 1.5*R4[i*4+2];
+	dsDrawCylinder (cpos,R4,3,0.5);
+	
+	// draw the cannon ball
+	dsDrawSphere (dBodyGetPosition(cannon_ball_body),dBodyGetRotation(cannon_ball_body),
+		      CANNON_BALL_RADIUS);
+}
+
+int main (int argc, char **argv)
+{
+	doFast = true;
+	
+	// setup pointers to drawstuff callback functions
+	dsFunctions fn;
+	fn.version = DS_VERSION;
+	fn.start = &start;
+	fn.step = &simLoop;
+	fn.command = &command;
+	fn.stop = 0;
+	fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+	
+	dInitODE2(0);
+
+	bodies = 0;
+	joints = 0;
+	boxes = 0;
+	spheres = 0;
+	
+	setupSimulation();
+	
+	dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+	dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(8, 0, dAllocateFlagBasicData, NULL);
+	dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+	// dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+	dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
+	// run simulation
+	dsSimulationLoop (argc,argv,352,288,&fn);
+	
+	dThreadingImplementationShutdownProcessing(threading);
+	dThreadingFreeThreadPool(pool);
+	dWorldSetStepThreadingImplementation(world, NULL, NULL);
+	dThreadingFreeImplementation(threading);
+
+	shutdownSimulation();
+	dCloseODE();
+	return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_cyl.cpp b/libs/ode-0.16.1/ode/demo/demo_cyl.cpp
new file mode 100644
index 0000000..368a0c1
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_cyl.cpp
@@ -0,0 +1,321 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// Test for non-capped cylinder, by Bram Stolk
+#include <ode/odeconfig.h>
+#include <assert.h>
+#ifdef HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#include "world_geom3.h" // this is our world mesh
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+
+#define BOX
+#define CYL
+
+// some constants
+
+#define RADIUS 0.22	// wheel radius
+#define WMASS 0.2	// wheel mass
+#define WHEELW 0.2	// wheel width
+#define BOXSZ 0.4	// box size
+//#define CYL_GEOM_OFFSET // rotate cylinder using geom offset
+
+// dynamics and collision objects (chassis, 3 wheels, environment)
+
+static dWorldID world;
+static dSpaceID space;
+#ifdef BOX
+static dBodyID boxbody;
+static dGeomID boxgeom;
+#endif
+#ifdef CYL
+static dBodyID cylbody;
+static dGeomID cylgeom;
+#endif
+static dJointGroupID contactgroup;
+static dGeomID world_mesh;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+  assert(o1);
+  assert(o2);
+
+  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+  {
+      fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2);
+    // colliding a space with something
+    dSpaceCollide2(o1,o2,data,&nearCallback);
+    // Note we do not want to test intersections within a space,
+    // only between spaces.
+    return;
+  }
+
+//  fprintf(stderr,"testing geoms %p %p\n", o1, o2);
+
+  const int N = 32;
+  dContact contact[N];
+  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
+  if (n > 0) 
+  {
+    for (int i=0; i<n; i++) 
+    {
+      contact[i].surface.slip1 = 0.7;
+      contact[i].surface.slip2 = 0.7;
+      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
+      contact[i].surface.mu = 50.0; // was: dInfinity
+      contact[i].surface.soft_erp = 0.96;
+      contact[i].surface.soft_cfm = 0.04;
+      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+      dJointAttach (c,
+		    dGeomGetBody(contact[i].geom.g1),
+		    dGeomGetBody(contact[i].geom.g2));
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {-8,-9,3};
+  static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+
+static void reset_state(void)
+{
+  float sx=-4, sy=-4, sz=2;
+  dQuaternion q;
+  dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
+#ifdef BOX
+  dBodySetPosition (boxbody, sx, sy+1, sz);
+  dBodySetLinearVel (boxbody, 0,0,0);
+  dBodySetAngularVel (boxbody, 0,0,0);
+  dBodySetQuaternion (boxbody, q);
+#endif
+#ifdef CYL
+  dBodySetPosition (cylbody, sx, sy, sz);
+  dBodySetLinearVel (cylbody, 0,0,0);
+  dBodySetAngularVel (cylbody, 0,0,0);
+  dBodySetQuaternion (cylbody, q);
+#endif
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  switch (cmd) 
+  {
+    case ' ':
+	  reset_state();
+      break;
+  }
+}
+
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  double simstep = 0.005; // 5ms simulation steps
+  double dt = dsElapsedTime();
+  int nrofsteps = (int) ceilf(dt/simstep);
+  for (int i=0; i<nrofsteps && !pause; i++)
+  {
+    dSpaceCollide (space,0,&nearCallback);
+    dWorldQuickStep (world, simstep);
+    dJointGroupEmpty (contactgroup);
+  }
+
+  dsSetColor (1,1,1);
+#ifdef BOX
+  const dReal *BPos = dBodyGetPosition(boxbody);
+  const dReal *BRot = dBodyGetRotation(boxbody);
+  float bpos[3] = {BPos[0], BPos[1], BPos[2]};
+  float brot[12] = { BRot[0], BRot[1], BRot[2], BRot[3], BRot[4], BRot[5], BRot[6], BRot[7], BRot[8], BRot[9], BRot[10], BRot[11] };
+  float sides[3] = {BOXSZ, BOXSZ, BOXSZ};
+  dsDrawBox
+  (
+    bpos, 
+    brot, 
+    sides
+  ); // single precision
+#endif
+#ifdef CYL
+  const dReal *CPos = dGeomGetPosition(cylgeom);
+  const dReal *CRot = dGeomGetRotation(cylgeom);
+  float cpos[3] = {CPos[0], CPos[1], CPos[2]};
+  float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
+  dsDrawCylinder
+  ( 
+//    dBodyGetPosition(cylbody),
+//    dBodyGetRotation(cylbody),
+    cpos,
+    crot,
+    WHEELW,
+    RADIUS
+  ); // single precision
+#endif
+
+  // draw world trimesh
+  dsSetColor(0.7,0.7,0.4);
+  dsSetTexture (DS_NONE);
+
+  const dReal* Pos = dGeomGetPosition(world_mesh);
+  float pos[3] = { Pos[0], Pos[1], Pos[2] };
+
+  const dReal* Rot = dGeomGetRotation(world_mesh);
+  float rot[12] = { Rot[0], Rot[1], Rot[2], Rot[3], Rot[4], Rot[5], Rot[6], Rot[7], Rot[8], Rot[9], Rot[10], Rot[11] };
+
+  int numi = sizeof(world_indices)  / sizeof(dTriIndex);
+
+  for (int i=0; i<numi/3; i++)
+  {
+    int i0 = world_indices[i*3+0];
+    int i1 = world_indices[i*3+1];
+    int i2 = world_indices[i*3+2];
+    float *v0 = world_vertices+i0*3;
+    float *v1 = world_vertices+i1*3;
+    float *v2 = world_vertices+i2*3;
+    dsDrawTriangle(pos, rot, v0,v1,v2, true); // single precision draw
+  }
+}
+
+
+int main (int argc, char **argv)
+{
+  dMass m;
+  dMatrix3 R;
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-9.8);
+  dWorldSetQuickStepNumIterations (world, 12);
+
+
+  // Create a static world using a triangle mesh that we can collide with.
+  int numv = sizeof(world_vertices)/(3*sizeof(float));
+  int numi = sizeof(world_indices)/ sizeof(dTriIndex);
+  printf("numv=%d, numi=%d\n", numv, numi);
+  dTriMeshDataID Data = dGeomTriMeshDataCreate();
+
+  dGeomTriMeshDataBuildSingle
+  (
+    Data, 
+    world_vertices, 
+    3 * sizeof(float), 
+    numv, 
+    world_indices, 
+    numi, 
+    3 * sizeof(dTriIndex)
+  );
+
+  world_mesh = dCreateTriMesh(space, Data, 0, 0, 0);
+  dGeomSetPosition(world_mesh, 0, 0, 0.5);
+  dRFromAxisAndAngle (R, 0,1,0, 0.0);
+  dGeomSetRotation (world_mesh, R);
+
+
+#ifdef BOX
+  boxbody = dBodyCreate (world);
+  dMassSetBox (&m,1, BOXSZ, BOXSZ, BOXSZ);
+  dMassAdjust (&m, 1);
+  dBodySetMass (boxbody,&m);
+  boxgeom = dCreateBox (0, BOXSZ, BOXSZ, BOXSZ);
+  dGeomSetBody (boxgeom,boxbody);
+  dSpaceAdd (space, boxgeom);
+#endif
+#ifdef CYL
+  cylbody = dBodyCreate (world);
+  dMassSetSphere (&m,1,RADIUS);
+  dMassAdjust (&m,WMASS);
+  dBodySetMass (cylbody,&m);
+  cylgeom = dCreateCylinder(0, RADIUS, WHEELW);
+  dGeomSetBody (cylgeom,cylbody);
+  
+  #if defined(CYL_GEOM_OFFSET)
+  dMatrix3 mat;
+  dRFromAxisAndAngle(mat,1.0f,0.0f,0.0f,M_PI/2.0);
+  dGeomSetOffsetRotation(cylgeom,mat);
+  #endif
+    
+  dSpaceAdd (space, cylgeom);
+#endif
+  reset_state();
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupEmpty (contactgroup);
+  dJointGroupDestroy (contactgroup);
+
+  // First destroy geoms, then space, then the world.
+#ifdef CYL
+  dGeomDestroy (cylgeom);
+#endif
+#ifdef BOX
+  dGeomDestroy (boxgeom);
+#endif
+  dGeomDestroy (world_mesh);
+
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+  (void)world_normals; // get rid of compiler warnings
+}
+
+
+
diff --git a/libs/ode-0.16.1/ode/demo/demo_cylvssphere.cpp b/libs/ode-0.16.1/ode/demo/demo_cylvssphere.cpp
new file mode 100644
index 0000000..a2dc750
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_cylvssphere.cpp
@@ -0,0 +1,240 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// Test for cylinder vs sphere, by Bram Stolk
+
+#include <ode/odeconfig.h>
+#include <assert.h>
+#ifdef HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+
+// dynamics and collision objects (chassis, 3 wheels, environment)
+
+static dWorldID world;
+static dSpaceID space;
+
+static dBodyID cylbody;
+static dGeomID cylgeom;
+
+static dBodyID sphbody;
+static dGeomID sphgeom;
+
+static dJointGroupID contactgroup;
+
+static bool show_contacts = true;
+
+#define CYLRADIUS    0.6
+#define CYLLENGTH    2.0
+#define SPHERERADIUS 0.5
+
+    
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawLine dsDrawLineD
+#endif
+
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+  assert(o1);
+  assert(o2);
+
+  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+  {
+      fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2);
+    // colliding a space with something
+    dSpaceCollide2(o1,o2,data,&nearCallback);
+    // Note we do not want to test intersections within a space,
+    // only between spaces.
+    return;
+  }
+
+  const int N = 32;
+  dContact contact[N];
+  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
+  if (n > 0) 
+  {
+    for (int i=0; i<n; i++) 
+    {
+      contact[i].surface.mode = 0;
+      contact[i].surface.mu = 50.0; // was: dInfinity
+      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+      dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
+      if (show_contacts) 
+      {
+        dMatrix3 RI;
+        dRSetIdentity (RI);
+        const dReal ss[3] = {0.12,0.12,0.12};
+        dsSetColorAlpha (0,0,1,0.5);
+        dsDrawBox (contact[i].geom.pos,RI,ss);
+        dReal *pos  = contact[i].geom.pos;
+        dReal depth = contact[i].geom.depth;
+        dReal *norm = contact[i].geom.normal;
+        dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]};
+        dsSetColorAlpha (1,1,1,1);
+        dsDrawLine (contact[i].geom.pos, endp);
+      }
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {-8,-9,3};
+  static float hpr[3] = {45.0000f,-27.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  switch (cmd) 
+  {
+    case ' ':
+      break;
+  }
+}
+
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  dSpaceCollide (space,0,&nearCallback);
+  if (!pause)
+  {
+    dWorldQuickStep (world, 0.01); // 100 Hz
+  }
+  dJointGroupEmpty (contactgroup);
+
+  dsSetColorAlpha (1,1,0,0.5);
+
+  const dReal *CPos = dBodyGetPosition(cylbody);
+  const dReal *CRot = dBodyGetRotation(cylbody);
+  float cpos[3] = {CPos[0], CPos[1], CPos[2]};
+  float crot[12] = { CRot[0], CRot[1], CRot[2], CRot[3], CRot[4], CRot[5], CRot[6], CRot[7], CRot[8], CRot[9], CRot[10], CRot[11] };
+  dsDrawCylinder
+  (
+    cpos,
+    crot,
+    CYLLENGTH,
+    CYLRADIUS
+  ); // single precision
+
+  const dReal *SPos = dBodyGetPosition(sphbody);
+  const dReal *SRot = dBodyGetRotation(sphbody);
+  float spos[3] = {SPos[0], SPos[1], SPos[2]};
+  float srot[12] = { SRot[0], SRot[1], SRot[2], SRot[3], SRot[4], SRot[5], SRot[6], SRot[7], SRot[8], SRot[9], SRot[10], SRot[11] };
+  dsDrawSphere
+  (
+    spos,
+    srot,
+    SPHERERADIUS
+  ); // single precision
+}
+
+
+int main (int argc, char **argv)
+{
+  dMass m;
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-9.8);
+  dWorldSetQuickStepNumIterations (world, 32);
+
+  dCreatePlane (space,0,0,1, 0.0);
+
+  cylbody = dBodyCreate (world);
+  dQuaternion q;
+#if 0
+  dQFromAxisAndAngle (q,1,0,0,M_PI*0.5);
+#else
+//  dQFromAxisAndAngle (q,1,0,0, M_PI * 1.0);
+  dQFromAxisAndAngle (q,1,0,0, M_PI * -0.77);
+#endif
+  dBodySetQuaternion (cylbody,q);
+  dMassSetCylinder (&m,1.0,3,CYLRADIUS,CYLLENGTH);
+  dBodySetMass (cylbody,&m);
+  cylgeom = dCreateCylinder(0, CYLRADIUS, CYLLENGTH);
+  dGeomSetBody (cylgeom,cylbody);
+  dBodySetPosition (cylbody, 0, 0, 3);
+  dSpaceAdd (space, cylgeom);
+
+  sphbody = dBodyCreate (world);
+  dMassSetSphere (&m,1,SPHERERADIUS);
+  dBodySetMass (sphbody,&m);
+  sphgeom = dCreateSphere(0, SPHERERADIUS);
+  dGeomSetBody (sphgeom,sphbody);
+  dBodySetPosition (sphbody, 0, 0, 5.5);
+  dSpaceAdd (space, sphgeom);
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupEmpty (contactgroup);
+  dJointGroupDestroy (contactgroup);
+
+  dGeomDestroy(sphgeom);
+  dGeomDestroy (cylgeom);
+
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
+
+
+
diff --git a/libs/ode-0.16.1/ode/demo/demo_dball.cpp b/libs/ode-0.16.1/ode/demo/demo_dball.cpp
new file mode 100644
index 0000000..d264cd7
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_dball.cpp
@@ -0,0 +1,194 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef dDOUBLE
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawBox dsDrawBoxD
+#define dsDrawLine dsDrawLineD
+#endif
+
+
+dWorldID world;
+dSpaceID space;
+dBodyID body1;
+dBodyID body2;
+dJointID joint1, joint2;
+
+void start()
+{
+    world = dWorldCreate();
+    dWorldSetGravity (world,0,0,-9.8);
+
+    dWorldSetDamping(world, 1e-4, 1e-5);
+//    dWorldSetERP(world, 1);
+
+    space = dSimpleSpaceCreate (0);
+    
+    body1 = dBodyCreate(world);
+    body2 = dBodyCreate(world);
+
+    dBodySetPosition(body1, 0, 0, 3);
+    dBodySetPosition(body2, 0, 0, 1);
+
+
+    dGeomID g;
+    dMass mass;
+    
+    g = dCreateBox(space, 0.2, 0.2, 1);
+    dGeomSetBody(g, body1);
+    dMassSetBox(&mass, 1, 0.2, 0.2, 1);
+    dBodySetMass(body1, &mass);
+    
+    g = dCreateBox(space, 0.2, 0.2, 1);
+    dGeomSetBody(g, body2);
+    dMassSetBox(&mass, 1, 0.2, 0.2, 1);
+    dBodySetMass(body2, &mass);
+
+    joint1 = dJointCreateDBall(world, 0);
+    dJointAttach(joint1, body1, 0);
+    dJointSetDBallAnchor1(joint1, 0, 0, 3.5);
+    dJointSetDBallAnchor2(joint1, 0, 0, 4.5);
+
+    joint2 = dJointCreateDBall(world, 0);
+    dJointAttach(joint2, body1, body2);
+    dJointSetDBallAnchor1(joint2, 0, 0, 2.5);
+    dJointSetDBallAnchor2(joint2, 0, 0, 1.5);
+
+
+    // initial camera position
+    static float xyz[3] = {3.8966, -2.0614, 4.0300};
+    static float hpr[3] = {153.5, -16.5, 0};
+    dsSetViewpoint (xyz,hpr);
+}
+
+void stop()
+{
+    dSpaceDestroy(space);
+
+    dWorldDestroy(world);
+}
+
+
+void drawGeom(dGeomID g)
+{
+    int gclass = dGeomGetClass(g);
+    const dReal *pos = dGeomGetPosition(g);
+    const dReal *rot = dGeomGetRotation(g);
+
+    switch (gclass) {
+        case dSphereClass:
+            dsSetColorAlpha(0, 0.75, 0.5, 1);
+            dsSetTexture (DS_CHECKERED);
+            dsDrawSphere(pos, rot, dGeomSphereGetRadius(g));
+            break;
+        case dBoxClass:
+        {
+            dVector3 lengths;
+            dsSetColorAlpha(1, 1, 0, 1);
+            dsSetTexture (DS_WOOD);
+            dGeomBoxGetLengths(g, lengths);
+            dsDrawBox(pos, rot, lengths);
+            break;
+        }
+        
+        default:
+        {}
+    }
+}
+
+void simLoop(int pause)
+{
+    if (!pause) {
+
+        static dReal t = 0;
+
+        const dReal step = 0.005;
+        const unsigned nsteps = 4;
+
+        for (unsigned i=0; i<nsteps; ++i) {
+
+            dReal f = sin(t*1.2)*0.8;
+            dBodyAddForceAtRelPos(body1,
+                                  f, 0, 0, 
+                                  0, 0, -0.5); // at the lower end
+
+            dReal g = sin(t*0.7)*0.8;
+            dBodyAddForceAtRelPos(body2,
+                                  0, g, 0, 
+                                  0, 0, -0.5); // at the lower end
+            t += step;
+
+            dWorldQuickStep(world, step);
+        }
+    }
+    
+    // now we draw everything
+    unsigned ngeoms = dSpaceGetNumGeoms(space);
+    for (unsigned i=0; i<ngeoms; ++i) {
+        dGeomID g = dSpaceGetGeom(space, i);
+
+        drawGeom(g);
+    }
+
+    dVector3 a11, a12;
+    dJointGetDBallAnchor1(joint1, a11);
+    dJointGetDBallAnchor2(joint1, a12);
+    dsSetColor(1, 0, 0);
+    dsDrawLine(a11, a12);
+
+    //printf("Error 1: %f\n", fabs(dJointGetDBallDistance(joint1) - dCalcPointsDistance3(a11, a12)));
+
+    dVector3 a21, a22;
+    dJointGetDBallAnchor1(joint2, a21);
+    dJointGetDBallAnchor2(joint2, a22);
+    dsSetColor(0, 1, 0);
+    dsDrawLine(a21, a22);
+
+    //printf("Error 2: %f\n", fabs(dJointGetDBallDistance(joint2) - dCalcPointsDistance3(a21, a22)));
+}
+
+
+
+int main(int argc, char **argv)
+{
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = 0;
+    fn.stop = stop;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+    
+    // create world
+    dInitODE();
+
+    // run demo
+    dsSimulationLoop (argc, argv, 800, 600, &fn);
+
+    dCloseODE();
+    return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_dhinge.cpp b/libs/ode-0.16.1/ode/demo/demo_dhinge.cpp
new file mode 100644
index 0000000..c27f29e
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_dhinge.cpp
@@ -0,0 +1,217 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef dDOUBLE
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawBox dsDrawBoxD
+#define dsDrawLine dsDrawLineD
+#endif
+
+
+dWorldID world;
+dSpaceID space;
+dBodyID body1;
+dBodyID body2;
+dJointID joint1, joint2;
+bool applyForce = false;
+
+void start()
+{
+    world = dWorldCreate();
+    dWorldSetGravity (world,0,0,-9.8);
+
+    dWorldSetDamping(world, 1e-4, 1e-5);
+//    dWorldSetERP(world, 1);
+
+    space = dSimpleSpaceCreate (0);
+    
+    body1 = dBodyCreate(world);
+    body2 = dBodyCreate(world);
+
+    dBodySetPosition(body1, 0, 0, 3);
+    dBodySetPosition(body2, 0, 0, 1);
+
+
+    dGeomID g;
+    dMass mass;
+    
+    g = dCreateBox(space, 0.2, 0.2, 1);
+    dGeomSetBody(g, body1);
+    dMassSetBox(&mass, 1, 0.2, 0.2, 1);
+    dBodySetMass(body1, &mass);
+    
+    g = dCreateBox(space, 0.2, 0.2, 1);
+    dGeomSetBody(g, body2);
+    dMassSetBox(&mass, 1, 0.2, 0.2, 1);
+    dBodySetMass(body2, &mass);
+
+#if 1
+    joint1 = dJointCreateDHinge(world, 0);
+    dJointAttach(joint1, body1, 0);
+    dJointSetDHingeAxis(joint1, 0, 1, 0);
+    dJointSetDHingeAnchor1(joint1, 0, 0, 3.5);
+    dJointSetDHingeAnchor2(joint1, 0, 0, 4.5);
+#endif
+
+#if 1
+    joint2 = dJointCreateDHinge(world, 0);
+    dJointAttach(joint2, body1, body2);
+    dJointSetDHingeAxis(joint2, 1, 0, 0);
+    dJointSetDHingeAnchor1(joint2, 0, 0, 2.5);
+    dJointSetDHingeAnchor2(joint2, 0, 0, 1.5);
+#else
+    joint2 = dJointCreateDBall(world, 0);
+    dJointAttach(joint2, body1, body2);
+    dJointSetDBallAnchor1(joint2, 0, 0, 2.5);
+    dJointSetDBallAnchor2(joint2, 0, 0, 1.5);
+#endif
+
+    //dBodyAddForce(body1, 20, 0, 0);
+
+
+    // initial camera position
+    static float xyz[3] = {3.8966, -2.0614, 4.0300};
+    static float hpr[3] = {153.5, -16.5, 0};
+    dsSetViewpoint (xyz,hpr);
+}
+
+void stop()
+{
+    dSpaceDestroy(space);
+
+    dWorldDestroy(world);
+}
+
+
+void drawGeom(dGeomID g)
+{
+    int gclass = dGeomGetClass(g);
+    const dReal *pos = dGeomGetPosition(g);
+    const dReal *rot = dGeomGetRotation(g);
+
+    switch (gclass) {
+        case dBoxClass:
+        {
+            dVector3 lengths;
+            if (applyForce)
+                dsSetColor(1, .5, 0);
+            else
+                dsSetColor(1, 1, 0);
+            dsSetTexture (DS_WOOD);
+            dGeomBoxGetLengths(g, lengths);
+            dsDrawBox(pos, rot, lengths);
+            break;
+        }
+        
+        default:
+        {}
+    }
+}
+
+
+void simLoop(int pause)
+{
+    if (!pause) {
+
+        static dReal t = 0;
+
+        const dReal step = 0.005;
+        const unsigned nsteps = 2;
+
+        for (unsigned i=0; i<nsteps; ++i) {
+
+            applyForce = fmodf(t, 3.) > 2.;
+
+            if (applyForce) {
+                dReal f = 0.3 * sin(t*1.2);
+                dBodyAddForceAtRelPos(body1,
+                                      f, 0, 0, 
+                                      0, 0, -0.5); // at the lower end
+                
+                dReal g = 0.3 * sin(t*0.7);
+                dBodyAddForceAtRelPos(body2,
+                                      0, g, 0, 
+                                      0, 0, -0.5); // at the lower end
+            }
+            
+            t += step;
+            if (t > 20.)
+                t = 0.;
+
+            dWorldQuickStep(world, step);
+        }
+    }
+    
+    // now we draw everything
+    unsigned ngeoms = dSpaceGetNumGeoms(space);
+    for (unsigned i=0; i<ngeoms; ++i) {
+        dGeomID g = dSpaceGetGeom(space, i);
+
+        drawGeom(g);
+    }
+
+#if 1
+    dVector3 a11, a12;
+    dJointGetDHingeAnchor1(joint1, a11);
+    dJointGetDHingeAnchor2(joint1, a12);
+    dsSetColor(1, 0, 0);
+    dsDrawLine(a11, a12);
+    //printf("Error 1: %f\n", fabs(dJointGetDHingeDistance(joint1) - dCalcPointsDistance3(a11, a12)));
+#endif
+
+#if 1
+    dVector3 a21, a22;
+    dJointGetDHingeAnchor1(joint2, a21);
+    dJointGetDHingeAnchor2(joint2, a22);
+    dsSetColor(0, 1, 0);
+    dsDrawLine(a21, a22);
+
+    //printf("Error 2: %f\n", fabs(dJointGetDHingeDistance(joint2) - dCalcPointsDistance3(a21, a22)));
+#endif
+}
+
+
+
+int main(int argc, char **argv)
+{
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = 0;
+    fn.stop = stop;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+    
+    // create world
+    dInitODE();
+
+    // run demo
+    dsSimulationLoop (argc, argv, 800, 600, &fn);
+
+    dCloseODE();
+    return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_feedback.cpp b/libs/ode-0.16.1/ode/demo/demo_feedback.cpp
new file mode 100644
index 0000000..ebcd129
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_feedback.cpp
@@ -0,0 +1,312 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// Test for breaking joints, by Bram Stolk
+
+#include <ode/odeconfig.h>
+#include <assert.h>
+#ifdef HAVE_UNISTD_H
+#include <unistd.h>
+#endif
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawCylinder dsDrawCylinderD
+#endif
+
+
+// dynamics and collision objects (chassis, 3 wheels, environment)
+
+static dWorldID world;
+static dSpaceID space;
+
+static const int   STACKCNT=10;	// nr of weights on bridge
+static const int   SEGMCNT=16;	// nr of segments in bridge
+static const float SEGMDIM[3] = { 0.9, 4, 0.1 };
+
+static dGeomID  groundgeom;
+static dBodyID  segbodies[SEGMCNT];
+static dGeomID  seggeoms[SEGMCNT];
+static dBodyID  stackbodies[STACKCNT];
+static dGeomID  stackgeoms[STACKCNT];
+static dJointID hinges[SEGMCNT-1];
+static dJointID sliders[2];
+static dJointFeedback jfeedbacks[SEGMCNT-1];
+static dReal colours[SEGMCNT];
+static int stress[SEGMCNT-1];
+
+static dJointGroupID contactgroup;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+{
+  assert(o1);
+  assert(o2);
+
+  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
+  {
+      fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2);
+    // colliding a space with something
+    dSpaceCollide2(o1,o2,data,&nearCallback);
+    // Note we do not want to test intersections within a space,
+    // only between spaces.
+    return;
+  }
+
+  const int N = 32;
+  dContact contact[N];
+  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
+  if (n > 0) 
+  {
+    for (int i=0; i<n; i++) 
+    {
+      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1;
+      contact[i].surface.mu = 100.0;
+      contact[i].surface.soft_erp = 0.96;
+      contact[i].surface.soft_cfm = 0.02;
+      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+      dJointAttach (c,
+		    dGeomGetBody(contact[i].geom.g1),
+		    dGeomGetBody(contact[i].geom.g2));
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = { -6, 8, 6};
+  static float hpr[3] = { -65.0f, -27.0f, 0.0f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// called when a key pressed
+
+static void command (int)
+{}
+
+
+void drawGeom (dGeomID g)
+{
+  const dReal *pos = dGeomGetPosition(g);
+  const dReal *R   = dGeomGetRotation(g);
+
+  int type = dGeomGetClass (g);
+  if (type == dBoxClass)
+  {
+    dVector3 sides;
+    dGeomBoxGetLengths (g, sides);
+    dsDrawBox (pos,R,sides);
+  }
+  if (type == dCylinderClass)
+  {
+    dReal r,l;
+    dGeomCylinderGetParams(g, &r, &l);
+    dsDrawCylinder (pos, R, l, r);
+  }
+}
+
+
+static void inspectJoints(void)
+{
+  const dReal forcelimit = 4000.0;
+  int i;
+  for (i=0; i<SEGMCNT-1; i++)
+  {
+    if (dJointGetBody(hinges[i], 0))
+    {
+      // This joint has not snapped already... inspect it.
+      dReal l0 = dCalcVectorLength3(jfeedbacks[i].f1);
+      dReal l1 = dCalcVectorLength3(jfeedbacks[i].f2);
+      colours[i+0] = 0.95*colours[i+0] + 0.05 * l0/forcelimit;
+      colours[i+1] = 0.95*colours[i+1] + 0.05 * l1/forcelimit;
+      if (l0 > forcelimit || l1 > forcelimit)
+        stress[i]++;
+      else
+        stress[i]=0;
+      if (stress[i]>4)
+      {
+        // Low-pass filter the noisy feedback data.
+        // Only after 4 consecutive timesteps with excessive load, snap.
+        fprintf(stderr,"SNAP! (that was the sound of joint %d breaking)\n", i);
+        dJointAttach (hinges[i], 0, 0);
+      }
+    }
+  }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  int i;
+
+  double simstep = 0.002; // 2ms simulation steps
+  double dt = dsElapsedTime();
+  int nrofsteps = (int) ceilf(dt/simstep);
+  for (i=0; i<nrofsteps && !pause; i++)
+  {
+    dSpaceCollide (space,0,&nearCallback);
+    dWorldQuickStep (world, simstep);
+    dJointGroupEmpty (contactgroup);
+    inspectJoints();
+  }
+
+  for (i=0; i<SEGMCNT; i++)
+  {
+    float r=0,g=0,b=0.2;
+    float v = colours[i];
+    if (v>1.0) v=1.0;
+    if (v<0.5) 
+    {
+      r=2*v;
+      g=1.0;
+    }
+    else
+    {
+      r=1.0;
+      g=2*(1.0-v);
+    }
+    dsSetColor (r,g,b);
+    drawGeom(seggeoms[i]);
+  }
+  dsSetColor (1,1,1);
+  for (i=0; i<STACKCNT; i++)
+    drawGeom(stackgeoms[i]);
+}
+
+
+
+int main (int argc, char **argv)
+{
+  dMass m;
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-9.8);
+  dWorldSetQuickStepNumIterations (world, 20);
+
+  int i;
+  for (i=0; i<SEGMCNT; i++)
+  {
+    segbodies[i] = dBodyCreate (world);
+    dBodySetPosition(segbodies[i], i - SEGMCNT/2.0, 0, 5);
+    dMassSetBox (&m, 1, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]);
+    dBodySetMass (segbodies[i], &m);
+    seggeoms[i] = dCreateBox (0, SEGMDIM[0], SEGMDIM[1], SEGMDIM[2]);
+    dGeomSetBody (seggeoms[i], segbodies[i]);
+    dSpaceAdd (space, seggeoms[i]);
+  }
+
+  for (i=0; i<SEGMCNT-1; i++)
+  {
+    hinges[i] = dJointCreateHinge (world,0);
+    dJointAttach (hinges[i], segbodies[i],segbodies[i+1]);
+    dJointSetHingeAnchor (hinges[i], i + 0.5 - SEGMCNT/2.0, 0, 5);
+    dJointSetHingeAxis (hinges[i], 0,1,0);
+    dJointSetHingeParam (hinges[i],dParamFMax,  8000.0);
+    // NOTE:
+    // Here we tell ODE where to put the feedback on the forces for this hinge
+    dJointSetFeedback (hinges[i], jfeedbacks+i);
+    stress[i]=0;
+  }
+
+  for (i=0; i<STACKCNT; i++)
+  {
+    stackbodies[i] = dBodyCreate(world);
+    dMassSetBox (&m, 2.0, 2, 2, 0.6);
+    dBodySetMass(stackbodies[i],&m);
+
+    stackgeoms[i] = dCreateBox(0, 2, 2, 0.6);
+    dGeomSetBody(stackgeoms[i], stackbodies[i]);
+    dBodySetPosition(stackbodies[i], 0,0,8+2*i);
+    dSpaceAdd(space, stackgeoms[i]);
+  }
+
+  sliders[0] = dJointCreateSlider (world,0);
+  dJointAttach(sliders[0], segbodies[0], 0);
+  dJointSetSliderAxis (sliders[0], 1,0,0);
+  dJointSetSliderParam (sliders[0],dParamFMax,  4000.0);
+  dJointSetSliderParam (sliders[0],dParamLoStop,   0.0);
+  dJointSetSliderParam (sliders[0],dParamHiStop,   0.2);
+
+  sliders[1] = dJointCreateSlider (world,0);
+  dJointAttach(sliders[1], segbodies[SEGMCNT-1], 0);
+  dJointSetSliderAxis (sliders[1], 1,0,0);
+  dJointSetSliderParam (sliders[1],dParamFMax,  4000.0);
+  dJointSetSliderParam (sliders[1],dParamLoStop,   0.0);
+  dJointSetSliderParam (sliders[1],dParamHiStop,  -0.2);
+
+  groundgeom = dCreatePlane(space, 0,0,1,0);
+
+  for (i=0; i<SEGMCNT; i++)
+    colours[i]=0.0;
+
+  // run simulation
+  dsSimulationLoop (argc,argv,1280,720,&fn);
+
+  dJointGroupEmpty(contactgroup);
+  dJointGroupDestroy (contactgroup);
+
+  // First destroy seggeoms, then space, then the world.
+  for (i=0; i<SEGMCNT; i++)
+    dGeomDestroy (seggeoms[i]);
+  for (i=0; i<STACKCNT; i++)
+    dGeomDestroy (stackgeoms[i]);
+
+  dSpaceDestroy(space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
+
+
+
diff --git a/libs/ode-0.16.1/ode/demo/demo_friction.cpp b/libs/ode-0.16.1/ode/demo/demo_friction.cpp
new file mode 100644
index 0000000..f6260bb
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_friction.cpp
@@ -0,0 +1,205 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+test the Coulomb friction approximation.
+
+a 10x10 array of boxes is made, each of which rests on the ground.
+a horizantal force is applied to each box to try and get it to slide.
+box[i][j] has a mass (i+1)*MASS and a force (j+1)*FORCE. by the Coloumb
+friction model, the box should only slide if the force is greater than MU
+times the contact normal force, i.e.
+
+  f > MU * body_mass * GRAVITY
+  (j+1)*FORCE > MU * (i+1)*MASS * GRAVITY
+  (j+1) > (i+1) * (MU*MASS*GRAVITY/FORCE)
+  (j+1) > (i+1) * k
+
+this should be independent of the number of contact points, as N contact
+points will each have 1/N'th the normal force but the pushing force will
+have to overcome N contacts. the constants are chosen so that k=1.
+thus you should see a triangle made of half the bodies in the array start to
+slide.
+
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+
+#define LENGTH 0.2	// box length & width
+#define HEIGHT 0.05	// box height
+#define MASS 0.2	// mass of box[i][j] = (i+1) * MASS
+#define FORCE 0.05	// force applied to box[i][j] = (j+1) * FORCE
+#define MU 0.5		// the global mu to use
+#define GRAVITY 0.5	// the global gravity to use
+#define N1 10		// number of different forces to try
+#define N2 10		// number of different masses to try
+
+
+// dynamics and collision objects
+
+static dWorldID world;
+static dSpaceID space;
+static dBodyID body[N1][N2];
+static dJointGroupID contactgroup;
+static dGeomID ground;
+static dGeomID box[N1][N2];
+
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  int i;
+
+  // only collide things with the ground
+  int g1 = (o1 == ground);
+  int g2 = (o2 == ground);
+  if (!(g1 ^ g2)) return;
+
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+
+  dContact contact[3];		// up to 3 contacts per box
+  for (i=0; i<3; i++) {
+    contact[i].surface.mode = dContactSoftCFM | dContactApprox1;
+    contact[i].surface.mu = MU;
+    contact[i].surface.soft_cfm = 0.01;
+  }
+  if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) {
+    for (i=0; i<numc; i++) {
+      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+      dJointAttach (c,b1,b2);
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {1.7772,-0.7924,2.7600};
+  static float hpr[3] = {90.0000,-54.0000,0.0000};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  int i;
+  if (!pause) {
+    // apply forces to all bodies
+    for (i=0; i<N1; i++) {
+      for (int j=0; j<N2; j++) {
+	dBodyAddForce (body[i][j],FORCE*(i+1),0,0);
+      }
+    }
+
+    dSpaceCollide (space,0,&nearCallback);
+    dWorldStep (world,0.05);
+
+    // remove all contact joints
+    dJointGroupEmpty (contactgroup);
+  }
+
+  dsSetColor (1,0,1);
+  dReal sides[3] = {LENGTH,LENGTH,HEIGHT};
+  for (i=0; i<N1; i++) {
+    for (int j=0; j<N2; j++) {
+      dsDrawBox (dGeomGetPosition(box[i][j]),dGeomGetRotation(box[i][j]),
+		 sides);
+    }
+  }
+}
+
+
+int main (int argc, char **argv)
+{
+  int i,j;
+  dMass m;
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = 0;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+  space = dHashSpaceCreate (0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-GRAVITY);
+  ground = dCreatePlane (space,0,0,1,0);
+
+  // bodies
+  for (i=0; i<N1; i++) {
+    for (j=0; j<N2; j++) {
+      body[i][j] = dBodyCreate (world);
+      dMassSetBox (&m,1,LENGTH,LENGTH,HEIGHT);
+      dMassAdjust (&m,MASS*(j+1));
+      dBodySetMass (body[i][j],&m);
+      dBodySetPosition (body[i][j],i*2*LENGTH,j*2*LENGTH,HEIGHT*0.5);
+
+      box[i][j] = dCreateBox (space,LENGTH,LENGTH,HEIGHT);
+      dGeomSetBody (box[i][j],body[i][j]);
+    }
+  }
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_gyro2.cpp b/libs/ode-0.16.1/ode/demo/demo_gyro2.cpp
new file mode 100644
index 0000000..454b6b3
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_gyro2.cpp
@@ -0,0 +1,210 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+Angular friction demo:
+
+A bunch of ramps of different pitch.
+A bunch of spheres with rolling friction.
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+// dynamics and collision objects
+static dWorldID world = 0;
+
+static const dReal dt = 1/REAL(60.0); // 60 fps
+// Water density if units are meters and kg
+static const dReal density = 1000;  
+
+// A long skinny thing
+static dVector3 sides = {2,.5,.25}; 
+// Initial angular velocity
+static dVector3 omega = {5,1,2};
+static dVector3 torque = {0,10,0};
+static dBodyID noGyroBody;
+static dBodyID expGyroBody;
+static dBodyID impGyroBody;
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {0,-4.0f,3.0f};
+  static float hpr[3] = {90.0000,-15.0000,0.0000};
+  dsSetViewpoint (xyz,hpr);
+  printf ("Press:\n"
+      "\t'a' to apply a torque\n"
+			"\t'r' to reset simulation.\n");
+}
+
+/**
+  Delete the bodies, etc.
+*/
+static void clear()
+{
+  if (world) dWorldDestroy (world);
+  world = 0;
+}
+
+
+
+/**
+  Cleanup if necessary and rebuild the
+  world.
+*/
+static void reset()
+{
+  clear();
+
+  // create world
+  world = dWorldCreate();
+
+  // Calculate mass for a box;
+  dMass boxMass;
+  dMassSetBox(&boxMass,density,sides[0],sides[1],sides[2]);
+
+  noGyroBody  = dBodyCreate(world);// Conservation of ang-velocity
+  expGyroBody = dBodyCreate(world);// Explicit conservation of ang-momentum
+  impGyroBody = dBodyCreate(world);// Implicit conservation of ang-momentum
+
+  dBodySetMass( noGyroBody , &boxMass );
+  dBodySetMass( expGyroBody, &boxMass );
+  dBodySetMass( impGyroBody, &boxMass );
+
+  // Try to avoid collisions.
+  dReal sep = dCalcVectorLength3(sides);
+  dBodySetPosition( noGyroBody , -sep, 0, sep);
+  dBodySetPosition( expGyroBody,    0, 0, sep);
+  dBodySetPosition( impGyroBody,  sep, 0, sep);
+
+  // Set the initial angular velocity
+  dBodySetAngularVel( noGyroBody , omega[0], omega[1], omega[2]);
+  dBodySetAngularVel( expGyroBody, omega[0], omega[1], omega[2]);
+  dBodySetAngularVel( impGyroBody, omega[0], omega[1], omega[2]);
+
+  dBodySetGyroscopicMode( noGyroBody, 0);
+  // We compute this ourselves using the math
+  // that was in the old stepper.
+  dBodySetGyroscopicMode(expGyroBody, 0); 
+  // Keep things from crashing by limiting
+  // the angular speed of the explicit body.
+  // Note that this isn't necessary for
+  // the other two bodies.
+  dBodySetMaxAngularSpeed( expGyroBody, 40 );
+}
+
+static void command (int cmd)
+{
+	switch (cmd) {
+    case 'a': case 'A':
+      dBodyAddTorque( noGyroBody, torque[0], torque[1], torque[2]);
+      dBodyAddTorque(expGyroBody, torque[0], torque[1], torque[2]);
+      dBodyAddTorque(impGyroBody, torque[0], torque[1], torque[2]);
+      break;
+    case 'r': case 'R':
+  		reset();
+	  	break;
+  }
+  
+}
+
+/**
+  This is the explicit computation of
+  gyroscopic forces.
+*/
+static void expStep(dBodyID body)
+{
+  // Explicit computation
+  dMatrix3 I,tmp;
+  dMass m;
+  dBodyGetMass(body,&m);
+  const dReal* R = dBodyGetRotation(body);
+  // compute inertia tensor in global frame
+  dMultiply2_333 (tmp,m.I,R);
+  dMultiply0_333 (I,R,tmp);
+  // compute explicit rotational force
+  // we treat 'tmp'like a vector, but that's okay.
+  const dReal* w = dBodyGetAngularVel(body);
+  dMultiply0_331 (tmp,I,w);
+  dVector3 tau;
+  dCalcVectorCross3(tau,tmp,w);
+  dBodyAddTorque(body,tau[0],tau[1],tau[2]);
+}
+
+
+// simulation loop
+static void simLoop (int pause)
+{
+  if (!pause) {
+    expStep(expGyroBody);
+    dWorldStep (world,dt); 
+  }
+
+  dsSetTexture (DS_WOOD);
+  dsSetColor(1,0,0);
+  dsDrawBox(dBodyGetPosition(noGyroBody ),dBodyGetRotation(noGyroBody ),sides);
+  dsSetColor(1,1,0);
+  dsDrawBox(dBodyGetPosition(expGyroBody),dBodyGetRotation(expGyroBody),sides);
+  dsSetColor(0,1,0);
+  dsDrawBox(dBodyGetPosition(impGyroBody),dBodyGetRotation(impGyroBody),sides);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  dInitODE2(0);
+  reset();
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  clear();
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_gyroscopic.cpp b/libs/ode-0.16.1/ode/demo/demo_gyroscopic.cpp
new file mode 100644
index 0000000..5b6a532
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_gyroscopic.cpp
@@ -0,0 +1,258 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawConvex dsDrawConvexD
+#endif
+
+bool write_world = false;
+bool show_contacts = false;
+dWorld * world;
+dBody *top1, *top2;
+dSpace *space;
+dJointGroup contactgroup;
+
+const dReal pinradius = 0.05f;
+const dReal pinlength = 1.5f;
+const dReal topradius = 1.0f;
+const dReal toplength = 0.25f;
+const dReal topmass = 1.0f;
+
+#define MAX_CONTACTS 4
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+    // for drawing the contact points
+    dMatrix3 RI;
+    dRSetIdentity (RI);
+    const dReal ss[3] = {0.02,0.02,0.02};
+
+    int i;
+    dBodyID b1 = dGeomGetBody(o1);
+    dBodyID b2 = dGeomGetBody(o2);
+
+    dContact contact[MAX_CONTACTS];
+    int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
+			    sizeof(dContact));
+
+    for (i=0; i<numc; i++) {
+        contact[i].surface.mode = dContactApprox1;
+        contact[i].surface.mu = 2;
+
+        dJointID c = dJointCreateContact (*world,contactgroup,contact+i);
+        dJointAttach (c,b1,b2);
+        if (show_contacts)
+            dsDrawBox (contact[i].geom.pos, RI, ss);
+
+    }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  static float xyz[3] = {4.777f, -2.084f, 2.18f};
+  static float hpr[3] = {153.0f, -14.5f, 0.0f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("Orange top approximates conservation of angular momentum\n");
+  printf ("Green top uses conservation of angular velocity\n");
+  printf ("---\n");
+  printf ("SPACE to reset\n");
+  printf ("A to tilt the tops.\n");
+  printf ("T to toggle showing the contact points.\n");
+  printf ("1 to save the current state to 'state.dif'.\n");
+}
+
+
+char locase (char c)
+{
+  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+  else return c;
+}
+
+
+// called when a key pressed
+static void reset();
+static void tilt();
+
+static void command (int cmd)
+{
+    cmd = locase (cmd);
+    if (cmd == ' ')
+    {
+        reset();       
+    }
+    else if (cmd == 'a') {
+        tilt();
+    }
+    else if (cmd == 't') {
+        show_contacts = !show_contacts;
+    }
+    else if (cmd == '1') {
+        write_world = true;
+    }
+}
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+    dsSetColor (0,0,2);
+    space->collide(0,&nearCallback);
+    if (!pause)
+        //world->quickStep(0.02);
+        world->step(0.02);
+
+    if (write_world) {
+        FILE *f = fopen ("state.dif","wt");
+        if (f) {
+            dWorldExportDIF (*world,f,"X");
+            fclose (f);
+        }
+        write_world = false;
+    }
+
+    // remove all contact joints
+    dJointGroupEmpty (contactgroup);
+
+    dsSetTexture (DS_WOOD);
+
+    dsSetColor (1,0.5f,0);
+    dsDrawCylinder(top1->getPosition(),
+                    top1->getRotation(),
+                    toplength, topradius);
+    dsDrawCapsule(top1->getPosition(),
+                    top1->getRotation(),
+                    pinlength, pinradius);
+
+    dsSetColor (0.5f,1,0);
+    dsDrawCylinder(top2->getPosition(),
+                    top2->getRotation(),
+                    toplength, topradius);
+    dsDrawCapsule(top2->getPosition(),
+                    top2->getRotation(),
+                    pinlength, pinradius);
+
+}
+
+
+static void reset()
+{
+    dMatrix3 R;
+    dRSetIdentity(R);
+
+    top1->setRotation(R);
+    top2->setRotation(R);
+
+    top1->setPosition(0.8f, -2, 2);
+    top2->setPosition(0.8f, 2, 2);
+    
+    top1->setAngularVel(1,0,7);
+    top2->setAngularVel(1,0,7);
+    
+    top1->setLinearVel(0,0.2f,0);
+    top2->setLinearVel(0,0.2f,0);
+}
+
+static void tilt()
+{
+    top1->addTorque(0, 10, 0);
+    top2->addTorque(0, 10, 0);
+}
+
+int main (int argc, char **argv)
+{
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+
+    // create world
+    dInitODE();
+    world = new dWorld();
+    world->setGravity(0,0,-0.5f);
+    world->setCFM(1e-5f);
+    world->setLinearDamping(0.00001f);
+    world->setAngularDamping(0.0001f);
+    
+    space = new dSimpleSpace(0);
+
+    dPlane *floor = new dPlane(*space, 0,0,1,0);
+
+    top1 = new dBody(*world);
+    top2 = new dBody(*world);
+
+    dMass m;
+    m.setCylinderTotal(1, 3, topradius, toplength);
+    top1->setMass(m);
+    top2->setMass(m);
+    
+    dGeom *g1, *g2, *pin1, *pin2;
+    g1 = new dCylinder(*space, topradius, toplength);
+    g1->setBody(*top1);
+    g2 = new dCylinder(*space, topradius, toplength);
+    g2->setBody(*top2);
+    
+    pin1 = new dCapsule(*space, pinradius, pinlength);
+    pin1->setBody(*top1);
+    pin2 = new dCapsule(*space, pinradius, pinlength);
+    pin2->setBody(*top2);
+    
+    top2->setGyroscopicMode(false);
+    
+    reset();
+
+    // run simulation
+    dsSimulationLoop (argc,argv,512,384,&fn);
+
+    delete g1;
+    delete g2;
+    delete pin1;
+    delete pin2;
+    delete floor;
+    contactgroup.empty();
+    delete top1;
+    delete top2;
+    delete space;
+    delete world;
+    dCloseODE();
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_heightfield.cpp b/libs/ode-0.16.1/ode/demo/demo_heightfield.cpp
new file mode 100644
index 0000000..d68cb6a
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_heightfield.cpp
@@ -0,0 +1,714 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+#include "bunny_geom.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+
+#define	DEGTORAD			0.01745329251994329577f				//!< PI / 180.0, convert degrees to radians
+
+int g_allow_trimesh;
+
+// Our heightfield geom
+dGeomID gheight;
+
+
+
+// Heightfield dimensions
+
+#define HFIELD_WSTEP			15			// Vertex count along edge >= 2
+#define HFIELD_DSTEP			31
+
+#define HFIELD_WIDTH			REAL( 4.0 )
+#define HFIELD_DEPTH			REAL( 8.0 )
+
+#define HFIELD_WSAMP			( HFIELD_WIDTH / ( HFIELD_WSTEP-1 ) )
+#define HFIELD_DSAMP			( HFIELD_DEPTH / ( HFIELD_DSTEP-1 ) )
+
+
+
+//<---- Convex Object
+dReal planes[]= // planes for a cube
+  {
+    1.0f ,0.0f ,0.0f ,0.25f,
+    0.0f ,1.0f ,0.0f ,0.25f,
+    0.0f ,0.0f ,1.0f ,0.25f,
+    0.0f ,0.0f ,-1.0f,0.25f,
+    0.0f ,-1.0f,0.0f ,0.25f,
+    -1.0f,0.0f ,0.0f ,0.25f
+    /*
+    1.0f ,0.0f ,0.0f ,2.0f,
+    0.0f ,1.0f ,0.0f ,1.0f,
+    0.0f ,0.0f ,1.0f ,1.0f,
+    0.0f ,0.0f ,-1.0f,1.0f,
+    0.0f ,-1.0f,0.0f ,1.0f,
+    -1.0f,0.0f ,0.0f ,0.0f
+    */
+  };
+const unsigned int planecount=6;
+
+dReal points[]= // points for a cube
+  {
+    0.25f,0.25f,0.25f,  //  point 0
+    -0.25f,0.25f,0.25f, //  point 1
+
+    0.25f,-0.25f,0.25f, //  point 2
+    -0.25f,-0.25f,0.25f,//  point 3
+
+    0.25f,0.25f,-0.25f, //  point 4
+    -0.25f,0.25f,-0.25f,//  point 5
+
+    0.25f,-0.25f,-0.25f,//  point 6
+    -0.25f,-0.25f,-0.25f,// point 7
+  };
+const unsigned int pointcount=8;
+unsigned int polygons[] = //Polygons for a cube (6 squares)
+  {
+    4,0,2,6,4, // positive X
+    4,1,0,4,5, // positive Y
+    4,0,1,3,2, // positive Z
+    4,3,1,5,7, // negative X
+    4,2,3,7,6, // negative Y
+    4,5,4,6,7, // negative Z
+  };
+//----> Convex Object
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawConvex dsDrawConvexD
+#define dsDrawTriangle dsDrawTriangleD
+#endif
+
+
+// some constants
+
+#define NUM 100			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 64		// maximum number of contact points per body
+
+
+// dynamics and collision objects
+
+struct MyObject {
+  dBodyID body;			// the body
+  dGeomID geom[GPB];		// geometries representing this body
+
+  // Trimesh only - double buffered matrices for 'last transform' setup
+  dReal matrix_dblbuff[ 16 * 2 ];
+  int last_matrix_index;
+};
+
+static int num=0;		// number of objects in simulation
+static int nextobj=0;		// next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1;	// selected object
+static int show_aabb = 0;	// show geom AABBs?
+static int show_contacts = 0;	// show contact points?
+static int random_pos = 1;	// drop objects from random position?
+static int write_world = 0;
+
+
+
+
+//============================
+
+dGeomID TriMesh1;
+dGeomID TriMesh2;
+//static dTriMeshDataID TriData1, TriData2;  // reusable static trimesh data
+
+//============================
+
+
+dReal heightfield_callback( void*, int x, int z )
+{
+    dReal fx = ( ((dReal)x) - ( HFIELD_WSTEP-1 )/2 ) / (dReal)( HFIELD_WSTEP-1 );
+    dReal fz = ( ((dReal)z) - ( HFIELD_DSTEP-1 )/2 ) / (dReal)( HFIELD_DSTEP-1 );
+
+    // Create an interesting 'hump' shape
+    dReal h = REAL( 1.0 ) + ( REAL( -16.0 ) * ( fx*fx*fx + fz*fz*fz ) );
+
+    return h;
+}
+
+
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+    int i;
+    // if (o1->body && o2->body) return;
+
+    // exit without doing anything if the two bodies are connected by a joint
+    dBodyID b1 = dGeomGetBody(o1);
+    dBodyID b2 = dGeomGetBody(o2);
+    if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact))
+        return;
+
+    dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
+    for (i=0; i<MAX_CONTACTS; i++) {
+        contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+        contact[i].surface.mu = dInfinity;
+        contact[i].surface.mu2 = 0;
+        contact[i].surface.bounce = 0.1;
+        contact[i].surface.bounce_vel = 0.1;
+        contact[i].surface.soft_cfm = 0.01;
+    }
+    if (int numc = dCollide(o1,o2,MAX_CONTACTS,&contact[0].geom,
+                            sizeof(dContact))) {
+        dMatrix3 RI;
+        dRSetIdentity(RI);
+        const dReal ss[3] = {0.02,0.02,0.02};
+        for (i=0; i<numc; i++) {
+            dJointID c = dJointCreateContact(world,contactgroup,contact+i);
+            dJointAttach(c,b1,b2);
+            if (show_contacts) {
+                dsSetColor(0,0,1);
+                dsDrawBox(contact[i].geom.pos,RI,ss);
+            }
+        }
+    }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+    dAllocateODEDataForThread(dAllocateMaskAll);
+
+    static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+    static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+    dsSetViewpoint (xyz,hpr);
+    printf("To drop another object, press:\n");
+    printf("   b for box.\n");
+    printf("   s for sphere.\n");
+    printf("   c for capsule.\n");
+    printf("   y for cylinder.\n");
+    printf("   v for a convex object.\n");
+    printf("   x for a composite object.\n");
+    if ( g_allow_trimesh )
+	printf("   m for a trimesh.\n");
+    printf("To select an object, press space.\n");
+    printf("To disable the selected object, press d.\n");
+    printf("To enable the selected object, press e.\n");
+    printf("To toggle showing the geom AABBs, press a.\n");
+    printf("To toggle showing the contact points, press t.\n");
+    printf("To toggle dropping from random position/orientation, press r.\n");
+    printf("To save the current state to 'state.dif', press 1.\n");
+}
+
+
+char locase(char c)
+{
+  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+  else return c;
+}
+
+
+// called when a key pressed
+
+static void command(int cmd)
+{
+    dsizeint i;
+    int j,k;
+    dReal sides[3];
+    dMass m;
+    bool setBody = false;
+
+    cmd = locase (cmd);
+
+
+    //
+    // Geom Creation
+    //
+
+    if ( cmd == 'b' || cmd == 's' || cmd == 'c' || ( cmd == 'm' && g_allow_trimesh ) ||
+         cmd == 'x' || cmd == 'y' || cmd == 'v' ) {
+
+        if ( num < NUM ) {
+            i = num;
+            num++;
+        } else {
+            i = nextobj++;
+            nextobj %= num;
+
+            // destroy the body and geoms for slot i
+            dBodyDestroy(obj[i].body);
+            obj[i].body = 0;
+
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k]) {
+                    dGeomDestroy(obj[i].geom[k]);
+                    obj[i].geom[k] = 0;
+                }
+        }
+
+        obj[i].body = dBodyCreate(world);
+        for (k=0; k<3; k++)
+            sides[k] = dRandReal()*0.5+0.1;
+
+        dMatrix3 R;
+        if (random_pos) {
+            dBodySetPosition(obj[i].body,
+                             (dRandReal()-0.5)*HFIELD_WIDTH*0.75,
+                             (dRandReal()-0.5)*HFIELD_DEPTH*0.75,
+                             dRandReal() + 2 );
+            dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                               dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+        } else {
+            dReal maxheight = 0;
+            for (k=0; k<num; k++) {
+                const dReal *pos = dBodyGetPosition(obj[k].body);
+                if (pos[2] > maxheight)
+                    maxheight = pos[2];
+            }
+            dBodySetPosition(obj[i].body, 0,maxheight+1,0);
+            dRFromAxisAndAngle(R,0,0,1,dRandReal()*10.0-5.0);
+        }
+
+        dBodySetRotation(obj[i].body,R);
+
+        if (cmd == 'b') {
+
+            dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]);
+            obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]);
+
+        } else if (cmd == 'c') {
+
+            sides[0] *= 0.5;
+            dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCapsule(space,sides[0],sides[1]);
+
+        } else if (cmd == 'v') {
+
+            dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
+            obj[i].geom[0] = dCreateConvex(space,
+                                           planes,
+                                           planecount,
+                                           points,
+                                           pointcount,
+                                           polygons);
+
+        } else if (cmd == 'y') {
+
+            dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]);
+
+        } else if (cmd == 's') {
+
+            sides[0] *= 0.5;
+            dMassSetSphere(&m,DENSITY,sides[0]);
+            obj[i].geom[0] = dCreateSphere(space,sides[0]);
+
+        } else if (cmd == 'm' && g_allow_trimesh) {
+
+            dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
+            dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, 
+                                        &Indices[0], IndexCount, 3 * sizeof(dTriIndex));
+            dGeomTriMeshDataPreprocess2(new_tmdata, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
+
+            obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0);
+
+            dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] );
+            printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]);
+            dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]);
+            dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]);
+
+        } else if (cmd == 'x') {
+
+            setBody = 1;
+            // start accumulating masses for the composite geometries
+            dMass m2;
+            dMassSetZero (&m);
+
+            dReal dpos[GPB][3];	// delta-positions for composite geometries
+            dMatrix3 drot[GPB];
+      
+            // set random delta positions
+            for (j=0; j<GPB; j++)
+                for (k=0; k<3; k++)
+                    dpos[j][k] = dRandReal()*0.3-0.15;
+    
+            for (k=0; k<GPB; k++) {
+                if (k==0) {
+                    dReal radius = dRandReal()*0.25+0.05;
+                    obj[i].geom[k] = dCreateSphere (space,radius);
+                    dMassSetSphere (&m2,DENSITY,radius);
+                }
+                else if (k==1) {
+                    obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
+                    dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
+                } else {
+                    dReal radius = dRandReal()*0.1+0.05;
+                    dReal length = dRandReal()*1.0+0.1;
+                    obj[i].geom[k] = dCreateCapsule(space,radius,length);
+                    dMassSetCapsule(&m2,DENSITY,3,radius,length);
+                }
+
+                dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                                   dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+                dMassRotate(&m2,drot[k]);
+		
+                dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+                // add to the total mass
+                dMassAdd(&m,&m2);
+
+            }
+            for (k=0; k<GPB; k++) {
+                dGeomSetBody(obj[i].geom[k],obj[i].body);
+                dGeomSetOffsetPosition(obj[i].geom[k],
+                                       dpos[k][0]-m.c[0],
+                                       dpos[k][1]-m.c[1],
+                                       dpos[k][2]-m.c[2]);
+                dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
+            }
+            dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
+            dBodySetMass(obj[i].body,&m);
+
+        }
+
+        if (!setBody) { // avoid calling for composite geometries
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k])
+                    dGeomSetBody(obj[i].geom[k],obj[i].body);
+
+            dBodySetMass(obj[i].body,&m);
+        }
+    }
+
+
+    //
+    // Control Commands
+    //
+
+    if (cmd == ' ') {
+
+        selected++;
+        if (selected >= num)
+            selected = 0;
+        if (selected < -1)
+            selected = 0;
+
+    } else if (cmd == 'd' && selected >= 0 && selected < num) {
+
+        dBodyDisable(obj[selected].body);
+
+    } else if (cmd == 'e' && selected >= 0 && selected < num) {
+
+        dBodyEnable(obj[selected].body);
+
+    } else if (cmd == 'a') {
+
+        show_aabb = !show_aabb;
+
+    } else if (cmd == 't') {
+
+        show_contacts = !show_contacts;
+
+    } else if (cmd == 'r') {
+
+        random_pos = !random_pos;
+
+    } else if (cmd == '1') {
+
+        write_world = 1;
+
+    }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+    if (!g)
+        return;
+    if (!pos)
+        pos = dGeomGetPosition(g);
+    if (!R)
+        R = dGeomGetRotation(g);
+
+    int type = dGeomGetClass(g);
+    if (type == dBoxClass) {
+
+        dVector3 sides;
+        dGeomBoxGetLengths(g,sides);
+        dsDrawBox(pos,R,sides);
+
+    } else if (type == dSphereClass) {
+
+        dsDrawSphere(pos,R,dGeomSphereGetRadius(g));
+
+    } else if (type == dCapsuleClass) {
+
+        dReal radius,length;
+        dGeomCapsuleGetParams(g,&radius,&length);
+        dsDrawCapsule(pos,R,length,radius);
+
+    } else if (type == dConvexClass) {
+
+        //dVector3 sides={0.50,0.50,0.50};
+        dsDrawConvex(pos,R,planes,
+                     planecount,
+                     points,
+                     pointcount,
+                     polygons);
+
+    } else if (type == dCylinderClass) {
+
+        dReal radius,length;
+        dGeomCylinderGetParams(g,&radius,&length);
+        dsDrawCylinder(pos,R,length,radius);
+
+    } else if (type == dTriMeshClass) {
+
+        dTriIndex* Indices = (dTriIndex*)::Indices;
+
+        // assume all trimeshes are drawn as bunnies
+        for (int ii = 0; ii < IndexCount / 3; ii++) {
+            const dReal v[9] = { // explicit conversion from float to dReal
+                Vertices[Indices[ii * 3 + 0] * 3 + 0],
+                Vertices[Indices[ii * 3 + 0] * 3 + 1],
+                Vertices[Indices[ii * 3 + 0] * 3 + 2],
+                Vertices[Indices[ii * 3 + 1] * 3 + 0],
+                Vertices[Indices[ii * 3 + 1] * 3 + 1],
+                Vertices[Indices[ii * 3 + 1] * 3 + 2],
+                Vertices[Indices[ii * 3 + 2] * 3 + 0],
+                Vertices[Indices[ii * 3 + 2] * 3 + 1],
+                Vertices[Indices[ii * 3 + 2] * 3 + 2]
+            };
+            dsDrawTriangle(pos, R, &v[0], &v[3], &v[6], 1);
+        }
+
+    } else if (type == dHeightfieldClass) {
+
+        // Set ox and oz to zero for DHEIGHTFIELD_CORNER_ORIGIN mode.
+        int ox = (int) ( -HFIELD_WIDTH/2 );
+        int oz = (int) ( -HFIELD_DEPTH/2 );
+
+        //	for ( int tx = -1; tx < 2; ++tx )
+        //	for ( int tz = -1; tz < 2; ++tz )
+        dsSetColorAlpha (0.5,1,0.5,0.5);
+        dsSetTexture( DS_WOOD );
+
+        for ( int i = 0; i < HFIELD_WSTEP - 1; ++i )
+            for ( int j = 0; j < HFIELD_DSTEP - 1; ++j ) {
+                dReal a[3], b[3], c[3], d[3];
+
+                a[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
+                a[ 1 ] = heightfield_callback( NULL, i, j );
+                a[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
+
+                b[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
+                b[ 1 ] = heightfield_callback( NULL, i + 1, j );
+                b[ 2 ] = oz + ( j ) * HFIELD_DSAMP;
+
+                c[ 0 ] = ox + ( i ) * HFIELD_WSAMP;
+                c[ 1 ] = heightfield_callback( NULL, i, j + 1 );
+                c[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
+                
+                d[ 0 ] = ox + ( i + 1 ) * HFIELD_WSAMP;
+                d[ 1 ] = heightfield_callback( NULL, i + 1, j + 1 );
+                d[ 2 ] = oz + ( j + 1 ) * HFIELD_DSAMP;
+
+                dsDrawTriangle( pos, R, a, c, b, 1 );
+                dsDrawTriangle( pos, R, b, c, d, 1 );
+            }
+
+    }
+
+    if (show_aabb) {
+        // draw the bounding box for this geom
+        dReal aabb[6];
+        dGeomGetAABB(g,aabb);
+        dVector3 bbpos;
+        for (int i=0; i<3; i++)
+            bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+        dVector3 bbsides;
+        for (int i=0; i<3; i++)
+            bbsides[i] = aabb[i*2+1] - aabb[i*2];
+        dMatrix3 RI;
+        dRSetIdentity(RI);
+        dsSetColorAlpha(1,0,0,0.5);
+        dsDrawBox(bbpos,RI,bbsides);
+    }
+
+}
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+    int i,j;
+  
+    dSpaceCollide(space,0,&nearCallback);
+  
+    if (!pause)
+        dWorldQuickStep(world,0.05);
+
+
+    if (write_world) {
+        FILE *f = fopen ("state.dif","wt");
+        if (f) {
+            dWorldExportDIF(world,f,"X");
+            fclose (f);
+        }
+        write_world = 0;
+    }
+
+    // remove all contact joints
+    dJointGroupEmpty(contactgroup);
+
+
+
+    //
+    // Draw Heightfield
+    //
+
+    drawGeom(gheight, 0, 0, 0);
+
+
+
+    dsSetColor (1,1,0);
+    dsSetTexture (DS_WOOD);
+    for (i=0; i<num; i++) {
+        for (j=0; j < GPB; j++) {
+            if (i==selected) {
+                dsSetColor (0,0.7,1);
+            } else if (! dBodyIsEnabled (obj[i].body)) {
+                dsSetColor (1,0.8,0);
+            } else {
+                dsSetColor (1,1,0);
+            }
+
+            drawGeom (obj[i].geom[j],0,0,show_aabb);
+        }
+    }
+
+}
+
+
+int main (int argc, char **argv)
+{
+    printf("ODE configuration: %s\n", dGetConfiguration());
+        
+    // Is trimesh support built into this ODE?
+    g_allow_trimesh = dCheckConfiguration( "ODE_EXT_trimesh" );
+
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+    // create world
+    dInitODE2(0);
+    world = dWorldCreate();
+    space = dHashSpaceCreate (0);
+    contactgroup = dJointGroupCreate (0);
+    dWorldSetGravity(world,0,0,-0.05);
+    dWorldSetCFM(world,1e-5);
+    dWorldSetAutoDisableFlag(world,1);
+    dWorldSetContactMaxCorrectingVel(world,0.1);
+    dWorldSetContactSurfaceLayer(world,0.001);
+    memset(obj,0,sizeof(obj));
+
+    dWorldSetAutoDisableAverageSamplesCount( world, 1 );
+
+    // base plane to catch overspill
+    dCreatePlane( space, 0, 0, 1, 0 );
+
+
+    // our heightfield floor
+
+    dHeightfieldDataID heightid = dGeomHeightfieldDataCreate();
+
+    // Create an finite heightfield.
+    dGeomHeightfieldDataBuildCallback( heightid, NULL, heightfield_callback,
+                                       HFIELD_WIDTH, HFIELD_DEPTH, HFIELD_WSTEP, HFIELD_DSTEP,
+                                       REAL( 1.0 ), REAL( 0.0 ), REAL( 0.0 ), 0 );
+
+    // Give some very bounds which, while conservative,
+    // makes AABB computation more accurate than +/-INF.
+    dGeomHeightfieldDataSetBounds( heightid, REAL( -4.0 ), REAL( +6.0 ) );
+
+    gheight = dCreateHeightfield( space, heightid, 1 );
+
+    dVector3 pos;
+    pos[ 0 ] = 0;
+    pos[ 1 ] = 0;
+    pos[ 2 ] = 0;
+
+    // Rotate so Z is up, not Y (which is the default orientation)
+    dMatrix3 R;
+    dRSetIdentity( R );
+    dRFromAxisAndAngle( R, 1, 0, 0, DEGTORAD * 90 );
+
+    // Place it.
+    dGeomSetRotation( gheight, R );
+    dGeomSetPosition( gheight, pos[0], pos[1], pos[2] );
+
+    dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+    dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+    dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+    // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+    dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
+    // run simulation
+    dsSimulationLoop (argc,argv,352,288,&fn);
+
+    dThreadingImplementationShutdownProcessing(threading);
+    dThreadingFreeThreadPool(pool);
+    dWorldSetStepThreadingImplementation(world, NULL, NULL);
+    dThreadingFreeImplementation(threading);
+
+    dJointGroupDestroy (contactgroup);
+    dSpaceDestroy (space);
+    dWorldDestroy (world);
+
+    // destroy heightfield data, because _we_ own it not ODE
+    dGeomHeightfieldDataDestroy( heightid );
+
+    dCloseODE();
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_hinge.cpp b/libs/ode-0.16.1/ode/demo/demo_hinge.cpp
new file mode 100644
index 0000000..926da21
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_hinge.cpp
@@ -0,0 +1,165 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#endif
+
+
+// some constants
+#define SIDE (0.5f)	// side length of a box
+#define MASS (1.0)	// mass of a box
+
+
+// dynamics and collision objects
+static dWorldID world;
+static dBodyID body[2];
+static dJointID hinge;
+
+
+// state set by keyboard commands
+static int occasional_error = 0;
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
+  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("Press 'e' to start/stop occasional error.\n");
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  if (cmd == 'e' || cmd == 'E') {
+    occasional_error ^= 1;
+  }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  const dReal kd = -0.3;	// angular damping constant
+  if (!pause) {
+    // add an oscillating torque to body 0, and also damp its rotational motion
+    static dReal a=0;
+    const dReal *w = dBodyGetAngularVel (body[0]);
+    dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a));
+    dWorldStep (world,0.05);
+    a += 0.01;
+
+    // occasionally re-orient one of the bodies to create a deliberate error.
+    if (occasional_error) {
+      static int count = 0;
+      if ((count % 20)==0) {
+	// randomly adjust orientation of body[0]
+	const dReal *R1;
+	dMatrix3 R2,R3;
+	R1 = dBodyGetRotation (body[0]);
+	dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
+			    dRandReal()-0.5,dRandReal()-0.5);
+	dMultiply0 (R3,R1,R2,3,3,3);
+	dBodySetRotation (body[0],R3);
+
+	// randomly adjust position of body[0]
+	const dReal *pos = dBodyGetPosition (body[0]);
+	dBodySetPosition (body[0],
+			  pos[0]+0.2*(dRandReal()-0.5),
+			  pos[1]+0.2*(dRandReal()-0.5),
+			  pos[2]+0.2*(dRandReal()-0.5));
+      }
+      count++;
+    }
+  }
+
+  dReal sides1[3] = {SIDE,SIDE,SIDE};
+  dReal sides2[3] = {SIDE,SIDE,SIDE*0.8f};
+  dsSetTexture (DS_WOOD);
+  dsSetColor (1,1,0);
+  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
+  dsSetColor (0,1,1);
+  dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+
+  dMass m;
+  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
+  dMassAdjust (&m,MASS);
+
+  dQuaternion q;
+  dQFromAxisAndAngle (q,1,1,0,0.25*M_PI);
+
+  body[0] = dBodyCreate (world);
+  dBodySetMass (body[0],&m);
+  dBodySetPosition (body[0],0.5*SIDE,0.5*SIDE,1);
+  dBodySetQuaternion (body[0],q);
+
+  body[1] = dBodyCreate (world);
+  dBodySetMass (body[1],&m);
+  dBodySetPosition (body[1],-0.5*SIDE,-0.5*SIDE,1);
+  dBodySetQuaternion (body[1],q);
+
+  hinge = dJointCreateHinge (world,0);
+  dJointAttach (hinge,body[0],body[1]);
+  dJointSetHingeAnchor (hinge,0,0,1);
+  dJointSetHingeAxis (hinge,1,-1,1.41421356);
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_jointPR.cpp b/libs/ode-0.16.1/ode/demo/demo_jointPR.cpp
new file mode 100644
index 0000000..b760af1
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_jointPR.cpp
@@ -0,0 +1,434 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+This file try to demonstrate how the PR joint is working.
+
+The axisP is draw in red and the axisR is in green
+
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include <iostream>
+#include <math.h>
+#include "texturepath.h"
+
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#endif
+
+
+// physics parameters
+#define BOX1_LENGTH 2    // Size along the X axis
+#define BOX1_WIDTH 1     // Size along the Y axis
+#define BOX1_HEIGHT 0.4  // Size along the Z axis (up) since gravity is (0,0,-10)
+#define BOX2_LENGTH 0.2
+#define BOX2_WIDTH 0.1
+#define BOX2_HEIGHT 0.4
+#define Mass1 10
+#define Mass2 0.1
+
+
+#define PRISMATIC_ONLY 1
+#define ROTOIDE_ONLY   2
+int flag = 0;
+
+
+//camera view
+static float xyz[3] = {2.0f,-3.5f,2.0000f};
+static float hpr[3] = {90.000f,-25.5000f,0.0000f};
+//world,space,body & geom
+static dWorldID world;
+static dSpaceID space;
+static dSpaceID box1_space;
+static dBodyID box1_body[1];
+static dBodyID box2_body[1];
+static dJointID joint[1];
+static dJointGroupID contactgroup;
+static dGeomID ground;
+static dGeomID box1[1];
+static dGeomID box2[1];
+
+
+//collision detection
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+    int i,n;
+
+    dBodyID b1 = dGeomGetBody(o1);
+    dBodyID b2 = dGeomGetBody(o2);
+    if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
+    const int N = 10;
+    dContact contact[N];
+    n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
+    if (n > 0)
+    {
+        for (i=0; i<n; i++)
+        {
+            contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
+                                      dContactSoftERP | dContactSoftCFM | dContactApprox1;
+            contact[i].surface.mu = 0.1;
+            contact[i].surface.slip1 = 0.02;
+            contact[i].surface.slip2 = 0.02;
+            contact[i].surface.soft_erp = 0.1;
+            contact[i].surface.soft_cfm = 0.0001;
+            dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+            dJointAttach (c,dGeomGetBody(contact[i].geom.g1),dGeomGetBody(contact[i].geom.g2));
+        }
+    }
+}
+
+
+// start simulation - set viewpoint
+static void start()
+{
+    dAllocateODEDataForThread(dAllocateMaskAll);
+
+    dsSetViewpoint (xyz,hpr);
+    printf ("Press 'd' to add force along positive x direction.\nPress 'a' to add force along negative x direction.\n");
+    printf ("Press 'w' to add force along positive y direction.\nPress 's' to add force along negative y direction.\n");
+    printf ("Press 'e' to add torque around positive z direction.\nPress 'q' to add torque around negative z direction.\n");
+    printf ("Press 'o' to add force around positive x direction \n");
+
+    printf("Press 'v' to give a defined velocity and add a FMax to the rotoide axis\n");
+    printf("Press 'c' to set the velocity to zero and remove the FMax\n");
+
+    printf("Press 'l' to add limits (-0.5 to 0.5rad) on the rotoide axis\n");
+    printf("Press 'k' to remove the limits on the rotoide axis\n");
+
+    printf("Press 'i' to get joint info\n");
+}
+
+// function to update camera position at each step.
+void update()
+{
+// 		const dReal *a =(dBodyGetPosition (box1_body[0]));
+// 		float dx=a[0];
+// 		float dy=a[1];
+// 		float dz=a[2];
+// 		xyz[0]=dx;
+// 		xyz[1]=dy-5;
+// 		xyz[2]=dz+2;
+// 		hpr[1]=-22.5000f;
+// 		dsSetViewpoint (xyz,hpr);
+}
+
+
+// called when a key pressed
+static void command (int cmd)
+{
+    switch (cmd)
+    {
+    case 'w':
+    case 'W':
+        dBodyAddForce(box2_body[0],0,500,0);
+        std::cout<<(dBodyGetPosition(box2_body[0])[1]-dBodyGetPosition(box1_body[0])[1])<<'\n';
+        break;
+    case 's':
+    case 'S':
+        dBodyAddForce(box2_body[0],0,-500,0);
+        std::cout<<(dBodyGetPosition(box2_body[0])[1]-dBodyGetPosition(box1_body[0])[1])<<'\n';
+        break;
+    case 'd':
+    case 'D':
+        dBodyAddForce(box2_body[0],500,0,0);
+        std::cout<<(dBodyGetPosition(box2_body[0])[0]-dBodyGetPosition(box1_body[0])[0])<<'\n';
+        break;
+    case 'a':
+    case 'A':
+        dBodyAddForce(box2_body[0],-500,0,0);
+        std::cout<<(dBodyGetPosition(box2_body[0])[0]-dBodyGetPosition(box1_body[0])[0])<<'\n';
+        break;
+    case 'e':
+    case 'E':
+        dBodyAddRelTorque(box2_body[0],0,0,200);
+        break;
+    case 'q':
+    case 'Q':
+        dBodyAddRelTorque(box2_body[0],0,0,-200);
+        break;
+    case 'o':
+    case 'O':
+        dBodyAddForce(box1_body[0],10000,0,0);
+        break;
+
+    case 'v':
+    case 'V':
+        dJointSetPRParam(joint[0], dParamVel2, 2);
+        dJointSetPRParam(joint[0], dParamFMax2, 500);
+        break;
+
+    case 'c':
+    case 'C':
+        dJointSetPRParam(joint[0], dParamVel2, 0);
+        dJointSetPRParam(joint[0], dParamFMax2, 0);
+        break;
+
+    case 'l':
+    case 'L':
+        dJointSetPRParam(joint[0], dParamLoStop2, -0.5);
+        dJointSetPRParam(joint[0], dParamHiStop2,  0.5);
+        break;
+
+    case 'k':
+    case 'K':
+        dJointSetPRParam(joint[0], dParamLoStop2, -dInfinity);
+        dJointSetPRParam(joint[0], dParamHiStop2,  dInfinity);
+        break;
+
+    case 'i':
+    case 'I':
+        dVector3 anchor;
+        dJointGetPRAnchor(joint[0], anchor);
+        dReal angle = dJointGetPRAngle(joint[0]);
+        dReal w = dJointGetPRAngleRate(joint[0]);
+
+        dReal l = dJointGetPRPosition(joint[0]);
+        dReal v = dJointGetPRPositionRate(joint[0]);
+
+        printf("Anchor: [%6.4f, %6.4f, %6.4f]\n", anchor[0], anchor[1], anchor[2]);
+        printf("Position: %7.4f, Rate: %7.4f\n", l, v);
+        printf("Angle: %7.4f, Rate: %7.4f\n", angle, w);
+        break;
+    }
+}
+
+
+// simulation loop
+static void simLoop (int pause)
+{
+    if (!pause)
+    {
+        //draw 2 boxes
+        dVector3 ss;
+        dsSetTexture (DS_WOOD);
+
+        const dReal *posBox2 = dGeomGetPosition(box2[0]);
+        const dReal *rotBox2 = dGeomGetRotation(box2[0]);
+        dsSetColor (1,1,0);
+        dGeomBoxGetLengths (box2[0],ss);
+        dsDrawBox (posBox2, rotBox2, ss);
+
+        const dReal *posBox1 = dGeomGetPosition(box1[0]);
+        const dReal *rotBox1 = dGeomGetRotation(box1[0]);
+        dsSetColor (1,1,2);
+        dGeomBoxGetLengths (box1[0], ss);
+        dsDrawBox (posBox1, rotBox1, ss);
+
+        dVector3 anchorPos;
+        dJointGetPRAnchor (joint[0], anchorPos);
+
+        // Draw the axisP
+        if (ROTOIDE_ONLY != flag )
+        {
+            dsSetColor (1,0,0);
+            dVector3 sizeP = {0, 0.1, 0.1};
+            for (int i=0; i<3; ++i)
+                sizeP[0] += (anchorPos[i] - posBox1[i])*(anchorPos[i] - posBox1[i]);
+            sizeP[0] = sqrt(sizeP[0]);
+            dVector3 posAxisP;
+            for (int i=0; i<3; ++i)
+                posAxisP[i] = posBox1[i] + (anchorPos[i] - posBox1[i])/2.0;
+            dsDrawBox (posAxisP, rotBox1, sizeP);
+        }
+
+
+        // Draw the axisR
+        if (PRISMATIC_ONLY != flag )
+        {
+            dsSetColor (0,1,0);
+            dVector3 sizeR = {0, 0.1, 0.1};
+            for (int i=0; i<3; ++i)
+                sizeR[0] += (anchorPos[i] - posBox2[i])*(anchorPos[i] - posBox2[i]);
+            sizeR[0] = sqrt(sizeR[0]);
+            dVector3 posAxisR;
+            for (int i=0; i<3; ++i)
+                posAxisR[i] = posBox2[i] + (anchorPos[i] - posBox2[i])/2.0;
+            dsDrawBox (posAxisR, rotBox2, sizeR);
+        }
+
+        dSpaceCollide (space,0,&nearCallback);
+        dWorldQuickStep (world,0.0001);
+        update();
+        dJointGroupEmpty (contactgroup);
+    }
+}
+
+
+void Help(char **argv)
+{
+    printf("%s ", argv[0]);
+    printf(" -h | --help : print this help\n");
+    printf(" -b | --both : Display how the complete joint works\n");
+    printf("               Default behavior\n");
+    printf(" -p | --prismatic-only : Display how the prismatic part works\n");
+    printf("                         The anchor pts is set at the center of body 2\n");
+    printf(" -r | --rotoide-only   : Display how the rotoide part works\n");
+    printf("                         The anchor pts is set at the center of body 1\n");
+    printf(" -t | --texture-path path  : Path to the texture.\n");
+    printf("                             Default = %s\n", DRAWSTUFF_TEXTURE_PATH);
+    printf("--------------------------------------------------\n");
+    printf("Hit any key to continue:");
+    getchar();
+
+    exit(0);
+}
+
+int main (int argc, char **argv)
+{
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+    if (argc >= 2 )
+    {
+        for (int i=1; i < argc; ++i)
+        {
+            if (  0 == strcmp("-h", argv[i]) || 0 == strcmp("--help", argv[i]) )
+                Help(argv);
+
+            if (!flag && (0 == strcmp("-p", argv[i]) ||0 == strcmp("--prismatic-only", argv[i])) )
+                flag = PRISMATIC_ONLY;
+
+            if (!flag && (0 == strcmp("-r", argv[i]) || 0 == strcmp("--rotoide-only", argv[i])) )
+                flag = ROTOIDE_ONLY;
+
+            if (0 == strcmp("-t", argv[i]) || 0 == strcmp("--texture-path", argv[i]))
+            {
+                int j = i+1;
+                if ( j >= argc      ||  // Check if we have enough arguments
+                        argv[j][0] == '\0' ||  // We should have a path here
+                        argv[j][0] == '-' ) // We should have a path not a command line
+                    Help(argv);
+                else
+                    fn.path_to_textures = argv[++i]; // Increase i since we use this argument
+            }
+        }
+    }
+
+    dInitODE2(0);
+
+    // create world
+    world = dWorldCreate();
+    space = dHashSpaceCreate (0);
+    contactgroup = dJointGroupCreate (0);
+    dWorldSetGravity (world,0,0,-10);
+    ground = dCreatePlane (space,0,0,1,0);
+
+    //create two boxes
+    dMass m;
+    box1_body[0] = dBodyCreate (world);
+    dMassSetBox (&m,1,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT);
+    dMassAdjust (&m,Mass1);
+    dBodySetMass (box1_body[0],&m);
+    box1[0] = dCreateBox (0,BOX1_LENGTH,BOX1_WIDTH,BOX1_HEIGHT);
+    dGeomSetBody (box1[0],box1_body[0]);
+
+    box2_body[0] = dBodyCreate (world);
+    dMassSetBox (&m,10,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT);
+    dMassAdjust (&m,Mass2);
+    dBodySetMass (box2_body[0],&m);
+    box2[0] = dCreateBox (0,BOX2_LENGTH,BOX2_WIDTH,BOX2_HEIGHT);
+    dGeomSetBody (box2[0],box2_body[0]);
+
+    //set the initial positions of body1 and body2
+    dMatrix3 R;
+    dRSetIdentity(R);
+    dBodySetPosition (box1_body[0],0,0,BOX1_HEIGHT/2.0);
+    dBodySetRotation (box1_body[0], R);
+
+    dBodySetPosition (box2_body[0],
+                      2.1,
+                      0.0,
+                      BOX2_HEIGHT/2.0);
+    dBodySetRotation (box2_body[0], R);
+
+
+    //set PR joint
+    joint[0] = dJointCreatePR(world,0);
+    dJointAttach (joint[0],box1_body[0],box2_body[0]);
+    switch (flag)
+    {
+    case PRISMATIC_ONLY:
+        dJointSetPRAnchor (joint[0],
+                           2.1,
+                           0.0,
+                           BOX2_HEIGHT/2.0);
+        dJointSetPRParam (joint[0],dParamLoStop, -0.5);
+        dJointSetPRParam (joint[0],dParamHiStop, 1.5);
+        break;
+
+    case ROTOIDE_ONLY:
+        dJointSetPRAnchor (joint[0],
+                           0.0,
+                           0.0,
+                           BOX2_HEIGHT/2.0);
+        dJointSetPRParam (joint[0],dParamLoStop, 0.0);
+        dJointSetPRParam (joint[0],dParamHiStop, 0.0);
+        break;
+
+    default:
+        dJointSetPRAnchor (joint[0],
+                           1.1,
+                           0.0,
+                           BOX2_HEIGHT/2.0);
+        dJointSetPRParam (joint[0],dParamLoStop, -0.5);
+        dJointSetPRParam (joint[0],dParamHiStop, 1.5);
+        break;
+    }
+
+    dJointSetPRAxis1(joint[0],1,0,0);
+    dJointSetPRAxis2(joint[0],0,0,1);
+// We position  the 2 body
+// The position of the rotoide joint is on the second body so it can rotate on itself
+// and move along the X axis.
+// With this anchor
+// - A force in X will move only the body 2 inside the low and hi limit
+//   of the prismatic
+// - A force in Y will make the 2 bodies to rotate around on the plane
+
+    box1_space = dSimpleSpaceCreate (space);
+    dSpaceSetCleanup (box1_space,0);
+    dSpaceAdd(box1_space,box1[0]);
+
+    // run simulation
+    dsSimulationLoop (argc,argv,400,300,&fn);
+    dJointGroupDestroy (contactgroup);
+    dSpaceDestroy (space);
+    dWorldDestroy (world);
+    dCloseODE();
+    return 0;
+}
+
diff --git a/libs/ode-0.16.1/ode/demo/demo_jointPU.cpp b/libs/ode-0.16.1/ode/demo/demo_jointPU.cpp
new file mode 100644
index 0000000..6ec3093
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_jointPU.cpp
@@ -0,0 +1,735 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+  This program demonstrates how the PU joint works.
+  A PU joint is a combination of a Universal joint and a Slider joint.
+  It is a universal joint with a slider between the anchor point and
+  body 1.
+
+
+  The upper yellow body is fixed to the world
+  The lower yellow body is attached to the upper body by a PU joint
+  The green object is one aprt of the slider.
+  The purple object is the second part of the slider.
+  The red object represent the axis1 of the universal part.
+  The blue object represent the axis2 of the universal part.
+  The gray object represent the anchor2 of the PU joint.
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include <iostream>
+#include <math.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+enum IDX_CYL_DIM
+{
+  RADIUS,
+  LENGTH,
+  NUM_CYL_DIM
+};
+
+
+const dVector3 boxDim = {1,1,1};
+const dVector3 extDim = {0.2,0.2,1.2};
+const dVector3 ancDim = {0.2,0.2,0.5};
+const dReal    axDim[NUM_CYL_DIM] = {0.1,1.0};
+
+
+int type = dJointTypePU;
+
+
+const dReal VEL_INC = 0.01; // Velocity increment
+
+// physics parameters
+const dReal PI = 3.14159265358979323846264338327950288419716939937510;
+
+
+const dReal INT_EXT_RATIO = 0.8;
+
+#define X 0
+#define Y 1
+#define Z 2
+
+enum INDEX
+{
+  W = 0,
+  D,
+  EXT,
+  INT,
+  AXIS1,
+  AXIS2,
+  ANCHOR,
+  GROUND,
+  NUM_PARTS,
+  ALL = NUM_PARTS,
+  // INDEX for catBits
+  JOINT,
+  LAST_INDEX_CNT
+};
+
+const int catBits[LAST_INDEX_CNT] =
+  {
+    0x0001, ///< W Cylinder category
+    0x0002, ///< D Cylinder category
+    0x0004, ///< EXT sliderr category
+    0x0008, ///< INT slider category
+    0x0010, ///< AXIS1 universal category
+    0x0020, ///< AXIS2 universal category
+    0x0040, ///< ANCHOR category
+    0x0080, ///< Ground category
+    ~0L,    ///< All categories
+    0x0004 | 0x0008 | 0x0010 | 0x0020 ///< JOINT category
+  };
+
+#define Mass1 10
+#define Mass2 8
+
+
+//camera view
+static float xyz[3] = {6.0f,0.0f,6.0000f};
+static float hpr[3] = {-180.000f,-25.5000f,0.0000f};
+
+
+//world,space,body & geom
+static dWorldID         world;
+static dSpaceID         space;
+static dJointGroupID    contactgroup;
+static dBodyID          body[NUM_PARTS];
+static dGeomID          geom[NUM_PARTS];
+
+static dJoint *joint;
+
+
+
+const dReal BOX_SIDES[3]  = {1.0,1.0,1.0};
+const dReal OBS_SIDES[3]  = {0.4,0.4,0.4};
+const dReal RECT_SIDES[3] = {0.3, 0.1, 0.2};
+
+
+//collision detection
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  int i,n;
+
+  const int N = 10;
+  dContact contact[N];
+  n = dCollide (o1,o2,N,&contact[0].geom,sizeof (dContact) );
+  if (n > 0) {
+    for  (i=0; i<n; i++) {
+      contact[i].surface.mode = (dContactSlip1 | dContactSlip2 |
+                                 dContactSoftERP | dContactSoftCFM |
+                                 dContactApprox1);
+      contact[i].surface.mu = 0.1;
+      contact[i].surface.slip1 = 0.02;
+      contact[i].surface.slip2 = 0.02;
+      contact[i].surface.soft_erp = 0.1;
+      contact[i].surface.soft_cfm = 0.0001;
+      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+      dJointAttach (c,dGeomGetBody (contact[i].geom.g1),dGeomGetBody (contact[i].geom.g2) );
+    }
+  }
+}
+
+static void printKeyBoardShortCut()
+{
+  printf ("Press 'h' for this help.\n");
+  printf ("Press 'q' to add force on BLUE body along positive x direction.\n");
+  printf ("Press 'w' to add force on BLUE body along negative x direction.\n");
+
+  printf ("Press 'a' to add force on BLUE body along positive y direction.\n");
+  printf ("Press 's' to add force on BLUE body along negative y direction.\n");
+
+  printf ("Press 'z' to add force on BLUE body along positive z direction.\n");
+  printf ("Press 'x' to add force on BLUE body along negative z direction.\n");
+
+  printf ("Press 'e' to add torque on BLUE body around positive x direction \n");
+  printf ("Press 'r' to add torque on BLUE body around negative x direction \n");
+
+  printf ("Press 'd' to add torque on BLUE body around positive y direction \n");
+  printf ("Press 'f' to add torque on BLUE body around negative y direction \n");
+
+  printf ("Press 'c' to add torque on BLUE body around positive z direction \n");
+  printf ("Press 'v' to add torque on BLUE body around negative z direction \n");
+
+  printf ("Press '.' to increase joint velocity along the prismatic direction.\n");
+  printf ("Press ',' to decrease joint velocity along the prismatic direction.\n");
+
+  printf ("Press 'l' Toggle ON/OFF the limits on all the axis\n");
+  printf ("Press 'g' Toggle ON/OFF the gravity\n");
+
+
+  printf ("Press 'p' to print the position, angle and rates of the joint.\n");
+}
+
+
+// start simulation - set viewpoint
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  dsSetViewpoint (xyz,hpr);
+  printf ("This program demonstrates how the PU joint works.\n");
+  printf ("A PU joint is a combination of a Universal joint and a Slider joint.\n");
+  printf ("It is a universal joint with a slider between the anchor point and \n");
+  printf ("body 1.\n\n");
+  printf ("The upper yellow body is fixed to the world\n");
+  printf ("The lower yellow body is attached to the upper body by a PU joint\n");
+  printf ("The green object is one aprt of the slider.\n");
+  printf ("The purple object is the second part of the slider.\n");
+  printf ("The red object represent the axis1 of the universal part. \n");
+  printf ("The blue object represent the axis2 of the universal part. \n");
+  printf ("The gray object represent the anchor2 of the PU joint. \n");
+  printKeyBoardShortCut();
+}
+
+// function to update camera position at each step.
+void update()
+{
+//   static FILE *file = fopen("x:/sim/src/libode/tstsrcSF/export.dat", "w");
+
+//   static int cnt = 0;
+//   char str[24];
+//   sprintf(str, "%06d",cnt++);
+
+//   dWorldExportDIF(world, file, str);
+}
+
+
+// called when a key pressed
+static void command (int cmd)
+{
+  switch (cmd) {
+case 'h' : case 'H' : case '?' :
+      printKeyBoardShortCut();
+      break;
+
+      // Force
+  case 'q' : case 'Q' :
+      dBodyAddForce(body[D],40,0,0);
+      break;
+  case 'w' : case 'W' :
+      dBodyAddForce(body[D],-40,0,0);
+      break;
+
+  case 'a' : case 'A' :
+      dBodyAddForce(body[D],0,40,0);
+      break;
+  case 's' : case 'S' :
+      dBodyAddForce(body[D],0,-40,0);
+      break;
+
+  case 'z' : case 'Z' :
+      dBodyAddForce(body[D],0,0,40);
+      break;
+  case 'x' : case 'X' :
+      dBodyAddForce(body[D],0,0,-40);
+      break;
+
+      // Torque
+  case 'e': case 'E':
+      dBodyAddTorque(body[D],0.1,0,0);
+      break;
+  case 'r': case 'R':
+      dBodyAddTorque(body[D],-0.1,0,0);
+      break;
+
+  case 'd': case 'D':
+      dBodyAddTorque(body[D],0, 0.1,0);
+      break;
+  case 'f': case 'F':
+      dBodyAddTorque(body[D],0,-0.1,0);
+      break;
+
+  case 'c': case 'C':
+      dBodyAddTorque(body[D],0,0,0.1);
+      break;
+  case 'v': case 'V':
+      dBodyAddTorque(body[D],0,0,0.1);
+      break;
+
+      // Velocity of joint
+  case ',': case '<' : {
+      dReal vel = joint->getParam (dParamVel3) - VEL_INC;
+      joint->setParam (dParamVel3, vel);
+	  joint->setParam (dParamFMax3, 2);
+      std::cout<<"Velocity = "<<vel<<"  FMax = 2"<<'\n';
+    }
+    break;
+
+  case '.': case '>' : {
+      dReal vel = joint->getParam (dParamVel3) + VEL_INC;
+      joint->setParam (dParamVel3, vel);
+	  joint->setParam (dParamFMax3, 2);
+      std::cout<<"Velocity = "<<vel<<"  FMax = 2"<<'\n';
+    }
+    break;
+
+  case 'l': case 'L' : {
+      dReal aLimit, lLimit, fmax;
+      if (  joint->getParam (dParamFMax) ) {
+        aLimit = dInfinity;
+        lLimit = dInfinity;
+        fmax = 0;
+      }
+      else {
+        aLimit = 0.25*PI;
+        lLimit = 0.5*axDim[LENGTH];
+        fmax = 0.02;
+      }
+
+      joint->setParam (dParamFMax1, fmax);
+      joint->setParam (dParamFMax2, fmax);
+      joint->setParam (dParamFMax3, fmax);
+
+      switch (joint->getType() ) {
+        case dJointTypePR : {
+          dPRJoint *pr = reinterpret_cast<dPRJoint *> (joint);
+          pr->setParam (dParamLoStop, -lLimit);
+          pr->setParam (dParamHiStop, -lLimit);
+          pr->setParam (dParamLoStop2, aLimit);
+          pr->setParam (dParamHiStop2, -aLimit);
+        }
+        break;
+        case dJointTypePU : {
+          dPUJoint *pu = reinterpret_cast<dPUJoint *> (joint);
+          pu->setParam (dParamLoStop1, -aLimit);
+          pu->setParam (dParamHiStop1, aLimit);
+          pu->setParam (dParamLoStop2, -aLimit);
+          pu->setParam (dParamHiStop2, aLimit);
+          pu->setParam (dParamLoStop3, -lLimit);
+          pu->setParam (dParamHiStop3, lLimit);
+        }
+        break;
+        default: {} // keep the compiler happy
+      }
+    }
+
+    break;
+
+  case 'g': case 'G' : {
+      dVector3 g;
+      dWorldGetGravity(world, g);
+      if (  g[2]< -0.1 )
+        dWorldSetGravity(world, 0, 0, 0);
+      else
+        dWorldSetGravity(world, 0, 0, -0.5);
+
+    }
+
+case 'p' :case 'P' : {
+      switch (joint->getType() ) {
+        case dJointTypeSlider : {
+          dSliderJoint *sj = reinterpret_cast<dSliderJoint *> (joint);
+          std::cout<<"Position ="<<sj->getPosition() <<"\n";
+        }
+        break;
+        case dJointTypePU : {
+          dPUJoint *pu = reinterpret_cast<dPUJoint *> (joint);
+          std::cout<<"Position ="<<pu->getPosition() <<"\n";
+          std::cout<<"Position Rate="<<pu->getPositionRate() <<"\n";
+          std::cout<<"Angle1 ="<<pu->getAngle1() <<"\n";
+          std::cout<<"Angle1 Rate="<<pu->getAngle1Rate() <<"\n";
+          std::cout<<"Angle2 ="<<pu->getAngle2() <<"\n";
+          std::cout<<"Angle2 Rate="<<pu->getAngle2Rate() <<"\n";
+        }
+        break;
+        default: {} // keep the compiler happy
+      }
+    }
+    break;
+  }
+}
+
+static void drawBox (dGeomID id, int R, int G, int B)
+{
+  if (!id)
+    return;
+
+  const dReal *pos = dGeomGetPosition (id);
+  const dReal *rot = dGeomGetRotation (id);
+  dsSetColor (R,G,B);
+
+  dVector3 l;
+  dGeomBoxGetLengths (id, l);
+  dsDrawBox (pos, rot, l);
+}
+
+
+// simulation loop
+static void simLoop (int pause)
+{
+  static bool todo = false;
+  if ( todo ) { // DEBUG
+    static int cnt = 0;
+    ++cnt;
+
+    if (cnt == 5)
+      command ( 'q' );
+    if (cnt == 10)
+      dsStop();
+  }
+
+
+
+
+  if (!pause) {
+    double simstep = 0.01; // 10ms simulation steps
+    double dt = dsElapsedTime();
+
+    int nrofsteps = (int) ceilf (dt/simstep);
+    if (!nrofsteps)
+      nrofsteps = 1;
+
+    for (int i=0; i<nrofsteps && !pause; i++) {
+      dSpaceCollide (space,0,&nearCallback);
+      dWorldStep (world, simstep);
+
+      dJointGroupEmpty (contactgroup);
+    }
+
+    update();
+
+
+    dReal radius, length;
+
+    dsSetTexture (DS_WOOD);
+
+    drawBox (geom[W], 1,1,0);
+
+
+    drawBox (geom[EXT], 0,1,0);
+
+    dVector3 anchorPos;
+
+
+
+    dReal ang1 = 0;
+    dReal ang2 = 0;
+    dVector3 axisP, axisR1, axisR2;
+
+    if ( dJointTypePU == type ) {
+      dPUJoint *pu = dynamic_cast<dPUJoint *> (joint);
+      ang1 = pu->getAngle1();
+      ang2 = pu->getAngle2();
+      pu->getAxis1 (axisR1);
+      pu->getAxis2 (axisR2);
+      pu->getAxisP (axisP);
+
+      dJointGetPUAnchor (pu->id(), anchorPos);
+    }
+    else if ( dJointTypePR == type ) {
+      dPRJoint *pr = dynamic_cast<dPRJoint *> (joint);
+      pr->getAxis1 (axisP);
+      pr->getAxis2 (axisR1);
+
+      dJointGetPRAnchor (pr->id(), anchorPos);
+    }
+
+
+    // Draw the axisR
+    if ( geom[INT] ) {
+      dsSetColor (1,0,1);
+      dVector3 l;
+      dGeomBoxGetLengths (geom[INT], l);
+
+      const dReal *rotBox = dGeomGetRotation (geom[W]);
+
+      dVector3 pos;
+      for (int i=0; i<3; ++i)
+        pos[i] = anchorPos[i] - 0.5*extDim[Z]*axisP[i];
+      dsDrawBox (pos, rotBox, l);
+    }
+
+    dsSetTexture (DS_CHECKERED);
+    if ( geom[AXIS1] ) {
+      dQuaternion q, qAng;
+      dQFromAxisAndAngle (qAng,axisR1[X], axisR1[Y], axisR1[Z], ang1);
+      dGeomGetQuaternion (geom[AXIS1], q);
+
+      dQuaternion qq;
+      dQMultiply1 (qq, qAng, q);
+      dMatrix3 R;
+      dQtoR (qq,R);
+
+
+      dGeomCylinderGetParams (geom[AXIS1], &radius, &length);
+      dsSetColor (1,0,0);
+      dsDrawCylinder (anchorPos, R, length, radius);
+    }
+
+    if ( dJointTypePU == type && geom[AXIS2] ) {
+      //dPUJoint *pu = dynamic_cast<dPUJoint *> (joint);
+
+      dQuaternion q, qAng, qq, qq1;
+      dGeomGetQuaternion (geom[AXIS2], q);
+
+      dQFromAxisAndAngle (qAng, 0, 1, 0, ang2);
+      dQMultiply1 (qq, qAng, q);
+
+
+      dQFromAxisAndAngle (qAng,axisR1[X], axisR1[Y], axisR1[Z], ang1);
+
+      dQMultiply1 (qq1, qAng, qq);
+
+
+      dMatrix3 R;
+      dQtoR (qq1,R);
+
+
+      dGeomCylinderGetParams (geom[AXIS2], &radius, &length);
+      dsSetColor (0,0,1);
+      dsDrawCylinder (anchorPos, R, length, radius);
+    }
+
+    dsSetTexture (DS_WOOD);
+
+    // Draw the anchor
+    if ( geom[ANCHOR] ) {
+      dsSetColor (1,1,1);
+      dVector3 l;
+      dGeomBoxGetLengths (geom[ANCHOR], l);
+
+      const dReal *rotBox = dGeomGetRotation (geom[D]);
+      const dReal *posBox = dGeomGetPosition (geom[D]);
+
+      dVector3 e;
+      for (int i=0; i<3; ++i)
+        e[i] = posBox[i] - anchorPos[i];
+      dNormalize3 (e);
+
+      dVector3 pos;
+      for (int i=0; i<3; ++i)
+        pos[i] = anchorPos[i] + 0.5 * l[Z]*e[i];
+      dsDrawBox (pos, rotBox, l);
+    }
+
+    drawBox (geom[D], 1,1,0);
+  }
+}
+
+
+void Help (char **argv)
+{
+  printf ("%s ", argv[0]);
+  printf (" -h | --help   : print this help\n");
+  printf (" -p | --PRJoint : Use a PR joint instead of PU joint\n");
+  printf (" -t | --texture-path path  : Path to the texture.\n");
+  printf ("                             Default = %s\n", DRAWSTUFF_TEXTURE_PATH);
+  printf ("--------------------------------------------------\n");
+  printf ("Hit any key to continue:");
+  getchar();
+
+  exit (0);
+}
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  if (argc >= 2 ) {
+    for (int i=1; i < argc; ++i) {
+      if (  0 == strcmp ("-h", argv[i]) || 0 == strcmp ("--help", argv[i]) )
+        Help (argv);
+
+      if (  0 == strcmp ("-p", argv[i]) || 0 == strcmp ("--PRJoint", argv[i]) )
+        type = dJointTypePR;
+
+      if (0 == strcmp ("-t", argv[i]) || 0 == strcmp ("--texture-path", argv[i]) ) {
+        int j = i+1;
+        if ( j >= argc      ||  // Check if we have enough arguments
+             argv[j][0] == '\0' ||  // We should have a path here
+             argv[j][0] == '-' ) // We should have a path not a command line
+          Help (argv);
+        else
+          fn.path_to_textures = argv[++i]; // Increase i since we use this argument
+      }
+    }
+  }
+
+  dInitODE2(0);
+
+  world = dWorldCreate();
+  dWorldSetERP (world, 0.8);
+
+  space = dSimpleSpaceCreate (0);
+  contactgroup = dJointGroupCreate (0);
+  geom[GROUND] = dCreatePlane (space, 0,0,1,0);
+  dGeomSetCategoryBits (geom[GROUND], catBits[GROUND]);
+  dGeomSetCollideBits (geom[GROUND], catBits[ALL]);
+
+  dMass m;
+
+  // Create the body attached to the World
+  body[W] = dBodyCreate (world);
+  // Main axis of cylinder is along X=1
+  m.setBox (1, boxDim[X], boxDim[Y], boxDim[Z]);
+  m.adjust (Mass1);
+  geom[W] = dCreateBox (space, boxDim[X], boxDim[Y], boxDim[Z]);
+  dGeomSetBody (geom[W], body[W]);
+  dGeomSetCategoryBits (geom[W], catBits[W]);
+  dGeomSetCollideBits (geom[W], catBits[ALL] & (~catBits[W]) & (~catBits[JOINT]) );
+  dBodySetMass (body[W], &m);
+
+
+
+
+
+  // Create the dandling body
+  body[D] = dBodyCreate (world);
+  // Main axis of capsule is along X=1
+  m.setBox (1, boxDim[X], boxDim[Y], boxDim[Z]);
+  m.adjust (Mass1);
+  geom[D] = dCreateBox (space, boxDim[X], boxDim[Y], boxDim[Z]);
+  dGeomSetBody (geom[D], body[D]);
+  dGeomSetCategoryBits (geom[D], catBits[D]);
+  dGeomSetCollideBits (geom[D], catBits[ALL] & (~catBits[D]) & (~catBits[JOINT]) );
+  dBodySetMass (body[D], &m);
+
+
+  // Create the external part of the slider joint
+  geom[EXT] = dCreateBox (0, extDim[X], extDim[Y], extDim[Z]);
+  dGeomSetCategoryBits (geom[EXT], catBits[EXT]);
+  dGeomSetCollideBits (geom[EXT],
+                       catBits[ALL] & (~catBits[JOINT]) & (~catBits[W]) & (~catBits[D]) );
+
+  // Create the internal part of the slider joint
+  geom[INT] = dCreateBox (0, INT_EXT_RATIO*extDim[X],
+                          INT_EXT_RATIO*extDim[Y],
+                          INT_EXT_RATIO*extDim[Z]);
+  dGeomSetCategoryBits (geom[INT], catBits[INT]);
+  dGeomSetCollideBits (geom[INT],
+                       catBits[ALL] & (~catBits[JOINT]) & (~catBits[W]) & (~catBits[D]) );
+
+
+  dMatrix3 R;
+  // Create the first axis of the universal joi9nt
+  //Rotation of 90deg around y
+  geom[AXIS1] = dCreateCylinder(0, axDim[RADIUS], axDim[LENGTH]);
+  dRFromAxisAndAngle(R, 0,1,0, 0.5*PI);
+  dGeomSetRotation(geom[AXIS1], R);
+  dGeomSetCategoryBits(geom[AXIS1], catBits[AXIS1]);
+  dGeomSetCollideBits(geom[AXIS1],
+                      catBits[ALL]  & ~catBits[JOINT] & ~catBits[W] & ~catBits[D]);
+
+
+  // Create the second axis of the universal joint
+  geom[AXIS2] = dCreateCylinder(0, axDim[RADIUS], axDim[LENGTH]);
+  //Rotation of 90deg around y
+  dRFromAxisAndAngle(R, 1,0,0, 0.5*PI);
+  dGeomSetRotation(geom[AXIS2], R);
+  dGeomSetCategoryBits(geom[AXIS2], catBits[AXIS2]);
+  dGeomSetCollideBits(geom[AXIS2],
+                      catBits[ALL]  & ~catBits[JOINT] & ~catBits[W] & ~catBits[D]);
+
+  // Create the anchor
+  geom[ANCHOR] = dCreateBox (0, ancDim[X], ancDim[Y], ancDim[Z]);
+  dGeomSetCategoryBits(geom[ANCHOR], catBits[ANCHOR]);
+  dGeomSetCollideBits(geom[ANCHOR],
+                      catBits[ALL] & (~catBits[JOINT]) & (~catBits[W]) & (~catBits[D]) );
+
+
+
+  if (body[W]) {
+    dBodySetPosition(body[W], 0, 0, 5);
+  }
+
+
+  if (geom[EXT]) {
+    dGeomSetPosition(geom[EXT], 0,0,3.8);
+  }
+  if (geom[INT]) {
+    dGeomSetPosition(geom[INT], 0,0,2.6);
+  }
+  if (geom[AXIS1]) {
+    dGeomSetPosition(geom[AXIS1], 0,0,2.5);
+  }
+  if (geom[AXIS2]) {
+    dGeomSetPosition(geom[AXIS2], 0,0,2.5);
+  }
+
+  if (geom[ANCHOR]) {
+    dGeomSetPosition(geom[ANCHOR], 0,0,2.25);
+  }
+
+  if (body[D]) {
+    dBodySetPosition(body[D], 0,0,1.5);
+  }
+
+
+
+  // Attache the upper box to the world
+  dJointID fixed = dJointCreateFixed (world,0);
+  dJointAttach (fixed , NULL, body[W]);
+  dJointSetFixed (fixed );
+
+  if (type == dJointTypePR) {
+    dPRJoint *pr = new dPRJoint (world, 0);
+    pr->attach (body[W], body[D]);
+    pr->setAxis1 (0, 0, -1);
+    pr->setAxis2 (1, 0, 0);
+    joint = pr;
+
+    dJointSetPRAnchor (pr->id(), 0, 0, 2.5);
+  }
+  else {
+    dPUJoint *pu = new dPUJoint (world, 0);
+    pu->attach (body[W], body[D]);
+    pu->setAxis1 (1, 0, 0);
+    pu->setAxis2 (0, 1, 0);
+    pu->setAxisP (0, 0, -1);
+    joint = pu;
+
+    dJointSetPUAnchor (pu->id(), 0, 0, 2.5);
+  }
+
+
+  // run simulation
+  dsSimulationLoop (argc,argv,400,300,&fn);
+
+  delete joint;
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
+
diff --git a/libs/ode-0.16.1/ode/demo/demo_joints.cpp b/libs/ode-0.16.1/ode/demo/demo_joints.cpp
new file mode 100644
index 0000000..d545369
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_joints.cpp
@@ -0,0 +1,1090 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+perform tests on all the joint types.
+this should be done using the double precision version of the library.
+
+usage:
+  test_joints [-nXXX] [-g] [-i] [-e] [path_to_textures]
+
+if a test number is given then that specific test is performed, otherwise
+all the tests are performed. the tests are numbered `xxyy', where xx
+corresponds to the joint type and yy is the sub-test number. not every
+number maps to an actual test.
+
+flags:
+  i: the test is interactive.
+  g: turn off graphical display (can't use this with `i').
+  e: turn on occasional error perturbations
+  n: performe test XXX
+some tests compute and display error values. these values are scaled so
+<1 is good and >1 is bad. other tests just show graphical results which
+you must verify visually.
+
+*/
+
+#include <ctype.h>
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#endif
+
+
+// some constants
+#define NUM_JOINTS 10	// number of joints to test (the `xx' value)
+#define SIDE (0.5f)	// side length of a box - don't change this
+#define MASS (1.0)	// mass of a box
+#define STEPSIZE 0.05
+
+static const dVector3 xunit = { 1, 0, 0 }, zunit = { 0, 0, 1 };
+
+
+// dynamics objects
+static dWorldID world;
+static dBodyID body[2];
+static dJointID joint;
+
+
+// data from the command line arguments
+static int cmd_test_num = -1;
+static int cmd_interactive = 0;
+static int cmd_graphics = 1;
+static char *cmd_path_to_textures = NULL;
+static int cmd_occasional_error = 0;	// perturb occasionally
+
+
+// info about the current test
+struct TestInfo;
+static int test_num = 0;		// number of the current test
+static int iteration = 0;
+static int max_iterations = 0;
+static dReal max_error = 0;
+
+//****************************************************************************
+// utility stuff
+
+static dReal length (dVector3 a)
+{
+  return dSqrt (a[0]*a[0] + a[1]*a[1] + a[2]*a[2]);
+}
+
+
+// get the max difference between a 3x3 matrix and the identity
+
+dReal cmpIdentity (const dMatrix3 A)
+{
+  dMatrix3 I;
+  dSetZero (I,12);
+  I[0] = 1;
+  I[5] = 1;
+  I[10] = 1;
+  return dMaxDifference (A,I,3,3);
+}
+
+//****************************************************************************
+// test world construction and utilities
+
+void constructWorldForTest (dReal gravity, int bodycount,
+ /* body 1 pos */           dReal pos1x, dReal pos1y, dReal pos1z,
+ /* body 2 pos */           dReal pos2x, dReal pos2y, dReal pos2z,
+ /* body 1 rotation axis */ dReal ax1x, dReal ax1y, dReal ax1z,
+ /* body 1 rotation axis */ dReal ax2x, dReal ax2y, dReal ax2z,
+ /* rotation angles */      dReal a1, dReal a2)
+{
+  // create world
+  world = dWorldCreate();
+  dWorldSetERP (world,0.2);
+  dWorldSetCFM (world,1e-6);
+  dWorldSetGravity (world,0,0,gravity);
+
+  dMass m;
+  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
+  dMassAdjust (&m,MASS);
+
+  body[0] = dBodyCreate (world);
+  dBodySetMass (body[0],&m);
+  dBodySetPosition (body[0], pos1x, pos1y, pos1z);
+  dQuaternion q;
+  dQFromAxisAndAngle (q,ax1x,ax1y,ax1z,a1);
+  dBodySetQuaternion (body[0],q);
+
+  if (bodycount==2) {
+    body[1] = dBodyCreate (world);
+    dBodySetMass (body[1],&m);
+    dBodySetPosition (body[1], pos2x, pos2y, pos2z);
+    dQFromAxisAndAngle (q,ax2x,ax2y,ax2z,a2);
+    dBodySetQuaternion (body[1],q);
+  }
+  else body[1] = 0;
+}
+
+
+// add an oscillating torque to body 0
+
+void addOscillatingTorque (dReal tscale)
+{
+  static dReal a=0;
+  dBodyAddTorque (body[0],tscale*cos(2*a),tscale*cos(2.7183*a),
+		  tscale*cos(1.5708*a));
+  a += 0.01;
+}
+
+
+void addOscillatingTorqueAbout(dReal tscale, dReal x, dReal y, dReal z)
+{
+  static dReal a=0;
+  dBodyAddTorque (body[0], tscale*cos(a) * x, tscale*cos(a) * y,
+		  tscale * cos(a) * z);
+  a += 0.02;
+}
+
+
+// damp the rotational motion of body 0 a bit
+
+void dampRotationalMotion (dReal kd)
+{
+  const dReal *w = dBodyGetAngularVel (body[0]);
+  dBodyAddTorque (body[0],-kd*w[0],-kd*w[1],-kd*w[2]);
+}
+
+
+// add a spring force to keep the bodies together, otherwise they may fly
+// apart with some joints.
+
+void addSpringForce (dReal ks)
+{
+  const dReal *p1 = dBodyGetPosition (body[0]);
+  const dReal *p2 = dBodyGetPosition (body[1]);
+  dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),ks*(p2[2]-p1[2]));
+  dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),ks*(p1[2]-p2[2]));
+}
+
+
+// add an oscillating Force to body 0
+
+void addOscillatingForce (dReal fscale)
+{
+  static dReal a=0;
+  dBodyAddForce (body[0],fscale*cos(2*a),fscale*cos(2.7183*a),
+		  fscale*cos(1.5708*a));
+  a += 0.01;
+}
+
+//****************************************************************************
+// stuff specific to the tests
+//
+//   0xx : fixed
+//   1xx : ball and socket
+//   2xx : hinge
+//   3xx : slider
+//   4xx : hinge 2
+//   5xx : contact
+//   6xx : amotor
+//   7xx : universal joint
+//   8xx : PR joint (Prismatic and Rotoide)
+
+// setup for the given test. return 0 if there is no such test
+
+int setupTest (int n)
+{
+  switch (n) {
+
+  // ********** fixed joint
+
+  case 0: {			// 2 body
+    constructWorldForTest (0,2,
+			   0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
+			   1,1,0, 1,1,0,
+			   0.25*M_PI,0.25*M_PI);
+    joint = dJointCreateFixed (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetFixed (joint);
+    return 1;
+  }
+
+  case 1: {			// 1 body to static env
+    constructWorldForTest (0,1,
+			   0.5*SIDE,0.5*SIDE,1, 0,0,0,
+			   1,0,0, 1,0,0,
+			   0,0);
+    joint = dJointCreateFixed (world,0);
+    dJointAttach (joint,body[0],0);
+    dJointSetFixed (joint);
+    return 1;
+  }
+
+  case 2: {			// 2 body with relative rotation
+    constructWorldForTest (0,2,
+			   0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
+			   1,1,0, 1,1,0,
+			   0.25*M_PI,-0.25*M_PI);
+    joint = dJointCreateFixed (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetFixed (joint);
+    return 1;
+  }
+
+  case 3: {			// 1 body to static env with relative rotation
+    constructWorldForTest (0,1,
+			   0.5*SIDE,0.5*SIDE,1, 0,0,0,
+			   1,0,0, 1,0,0,
+			   0.25*M_PI,0);
+    joint = dJointCreateFixed (world,0);
+    dJointAttach (joint,body[0],0);
+    dJointSetFixed (joint);
+    return 1;
+  }
+
+  // ********** hinge joint
+
+  case 200:			// 2 body
+    constructWorldForTest (0,2,
+			   0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
+			   1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI);
+    joint = dJointCreateHinge (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetHingeAnchor (joint,0,0,1);
+    dJointSetHingeAxis (joint,1,-1,1.41421356);
+    return 1;
+
+  case 220:			// hinge angle polarity test
+  case 221:			// hinge angle rate test
+    constructWorldForTest (0,2,
+			   0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
+			   1,0,0, 1,0,0, 0,0);
+    joint = dJointCreateHinge (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetHingeAnchor (joint,0,0,1);
+    dJointSetHingeAxis (joint,0,0,1);
+    max_iterations = 50;
+    return 1;
+
+  case 230:			// hinge motor rate (and polarity) test
+  case 231:			// ...with stops
+    constructWorldForTest (0,2,
+			   0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
+			   1,0,0, 1,0,0, 0,0);
+    joint = dJointCreateHinge (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetHingeAnchor (joint,0,0,1);
+    dJointSetHingeAxis (joint,0,0,1);
+    dJointSetHingeParam (joint,dParamFMax,1);
+    if (n==231) {
+      dJointSetHingeParam (joint,dParamLoStop,-0.5);
+      dJointSetHingeParam (joint,dParamHiStop,0.5);
+    }
+    return 1;
+
+  case 250:			// limit bounce test (gravity down)
+  case 251: {			// ...gravity up
+    constructWorldForTest ((n==251) ? 0.1 : -0.1, 2,
+			   0.5*SIDE,0,1+0.5*SIDE, -0.5*SIDE,0,1-0.5*SIDE,
+			   1,0,0, 1,0,0, 0,0);
+    joint = dJointCreateHinge (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetHingeAnchor (joint,0,0,1);
+    dJointSetHingeAxis (joint,0,1,0);
+    dJointSetHingeParam (joint,dParamLoStop,-0.9);
+    dJointSetHingeParam (joint,dParamHiStop,0.7854);
+    dJointSetHingeParam (joint,dParamBounce,0.5);
+    // anchor 2nd body with a fixed joint
+    dJointID j = dJointCreateFixed (world,0);
+    dJointAttach (j,body[1],0);
+    dJointSetFixed (j);
+    return 1;
+  }
+
+  // ********** slider
+
+  case 300:			// 2 body
+    constructWorldForTest (0,2,
+			   0,0,1, 0.2,0.2,1.2,
+			   0,0,1, -1,1,0, 0,0.25*M_PI);
+    joint = dJointCreateSlider (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetSliderAxis (joint,1,1,1);
+    return 1;
+
+  case 320:			// slider angle polarity test
+  case 321:			// slider angle rate test
+    constructWorldForTest (0,2,
+			   0,0,1, 0,0,1.2,
+			   1,0,0, 1,0,0, 0,0);
+    joint = dJointCreateSlider (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetSliderAxis (joint,0,0,1);
+    max_iterations = 50;
+    return 1;
+
+  case 330:			// slider motor rate (and polarity) test
+  case 331:			// ...with stops
+    constructWorldForTest (0, 2,
+			   0,0,1, 0,0,1.2,
+			   1,0,0, 1,0,0, 0,0);
+    joint = dJointCreateSlider (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetSliderAxis (joint,0,0,1);
+    dJointSetSliderParam (joint,dParamFMax,100);
+    if (n==331) {
+      dJointSetSliderParam (joint,dParamLoStop,-0.4);
+      dJointSetSliderParam (joint,dParamHiStop,0.4);
+    }
+    return 1;
+
+  case 350:			// limit bounce tests
+  case 351: {
+    constructWorldForTest ((n==351) ? 0.1 : -0.1, 2,
+			   0,0,1, 0,0,1.2,
+			   1,0,0, 1,0,0, 0,0);
+    joint = dJointCreateSlider (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetSliderAxis (joint,0,0,1);
+    dJointSetSliderParam (joint,dParamLoStop,-0.5);
+    dJointSetSliderParam (joint,dParamHiStop,0.5);
+    dJointSetSliderParam (joint,dParamBounce,0.5);
+    // anchor 2nd body with a fixed joint
+    dJointID j = dJointCreateFixed (world,0);
+    dJointAttach (j,body[1],0);
+    dJointSetFixed (j);
+    return 1;
+  }
+
+  // ********** hinge-2 joint
+
+  case 420:			// hinge-2 steering angle polarity test
+  case 421:			// hinge-2 steering angle rate test
+    constructWorldForTest (0,2,
+			   0.5*SIDE,0,1, -0.5*SIDE,0,1,
+			   1,0,0, 1,0,0, 0,0);
+    joint = dJointCreateHinge2 (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1);
+    dJointSetHinge2Axes (joint, zunit, xunit);
+    max_iterations = 50;
+    return 1;
+
+  case 430:			// hinge 2 steering motor rate (+polarity) test
+  case 431:			// ...with stops
+  case 432:			// hinge 2 wheel motor rate (+polarity) test
+    constructWorldForTest (0,2,
+			   0.5*SIDE,0,1, -0.5*SIDE,0,1,
+			   1,0,0, 1,0,0, 0,0);
+    joint = dJointCreateHinge2 (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetHinge2Anchor (joint,-0.5*SIDE,0,1);
+    dJointSetHinge2Axes (joint, zunit, xunit);
+    dJointSetHinge2Param (joint,dParamFMax,1);
+    dJointSetHinge2Param (joint,dParamFMax2,1);
+    if (n==431) {
+      dJointSetHinge2Param (joint,dParamLoStop,-0.5);
+      dJointSetHinge2Param (joint,dParamHiStop,0.5);
+    }
+    return 1;
+
+  // ********** angular motor joint
+
+  case 600:			// test euler angle calculations
+    constructWorldForTest (0,2,
+			   -SIDE*0.5,0,1, SIDE*0.5,0,1,
+			   0,0,1, 0,0,1, 0,0);
+    joint = dJointCreateAMotor (world,0);
+    dJointAttach (joint,body[0],body[1]);
+
+    dJointSetAMotorNumAxes (joint,3);
+    dJointSetAMotorAxis (joint,0,1, 0,0,1);
+    dJointSetAMotorAxis (joint,2,2, 1,0,0);
+    dJointSetAMotorMode (joint,dAMotorEuler);
+    max_iterations = 200;
+    return 1;
+
+    // ********** universal joint
+
+  case 700:			// 2 body
+  case 701:
+  case 702:
+    constructWorldForTest (0,2,
+ 			   0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
+ 			   1,1,0, 1,1,0, 0.25*M_PI,0.25*M_PI);
+    joint = dJointCreateUniversal (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetUniversalAnchor (joint,0,0,1);
+    dJointSetUniversalAxis1 (joint, 1, -1, 1.41421356);
+    dJointSetUniversalAxis2 (joint, 1, -1, -1.41421356);
+    return 1;
+
+  case 720:		// universal transmit torque test
+  case 721:
+  case 722:
+  case 730:		// universal torque about axis 1
+  case 731:
+  case 732:
+  case 740:		// universal torque about axis 2
+  case 741:
+  case 742:
+    constructWorldForTest (0,2,
+ 			   0.5*SIDE,0.5*SIDE,1, -0.5*SIDE,-0.5*SIDE,1,
+ 			   1,0,0, 1,0,0, 0,0);
+    joint = dJointCreateUniversal (world,0);
+    dJointAttach (joint,body[0],body[1]);
+    dJointSetUniversalAnchor (joint,0,0,1);
+    dJointSetUniversalAxis1 (joint,0,0,1);
+    dJointSetUniversalAxis2 (joint, 1, -1,0);
+    max_iterations = 100;
+    return 1;
+
+  // Joint PR (Prismatic and Rotoide)
+  case 800:     // 2 body
+  case 801:     // 2 bodies with spring force and prismatic fixed
+  case 802:     // 2 bodies with torque on body1 and prismatic fixed
+    constructWorldForTest (0, 2,
+                           -1.0, 0.0, 1.0,
+                           1.0, 0.0, 1.0,
+                           1,0,0, 1,0,0,
+                           0, 0);
+    joint = dJointCreatePR (world, 0);
+    dJointAttach (joint, body[0], body[1]);
+    dJointSetPRAnchor (joint,-0.5, 0.0, 1.0);
+    dJointSetPRAxis1 (joint, 0, 1, 0);
+    dJointSetPRAxis2 (joint, 1, 0, 0);
+    dJointSetPRParam (joint,dParamLoStop,-0.5);
+    dJointSetPRParam (joint,dParamHiStop,0.5);
+    dJointSetPRParam (joint,dParamLoStop2,0);
+    dJointSetPRParam (joint,dParamHiStop2,0);
+    return 1;
+  case 803:   // 2 bodies with spring force and prismatic NOT fixed
+  case 804:   // 2 bodies with torque force and prismatic NOT fixed
+  case 805:   // 2 bodies with force only on first body
+    constructWorldForTest (0, 2,
+                           -1.0, 0.0, 1.0,
+                           1.0, 0.0, 1.0,
+                           1,0,0, 1,0,0,
+                           0, 0);
+    joint = dJointCreatePR (world, 0);
+    dJointAttach (joint, body[0], body[1]);
+    dJointSetPRAnchor (joint,-0.5, 0.0, 1.0);
+    dJointSetPRAxis1 (joint, 0, 1, 0);
+    dJointSetPRAxis2 (joint, 1, 0, 0);
+    dJointSetPRParam (joint,dParamLoStop,-0.5);
+    dJointSetPRParam (joint,dParamHiStop,0.5);
+    dJointSetPRParam (joint,dParamLoStop2,-0.5);
+    dJointSetPRParam (joint,dParamHiStop2,0.5);
+    return 1;
+  }
+  return 0;
+}
+
+
+// do stuff specific to this test each iteration. you can check some
+// invariants for the test -- the return value is some scaled error measurement
+// that must be less than 1.
+// return a dInfinity if error is not measured for this n.
+
+dReal doStuffAndGetError (int n)
+{
+  switch (n) {
+
+  // ********** fixed joint
+
+  case 0: {			// 2 body
+    addOscillatingTorque (0.1);
+    dampRotationalMotion (0.1);
+    // check the orientations are the same
+    const dReal *R1 = dBodyGetRotation (body[0]);
+    const dReal *R2 = dBodyGetRotation (body[1]);
+    dReal err1 = dMaxDifference (R1,R2,3,3);
+    // check the body offset is correct
+    dVector3 p,pp;
+    const dReal *p1 = dBodyGetPosition (body[0]);
+    const dReal *p2 = dBodyGetPosition (body[1]);
+    for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
+    dMultiply1_331 (pp,R1,p);
+    pp[0] += 0.5;
+    pp[1] += 0.5;
+    return (err1 + length (pp)) * 300;
+  }
+
+  case 1: {			// 1 body to static env
+    addOscillatingTorque (0.1);
+
+    // check the orientation is the identity
+    dReal err1 = cmpIdentity (dBodyGetRotation (body[0]));
+
+    // check the body offset is correct
+    dVector3 p;
+    const dReal *p1 = dBodyGetPosition (body[0]);
+    for (int i=0; i<3; i++) p[i] = p1[i];
+    p[0] -= 0.25;
+    p[1] -= 0.25;
+    p[2] -= 1;
+    return (err1 + length (p)) * 1e6;
+  }
+
+  case 2: {			// 2 body
+    addOscillatingTorque (0.1);
+    dampRotationalMotion (0.1);
+    // check the body offset is correct
+    // Should really check body rotation too.  Oh well.
+    const dReal *R1 = dBodyGetRotation (body[0]);
+    dVector3 p,pp;
+    const dReal *p1 = dBodyGetPosition (body[0]);
+    const dReal *p2 = dBodyGetPosition (body[1]);
+    for (int i=0; i<3; i++) p[i] = p2[i] - p1[i];
+    dMultiply1_331 (pp,R1,p);
+    pp[0] += 0.5;
+    pp[1] += 0.5;
+    return length(pp) * 300;
+  }
+
+  case 3: {			// 1 body to static env with relative rotation
+    addOscillatingTorque (0.1);
+
+    // check the body offset is correct
+    dVector3 p;
+    const dReal *p1 = dBodyGetPosition (body[0]);
+    for (int i=0; i<3; i++) p[i] = p1[i];
+    p[0] -= 0.25;
+    p[1] -= 0.25;
+    p[2] -= 1;
+    return  length (p) * 1e6;
+  }
+
+
+  // ********** hinge joint
+
+  case 200:			// 2 body
+    addOscillatingTorque (0.1);
+    dampRotationalMotion (0.1);
+    return dInfinity;
+
+  case 220:			// hinge angle polarity test
+    dBodyAddTorque (body[0],0,0,0.01);
+    dBodyAddTorque (body[1],0,0,-0.01);
+    if (iteration == 40) {
+      dReal a = dJointGetHingeAngle (joint);
+      if (a > 0.5 && a < 1) return 0; else return 10;
+    }
+    return 0;
+
+  case 221: {			// hinge angle rate test
+    static dReal last_angle = 0;
+    dBodyAddTorque (body[0],0,0,0.01);
+    dBodyAddTorque (body[1],0,0,-0.01);
+    dReal a = dJointGetHingeAngle (joint);
+    dReal r = dJointGetHingeAngleRate (joint);
+    dReal er = (a-last_angle)/STEPSIZE;		// estimated rate
+    last_angle = a;
+    return fabs(r-er) * 4e4;
+  }
+
+  case 230:			// hinge motor rate (and polarity) test
+  case 231: {			// ...with stops
+    static dReal a = 0;
+    dReal r = dJointGetHingeAngleRate (joint);
+    dReal err = fabs (cos(a) - r);
+    if (a==0) err = 0;
+    a += 0.03;
+    dJointSetHingeParam (joint,dParamVel,cos(a));
+    if (n==231) return dInfinity;
+    return err * 1e6;
+  }
+
+  // ********** slider joint
+
+  case 300:			// 2 body
+    addOscillatingTorque (0.05);
+    dampRotationalMotion (0.1);
+    addSpringForce (0.5);
+    return dInfinity;
+
+  case 320:			// slider angle polarity test
+    dBodyAddForce (body[0],0,0,0.1);
+    dBodyAddForce (body[1],0,0,-0.1);
+    if (iteration == 40) {
+      dReal a = dJointGetSliderPosition (joint);
+      if (a > 0.2 && a < 0.5)
+          return 0;
+      else
+          return 10; // Failed
+    }
+    return 0;
+
+  case 321: {			// slider angle rate test
+    static dReal last_pos = 0;
+    dBodyAddForce (body[0],0,0,0.1);
+    dBodyAddForce (body[1],0,0,-0.1);
+    dReal p = dJointGetSliderPosition (joint);
+    dReal r = dJointGetSliderPositionRate (joint);
+    dReal er = (p-last_pos)/STEPSIZE;	// estimated rate (almost exact)
+    last_pos = p;
+    return fabs(r-er) * 1e9;
+  }
+
+  case 330:			// slider motor rate (and polarity) test
+  case 331: {			// ...with stops
+    static dReal a = 0;
+    dReal r = dJointGetSliderPositionRate (joint);
+    dReal err = fabs (0.7*cos(a) - r);
+    if (a < 0.04) err = 0;
+    a += 0.03;
+    dJointSetSliderParam (joint,dParamVel,0.7*cos(a));
+    if (n==331) return dInfinity;
+    return err * 1e6;
+  }
+
+  // ********** hinge-2 joint
+
+  case 420:			// hinge-2 steering angle polarity test
+    dBodyAddTorque (body[0],0,0,0.01);
+    dBodyAddTorque (body[1],0,0,-0.01);
+    if (iteration == 40) {
+      dReal a = dJointGetHinge2Angle1 (joint);
+      if (a > 0.5 && a < 0.6) return 0; else return 10;
+    }
+    return 0;
+
+  case 421: {			// hinge-2 steering angle rate test
+    static dReal last_angle = 0;
+    dBodyAddTorque (body[0],0,0,0.01);
+    dBodyAddTorque (body[1],0,0,-0.01);
+    dReal a = dJointGetHinge2Angle1 (joint);
+    dReal r = dJointGetHinge2Angle1Rate (joint);
+    dReal er = (a-last_angle)/STEPSIZE;		// estimated rate
+    last_angle = a;
+    return fabs(r-er)*2e4;
+  }
+
+  case 430:			// hinge 2 steering motor rate (+polarity) test
+  case 431: {			// ...with stops
+    static dReal a = 0;
+    dReal r = dJointGetHinge2Angle1Rate (joint);
+    dReal err = fabs (cos(a) - r);
+    if (a==0) err = 0;
+    a += 0.03;
+    dJointSetHinge2Param (joint,dParamVel,cos(a));
+    if (n==431) return dInfinity;
+    return err * 1e6;
+  }
+
+  case 432: {			// hinge 2 wheel motor rate (+polarity) test
+    static dReal a = 0;
+    dReal r = dJointGetHinge2Angle2Rate (joint);
+    dReal err = fabs (cos(a) - r);
+    if (a==0) err = 0;
+    a += 0.03;
+    dJointSetHinge2Param (joint,dParamVel2,cos(a));
+    return err * 1e6;
+  }
+
+  // ********** angular motor joint
+
+  case 600: {			// test euler angle calculations
+    // desired euler angles from last iteration
+    static dReal a1,a2,a3;
+
+    // find actual euler angles
+    dReal aa1 = dJointGetAMotorAngle (joint,0);
+    dReal aa2 = dJointGetAMotorAngle (joint,1);
+    dReal aa3 = dJointGetAMotorAngle (joint,2);
+    // printf ("actual  = %.4f %.4f %.4f\n\n",aa1,aa2,aa3);
+
+    dReal err = dInfinity;
+    if (iteration > 0) {
+      err = dFabs(aa1-a1) + dFabs(aa2-a2) + dFabs(aa3-a3);
+      err *= 1e10;
+    }
+
+    // get random base rotation for both bodies
+    dMatrix3 Rbase;
+    dRFromAxisAndAngle (Rbase, 3*(dRandReal()-0.5), 3*(dRandReal()-0.5),
+			3*(dRandReal()-0.5), 3*(dRandReal()-0.5));
+    dBodySetRotation (body[0],Rbase);
+
+    // rotate body 2 by random euler angles w.r.t. body 1
+    a1 = 3.14 * 2 * (dRandReal()-0.5);
+    a2 = 1.57 * 2 * (dRandReal()-0.5);
+    a3 = 3.14 * 2 * (dRandReal()-0.5);
+    dMatrix3 R1,R2,R3,Rtmp1,Rtmp2;
+    dRFromAxisAndAngle (R1,0,0,1,-a1);
+    dRFromAxisAndAngle (R2,0,1,0,a2);
+    dRFromAxisAndAngle (R3,1,0,0,-a3);
+    dMultiply0 (Rtmp1,R2,R3,3,3,3);
+    dMultiply0 (Rtmp2,R1,Rtmp1,3,3,3);
+    dMultiply0 (Rtmp1,Rbase,Rtmp2,3,3,3);
+    dBodySetRotation (body[1],Rtmp1);
+    // printf ("desired = %.4f %.4f %.4f\n",a1,a2,a3);
+
+    return err;
+  }
+
+  // ********** universal joint
+
+  case 700: {		// 2 body: joint constraint
+    dVector3 ax1, ax2;
+
+    addOscillatingTorque (0.1);
+    dampRotationalMotion (0.1);
+    dJointGetUniversalAxis1(joint, ax1);
+    dJointGetUniversalAxis2(joint, ax2);
+    return fabs(10*dCalcVectorDot3(ax1, ax2));
+  }
+
+  case 701: {		// 2 body: angle 1 rate
+    static dReal last_angle = 0;
+    addOscillatingTorque (0.1);
+    dampRotationalMotion (0.1);
+    dReal a = dJointGetUniversalAngle1(joint);
+    dReal r = dJointGetUniversalAngle1Rate(joint);
+    dReal diff = a - last_angle;
+    if (diff > M_PI) diff -= 2*M_PI;
+    if (diff < -M_PI) diff += 2*M_PI;
+    dReal er = diff / STEPSIZE;    // estimated rate
+    last_angle = a;
+    // I'm not sure why the error is so large here.
+    return fabs(r - er) * 1e1;
+  }
+
+  case 702: {		// 2 body: angle 2 rate
+    static dReal last_angle = 0;
+    addOscillatingTorque (0.1);
+    dampRotationalMotion (0.1);
+    dReal a = dJointGetUniversalAngle2(joint);
+    dReal r = dJointGetUniversalAngle2Rate(joint);
+    dReal diff = a - last_angle;
+    if (diff > M_PI) diff -= 2*M_PI;
+    if (diff < -M_PI) diff += 2*M_PI;
+    dReal er = diff / STEPSIZE;    // estimated rate
+    last_angle = a;
+    // I'm not sure why the error is so large here.
+    return fabs(r - er) * 1e1;
+  }
+
+  case 720: {		// universal transmit torque test: constraint error
+    dVector3 ax1, ax2;
+    addOscillatingTorqueAbout (0.1, 1, 1, 0);
+    dampRotationalMotion (0.1);
+    dJointGetUniversalAxis1(joint, ax1);
+    dJointGetUniversalAxis2(joint, ax2);
+    return fabs(10*dCalcVectorDot3(ax1, ax2));
+  }
+
+  case 721: {		// universal transmit torque test: angle1 rate
+    static dReal last_angle = 0;
+    addOscillatingTorqueAbout (0.1, 1, 1, 0);
+    dampRotationalMotion (0.1);
+    dReal a = dJointGetUniversalAngle1(joint);
+    dReal r = dJointGetUniversalAngle1Rate(joint);
+    dReal diff = a - last_angle;
+    if (diff > M_PI) diff -= 2*M_PI;
+    if (diff < -M_PI) diff += 2*M_PI;
+    dReal er = diff / STEPSIZE;    // estimated rate
+    last_angle = a;
+    return fabs(r - er) * 1e10;
+  }
+
+  case 722: {		// universal transmit torque test: angle2 rate
+    static dReal last_angle = 0;
+    addOscillatingTorqueAbout (0.1, 1, 1, 0);
+    dampRotationalMotion (0.1);
+    dReal a = dJointGetUniversalAngle2(joint);
+    dReal r = dJointGetUniversalAngle2Rate(joint);
+    dReal diff = a - last_angle;
+    if (diff > M_PI) diff -= 2*M_PI;
+    if (diff < -M_PI) diff += 2*M_PI;
+    dReal er = diff / STEPSIZE;    // estimated rate
+    last_angle = a;
+    return fabs(r - er) * 1e10;
+  }
+
+  case 730:{
+    dVector3 ax1, ax2;
+    dJointGetUniversalAxis1(joint, ax1);
+    dJointGetUniversalAxis2(joint, ax2);
+    addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
+    dampRotationalMotion (0.1);
+    return fabs(10*dCalcVectorDot3(ax1, ax2));
+  }
+
+  case 731:{
+    dVector3 ax1;
+    static dReal last_angle = 0;
+    dJointGetUniversalAxis1(joint, ax1);
+    addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
+    dampRotationalMotion (0.1);
+    dReal a = dJointGetUniversalAngle1(joint);
+    dReal r = dJointGetUniversalAngle1Rate(joint);
+    dReal diff = a - last_angle;
+    if (diff > M_PI) diff -= 2*M_PI;
+    if (diff < -M_PI) diff += 2*M_PI;
+    dReal er = diff / STEPSIZE;    // estimated rate
+    last_angle = a;
+    return fabs(r - er) * 2e3;
+  }
+
+  case 732:{
+    dVector3 ax1;
+    static dReal last_angle = 0;
+    dJointGetUniversalAxis1(joint, ax1);
+    addOscillatingTorqueAbout (0.1, ax1[0], ax1[1], ax1[2]);
+    dampRotationalMotion (0.1);
+    dReal a = dJointGetUniversalAngle2(joint);
+    dReal r = dJointGetUniversalAngle2Rate(joint);
+    dReal diff = a - last_angle;
+    if (diff > M_PI) diff -= 2*M_PI;
+    if (diff < -M_PI) diff += 2*M_PI;
+    dReal er = diff / STEPSIZE;    // estimated rate
+    last_angle = a;
+    return fabs(r - er) * 1e10;
+  }
+
+  case 740:{
+    dVector3 ax1, ax2;
+    dJointGetUniversalAxis1(joint, ax1);
+    dJointGetUniversalAxis2(joint, ax2);
+    addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
+    dampRotationalMotion (0.1);
+    return fabs(10*dCalcVectorDot3(ax1, ax2));
+  }
+
+  case 741:{
+    dVector3 ax2;
+    static dReal last_angle = 0;
+    dJointGetUniversalAxis2(joint, ax2);
+    addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
+    dampRotationalMotion (0.1);
+    dReal a = dJointGetUniversalAngle1(joint);
+    dReal r = dJointGetUniversalAngle1Rate(joint);
+    dReal diff = a - last_angle;
+    if (diff > M_PI) diff -= 2*M_PI;
+    if (diff < -M_PI) diff += 2*M_PI;
+    dReal er = diff / STEPSIZE;    // estimated rate
+    last_angle = a;
+    return fabs(r - er) * 1e10;
+  }
+
+  case 742:{
+    dVector3 ax2;
+    static dReal last_angle = 0;
+    dJointGetUniversalAxis2(joint, ax2);
+    addOscillatingTorqueAbout (0.1, ax2[0], ax2[1], ax2[2]);
+    dampRotationalMotion (0.1);
+    dReal a = dJointGetUniversalAngle2(joint);
+    dReal r = dJointGetUniversalAngle2Rate(joint);
+    dReal diff = a - last_angle;
+    if (diff > M_PI) diff -= 2*M_PI;
+    if (diff < -M_PI) diff += 2*M_PI;
+    dReal er = diff / STEPSIZE;    // estimated rate
+    last_angle = a;
+    return fabs(r - er) * 1e4;
+  }
+
+  // ********** slider joint
+  case 801:
+  case 803:
+    addSpringForce (0.25);
+    return dInfinity;
+
+	case 802:
+	case 804: {
+    static dReal a = 0;
+    dBodyAddTorque (body[0], 0, 0.01*cos(1.5708*a), 0);
+    a += 0.01;
+    return dInfinity;
+	}
+
+  case 805:
+    addOscillatingForce (0.1);
+    return dInfinity;
+	}
+
+
+  return dInfinity;
+}
+
+//****************************************************************************
+// simulation stuff common to all the tests
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
+  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  // stop after a given number of iterations, as long as we are not in
+  // interactive mode
+  if (cmd_graphics && !cmd_interactive &&
+      (iteration >= max_iterations)) {
+    dsStop();
+    return;
+  }
+  iteration++;
+
+  if (!pause) {
+    // do stuff for this test and check to see if the joint is behaving well
+    dReal error = doStuffAndGetError (test_num);
+    if (error > max_error) max_error = error;
+    if (cmd_interactive && error < dInfinity) {
+      printf ("scaled error = %.4e\n",error);
+    }
+
+    // take a step
+    dWorldStep (world,STEPSIZE);
+
+    // occasionally re-orient the first body to create a deliberate error.
+    if (cmd_occasional_error) {
+      static int count = 0;
+      if ((count % 20)==0) {
+	// randomly adjust orientation of body[0]
+	const dReal *R1;
+	dMatrix3 R2,R3;
+	R1 = dBodyGetRotation (body[0]);
+	dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
+			    dRandReal()-0.5,dRandReal()-0.5);
+	dMultiply0 (R3,R1,R2,3,3,3);
+	dBodySetRotation (body[0],R3);
+
+	// randomly adjust position of body[0]
+	const dReal *pos = dBodyGetPosition (body[0]);
+	dBodySetPosition (body[0],
+			  pos[0]+0.2*(dRandReal()-0.5),
+			  pos[1]+0.2*(dRandReal()-0.5),
+			  pos[2]+0.2*(dRandReal()-0.5));
+      }
+      count++;
+    }
+  }
+
+  if (cmd_graphics) {
+    dReal sides1[3] = {SIDE,SIDE,SIDE};
+    dReal sides2[3] = {SIDE*0.99f,SIDE*0.99f,SIDE*0.99f};
+    dsSetTexture (DS_WOOD);
+    dsSetColor (1,1,0);
+    dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
+    if (body[1]) {
+      dsSetColor (0,1,1);
+      dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
+    }
+  }
+}
+
+//****************************************************************************
+// conduct a specific test, and report the results
+
+void doTest (int argc, char **argv, int n, int fatal_if_bad_n)
+{
+  test_num = n;
+  iteration = 0;
+  max_iterations = 300;
+  max_error = 0;
+
+  if (! setupTest (n)) {
+    if (fatal_if_bad_n) dError (0,"bad test number");
+    return;
+  }
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = 0;
+  fn.stop = 0;
+  if (cmd_path_to_textures)
+    fn.path_to_textures = cmd_path_to_textures;
+  else
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // run simulation
+  if (cmd_graphics) {
+    dsSimulationLoop (argc,argv,352,288,&fn);
+  }
+  else {
+    for (int i=0; i < max_iterations; i++) simLoop (0);
+  }
+  dWorldDestroy (world);
+  body[0] = 0;
+  body[1] = 0;
+  joint = 0;
+
+  // print results
+  printf ("test %d: ",n);
+  if (max_error == dInfinity) printf ("error not computed\n");
+  else {
+    printf ("max scaled error = %.4e",max_error);
+    if (max_error < 1) printf (" - passed\n");
+    else printf (" - FAILED\n");
+  }
+}
+
+//****************************************************************************
+// main
+
+int main (int argc, char **argv)
+{
+  int i;
+  dInitODE2(0);
+
+  // process the command line args. anything that starts with `-' is assumed
+  // to be a drawstuff argument.
+  for (i=1; i<argc; i++) {
+    if ( argv[i][0]=='-' && argv[i][1]=='i' && argv[i][2]==0) cmd_interactive = 1;
+    else if ( argv[i][0]=='-' && argv[i][1]=='g' && argv[i][2]==0) cmd_graphics = 0;
+    else if ( argv[i][0]=='-' && argv[i][1]=='e' && argv[i][2]==0) cmd_graphics = 0;
+    else if ( argv[i][0]=='-' && argv[i][1]=='n' && isdigit(argv[i][2]) ) {
+      char *endptr;
+      long int n = strtol (&(argv[i][2]),&endptr,10);
+			if (*endptr == 0) cmd_test_num = n;
+		}
+    else
+      cmd_path_to_textures = argv[i];
+  }
+
+  // do the tests
+  if (cmd_test_num == -1) {
+    for (i=0; i<NUM_JOINTS*100; i++) doTest (argc,argv,i,0);
+  }
+  else {
+    doTest (argc,argv,cmd_test_num,1);
+  }
+
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_kinematic.cpp b/libs/ode-0.16.1/ode/demo/demo_kinematic.cpp
new file mode 100644
index 0000000..5f2c613
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_kinematic.cpp
@@ -0,0 +1,239 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <iostream>
+#include <set>
+#include <algorithm>
+#include <functional>
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawCylinder dsDrawCylinderD
+#endif
+
+
+using namespace std;
+
+dWorld *world;
+dSpace *space;
+dPlane *ground;
+dBody *kbody;
+dBox *kbox;
+dJointGroup joints;
+dCylinder *kpole;
+dBody *matraca;
+dBox *matraca_geom;
+dHingeJoint *hinge;
+
+struct Box {
+    dBody body;
+    dBox geom;
+    Box() :
+        body(*world),
+        geom(*space, 0.2, 0.2, 0.2)
+    {
+        dMass mass;
+        mass.setBox(10, 0.2, 0.2, 0.2);
+        body.setMass(mass);
+        geom.setData(this);
+        geom.setBody(body);
+    }
+    void draw() const
+    {
+        dVector3 lengths;
+        geom.getLengths(lengths);
+        dsSetTexture(DS_WOOD);
+        dsSetColor(0,1,0);
+        dsDrawBox(geom.getPosition(), geom.getRotation(), lengths);
+    }
+};
+
+set<Box*> boxes;
+set<Box*> to_remove;
+
+void dropBox()
+{
+    Box *box = new Box();
+    
+    dReal px = (rand() / float(RAND_MAX)) * 2 - 1;
+    dReal py = (rand() / float(RAND_MAX)) * 2 - 1;
+    dReal pz = 2.5;
+    box->body.setPosition(px, py, pz);
+    
+    boxes.insert(box);
+}
+
+void queueRemoval(dGeomID g)
+{
+    Box *b = (Box*)dGeomGetData(g);
+    to_remove.insert(b);
+}
+
+void removeQueued()
+{
+    while (!to_remove.empty()) {
+        Box *b = *to_remove.begin();
+        to_remove.erase(b);
+        boxes.erase(b);
+        delete b;
+    }
+}
+
+
+void nearCallback(void *, dGeomID g1, dGeomID g2)
+{
+    if (g1 == ground->id()) {
+        queueRemoval(g2);
+        return;
+    }
+    if (g2 == ground->id()) {
+        queueRemoval(g1);
+        return;
+    }
+
+    dBodyID b1 = dGeomGetBody(g1);
+    dBodyID b2 = dGeomGetBody(g2);
+    
+    if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
+        return;
+
+    const int MAX_CONTACTS = 10;
+    dContact contact[MAX_CONTACTS];
+    int n = dCollide(g1, g2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
+    for (int i=0; i<n; ++i) {
+        contact[i].surface.mode = 0;
+        contact[i].surface.mu = 1;
+        dJointID j = dJointCreateContact (*world, joints.id(), contact+i);
+        dJointAttach(j, b1, b2);
+    }
+}
+
+
+void
+simLoop(int pause)
+{
+    if (!pause) {
+        const dReal timestep = 0.04;
+
+        // this does a hard-coded circular motion animation
+        static float t=0;
+        t += timestep/4;
+        if (t > 2*M_PI)
+            t = 0;
+        dVector3 next_pos = { dCos(t), dSin(t), REAL(0.5)};
+        dVector3 vel;
+        // vel = (next_pos - cur_pos) / timestep
+        dSubtractVectors3(vel, next_pos, kbody->getPosition());
+        dScaleVector3(vel, 1/timestep);
+        kbody->setLinearVel(vel);
+        // end of hard-coded animation
+        
+        space->collide(0, nearCallback);
+        removeQueued();
+        
+        world->quickStep(timestep);
+        joints.clear();
+    }
+
+    dVector3 lengths;
+
+    // the moving platform
+    kbox->getLengths(lengths);
+    dsSetTexture(DS_WOOD);
+    dsSetColor(.3, .3, 1);
+    dsDrawBox(kbox->getPosition(), kbox->getRotation(), lengths);
+    dReal length, radius;
+    kpole->getParams(&radius, &length);
+    dsSetTexture(DS_CHECKERED);
+    dsSetColor(1, 1, 0);
+    dsDrawCylinder(kpole->getPosition(), kpole->getRotation(), length, radius);
+    
+    // the matraca
+    matraca_geom->getLengths(lengths);
+    dsSetColor(1,0,0);
+    dsSetTexture(DS_WOOD);
+    dsDrawBox(matraca_geom->getPosition(), matraca_geom->getRotation(), lengths);
+
+    // and the boxes
+    for_each(boxes.begin(), boxes.end(), mem_fun(&Box::draw));
+}
+
+void command(int c)
+{
+    switch (c) {
+        case ' ':
+            dropBox();
+            break;
+    }
+}
+
+int main(int argc, char **argv)
+{
+    dInitODE();
+
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = 0;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+    
+    cout << endl << "*** Press SPACE to drop boxes **" << endl;
+    
+    space = new dSimpleSpace();
+    ground = new dPlane(*space, 0, 0, 1, 0);
+    
+    world = new dWorld;
+    world->setGravity(0, 0, -.5);
+    
+    kbody = new dBody(*world);
+    kbody->setKinematic();
+    const dReal kx = 1, ky = 0, kz = .5;
+    kbody->setPosition(kx, ky, kz);
+    kbox = new dBox(*space, 3, 3, .5);
+    kbox->setBody(*kbody);
+    kpole = new dCylinder(*space, .125, 1.5);
+    kpole->setBody(*kbody);
+    dGeomSetOffsetPosition(kpole->id(), 0, 0, 0.8);
+    
+    matraca = new dBody(*world);
+    matraca->setPosition(kx+0, ky+1, kz+1);
+    matraca_geom = new dBox(*space, 0.5, 2, 0.75);
+    matraca_geom->setBody(*matraca);
+    dMass mass;
+    mass.setBox(1, 0.5, 2, 0.75);
+    matraca->setMass(mass);
+    
+    hinge = new dHingeJoint(*world);
+    hinge->attach(*kbody, *matraca);
+    hinge->setAnchor(kx, ky, kz+1);
+    hinge->setAxis(0, 0, 1);
+    
+    dsSimulationLoop (argc, argv, 640, 480, &fn);
+    
+    dCloseODE();
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_motion.cpp b/libs/ode-0.16.1/ode/demo/demo_motion.cpp
new file mode 100644
index 0000000..a83887d
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_motion.cpp
@@ -0,0 +1,527 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+  This demo shows how to use dContactMotionN in a lifting platform.
+*/
+//#include <unistd.h> // for usleep()
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawConvex dsDrawConvexD
+#endif
+
+
+// some constants
+
+#define NUM 100			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 8		// maximum number of contact points per body
+#define USE_GEOM_OFFSET 1
+
+// dynamics and collision objects
+
+struct MyObject {
+    dBodyID body;			// the body
+    dGeomID geom[GPB];		// geometries representing this body
+};
+
+static int num=0;		// number of objects in simulation
+static int nextobj=0;		// next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int show_aabb = 0;	// show geom AABBs?
+static int show_contacts = 0;	// show contact points?
+static int random_pos = 1;	// drop objects from random position?
+static int write_world = 0;
+static int show_body = 0;
+
+static dGeomID platform, ground;
+
+dVector3 platpos = {0, 0, 0};
+int mov_type = 2;
+dReal mov_time = 0;
+
+
+const dReal mov1_speed = 0.2;
+
+dVector3 mov2_vel = { 0.2, 0.1, 0.25};
+
+
+
+
+/****************************************************************
+ *  Movement 1: move platform up, reset every 80 units of time. *
+ *      This is the simplest case                               *
+ ****************************************************************/
+static void moveplat_1(dReal stepsize)
+{
+    mov_time += stepsize;
+    if (mov_time > 80)
+        mov_time = 0;
+
+    platpos[0] = platpos[1] = 0;
+    // the platform moves up (Z) at constant speed: mov1_speed
+    platpos[2] = mov1_speed * mov_time;
+}
+
+// Generate contact info for movement 1
+static void contactplat_1(dContact &contact)
+{
+    contact.surface.mode |= dContactMotionN;
+    contact.surface.motionN = mov1_speed;
+}
+
+
+
+/****************************************************************
+ *  Movement 2: move platform along direction mov2_vel, reset   *
+ *  every 80 units of time.                                     *
+ *      This is the most general case: the geom moves along     *
+ *      an arbitrary direction.                                 *
+ ****************************************************************/
+static void moveplat_2(dReal stepsize)
+{
+    mov_time += stepsize;
+    if (mov_time > 80)
+        mov_time = 0;
+
+    // the platform moves at constant speed: mov2_speed
+    platpos[0] = mov2_vel[0] * mov_time;
+    platpos[1] = mov2_vel[1] * mov_time;
+    platpos[2] = mov2_vel[2] * mov_time;
+}
+
+// Generate contact info for movement 1
+static void contactplat_2(dContact &contact)
+{
+    /*
+      For arbitrary contact directions we need to project the moving
+      geom's velocity against the contact normal and fdir1, fdir2
+      (obtained with dPlaneSpace()). Assuming moving geom=g2
+      (so the contact joint is in the moving geom's reference frame):
+      motion1 = dCalcVectorDot3(fdir1, vel);
+      motion2 = dCalcVectorDot3(fdir2, vel);
+      motionN = dCalcVectorDot3(normal, vel);
+
+      For geom=g1 just negate motionN and motion2. fdir1 is an arbitrary
+      vector, so there's no need to negate motion1.
+
+    */
+    contact.surface.mode |= 
+        dContactMotionN |                   // velocity along normal
+        dContactMotion1 | dContactMotion2 | // and along the contact plane
+        dContactFDir1;                      // don't forget to set the direction 1
+
+
+    // This is a convenience function: given a vector, it finds other 2 perpendicular vectors
+    dVector3 motiondir1, motiondir2;
+    dPlaneSpace(contact.geom.normal, motiondir1, motiondir2);
+    for (int i=0; i<3; ++i)
+        contact.fdir1[i] = motiondir1[i];
+    
+
+    dReal inv = 1;
+    if (contact.geom.g1 == platform)
+        inv = -1;
+    
+    contact.surface.motion1 = dCalcVectorDot3(mov2_vel, motiondir1);
+    contact.surface.motion2 = inv * dCalcVectorDot3(mov2_vel, motiondir2);
+    contact.surface.motionN = inv * dCalcVectorDot3(mov2_vel, contact.geom.normal);
+
+}
+
+
+
+
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+    dMatrix3 RI;
+    static const dReal ss[3] = {0.02,0.02,0.02};
+
+    dContact contact[MAX_CONTACTS];
+    int numc = dCollide (o1, o2, MAX_CONTACTS,
+                         &contact[0].geom, sizeof(dContact));
+
+    if (numc)
+        dRSetIdentity(RI);
+
+    bool isplatform = (o1 == platform) || (o2 == platform);
+
+    for (int i=0; i< numc; i++) {
+        contact[i].surface.mode = dContactBounce;
+        contact[i].surface.mu = 1;
+        contact[i].surface.bounce = 0.25;
+        contact[i].surface.bounce_vel = 0.01;
+        
+        if (isplatform) {
+            switch (mov_type) {
+                case 1:
+                    contactplat_1(contact[i]);
+                    break;
+                case 2:
+                    contactplat_2(contact[i]);
+                    break;
+            }
+        }
+
+        dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+        dJointAttach (c, dGeomGetBody(o1), dGeomGetBody(o2));
+        if (show_contacts) 
+            dsDrawBox (contact[i].geom.pos, RI, ss);
+    }
+}
+
+
+// start simulation - set viewpoint
+
+static float xyz[3] = {2.1106f,-1.3007,2.f};
+static float hpr[3] = {150.f,-13.5000f,0.0000f};
+
+static void start()
+{
+    //dAllocateODEDataForThread(dAllocateMaskAll);
+    dsSetViewpoint (xyz,hpr);
+    printf ("To drop another object, press:\n");
+    printf ("   b for box.\n");
+    printf ("   s for sphere.\n");
+    printf ("   c for capsule.\n");
+    printf ("   y for cylinder.\n");
+    printf ("Press m to change the movement type\n");
+    printf ("Press space to reset the platform\n");
+    printf ("To toggle showing the geom AABBs, press a.\n");
+    printf ("To toggle showing the contact points, press t.\n");
+    printf ("To toggle dropping from random position/orientation, press r.\n");
+    printf ("To save the current state to 'state.dif', press 1.\n");
+}
+
+
+char locase (char c)
+{
+    if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+    else return c;
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+    dsizeint i;
+    int k;
+    dReal sides[3];
+    dMass m;
+    int setBody;
+  
+    cmd = locase (cmd);
+    if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'y')
+        {
+            setBody = 0;
+            if (num < NUM) {
+                i = num;
+                num++;
+            }
+            else {
+                i = nextobj;
+                nextobj++;
+                if (nextobj >= num) nextobj = 0;
+
+                // destroy the body and geoms for slot i
+                if (obj[i].body) {
+                  dBodyDestroy (obj[i].body);
+                }
+                for (k=0; k < GPB; k++) {
+                    if (obj[i].geom[k]) {
+                      dGeomDestroy (obj[i].geom[k]);
+                    }
+                }
+                memset (&obj[i],0,sizeof(obj[i]));
+            }
+
+            obj[i].body = dBodyCreate (world);
+            for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
+
+            dMatrix3 R;
+            if (random_pos) 
+                {
+                    dBodySetPosition (obj[i].body,
+                                      dRandReal()*2-1 + platpos[0],
+                                      dRandReal()*2-1 + platpos[1],
+                                      dRandReal()+2 + platpos[2]);
+                    dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                                        dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+                }
+            else 
+                {
+                    dBodySetPosition (obj[i].body, 
+                                      platpos[0],
+                                      platpos[1],
+                                      platpos[2]+2);
+                    dRSetIdentity (R);
+                }
+            dBodySetRotation (obj[i].body,R);
+            dBodySetData (obj[i].body,(void*) i);
+
+            if (cmd == 'b') {
+                dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
+                obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
+            }
+            else if (cmd == 'c') {
+                sides[0] *= 0.5;
+                dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
+                obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
+            }
+            else if (cmd == 'y') {
+                dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
+                obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
+            }
+            else if (cmd == 's') {
+                sides[0] *= 0.5;
+                dMassSetSphere (&m,DENSITY,sides[0]);
+                obj[i].geom[0] = dCreateSphere (space,sides[0]);
+            }
+
+            if (!setBody)
+                for (k=0; k < GPB; k++) {
+                    if (obj[i].geom[k]) {
+                      dGeomSetBody (obj[i].geom[k],obj[i].body);
+                    }
+                }
+
+            dBodySetMass (obj[i].body,&m);
+        }
+    else if (cmd == 'a') {
+        show_aabb ^= 1;
+    }
+    else if (cmd == 't') {
+        show_contacts ^= 1;
+    }
+    else if (cmd == 'r') {
+        random_pos ^= 1;
+    }
+    else if (cmd == '1') {
+        write_world = 1;
+    }
+    else if (cmd == ' ') {
+        mov_time = 0;
+    }
+    else if (cmd == 'm') {
+        mov_type = mov_type==1 ? 2 : 1;
+        mov_time = 0;
+    }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+    int i;
+	
+    if (!g) return;
+    if (!pos) pos = dGeomGetPosition (g);
+    if (!R) R = dGeomGetRotation (g);
+
+    int type = dGeomGetClass (g);
+    if (type == dBoxClass) {
+        dVector3 sides;
+        dGeomBoxGetLengths (g,sides);
+        dsDrawBox (pos,R,sides);
+    }
+    else if (type == dSphereClass) {
+        dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
+    }
+    else if (type == dCapsuleClass) {
+        dReal radius,length;
+        dGeomCapsuleGetParams (g,&radius,&length);
+        dsDrawCapsule (pos,R,length,radius);
+    }
+    else if (type == dCylinderClass) {
+        dReal radius,length;
+        dGeomCylinderGetParams (g,&radius,&length);
+        dsDrawCylinder (pos,R,length,radius);
+    }
+
+    if (show_body) {
+        dBodyID body = dGeomGetBody(g);
+        if (body) {
+            const dReal *bodypos = dBodyGetPosition (body); 
+            const dReal *bodyr = dBodyGetRotation (body); 
+            dReal bodySides[3] = { 0.1, 0.1, 0.1 };
+            dsSetColorAlpha(0,1,0,1);
+            dsDrawBox(bodypos,bodyr,bodySides); 
+        }
+    }
+    if (show_aabb) {
+        // draw the bounding box for this geom
+        dReal aabb[6];
+        dGeomGetAABB (g,aabb);
+        dVector3 bbpos;
+        for (i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+        dVector3 bbsides;
+        for (i=0; i<3; i++) bbsides[i] = aabb[i*2+1] - aabb[i*2];
+        dMatrix3 RI;
+        dRSetIdentity (RI);
+        dsSetColorAlpha (1,0,0,0.5);
+        dsDrawBox (bbpos,RI,bbsides);
+    }
+}
+
+
+// simulation loop
+
+static void updatecam()
+{
+    xyz[0] = platpos[0] + 3.3;
+    xyz[1] = platpos[1] - 1.8;
+    xyz[2] = platpos[2] + 2;
+    dsSetViewpoint (xyz, hpr);
+}
+
+static void simLoop (int pause)
+{
+    const dReal stepsize = 0.02;
+
+    dsSetColor (0,0,2);
+    dSpaceCollide (space,0,&nearCallback);
+    if (!pause) {
+        
+        if (mov_type == 1)
+            moveplat_1(stepsize);
+        else
+            moveplat_2(stepsize);
+
+        dGeomSetPosition(platform, platpos[0], platpos[1], platpos[2]);
+        updatecam();
+        dWorldQuickStep (world,stepsize);
+        //dWorldStep (world,stepsize);
+    }
+
+    if (write_world) {
+        FILE *f = fopen ("state.dif","wt");
+        if (f) {
+            dWorldExportDIF (world,f,"X");
+            fclose (f);
+        }
+        write_world = 0;
+    }
+  
+    // remove all contact joints
+    dJointGroupEmpty (contactgroup);
+
+    dsSetColor (1,1,0);
+    dsSetTexture (DS_WOOD);
+    for (int i=0; i<num; i++) {
+        for (int j=0; j < GPB; j++) {
+            if (! dBodyIsEnabled (obj[i].body)) {
+                dsSetColor (1,0.8,0);
+            }
+            else {
+                dsSetColor (1,1,0);
+            }
+            drawGeom (obj[i].geom[j],0,0,show_aabb);
+        }
+    }
+    dsSetColor (1,0,0);
+    drawGeom (platform,0,0,show_aabb);
+    //usleep(5000);
+}
+
+
+int main (int argc, char **argv)
+{
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+    // create world
+    dInitODE();
+    world = dWorldCreate();
+
+#if 1
+    space = dHashSpaceCreate (0);
+#elif 0
+    dVector3 center = {0,0,0}, extents = { 100, 100, 100};
+    space = dQuadTreeSpaceCreate(0, center, extents, 5);
+#elif 0
+    space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
+#else
+    space = dSimpleSpaceCreate(0);
+#endif
+
+    contactgroup = dJointGroupCreate (0);
+    dWorldSetGravity (world,0,0,-0.5);
+    dWorldSetCFM (world,1e-5);
+    
+    dWorldSetLinearDamping(world, 0.00001);
+    dWorldSetAngularDamping(world, 0.005);
+    dWorldSetMaxAngularSpeed(world, 200);
+
+    dWorldSetContactSurfaceLayer (world,0.001);
+    ground = dCreatePlane (space,0,0,1,0);
+    
+    memset (obj,0,sizeof(obj));
+
+    // create lift platform
+    platform = dCreateBox(space, 4, 4, 1);
+
+    dGeomSetCategoryBits(ground, 1ul);
+    dGeomSetCategoryBits(platform, 2ul);
+    dGeomSetCollideBits(ground, ~2ul);
+    dGeomSetCollideBits(platform, ~1ul);
+
+    // run simulation
+    dsSimulationLoop (argc,argv,352,288,&fn);
+
+    dJointGroupDestroy (contactgroup);
+    dSpaceDestroy (space);
+    dWorldDestroy (world);
+    dCloseODE();
+    return 0;
+}
+
+
+// Local Variables:
+// c-basic-offset:4
+// End:
diff --git a/libs/ode-0.16.1/ode/demo/demo_motor.cpp b/libs/ode-0.16.1/ode/demo/demo_motor.cpp
new file mode 100644
index 0000000..9e0dede
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_motor.cpp
@@ -0,0 +1,209 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#endif
+
+
+// some constants
+#define SIDE (0.5f)	// side length of a box
+#define MASS (1.0)	// mass of a box
+
+
+// dynamics and collision objects
+static dWorldID world;
+static dBodyID body[2];
+static dGeomID geom[2];
+static dJointID lmotor[2];
+static dJointID amotor[2];
+static dSpaceID space;
+static dJointGroupID contactgroup;
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
+  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("Press 'q,a,z' to control one axis of lmotor connectiong two bodies. (q is +,a is 0, z is -)\n");
+  printf ("Press 'w,e,r' to control one axis of lmotor connectiong first body with world. (w is +,e is 0, r is -)\n");
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  if (cmd == 'q' || cmd == 'Q') {
+  	dJointSetLMotorParam(lmotor[0],dParamVel,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel3,0.1);
+  } else if (cmd == 'a' || cmd == 'A') {
+  	dJointSetLMotorParam(lmotor[0],dParamVel,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel3,0);
+  } else if (cmd == 'z' || cmd == 'Z') {
+  	dJointSetLMotorParam(lmotor[0],dParamVel,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[0],dParamVel3,-0.1);
+  } else if (cmd == 'w' || cmd == 'W') {
+  	dJointSetLMotorParam(lmotor[1],dParamVel,0.1);
+  	dJointSetLMotorParam(lmotor[1],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[1],dParamVel3,0);
+  } else if (cmd == 'e' || cmd == 'E') {
+  	dJointSetLMotorParam(lmotor[1],dParamVel,0);
+  	dJointSetLMotorParam(lmotor[1],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[1],dParamVel3,0);
+  } else if (cmd == 'r' || cmd == 'R') {
+  	dJointSetLMotorParam(lmotor[1],dParamVel,-0.1);
+  	dJointSetLMotorParam(lmotor[1],dParamVel2,0);
+  	dJointSetLMotorParam(lmotor[1],dParamVel3,0);
+  }
+  
+}
+
+
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  // exit without doing anything if the two bodies are connected by a joint
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+
+  dContact contact;
+  contact.surface.mode = 0;
+  contact.surface.mu = dInfinity;
+  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
+    dJointID c = dJointCreateContact (world,contactgroup,&contact);
+    dJointAttach (c,b1,b2);
+  }
+}
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  if (!pause) {
+    dSpaceCollide(space,0,&nearCallback);
+    dWorldQuickStep (world,0.05);
+	dJointGroupEmpty(contactgroup);
+  }
+
+  dReal sides1[3];
+  dGeomBoxGetLengths(geom[0], sides1);
+  dReal sides2[3];
+  dGeomBoxGetLengths(geom[1], sides2);
+  dsSetTexture (DS_WOOD);
+  dsSetColor (1,1,0);
+  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
+  dsSetColor (0,1,1);
+  dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  contactgroup = dJointGroupCreate(0);
+  world = dWorldCreate();
+  space = dSimpleSpaceCreate(0);
+  dMass m;
+  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
+  dMassAdjust (&m,MASS);
+
+  body[0] = dBodyCreate (world);
+  dBodySetMass (body[0],&m);
+  dBodySetPosition (body[0],0,0,1);
+  geom[0] = dCreateBox(space,SIDE,SIDE,SIDE);
+  body[1] = dBodyCreate (world);
+  dBodySetMass (body[1],&m);
+  dBodySetPosition (body[1],0,0,2);
+  geom[1] = dCreateBox(space,SIDE,SIDE,SIDE); 
+
+  dGeomSetBody(geom[0],body[0]);
+  dGeomSetBody(geom[1],body[1]);
+
+  lmotor[0] = dJointCreateLMotor (world,0);
+  dJointAttach (lmotor[0],body[0],body[1]);
+  lmotor[1] = dJointCreateLMotor (world,0);
+  dJointAttach (lmotor[1],body[0],0);
+  amotor[0] = dJointCreateAMotor(world,0);
+  dJointAttach(amotor[0], body[0],body[1]);
+  amotor[1] = dJointCreateAMotor(world,0);
+  dJointAttach(amotor[1], body[0], 0);
+  
+  for (int i=0; i<2; i++) {
+	  dJointSetAMotorNumAxes(amotor[i], 3);
+	  dJointSetAMotorAxis(amotor[i],0,1,1,0,0);
+	  dJointSetAMotorAxis(amotor[i],1,1,0,1,0);
+	  dJointSetAMotorAxis(amotor[i],2,1,0,0,1);
+	  dJointSetAMotorParam(amotor[i],dParamFMax,0.00001);
+	  dJointSetAMotorParam(amotor[i],dParamFMax2,0.00001);
+	  dJointSetAMotorParam(amotor[i],dParamFMax3,0.00001);
+
+	  dJointSetAMotorParam(amotor[i],dParamVel,0);
+	  dJointSetAMotorParam(amotor[i],dParamVel2,0);
+	  dJointSetAMotorParam(amotor[i],dParamVel3,0);
+
+	  dJointSetLMotorNumAxes(lmotor[i],3);
+	  dJointSetLMotorAxis(lmotor[i],0,1,1,0,0);
+	  dJointSetLMotorAxis(lmotor[i],1,1,0,1,0);
+	  dJointSetLMotorAxis(lmotor[i],2,1,0,0,1);
+	 
+	  dJointSetLMotorParam(lmotor[i],dParamFMax,0.0001);
+	  dJointSetLMotorParam(lmotor[i],dParamFMax2,0.0001);
+	  dJointSetLMotorParam(lmotor[i],dParamFMax3,0.0001);
+  }
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupDestroy(contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_moving_convex.cpp b/libs/ode-0.16.1/ode/demo/demo_moving_convex.cpp
new file mode 100644
index 0000000..2f03900
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_moving_convex.cpp
@@ -0,0 +1,415 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+#include "bunny_geom.h"
+#include "convex_bunny_geom.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawLine dsDrawLineD
+#define dsDrawTriangle dsDrawTriangleD
+#define dsDrawConvex dsDrawConvexD
+#endif
+
+
+// some constants
+
+#define NUM 200			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 64		// maximum number of contact points per body
+
+
+// dynamics and collision objects
+
+struct MyObject
+{
+	dBodyID body;			// the body
+	dGeomID geom[GPB];		// geometries representing this body
+};
+
+static int num=0;		// number of objects in simulation
+static int nextobj=0;		// next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1;	// selected object
+static int show_aabb = 0;	// show geom AABBs?
+static int show_contacts = 0;	// show contact points?
+static int random_pos = 1;	// drop objects from random position?
+
+typedef dReal dVector3R[3];
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback( void *, dGeomID o1, dGeomID o2 )
+{
+	int i;
+	// if (o1->body && o2->body) return;
+
+	// exit without doing anything if the two bodies are connected by a joint
+	dBodyID b1 = dGeomGetBody( o1 );
+	dBodyID b2 = dGeomGetBody( o2 );
+	if ( b1 && b2 && dAreConnectedExcluding( b1,b2,dJointTypeContact ) ) return;
+
+	dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
+	for ( i=0; i<MAX_CONTACTS; i++ )
+	{
+		contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+		contact[i].surface.mu = dInfinity;
+		contact[i].surface.mu2 = 0;
+		contact[i].surface.bounce = 0.1;
+		contact[i].surface.bounce_vel = 0.1;
+		contact[i].surface.soft_cfm = 0.01;
+	}
+	if ( int numc = dCollide( o1,o2,MAX_CONTACTS,&contact[0].geom,
+	                          sizeof( dContact ) ) )
+	{
+		dMatrix3 RI;
+		dRSetIdentity( RI );
+		const dReal ss[3] = {0.02,0.02,0.02};
+		for ( i=0; i<numc; i++ )
+		{
+			dJointID c = dJointCreateContact( world,contactgroup,contact+i );
+			dJointAttach( c,b1,b2 );
+			if ( show_contacts ) dsDrawBox( contact[i].geom.pos,RI,ss );
+		}
+	}
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+	dAllocateODEDataForThread( dAllocateMaskAll );
+
+	static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+	static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+	dsSetViewpoint( xyz,hpr );
+	printf( "To drop another object, press:\n" );
+	printf( "   b for box.\n" );
+	printf( "   s for sphere.\n" );
+	printf( "   c for capsule.\n" );
+	printf( "   v for a convex.\n" );
+	printf( "To select an object, press space.\n" );
+	printf( "To disable the selected object, press d.\n" );
+	printf( "To enable the selected object, press e.\n" );
+	printf( "To toggle showing the geom AABBs, press a.\n" );
+	printf( "To toggle showing the contact points, press t.\n" );
+	printf( "To toggle dropping from random position/orientation, press r.\n" );
+}
+
+
+char locase( char c )
+{
+	if ( c >= 'A' && c <= 'Z' ) return c - ( 'a'-'A' );
+	else return c;
+}
+
+
+// called when a key pressed
+static void command( int cmd )
+{
+	int i,k;
+	dReal sides[3];
+	dMass m;
+
+	cmd = locase( cmd );
+	if ( cmd == 'v' || cmd == 'b' || cmd == 'c' || cmd == 's' || cmd == 'y')
+	{
+		if ( num < NUM )
+		{
+			i = num;
+			num++;
+		}
+		else
+		{
+			i = nextobj;
+			nextobj++;
+			if ( nextobj >= num ) nextobj = 0;
+
+			// destroy the body and geoms for slot i
+			dBodyDestroy( obj[i].body );
+			for ( k=0; k < GPB; k++ )
+			{
+				if ( obj[i].geom[k] ) dGeomDestroy( obj[i].geom[k] );
+			}
+			memset( &obj[i],0,sizeof( obj[i] ) );
+		}
+
+		obj[i].body = dBodyCreate( world );
+		for ( k=0; k<3; k++ ) sides[k] = dRandReal()*0.5+0.1;
+
+		dMatrix3 R;
+		if ( random_pos )
+		{
+			dBodySetPosition( obj[i].body,
+			                  dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3 );
+			dRFromAxisAndAngle( R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+			                    dRandReal()*2.0-1.0,dRandReal()*10.0-5.0 );
+		}
+		else
+		{
+			dReal maxheight = 0;
+			for ( k=0; k<num; k++ )
+			{
+				const dReal *pos = dBodyGetPosition( obj[k].body );
+				if ( pos[2] > maxheight ) maxheight = pos[2];
+			}
+			dBodySetPosition( obj[i].body, 0,0,maxheight+1 );
+			dRFromAxisAndAngle( R,0,0,1,dRandReal()*10.0-5.0 );
+		}
+		dBodySetRotation( obj[i].body,R );
+		dBodySetData( obj[i].body,( void* )( dsizeint )i );
+
+		if ( cmd == 'b' )
+		{
+			dMassSetBox( &m,DENSITY,sides[0],sides[1],sides[2] );
+			obj[i].geom[0] = dCreateBox( space,sides[0],sides[1],sides[2] );
+		}
+		else if ( cmd == 'c' )
+		{
+			sides[0] *= 0.5;
+			dMassSetCapsule( &m,DENSITY,3,sides[0],sides[1] );
+			obj[i].geom[0] = dCreateCapsule( space,sides[0],sides[1] );
+		}
+        else if (cmd == 'y') {
+            dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
+        }
+		else if ( cmd == 's' )
+		{
+			sides[0] *= 0.5;
+			dMassSetSphere( &m,DENSITY,sides[0] );
+			obj[i].geom[0] = dCreateSphere( space,sides[0] );
+		}
+		else  if ( cmd == 'v' )
+		{
+			obj[i].geom[0] = dCreateConvex( space,
+			                                convexBunnyPlanes,
+			                                convexBunnyPlaneCount,
+			                                convexBunnyPoints,
+			                                convexBunnyPointCount,
+			                                convexBunnyPolygons );
+
+			/// Use equivalent TriMesh to set mass
+			dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
+			dGeomTriMeshDataBuildSingle( new_tmdata, &Vertices[0], 3 * sizeof( float ), VertexCount,
+			                             ( dTriIndex* )&Indices[0], IndexCount, 3 * sizeof( dTriIndex ) );
+            dGeomTriMeshDataPreprocess2( new_tmdata, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL );
+
+			dGeomID triMesh = dCreateTriMesh( 0, new_tmdata, 0, 0, 0 );
+
+			dMassSetTrimesh( &m, DENSITY, triMesh );
+
+			dGeomDestroy( triMesh );
+			dGeomTriMeshDataDestroy( new_tmdata );
+
+			printf( "mass at %f %f %f\n", m.c[0], m.c[1], m.c[2] );
+			dGeomSetPosition( obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2] );
+			dMassTranslate( &m, -m.c[0], -m.c[1], -m.c[2] );
+		}
+
+		for ( k=0; k < GPB; k++ )
+		{
+			if ( obj[i].geom[k] ) dGeomSetBody( obj[i].geom[k],obj[i].body );
+		}
+
+		dBodySetMass( obj[i].body,&m );
+	}
+
+	if ( cmd == ' ' )
+	{
+		selected++;
+		if ( selected >= num ) selected = 0;
+		if ( selected < 0 ) selected = 0;
+	}
+	else if ( cmd == 'd' && selected >= 0 && selected < num )
+	{
+		dBodyDisable( obj[selected].body );
+	}
+	else if ( cmd == 'e' && selected >= 0 && selected < num )
+	{
+		dBodyEnable( obj[selected].body );
+	}
+	else if ( cmd == 'a' )
+	{
+		show_aabb ^= 1;
+	}
+	else if ( cmd == 't' )
+	{
+		show_contacts ^= 1;
+	}
+	else if ( cmd == 'r' )
+	{
+		random_pos ^= 1;
+	}
+}
+
+// draw a geom
+void drawGeom( dGeomID g, const dReal *pos, const dReal *R, int show_aabb )
+{
+	if ( !g ) return;
+	if ( !pos ) pos = dGeomGetPosition( g );
+	if ( !R ) R = dGeomGetRotation( g );
+
+	int type = dGeomGetClass( g );
+	if ( type == dBoxClass )
+	{
+		dVector3 sides;
+		dGeomBoxGetLengths( g,sides );
+		dsDrawBox( pos,R,sides );
+	}
+	else if ( type == dSphereClass )
+	{
+		dsDrawSphere( pos,R,dGeomSphereGetRadius( g ) );
+	}
+    else if (type == dCylinderClass) {
+        dReal radius,length;
+        dGeomCylinderGetParams (g,&radius,&length);
+        dsDrawCylinder (pos,R,length,radius);
+    }
+	else if ( type == dCapsuleClass )
+	{
+		dReal radius,length;
+		dGeomCapsuleGetParams( g,&radius,&length );
+		dsDrawCapsule( pos,R,length,radius );
+	}
+	else if ( type == dConvexClass )
+	{
+		dsDrawConvex( pos,R,
+		              convexBunnyPlanes,
+		              convexBunnyPlaneCount,
+		              convexBunnyPoints,
+		              convexBunnyPointCount,
+		              convexBunnyPolygons );
+	}
+
+	if ( show_aabb )
+	{
+		// draw the bounding box for this geom
+		dReal aabb[6];
+		dGeomGetAABB( g,aabb );
+		dVector3 bbpos;
+		for ( int i=0; i<3; i++ ) bbpos[i] = 0.5*( aabb[i*2] + aabb[i*2+1] );
+		dVector3 bbsides;
+		for ( int j=0; j<3; j++ ) bbsides[j] = aabb[j*2+1] - aabb[j*2];
+		dMatrix3 RI;
+		dRSetIdentity( RI );
+		dsSetColorAlpha( 1,0,0,0.5 );
+		dsDrawBox( bbpos,RI,bbsides );
+	}
+}
+
+// simulation loop
+
+static void simLoop( int pause )
+{
+	dsSetColor( 0,0,2 );
+	dSpaceCollide( space,0,&nearCallback );
+
+	if ( !pause ) dWorldQuickStep( world,0.05 );
+
+	for ( int j = 0; j < dSpaceGetNumGeoms( space ); j++ )
+	{
+		dSpaceGetGeom( space, j );
+	}
+
+	// remove all contact joints
+	dJointGroupEmpty( contactgroup );
+
+	dsSetColor( 1,1,0 );
+	dsSetTexture( DS_WOOD );
+	for ( int i=0; i<num; i++ )
+	{
+		for ( int j=0; j < GPB; j++ )
+		{
+			if ( obj[i].geom[j] )
+			{
+				if ( i==selected )
+				{
+					dsSetColor( 0,0.7,1 );
+				}
+				else if ( ! dBodyIsEnabled( obj[i].body ) )
+				{
+					dsSetColor( 1,0,0 );
+				}
+				else
+				{
+					dsSetColor( 1,1,0 );
+				}
+
+				drawGeom( obj[i].geom[j],0,0,show_aabb );
+			}
+		}
+	}
+}
+
+
+int main( int argc, char **argv )
+{
+	// setup pointers to drawstuff callback functions
+	dsFunctions fn;
+	fn.version = DS_VERSION;
+	fn.start = &start;
+	fn.step = &simLoop;
+	fn.command = &command;
+	fn.stop = 0;
+	fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+	// create world
+	dInitODE2( 0 );
+	world = dWorldCreate();
+
+	space = dSimpleSpaceCreate( 0 );
+	contactgroup = dJointGroupCreate( 0 );
+	dWorldSetGravity( world,0,0,-0.5 );
+	dWorldSetCFM( world,1e-5 );
+	dCreatePlane( space,0,0,1,0 );
+	memset( obj,0,sizeof( obj ) );
+
+	// run simulation
+	dsSimulationLoop( argc,argv,352,288,&fn );
+
+	dJointGroupDestroy( contactgroup );
+	dSpaceDestroy( space );
+	dWorldDestroy( world );
+	dCloseODE();
+	return 0;
+}
+
+ 	  	 
diff --git a/libs/ode-0.16.1/ode/demo/demo_moving_trimesh.cpp b/libs/ode-0.16.1/ode/demo/demo_moving_trimesh.cpp
new file mode 100644
index 0000000..26034ae
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_moving_trimesh.cpp
@@ -0,0 +1,677 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+#include "bunny_geom.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+//<---- Convex Object
+static const dReal planes[] =  // planes for a cube
+{
+    1.0f ,0.0f ,0.0f ,0.25f, 
+    0.0f ,1.0f ,0.0f ,0.25f, 
+    0.0f ,0.0f ,1.0f ,0.25f, 
+    0.0f ,0.0f ,-1.0f,0.25f, 
+    0.0f ,-1.0f,0.0f ,0.25f, 
+    -1.0f,0.0f ,0.0f ,0.25f 
+    /* 
+    1.0f ,0.0f ,0.0f ,2.0f, 
+    0.0f ,1.0f ,0.0f ,1.0f, 
+    0.0f ,0.0f ,1.0f ,1.0f, 
+    0.0f ,0.0f ,-1.0f,1.0f, 
+    0.0f ,-1.0f,0.0f ,1.0f, 
+    -1.0f,0.0f ,0.0f ,0.0f 
+    */ 
+};
+static const unsigned int planecount=6;
+
+static const dReal points[] = // points for a cube
+{ 
+    0.25f,0.25f,0.25f,  
+    -0.25f,0.25f,0.25f, 
+    
+    0.25f,-0.25f,0.25f, 
+    -0.25f,-0.25f,0.25f, 
+    
+    0.25f,0.25f,-0.25f, 
+    -0.25f,0.25f,-0.25f, 
+    
+    0.25f,-0.25f,-0.25f, 
+    -0.25f,-0.25f,-0.25f, 
+};
+static const unsigned int pointcount=8;
+
+static const unsigned int polygons[] = //Polygons for a cube (6 squares)
+  {
+    4,0,2,6,4, // positive X
+    4,1,0,4,5, // positive Y
+    4,0,1,3,2, // positive Z
+    4,3,1,5,7, // negative X
+    4,2,3,7,6, // negative Y
+    4,5,4,6,7, // negative Z
+  };
+//----> Convex Object
+
+int tmTriangles[] = 
+{
+    0,2,6,
+    0,6,4,
+    1,0,4,
+    1,4,5,
+    0,1,3,
+    0,3,2,
+    3,1,5,
+    3,5,7,
+    2,3,7,
+    2,7,6,
+    5,4,6,
+    5,6,7
+};
+
+float tmVertices[] = 
+{
+    0.25f,0.25f,0.25f,  //  point 0
+    -0.25f,0.25f,0.25f, //  point 1
+
+    0.25f,-0.25f,0.25f, //  point 2
+    -0.25f,-0.25f,0.25f,//  point 3
+
+    0.25f,0.25f,-0.25f, //  point 4
+    -0.25f,0.25f,-0.25f,//  point 5
+
+    0.25f,-0.25f,-0.25f,//  point 6
+    -0.25f,-0.25f,-0.25f,// point 7
+};
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawLine dsDrawLineD
+#define dsDrawTriangle dsDrawTriangleD
+#define dsDrawConvex dsDrawConvexD
+#endif
+
+
+// some constants
+
+#define NUM 200			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 64		// maximum number of contact points per body
+
+
+// dynamics and collision objects
+
+struct MyObject {
+  dBodyID body;			// the body
+  dGeomID geom[GPB];		// geometries representing this body
+
+  // Trimesh only - double buffered matrices for 'last transform' setup
+  dReal matrix_dblbuff[ 16 * 2 ];
+  int last_matrix_index;
+};
+
+static int num=0;		// number of objects in simulation
+static int nextobj=0;		// next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1;	// selected object
+static int show_aabb = 0;	// show geom AABBs?
+static int show_contacts = 0;	// show contact points?
+static int random_pos = 1;	// drop objects from random position?
+
+typedef dReal dVector3R[3];
+
+dGeomID TriMesh1;
+dGeomID TriMesh2;
+static dTriMeshDataID TriData1, TriData2;  // reusable static trimesh data
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  int i;
+  // if (o1->body && o2->body) return;
+
+  // exit without doing anything if the two bodies are connected by a joint
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
+
+  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
+  for (i=0; i<MAX_CONTACTS; i++) {
+    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+    contact[i].surface.mu = dInfinity;
+    contact[i].surface.mu2 = 0;
+    contact[i].surface.bounce = 0.1;
+    contact[i].surface.bounce_vel = 0.1;
+    contact[i].surface.soft_cfm = 0.01;
+  }
+  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
+			   sizeof(dContact))) {
+    dMatrix3 RI;
+    dRSetIdentity (RI);
+    const dReal ss[3] = {0.02,0.02,0.02};
+    for (i=0; i<numc; i++) {
+      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+      dJointAttach (c,b1,b2);
+      if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("To drop another object, press:\n");
+  printf ("   b for box.\n");
+  printf ("   s for sphere.\n");
+  printf ("   y for cylinder.\n");
+  printf ("   c for capsule.\n");
+  printf ("   x for a composite object.\n");
+  printf ("   v for a convex object.\n");
+  printf ("   m for a trimesh.\n");
+  printf ("To select an object, press space.\n");
+  printf ("To disable the selected object, press d.\n");
+  printf ("To enable the selected object, press e.\n");
+  printf ("To toggle showing the geom AABBs, press a.\n");
+  printf ("To toggle showing the contact points, press t.\n");
+  printf ("To toggle dropping from random position/orientation, press r.\n");
+}
+
+
+char locase (char c)
+{
+  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+  else return c;
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+    int i,j,k;
+    dReal sides[3];
+    dMass m;
+    bool setBody = false;
+
+    cmd = locase (cmd);
+    if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'm' || cmd == 'y' || cmd == 'v') {
+        if (num < NUM) {
+            i = num;
+            num++;
+        }
+        else {
+            i = nextobj;
+            nextobj++;
+            if (nextobj >= num) nextobj = 0;
+
+            // destroy the body and geoms for slot i
+            dBodyDestroy (obj[i].body);
+            for (k=0; k < GPB; k++) {
+                if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
+            }
+            memset (&obj[i],0,sizeof(obj[i]));
+        }
+
+        obj[i].body = dBodyCreate (world);
+        for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
+
+        dMatrix3 R;
+        if (random_pos) {
+            dBodySetPosition (obj[i].body,
+                              dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3);
+            dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                                dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+        }
+        else {
+            dReal maxheight = 0;
+            for (k=0; k<num; k++) {
+                const dReal *pos = dBodyGetPosition (obj[k].body);
+                if (pos[2] > maxheight) maxheight = pos[2];
+            }
+            dBodySetPosition (obj[i].body, 0,0,maxheight+1);
+            dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
+        }
+        dBodySetRotation (obj[i].body,R);
+        dBodySetData (obj[i].body,(void*)(dsizeint)i);
+
+        if (cmd == 'b') {
+            dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
+            obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
+        }
+        else if (cmd == 'c') {
+            sides[0] *= 0.5;
+            dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
+        } else if (cmd == 'v') {
+
+            dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
+            obj[i].geom[0] = dCreateConvex(space,
+                                           planes,
+                                           planecount,
+                                           points,
+                                           pointcount,
+                                           polygons);
+        }
+        else if (cmd == 'y') {
+            sides[1] *= 0.5;
+            dMassSetCylinder (&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
+        }
+	else if (cmd == 's') {
+            sides[0] *= 0.5;
+            dMassSetSphere (&m,DENSITY,sides[0]);
+            obj[i].geom[0] = dCreateSphere (space,sides[0]);
+        }
+        else if (cmd == 'm') {
+            dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
+            dGeomTriMeshDataBuildSingle(new_tmdata, &Vertices[0], 3 * sizeof(float), VertexCount, 
+                                        (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
+            dGeomTriMeshDataPreprocess2(new_tmdata, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
+
+
+            obj[i].geom[0] = dCreateTriMesh(space, new_tmdata, 0, 0, 0);
+
+            // remember the mesh's dTriMeshDataID on its userdata for convenience.
+            dGeomSetData(obj[i].geom[0], new_tmdata);
+
+            dMassSetTrimesh( &m, DENSITY, obj[i].geom[0] );
+            printf("mass at %f %f %f\n", m.c[0], m.c[1], m.c[2]);
+            dGeomSetPosition(obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2]);
+            dMassTranslate(&m, -m.c[0], -m.c[1], -m.c[2]);
+        }
+        else if (cmd == 'x') {
+
+            setBody = true;
+            // start accumulating masses for the composite geometries
+            dMass m2;
+            dMassSetZero (&m);
+
+            dReal dpos[GPB][3];	// delta-positions for composite geometries
+            dMatrix3 drot[GPB];
+      
+            // set random delta positions
+            for (j=0; j<GPB; j++)
+                for (k=0; k<3; k++)
+                    dpos[j][k] = dRandReal()*0.3-0.15;
+    
+            for (k=0; k<GPB; k++) {
+                if (k==0) {
+                    dReal radius = dRandReal()*0.25+0.05;
+                    obj[i].geom[k] = dCreateSphere (space,radius);
+                    dMassSetSphere (&m2,DENSITY,radius);
+                } else if (k==1) {
+                    obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
+                    dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
+                } else {
+                    dReal radius = dRandReal()*0.1+0.05;
+                    dReal length = dRandReal()*1.0+0.1;
+                    obj[i].geom[k] = dCreateCapsule(space,radius,length);
+                    dMassSetCapsule(&m2,DENSITY,3,radius,length);
+                }
+
+                dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                                   dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+                dMassRotate(&m2,drot[k]);
+		
+                dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+                // add to the total mass
+                dMassAdd(&m,&m2);
+
+            }
+            for (k=0; k<GPB; k++) {
+                dGeomSetBody(obj[i].geom[k],obj[i].body);
+                dGeomSetOffsetPosition(obj[i].geom[k],
+                                       dpos[k][0]-m.c[0],
+                                       dpos[k][1]-m.c[1],
+                                       dpos[k][2]-m.c[2]);
+                dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
+            }
+            dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
+            dBodySetMass(obj[i].body,&m);
+
+        }
+
+        if (!setBody) { // avoid calling for composite geometries
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k])
+                    dGeomSetBody(obj[i].geom[k],obj[i].body);
+
+            dBodySetMass(obj[i].body,&m);
+        }
+    }
+
+    if (cmd == ' ') {
+        selected++;
+        if (selected >= num) selected = 0;
+        if (selected < 0) selected = 0;
+    }
+    else if (cmd == 'd' && selected >= 0 && selected < num) {
+        dBodyDisable (obj[selected].body);
+    }
+    else if (cmd == 'e' && selected >= 0 && selected < num) {
+        dBodyEnable (obj[selected].body);
+    }
+    else if (cmd == 'a') {
+        show_aabb ^= 1;
+    }
+    else if (cmd == 't') {
+        show_contacts ^= 1;
+    }
+    else if (cmd == 'r') {
+        random_pos ^= 1;
+    }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+  if (!g) return;
+  if (!pos) pos = dGeomGetPosition (g);
+  if (!R) R = dGeomGetRotation (g);
+
+  int type = dGeomGetClass (g);
+  if (type == dBoxClass) {
+    dVector3 sides;
+    dGeomBoxGetLengths (g,sides);
+    dsDrawBox (pos,R,sides);
+  }
+  else if (type == dSphereClass) {
+    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
+  }
+  else if (type == dCapsuleClass) {
+    dReal radius,length;
+    dGeomCapsuleGetParams (g,&radius,&length);
+    dsDrawCapsule (pos,R,length,radius);
+  }
+  else if (type == dCylinderClass) {
+    dReal radius,length;
+    dGeomCylinderGetParams (g,&radius,&length);
+    dsDrawCylinder (pos,R,length,radius);
+  } else if (type == dConvexClass) {
+   //dVector3 sides={0.50,0.50,0.50};
+    dsDrawConvex(pos,R,planes,
+                 planecount,
+                 points,
+                 pointcount,
+                 polygons);
+  }
+
+  if (show_aabb) {
+    // draw the bounding box for this geom
+    dReal aabb[6];
+    dGeomGetAABB (g,aabb);
+    dVector3 bbpos;
+    for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+    dVector3 bbsides;
+    for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2];
+    dMatrix3 RI;
+    dRSetIdentity (RI);
+    dsSetColorAlpha (1,0,0,0.5);
+    dsDrawBox (bbpos,RI,bbsides);
+  }
+}
+
+
+// set previous transformation matrix for trimesh
+void setCurrentTransform(dGeomID geom)
+{
+ const dReal* Pos = dGeomGetPosition(geom);
+ const dReal* Rot = dGeomGetRotation(geom);
+
+ const dReal Transform[16] = 
+ {
+   Rot[0], Rot[4], Rot[8],  0,
+   Rot[1], Rot[5], Rot[9],  0,
+   Rot[2], Rot[6], Rot[10], 0,
+   Pos[0], Pos[1], Pos[2],  1
+ };
+
+ dGeomTriMeshSetLastTransform( geom, *(dMatrix4*)(&Transform) );
+
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  dsSetColor (0,0,2);
+  dSpaceCollide (space,0,&nearCallback);
+
+
+#if 1
+  // What is this for??? - Bram
+  if (!pause) 
+  {
+    for (int i=0; i<num; i++)
+      for (int j=0; j < GPB; j++)
+        if (obj[i].geom[j])
+          if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass)
+            setCurrentTransform(obj[i].geom[j]);
+ 
+    setCurrentTransform(TriMesh1);
+    setCurrentTransform(TriMesh2);
+  }
+#endif
+
+  //if (!pause) dWorldStep (world,0.05);
+  if (!pause) dWorldQuickStep (world,0.05);
+
+  for (int j = 0; j < dSpaceGetNumGeoms(space); j++){
+	  dSpaceGetGeom(space, j);
+  }
+
+  // remove all contact joints
+  dJointGroupEmpty (contactgroup);
+
+  dsSetColor (1,1,0);
+  dsSetTexture (DS_WOOD);
+  for (int i=0; i<num; i++) {
+    for (int j=0; j < GPB; j++) {
+      if (obj[i].geom[j]) {
+        if (i==selected) {
+          dsSetColor (0,0.7,1);
+        }
+        else if (! dBodyIsEnabled (obj[i].body)) {
+          dsSetColor (1,0,0);
+        }
+        else {
+          dsSetColor (1,1,0);
+        }
+      
+        if (dGeomGetClass(obj[i].geom[j]) == dTriMeshClass) {
+          dTriIndex* Indices = (dTriIndex*)::Indices;
+
+          // assume all trimeshes are drawn as bunnies
+          const dReal* Pos = dGeomGetPosition(obj[i].geom[j]);
+          const dReal* Rot = dGeomGetRotation(obj[i].geom[j]);
+        
+          for (int ii = 0; ii < IndexCount / 3; ii++) {
+            const dReal v[9] = { // explicit conversion from float to dReal
+              Vertices[Indices[ii * 3 + 0] * 3 + 0],
+              Vertices[Indices[ii * 3 + 0] * 3 + 1],
+              Vertices[Indices[ii * 3 + 0] * 3 + 2],
+              Vertices[Indices[ii * 3 + 1] * 3 + 0],
+              Vertices[Indices[ii * 3 + 1] * 3 + 1],
+              Vertices[Indices[ii * 3 + 1] * 3 + 2],
+              Vertices[Indices[ii * 3 + 2] * 3 + 0],
+              Vertices[Indices[ii * 3 + 2] * 3 + 1],
+              Vertices[Indices[ii * 3 + 2] * 3 + 2]
+            };
+            dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
+          }
+
+          // tell the tri-tri collider the current transform of the trimesh --
+          // this is fairly important for good results.
+          
+		  // Fill in the (4x4) matrix.
+		  dReal* p_matrix = obj[i].matrix_dblbuff + ( obj[i].last_matrix_index * 16 );
+
+		  p_matrix[ 0 ] = Rot[ 0 ];	p_matrix[ 1 ] = Rot[ 1 ];	p_matrix[ 2 ] = Rot[ 2 ];	p_matrix[ 3 ] = 0;
+		  p_matrix[ 4 ] = Rot[ 4 ];	p_matrix[ 5 ] = Rot[ 5 ];	p_matrix[ 6 ] = Rot[ 6 ];	p_matrix[ 7 ] = 0;
+		  p_matrix[ 8 ] = Rot[ 8 ];	p_matrix[ 9 ] = Rot[ 9 ];	p_matrix[10 ] = Rot[10 ];	p_matrix[11 ] = 0;
+		  p_matrix[12 ] = Pos[ 0 ];	p_matrix[13 ] = Pos[ 1 ];	p_matrix[14 ] = Pos[ 2 ];	p_matrix[15 ] = 1;
+
+		  // Flip to other matrix.
+		  obj[i].last_matrix_index = !obj[i].last_matrix_index;
+
+		  dGeomTriMeshSetLastTransform( obj[i].geom[j], 
+			  *(dMatrix4*)( obj[i].matrix_dblbuff + obj[i].last_matrix_index * 16 ) );
+  
+        } else {
+          drawGeom (obj[i].geom[j],0,0,show_aabb);
+        }
+      }
+    }
+  }
+
+  dTriIndex* Indices = (dTriIndex*)::Indices;
+
+  {const dReal* Pos = dGeomGetPosition(TriMesh1);
+  const dReal* Rot = dGeomGetRotation(TriMesh1);
+
+  {for (int i = 0; i < IndexCount / 3; i++){
+    const dReal v[9] = { // explicit conversion from float to dReal
+      Vertices[Indices[i * 3 + 0] * 3 + 0],
+      Vertices[Indices[i * 3 + 0] * 3 + 1],
+      Vertices[Indices[i * 3 + 0] * 3 + 2],
+      Vertices[Indices[i * 3 + 1] * 3 + 0],
+      Vertices[Indices[i * 3 + 1] * 3 + 1],
+      Vertices[Indices[i * 3 + 1] * 3 + 2],
+      Vertices[Indices[i * 3 + 2] * 3 + 0],
+      Vertices[Indices[i * 3 + 2] * 3 + 1],
+      Vertices[Indices[i * 3 + 2] * 3 + 2]
+    };
+    dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 0);
+  }}}
+
+  {const dReal* Pos = dGeomGetPosition(TriMesh2);
+  const dReal* Rot = dGeomGetRotation(TriMesh2);
+
+  {for (int i = 0; i < IndexCount / 3; i++){
+    const dReal v[9] = { // explicit conversion from float to dReal
+      Vertices[Indices[i * 3 + 0] * 3 + 0],
+      Vertices[Indices[i * 3 + 0] * 3 + 1],
+      Vertices[Indices[i * 3 + 0] * 3 + 2],
+      Vertices[Indices[i * 3 + 1] * 3 + 0],
+      Vertices[Indices[i * 3 + 1] * 3 + 1],
+      Vertices[Indices[i * 3 + 1] * 3 + 2],
+      Vertices[Indices[i * 3 + 2] * 3 + 0],
+      Vertices[Indices[i * 3 + 2] * 3 + 1],
+      Vertices[Indices[i * 3 + 2] * 3 + 2]
+    };
+    dsDrawTriangle(Pos, Rot, &v[0], &v[3], &v[6], 1);
+  }}}
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+ 
+  space = dSimpleSpaceCreate(0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-0.5);
+  dWorldSetCFM (world,1e-5);
+  dCreatePlane (space,0,0,1,0);
+  memset (obj,0,sizeof(obj));
+
+  // note: can't share tridata if intending to trimesh-trimesh collide
+  const unsigned preprocessFlags = (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES) | (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES);
+  TriData1 = dGeomTriMeshDataCreate();
+  dGeomTriMeshDataBuildSingle(TriData1, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
+  dGeomTriMeshDataPreprocess2(TriData1, preprocessFlags, NULL);
+  TriData2 = dGeomTriMeshDataCreate();
+  dGeomTriMeshDataBuildSingle(TriData2, &Vertices[0], 3 * sizeof(float), VertexCount, (dTriIndex*)&Indices[0], IndexCount, 3 * sizeof(dTriIndex));
+  dGeomTriMeshDataPreprocess2(TriData2, preprocessFlags, NULL);
+  
+  TriMesh1 = dCreateTriMesh(space, TriData1, 0, 0, 0);
+  TriMesh2 = dCreateTriMesh(space, TriData2, 0, 0, 0);
+  dGeomSetData(TriMesh1, TriData1);
+  dGeomSetData(TriMesh2, TriData2);
+  
+  {dGeomSetPosition(TriMesh1, 0, 0, 0.9);
+  dMatrix3 Rotation;
+  dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
+  dGeomSetRotation(TriMesh1, Rotation);}
+
+  {dGeomSetPosition(TriMesh2, 1, 0, 0.9);
+  dMatrix3 Rotation;
+  dRFromAxisAndAngle(Rotation, 1, 0, 0, M_PI / 2);
+  dGeomSetRotation(TriMesh2, Rotation);}
+  
+  dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+  dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+  dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+  // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+  dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dThreadingImplementationShutdownProcessing(threading);
+  dThreadingFreeThreadPool(pool);
+  dWorldSetStepThreadingImplementation(world, NULL, NULL);
+  dThreadingFreeImplementation(threading);
+
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_ode.cpp b/libs/ode-0.16.1/ode/demo/demo_ode.cpp
new file mode 100644
index 0000000..ead9338
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_ode.cpp
@@ -0,0 +1,1380 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <setjmp.h>
+#include <ode/ode.h>
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+//****************************************************************************
+// matrix sizes
+
+#define dALIGN_SIZE(buf_size, alignment) (((buf_size) + (alignment - 1)) & (int)(~(alignment - 1))) // Casting the mask to int ensures sign-extension to larger integer sizes
+#define dALIGN_PTR(buf_ptr, alignment) ((void *)(((duintptr)(buf_ptr) + ((alignment) - 1)) & (int)(~(alignment - 1)))) // Casting the mask to int ensures sign-extension to larger integer sizes
+
+#define MSIZE 21
+#define MSIZE4 dALIGN_SIZE(MSIZE, 4)	// MSIZE rounded up to 4
+
+
+
+//****************************************************************************
+// matrix accessors
+
+#define _A(i,j) A[(i)*4+(j)]
+#define _I(i,j) I[(i)*4+(j)]
+#define _R(i,j) R[(i)*4+(j)]
+
+//****************************************************************************
+// tolerances
+
+#ifdef dDOUBLE
+const double tol = 1e-10;
+#endif
+
+#ifdef dSINGLE
+const double tol = 1e-5;
+#endif
+
+//****************************************************************************
+// misc messages and error handling
+
+#ifdef __GNUC__
+#define HEADER printf ("%s()\n", __FUNCTION__);
+#else
+#define HEADER printf ("%s:%d\n",__FILE__,__LINE__);
+#endif
+
+static jmp_buf jump_buffer;
+
+
+void myMessageFunction (int num, const char *msg, va_list ap)
+{
+    printf ("(Message %d: ",num);
+    vprintf (msg,ap);
+    printf (")");
+    dSetMessageHandler (0);
+    longjmp (jump_buffer,1);
+}
+
+
+#define TRAP_MESSAGE(do,ifnomsg,ifmsg) \
+    dSetMessageHandler (&myMessageFunction); \
+    if (setjmp (jump_buffer)) { \
+        dSetMessageHandler (0); \
+        ifmsg ; \
+    } \
+    else { \
+        dSetMessageHandler (&myMessageFunction); \
+        do ; \
+        ifnomsg ; \
+    } \
+    dSetMessageHandler (0);
+
+//****************************************************************************
+// utility stuff
+
+// compare two numbers, within a threshhold, return 1 if approx equal
+
+int cmp (dReal a, dReal b)
+{
+    return (fabs(a-b) < tol);
+}
+
+//****************************************************************************
+// matrix utility stuff
+
+// compare a 3x3 matrix with the identity
+
+int cmpIdentityMat3 (dMatrix3 A)
+{
+    return
+        (cmp(_A(0,0),1.0) && cmp(_A(0,1),0.0) && cmp(_A(0,2),0.0) &&
+        cmp(_A(1,0),0.0) && cmp(_A(1,1),1.0) && cmp(_A(1,2),0.0) &&
+        cmp(_A(2,0),0.0) && cmp(_A(2,1),0.0) && cmp(_A(2,2),1.0));
+}
+
+
+// transpose a 3x3 matrix in-line
+
+void transpose3x3 (dMatrix3 A)
+{
+    dReal tmp;
+    tmp=A[4]; A[4]=A[1]; A[1]=tmp;
+    tmp=A[8]; A[8]=A[2]; A[2]=tmp;
+    tmp=A[9]; A[9]=A[6]; A[6]=tmp;
+}
+
+//****************************************************************************
+// test miscellaneous math functions
+
+void testRandomNumberGenerator()
+{
+    HEADER;
+    if (dTestRand()) printf ("\tpassed\n");
+    else printf ("\tFAILED\n");
+}
+
+
+void testInfinity()
+{
+    HEADER;
+    if (1e10 < dInfinity && -1e10 > -dInfinity && -dInfinity < dInfinity)
+        printf ("\tpassed\n");
+    else printf ("\tFAILED\n");
+}
+
+
+void testPad()
+{
+    HEADER;
+    char s[100];
+    s[0]=0;
+    for (int i=0; i<=16; i++) sprintf (s+strlen(s),"%d ",dPAD(i));
+    printf ("\t%s\n", strcmp(s,"0 1 4 4 4 8 8 8 8 12 12 12 12 16 16 16 16 ") ?
+        "FAILED" : "passed");
+}
+
+
+void testCrossProduct()
+{
+    HEADER;
+
+    dVector3 a1,a2,b,c;
+    dMatrix3 B;
+    dMakeRandomVector (b,3,1.0);
+    dMakeRandomVector (c,3,1.0);
+
+    dCalcVectorCross3(a1,b,c);
+
+    dSetZero (B,12);
+    dSetCrossMatrixPlus(B,b,4);
+    dMultiply0 (a2,B,c,3,3,1);
+
+    dReal diff = dMaxDifference(a1,a2,3,1);
+    printf ("\t%s\n", diff > tol ? "FAILED" : "passed");
+}
+
+
+void testSetZero()
+{
+    HEADER;
+    dReal a[100];
+    dMakeRandomVector (a,100,1.0);
+    dSetZero (a,100);
+    for (int i=0; i<100; i++) if (a[i] != 0.0) {
+        printf ("\tFAILED\n");
+        return;
+    }
+    printf ("\tpassed\n");
+}
+
+
+void testNormalize3()
+{
+    HEADER;
+    int i,j,bad=0;
+    dVector3 n1,n2;
+    for (i=0; i<1000; i++) {
+        dMakeRandomVector (n1,3,1.0);
+        for (j=0; j<3; j++) n2[j]=n1[j];
+        dNormalize3 (n2);
+        if (dFabs(dCalcVectorDot3(n2,n2) - 1.0) > tol) bad |= 1;
+        if (dFabs(n2[0]/n1[0] - n2[1]/n1[1]) > tol) bad |= 2;
+        if (dFabs(n2[0]/n1[0] - n2[2]/n1[2]) > tol) bad |= 4;
+        if (dFabs(n2[1]/n1[1] - n2[2]/n1[2]) > tol) bad |= 8;
+        if (dFabs(dCalcVectorDot3(n2,n1) - dSqrt(dCalcVectorDot3(n1,n1))) > tol) bad |= 16;
+        if (bad) {
+            printf ("\tFAILED (code=%x)\n",bad);
+            return;
+        }
+    }
+    printf ("\tpassed\n");
+}
+
+
+/*
+void testReorthonormalize()
+{
+HEADER;
+dMatrix3 R,I;
+dMakeRandomMatrix (R,3,3,1.0);
+for (int i=0; i<30; i++) dReorthonormalize (R);
+dMultiply2 (I,R,R,3,3,3);
+printf ("\t%s\n",cmpIdentityMat3 (I) ? "passed" : "FAILED");
+}
+*/
+
+
+void testPlaneSpace()
+{
+    HEADER;
+    dVector3 n,p,q;
+    int bad = 0;
+    for (int i=0; i<1000; i++) {
+        dMakeRandomVector (n,3,1.0);
+        dNormalize3 (n);
+        dPlaneSpace (n,p,q);
+        if (fabs(dCalcVectorDot3(n,p)) > tol) bad = 1;
+        if (fabs(dCalcVectorDot3(n,q)) > tol) bad = 1;
+        if (fabs(dCalcVectorDot3(p,q)) > tol) bad = 1;
+        if (fabs(dCalcVectorDot3(p,p)-1) > tol) bad = 1;
+        if (fabs(dCalcVectorDot3(q,q)-1) > tol) bad = 1;
+    }
+    printf ("\t%s\n", bad ? "FAILED" : "passed");
+}
+
+//****************************************************************************
+// test matrix functions
+
+void testMatrixMultiply()
+{
+    // A is 2x3, B is 3x4, B2 is B except stored columnwise, C is 2x4
+    dReal A[8],B[12],A2[12],B2[16],C[8];
+    int i;
+
+    HEADER;
+    dSetZero (A,8);
+    for (i=0; i<3; i++) A[i] = i+2;
+    for (i=0; i<3; i++) A[i+4] = i+3+2;
+    for (i=0; i<12; i++) B[i] = i+8;
+    dSetZero (A2,12);
+    for (i=0; i<6; i++) A2[i+2*(i/2)] = A[i+i/3];
+    dSetZero (B2,16);
+    for (i=0; i<12; i++) B2[i+i/3] = B[i];
+
+    dMultiply0 (C,A,B,2,3,4);
+    if (C[0] != 116 || C[1] != 125 || C[2] != 134 || C[3] != 143 ||
+        C[4] != 224 || C[5] != 242 || C[6] != 260 || C[7] != 278)
+        printf ("\tFAILED (1)\n"); else printf ("\tpassed (1)\n");
+
+    dMultiply1 (C,A2,B,2,3,4);
+    if (C[0] != 160 || C[1] != 172 || C[2] != 184 || C[3] != 196 ||
+        C[4] != 196 || C[5] != 211 || C[6] != 226 || C[7] != 241)
+        printf ("\tFAILED (2)\n"); else printf ("\tpassed (2)\n");
+
+    dMultiply2 (C,A,B2,2,3,4);
+    if (C[0] != 83 || C[1] != 110 || C[2] != 137 || C[3] != 164 ||
+        C[4] != 164 || C[5] != 218 || C[6] != 272 || C[7] != 326)
+        printf ("\tFAILED (3)\n"); else printf ("\tpassed (3)\n");
+}
+
+
+void testSmallMatrixMultiply()
+{
+    dMatrix3 A,B,C,A2;
+    dVector3 a,a2,x;
+
+    HEADER;
+    dMakeRandomMatrix (A,3,3,1.0);
+    dMakeRandomMatrix (B,3,3,1.0);
+    dMakeRandomMatrix (C,3,3,1.0);
+    dMakeRandomMatrix (x,3,1,1.0);
+
+    // dMultiply0_331()
+    dMultiply0_331 (a,B,x);
+    dMultiply0 (a2,B,x,3,3,1);
+    printf ("\t%s (1)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" :
+        "passed");
+
+    // dMultiply1_331()
+    dMultiply1_331 (a,B,x);
+    dMultiply1 (a2,B,x,3,3,1);
+    printf ("\t%s (2)\n",(dMaxDifference (a,a2,3,1) > tol) ? "FAILED" :
+        "passed");
+
+    // dMultiply0_133
+    dMultiply0_133 (a,x,B);
+    dMultiply0 (a2,x,B,1,3,3);
+    printf ("\t%s (3)\n",(dMaxDifference (a,a2,1,3) > tol) ? "FAILED" :
+        "passed");
+
+    // dMultiply0_333()
+    dMultiply0_333 (A,B,C);
+    dMultiply0 (A2,B,C,3,3,3);
+    printf ("\t%s (4)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" :
+        "passed");
+
+    // dMultiply1_333()
+    dMultiply1_333 (A,B,C);
+    dMultiply1 (A2,B,C,3,3,3);
+    printf ("\t%s (5)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" :
+        "passed");
+
+    // dMultiply2_333()
+    dMultiply2_333 (A,B,C);
+    dMultiply2 (A2,B,C,3,3,3);
+    printf ("\t%s (6)\n",(dMaxDifference (A,A2,3,3) > tol) ? "FAILED" :
+        "passed");
+}
+
+
+void testCholeskyFactorization()
+{
+    dsizeint matrixSize = sizeof(dReal) * MSIZE4 * MSIZE;
+    dReal *A = (dReal *)dAlloc(matrixSize), *B = (dReal *)dAlloc(matrixSize), *C = (dReal *)dAlloc(matrixSize), diff;
+
+    HEADER;
+    dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
+    dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE);
+    memcpy (A,B,MSIZE4*MSIZE*sizeof(dReal));
+    if (dFactorCholesky (B,MSIZE)) printf ("\tpassed (1)\n");
+    else printf ("\tFAILED (1)\n");
+    dClearUpperTriangle (B,MSIZE);
+    dMultiply2 (C,B,B,MSIZE,MSIZE,MSIZE);
+    diff = dMaxDifference(A,C,MSIZE,MSIZE);
+    printf ("\tmaximum difference = %.6e - %s (2)\n",diff,
+        diff > tol ? "FAILED" : "passed");
+
+    dFree(C, matrixSize);
+    dFree(B, matrixSize);
+    dFree(A, matrixSize);
+}
+
+
+void testCholeskySolve()
+{
+    dsizeint matrixSize = sizeof(dReal) * MSIZE4 * MSIZE, vectorSize = sizeof(dReal) * MSIZE;
+    dReal *A = (dReal *)dAlloc(matrixSize), *L = (dReal *)dAlloc(matrixSize);
+    dReal *b = (dReal *)dAlloc(vectorSize), *x = (dReal *)dAlloc(vectorSize), *btest = (dReal *)dAlloc(vectorSize), diff;
+
+    HEADER;
+
+    // get A,L = PD matrix
+    dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
+    dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
+    memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
+
+    // get b,x = right hand side
+    dMakeRandomMatrix (b,MSIZE,1,1.0);
+    memcpy (x,b,MSIZE*sizeof(dReal));
+
+    // factor L
+    if (dFactorCholesky (L,MSIZE)) printf ("\tpassed (1)\n");
+    else printf ("\tFAILED (1)\n");
+    dClearUpperTriangle (L,MSIZE);
+
+    // solve A*x = b
+    dSolveCholesky (L,x,MSIZE);
+
+    // compute A*x and compare it with b
+    dMultiply2 (btest,A,x,MSIZE,MSIZE,1);
+    diff = dMaxDifference(b,btest,MSIZE,1);
+    printf ("\tmaximum difference = %.6e - %s (2)\n",diff,
+        diff > tol ? "FAILED" : "passed");
+
+    dFree(btest, vectorSize);
+    dFree(x, vectorSize);
+    dFree(b, vectorSize);
+    dFree(L, matrixSize);
+    dFree(A, matrixSize);
+}
+
+
+void testInvertPDMatrix()
+{
+    int i,j,ok;
+    dsizeint matrixSize = sizeof(dReal) * MSIZE4 * MSIZE;
+    dReal *A = (dReal *)dAlloc(matrixSize), *Ainv = (dReal *)dAlloc(matrixSize), *I = (dReal *)dAlloc(matrixSize);
+
+    HEADER;
+
+    dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
+    dMultiply2 (Ainv,A,A,MSIZE,MSIZE,MSIZE);
+    memcpy (A,Ainv,MSIZE4*MSIZE*sizeof(dReal));
+    dSetZero (Ainv,MSIZE4*MSIZE);
+
+    if (dInvertPDMatrix (A,Ainv,MSIZE))
+        printf ("\tpassed (1)\n"); else printf ("\tFAILED (1)\n");
+    dMultiply0 (I,A,Ainv,MSIZE,MSIZE,MSIZE);
+
+    // compare with identity
+    ok = 1;
+    for (i=0; i<MSIZE; i++) {
+        for (j=0; j<MSIZE; j++) {
+            if (i != j) if (cmp (I[i*MSIZE4+j],0.0)==0) ok = 0;
+        }
+    }
+    for (i=0; i<MSIZE; i++) {
+        if (cmp (I[i*MSIZE4+i],1.0)==0) ok = 0;
+    }
+    if (ok) printf ("\tpassed (2)\n"); else printf ("\tFAILED (2)\n");
+
+    dFree(I, matrixSize);
+    dFree(Ainv, matrixSize);
+    dFree(A, matrixSize);
+}
+
+
+void testIsPositiveDefinite()
+{
+    dsizeint matrixSize = sizeof(dReal) * MSIZE4 * MSIZE;
+    dReal *A = (dReal *)dAlloc(matrixSize), *B = (dReal *)dAlloc(matrixSize);
+
+    HEADER;
+
+    dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
+    dMultiply2 (B,A,A,MSIZE,MSIZE,MSIZE);
+    printf ("\t%s\n",dIsPositiveDefinite(A,MSIZE) ? "FAILED (1)":"passed (1)");
+    printf ("\t%s\n",dIsPositiveDefinite(B,MSIZE) ? "passed (2)":"FAILED (2)");
+
+    dFree(B, matrixSize);
+    dFree(A, matrixSize);
+}
+
+
+void testFastLDLTFactorization()
+{
+    int i,j;
+    dsizeint matrixSize = sizeof(dReal) * MSIZE4 * MSIZE, vectorSize = sizeof(dReal) * MSIZE;
+    dReal *A = (dReal *)dAlloc(matrixSize), *L = (dReal *)dAlloc(matrixSize), *DL = (dReal *)dAlloc(matrixSize),
+        *ATEST = (dReal *)dAlloc(matrixSize), *d = (dReal *)dAlloc(vectorSize), diff;
+
+    HEADER;
+
+    dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
+    dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
+    memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
+
+    dFactorLDLT (L,d,MSIZE,MSIZE4);
+
+    dClearUpperTriangle (L,MSIZE);
+    for (i=0; i<MSIZE; i++) L[i*MSIZE4+i] = 1.0;
+
+    dSetZero (DL,MSIZE4*MSIZE);
+    for (i=0; i<MSIZE; i++) {
+        for (j=0; j<MSIZE; j++) DL[i*MSIZE4+j] = L[i*MSIZE4+j] / d[j];
+    }
+
+    dMultiply2 (ATEST,L,DL,MSIZE,MSIZE,MSIZE);
+    diff = dMaxDifference(A,ATEST,MSIZE,MSIZE);
+    printf ("\tmaximum difference = %.6e - %s\n",diff,
+        diff > tol ? "FAILED" : "passed");
+
+    dFree(d, vectorSize);
+    dFree(ATEST, matrixSize);
+    dFree(DL, matrixSize);
+    dFree(L, matrixSize);
+    dFree(A, matrixSize);
+}
+
+
+void testCoopLDLTFactorization()
+{
+    int i,j;
+
+    const dsizeint COOP_MSIZE = MSIZE * 51, COOP_MSIZE4 = dALIGN_SIZE(COOP_MSIZE, 4);
+
+    dsizeint matrixSize = sizeof(dReal) * COOP_MSIZE4 * COOP_MSIZE, vectorSize = sizeof(dReal) * COOP_MSIZE;
+    dReal *A = (dReal *)dAlloc(matrixSize), *L = (dReal *)dAlloc(matrixSize), *DL = (dReal *)dAlloc(matrixSize),
+        *ATEST = (dReal *)dAlloc(matrixSize), *d = (dReal *)dAlloc(vectorSize), diff;
+
+    const unsigned threadCountMaximum = 8;
+    dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+    dCooperativeID cooperative = dCooperativeCreate(dThreadingImplementationGetFunctions(threading), threading);
+    dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(threadCountMaximum, 0, dAllocateFlagBasicData, NULL);
+    dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+
+    dResourceRequirementsID requirements = dResourceRequirementsCreate(cooperative);
+    dEstimateCooperativelyFactorLDLTResourceRequirements(requirements, threadCountMaximum, COOP_MSIZE);
+    dResourceContainerID resources = dResourceContainerAcquire(requirements);
+
+    HEADER;
+
+    for (int pass = 0; pass != 4; ++pass)
+    {
+        dTimerStart ("Factoring LDLT");
+
+        const unsigned allowedThreads = 4;
+        const unsigned PASS_MSIZE = COOP_MSIZE - pass, PASS_MSIZE4 = dALIGN_SIZE(PASS_MSIZE, 4);
+
+        dTimerNow ("Preparing data");
+        dMakeRandomMatrix (L, PASS_MSIZE, PASS_MSIZE, 1.0);
+        dMultiply2 (A, L, L, PASS_MSIZE, PASS_MSIZE, PASS_MSIZE);
+        memcpy (L, A, sizeof(dReal) * PASS_MSIZE4 * PASS_MSIZE);
+
+        dTimerNow ("Factoring multi threaded");
+        dCooperativelyFactorLDLT (resources, allowedThreads, L, d, PASS_MSIZE, PASS_MSIZE4);
+
+        dTimerNow ("Verifying");
+        dClearUpperTriangle (L, PASS_MSIZE);
+        for (i = 0; i < PASS_MSIZE; i++) L[i * PASS_MSIZE4 + i] = 1.0;
+
+        dSetZero (DL, PASS_MSIZE4 * PASS_MSIZE);
+        for (i = 0; i < PASS_MSIZE; i++) {
+            for (j = 0; j < PASS_MSIZE; j++) DL[i * PASS_MSIZE4 + j] = L[i * PASS_MSIZE4 + j] / d[j];
+        }
+
+        dMultiply2 (ATEST, L, DL, PASS_MSIZE, PASS_MSIZE, PASS_MSIZE);
+        diff = dMaxDifference(A, ATEST, PASS_MSIZE, PASS_MSIZE);
+        printf ("\tN=%u: maximum difference = %.6e - %s\n", PASS_MSIZE, diff, diff > 1e2 * tol ? "FAILED" : "passed");
+
+        dTimerEnd();
+        dTimerReport(stdout, 0);
+    }
+
+    dResourceContainerDestroy(resources);
+    dResourceRequirementsDestroy(requirements);
+
+    dThreadingImplementationShutdownProcessing(threading);
+    dThreadingFreeThreadPool(pool);
+    dCooperativeDestroy(cooperative);
+    dThreadingFreeImplementation(threading);
+
+    dFree(d, vectorSize);
+    dFree(ATEST, matrixSize);
+    dFree(DL, matrixSize);
+    dFree(L, matrixSize);
+    dFree(A, matrixSize);
+}
+
+
+void testSolveLDLT()
+{
+    dsizeint matrixSize = sizeof(dReal) * MSIZE4 * MSIZE, vectorSize = sizeof(dReal) * MSIZE;
+    dReal *A = (dReal *)dAlloc(matrixSize), *L = (dReal *)dAlloc(matrixSize), 
+        *d = (dReal *)dAlloc(vectorSize), *x = (dReal *)dAlloc(vectorSize), 
+        *b = (dReal *)dAlloc(vectorSize), *btest = (dReal *)dAlloc(vectorSize), diff;
+
+    HEADER;
+
+    dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
+    dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
+    memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
+
+    dMakeRandomMatrix (b,MSIZE,1,1.0);
+    memcpy (x,b,MSIZE*sizeof(dReal));
+
+    dFactorLDLT (L,d,MSIZE,MSIZE4);
+    dSolveLDLT (L,d,x,MSIZE,MSIZE4);
+
+    dMultiply2 (btest,A,x,MSIZE,MSIZE,1);
+    diff = dMaxDifference(b,btest,MSIZE,1);
+    printf ("\tmaximum difference = %.6e - %s\n",diff,
+        diff > tol ? "FAILED" : "passed");
+
+    dFree(btest, vectorSize);
+    dFree(b, vectorSize);
+    dFree(x, vectorSize);
+    dFree(d, vectorSize);
+    dFree(L, matrixSize);
+    dFree(A, matrixSize);
+}
+
+void testCoopSolveLDLT()
+{
+    const dsizeint COOP_MSIZE = MSIZE * 51, COOP_MSIZE4 = dALIGN_SIZE(COOP_MSIZE, 4);
+
+    dsizeint matrixSize = sizeof(dReal) * COOP_MSIZE4 * COOP_MSIZE, vectorSize = sizeof(dReal) * COOP_MSIZE;
+    dReal *A = (dReal *)dAlloc(matrixSize), *L = (dReal *)dAlloc(matrixSize), 
+        *d = (dReal *)dAlloc(vectorSize), *x = (dReal *)dAlloc(vectorSize), 
+        *b = (dReal *)dAlloc(vectorSize), *btest = (dReal *)dAlloc(vectorSize), diff;
+
+    const unsigned threadCountMaximum = 8;
+    dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+    dCooperativeID cooperative = dCooperativeCreate(dThreadingImplementationGetFunctions(threading), threading);
+    dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(threadCountMaximum, 0, dAllocateFlagBasicData, NULL);
+    dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+
+    dResourceRequirementsID requirements = dResourceRequirementsCreate(cooperative);
+    dEstimateCooperativelySolveLDLTResourceRequirements(requirements, threadCountMaximum, COOP_MSIZE);
+    dResourceContainerID resources = dResourceContainerAcquire(requirements);
+
+    HEADER;
+
+    for (int pass = 0; pass != 4; ++pass)
+    {
+        dTimerStart ("Solving LDLT");
+
+        const unsigned allowedThreads = 4;
+        const unsigned PASS_MSIZE = COOP_MSIZE - pass, PASS_MSIZE4 = dALIGN_SIZE(PASS_MSIZE, 4);
+
+        dTimerNow ("Preparing data");
+        dMakeRandomMatrix (b, PASS_MSIZE, 1, 1.0);
+
+        dMakeRandomMatrix (L, PASS_MSIZE, PASS_MSIZE, 1.0);
+        dMultiply2 (A, L, L, PASS_MSIZE, PASS_MSIZE, PASS_MSIZE);
+
+        memcpy (x, b, PASS_MSIZE * sizeof(dReal));
+        memcpy (L, A, sizeof(dReal) * PASS_MSIZE4 * PASS_MSIZE);
+
+        dTimerNow ("Factoring");
+        dFactorLDLT (L, d, PASS_MSIZE, PASS_MSIZE4);
+
+        dTimerNow ("Solving multi-threaded");
+        dCooperativelySolveLDLT(resources, allowedThreads, L, d, x, PASS_MSIZE, PASS_MSIZE4);
+
+        dTimerNow ("Verifying solution");
+        dMultiply2 (btest, A, x, PASS_MSIZE, PASS_MSIZE, 1);
+        diff = dMaxDifference(b, btest, PASS_MSIZE, 1);
+        printf ("\tN=%u: maximum difference = %.6e - %s\n", PASS_MSIZE, diff, diff > 1e2 * tol ? "FAILED" : "passed");
+
+        dTimerEnd();
+        dTimerReport(stdout, 0);
+    }
+
+    dResourceContainerDestroy(resources);
+    dResourceRequirementsDestroy(requirements);
+
+    dThreadingImplementationShutdownProcessing(threading);
+    dThreadingFreeThreadPool(pool);
+    dCooperativeDestroy(cooperative);
+    dThreadingFreeImplementation(threading);
+
+    dFree(btest, vectorSize);
+    dFree(b, vectorSize);
+    dFree(x, vectorSize);
+    dFree(d, vectorSize);
+    dFree(L, matrixSize);
+    dFree(A, matrixSize);
+}
+
+
+void testLDLTAddTL()
+{
+    int i,j;
+    dsizeint matrixSize = sizeof(dReal) * MSIZE4 * MSIZE, vectorSize = sizeof(dReal) * MSIZE;
+    dReal *A = (dReal *)dAlloc(matrixSize), *L = (dReal *)dAlloc(matrixSize), 
+        *DL = (dReal *)dAlloc(matrixSize), *ATEST = (dReal *)dAlloc(matrixSize), 
+        *d = (dReal *)dAlloc(vectorSize), *a = (dReal *)dAlloc(vectorSize), diff;
+
+    HEADER;
+
+    dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
+    dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
+    memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
+    dFactorLDLT (L,d,MSIZE,MSIZE4);
+
+    // delete first row and column of factorization
+    for (i=0; i<MSIZE; i++) a[i] = -A[i*MSIZE4];
+    a[0] += 1;
+    dLDLTAddTL (L,d,a,MSIZE,MSIZE4);
+    for (i=1; i<MSIZE; i++) L[i*MSIZE4] = 0;
+    d[0] = 1;
+
+    // get modified L*D*L'
+    dClearUpperTriangle (L,MSIZE);
+    for (i=0; i<MSIZE; i++) L[i*MSIZE4+i] = 1.0;
+    dSetZero (DL,MSIZE4*MSIZE);
+    for (i=0; i<MSIZE; i++) {
+        for (j=0; j<MSIZE; j++) DL[i*MSIZE4+j] = L[i*MSIZE4+j] / d[j];
+    }
+    dMultiply2 (ATEST,L,DL,MSIZE,MSIZE,MSIZE);
+
+    // compare it to A with its first row/column removed
+    for (i=1; i<MSIZE; i++) A[i*MSIZE4] = A[i] = 0;
+    A[0] = 1;
+    diff = dMaxDifference(A,ATEST,MSIZE,MSIZE);
+    printf ("\tmaximum difference = %.6e - %s\n",diff,
+        diff > tol ? "FAILED" : "passed");
+
+    dFree(a, vectorSize);
+    dFree(d, vectorSize);
+    dFree(ATEST, matrixSize);
+    dFree(DL, matrixSize);
+    dFree(L, matrixSize);
+    dFree(A, matrixSize);
+}
+
+
+void testLDLTRemove()
+{
+    int i,j,r;
+    dsizeint intVectorSize = sizeof(int) * MSIZE, matrixSize = sizeof(dReal) * MSIZE4 * MSIZE, vectorSize = sizeof(dReal) * MSIZE;
+    int *p = (int *)dAlloc(intVectorSize);
+    dReal *A = (dReal *)dAlloc(matrixSize), *L = (dReal *)dAlloc(matrixSize), 
+        *L2 = (dReal *)dAlloc(matrixSize), *DL2 = (dReal *)dAlloc(matrixSize), 
+        *Atest1 = (dReal *)dAlloc(matrixSize), *Atest2 = (dReal *)dAlloc(matrixSize), 
+        *d = (dReal *)dAlloc(vectorSize), *d2 = (dReal *)dAlloc(vectorSize), diff, maxdiff;
+
+    HEADER;
+
+    // make array of A row pointers
+    dReal *Arows[MSIZE];
+    for (i=0; i<MSIZE; i++) Arows[i] = A+i*MSIZE4;
+
+    // fill permutation vector
+    for (i=0; i<MSIZE; i++) p[i]=i;
+
+    dMakeRandomMatrix (A,MSIZE,MSIZE,1.0);
+    dMultiply2 (L,A,A,MSIZE,MSIZE,MSIZE);
+    memcpy (A,L,MSIZE4*MSIZE*sizeof(dReal));
+    dFactorLDLT (L,d,MSIZE,MSIZE4);
+
+    maxdiff = 1e10;
+    for (r=0; r<MSIZE; r++) {
+        // get Atest1 = A with row/column r removed
+        memcpy (Atest1,A,MSIZE4*MSIZE*sizeof(dReal));
+        dRemoveRowCol (Atest1,MSIZE,MSIZE4,r);
+
+        // test that the row/column removal worked
+        int bad = 0;
+        for (i=0; i<MSIZE; i++) {
+            for (j=0; j<MSIZE; j++) {
+                if (i != r && j != r) {
+                    int ii = i;
+                    int jj = j;
+                    if (ii >= r) ii--;
+                    if (jj >= r) jj--;
+                    if (A[i*MSIZE4+j] != Atest1[ii*MSIZE4+jj]) bad = 1;
+                }
+            }
+        }
+        if (bad) printf ("\trow/col removal FAILED for row %d\n",r);
+
+        // zero out last row/column of Atest1
+        for (i=0; i<MSIZE; i++) {
+            Atest1[(MSIZE-1)*MSIZE4+i] = 0;
+            Atest1[i*MSIZE4+MSIZE-1] = 0;
+        }    
+
+        // get L2*D2*L2' = adjusted factorization to remove that row
+        memcpy (L2,L,MSIZE4*MSIZE*sizeof(dReal));
+        memcpy (d2,d,MSIZE*sizeof(dReal));
+        dLDLTRemove (/*A*/ Arows,p,L2,d2,MSIZE,MSIZE,r,MSIZE4);
+
+        // get Atest2 = L2*D2*L2'
+        dClearUpperTriangle (L2,MSIZE);
+        for (i=0; i<(MSIZE-1); i++) L2[i*MSIZE4+i] = 1.0;
+        for (i=0; i<MSIZE; i++) L2[(MSIZE-1)*MSIZE4+i] = 0;
+        d2[MSIZE-1] = 1;
+        dSetZero (DL2,MSIZE4*MSIZE);
+        for (i=0; i<(MSIZE-1); i++) {
+            for (j=0; j<MSIZE-1; j++) DL2[i*MSIZE4+j] = L2[i*MSIZE4+j] / d2[j];
+        }
+
+        dMultiply2 (Atest2,L2,DL2,MSIZE,MSIZE,MSIZE);
+
+        diff = dMaxDifference(Atest1,Atest2,MSIZE,MSIZE);
+        if (diff < maxdiff) maxdiff = diff;
+
+        /*
+        dPrintMatrix (Atest1,MSIZE,MSIZE);
+        printf ("\n");
+        dPrintMatrix (Atest2,MSIZE,MSIZE);
+        printf ("\n");
+        */
+    }
+    printf ("\tmaximum difference = %.6e - %s\n",maxdiff,
+        maxdiff > tol ? "FAILED" : "passed");
+
+    dFree(d2, vectorSize);
+    dFree(d, vectorSize);
+    dFree(Atest2, matrixSize);
+    dFree(Atest1, matrixSize);
+    dFree(DL2, matrixSize);
+    dFree(L2, matrixSize);
+    dFree(L, matrixSize);
+    dFree(A, matrixSize);
+}
+
+//****************************************************************************
+// test mass stuff
+
+#define NUMP 10		// number of particles
+
+
+void printMassParams (dMass *m)
+{
+    printf ("mass = %.4f\n",m->mass);
+    printf ("com  = (%.4f,%.4f,%.4f)\n",m->c[0],m->c[1],m->c[2]);
+    printf ("I    = [ %10.4f %10.4f %10.4f ]\n"
+        "       [ %10.4f %10.4f %10.4f ]\n"
+        "       [ %10.4f %10.4f %10.4f ]\n",
+        m->_I(0,0),m->_I(0,1),m->_I(0,2),
+        m->_I(1,0),m->_I(1,1),m->_I(1,2),
+        m->_I(2,0),m->_I(2,1),m->_I(2,2));
+}
+
+
+void compareMassParams (dMass *m1, dMass *m2, const char *msg)
+{
+    int i,j,ok = 1;
+    if (!(cmp(m1->mass,m2->mass) && cmp(m1->c[0],m2->c[0]) &&
+        cmp(m1->c[1],m2->c[1]) && cmp(m1->c[2],m2->c[2])))
+        ok = 0;
+    for (i=0; i<3; i++) for (j=0; j<3; j++)
+        if (cmp (m1->_I(i,j),m2->_I(i,j))==0) ok = 0;
+    if (ok) printf ("\tpassed (%s)\n",msg); else printf ("\tFAILED (%s)\n",msg);
+}
+
+
+// compute the mass parameters of a particle set
+
+void computeMassParams (dMass *m, dReal q[NUMP][3], dReal pm[NUMP])
+{
+    int i,j;
+    dMassSetZero (m);
+    for (i=0; i<NUMP; i++) {
+        m->mass += pm[i];
+        for (j=0; j<3; j++) m->c[j] += pm[i]*q[i][j];
+        m->_I(0,0) += pm[i]*(q[i][1]*q[i][1] + q[i][2]*q[i][2]);
+        m->_I(1,1) += pm[i]*(q[i][0]*q[i][0] + q[i][2]*q[i][2]);
+        m->_I(2,2) += pm[i]*(q[i][0]*q[i][0] + q[i][1]*q[i][1]);
+        m->_I(0,1) -= pm[i]*(q[i][0]*q[i][1]);
+        m->_I(0,2) -= pm[i]*(q[i][0]*q[i][2]);
+        m->_I(1,2) -= pm[i]*(q[i][1]*q[i][2]);
+    }
+    for (j=0; j<3; j++) m->c[j] /= m->mass;
+    m->_I(1,0) = m->_I(0,1);
+    m->_I(2,0) = m->_I(0,2);
+    m->_I(2,1) = m->_I(1,2);
+}
+
+
+void testMassFunctions()
+{
+    dMass m;
+    int i,j;
+    dReal q[NUMP][3];		// particle positions
+    dReal pm[NUMP];		// particle masses
+    dMass m1,m2;
+    dMatrix3 R;
+
+    HEADER;
+
+    printf ("\t");
+    dMassSetZero (&m);
+    TRAP_MESSAGE (dMassSetParameters (&m,10, 0,0,0, 1,2,3, 4,5,6),
+        printf (" FAILED (1)\n"), printf (" passed (1)\n"));
+
+    printf ("\t");
+    dMassSetZero (&m);
+    TRAP_MESSAGE (dMassSetParameters (&m,10, 0.1,0.2,0.15, 3,5,14, 3.1,3.2,4),
+        printf ("passed (2)\n") , printf (" FAILED (2)\n"));
+    if (m.mass==10 && m.c[0]==REAL(0.1) && m.c[1]==REAL(0.2) &&
+        m.c[2]==REAL(0.15) && m._I(0,0)==3 && m._I(1,1)==5 && m._I(2,2)==14 &&
+        m._I(0,1)==REAL(3.1) && m._I(0,2)==REAL(3.2) && m._I(1,2)==4 &&
+        m._I(1,0)==REAL(3.1) && m._I(2,0)==REAL(3.2) && m._I(2,1)==4)
+        printf ("\tpassed (3)\n"); else printf ("\tFAILED (3)\n");
+
+    dMassSetZero (&m);
+    dMassSetSphere (&m,1.4, 0.86);
+    if (cmp(m.mass,3.73002719949386) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 &&
+        cmp(m._I(0,0),1.10349124669826) &&
+        cmp(m._I(1,1),1.10349124669826) &&
+        cmp(m._I(2,2),1.10349124669826) &&
+        m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 &&
+        m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0)
+        printf ("\tpassed (4)\n"); else printf ("\tFAILED (4)\n");
+
+    dMassSetZero (&m);
+    dMassSetCapsule (&m,1.3,1,0.76,1.53);
+    if (cmp(m.mass,5.99961928996029) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 &&
+        cmp(m._I(0,0),1.59461986077384) &&
+        cmp(m._I(1,1),4.21878433864904) &&
+        cmp(m._I(2,2),4.21878433864904) &&
+        m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 &&
+        m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0)
+        printf ("\tpassed (5)\n"); else printf ("\tFAILED (5)\n");
+
+    dMassSetZero (&m);
+    dMassSetBox (&m,0.27,3,4,5);
+    if (cmp(m.mass,16.2) && m.c[0]==0 && m.c[1]==0 && m.c[2]==0 &&
+        cmp(m._I(0,0),55.35) && cmp(m._I(1,1),45.9) && cmp(m._I(2,2),33.75) &&
+        m._I(0,1)==0 && m._I(0,2)==0 && m._I(1,2)==0 &&
+        m._I(1,0)==0 && m._I(2,0)==0 && m._I(2,1)==0)
+        printf ("\tpassed (6)\n"); else printf ("\tFAILED (6)\n");
+
+    // test dMassAdjust?
+
+    // make random particles and compute the mass, COM and inertia, then
+    // translate and repeat.
+    for (i=0; i<NUMP; i++) {
+        pm[i] = dRandReal()+0.5;
+        for (j=0; j<3; j++) {
+            q[i][j] = 2.0*(dRandReal()-0.5);
+        }
+    }
+    computeMassParams (&m1,q,pm);
+    memcpy (&m2,&m1,sizeof(dMass));
+    dMassTranslate (&m2,1,2,-3);
+    for (i=0; i<NUMP; i++) {
+        q[i][0] += 1;
+        q[i][1] += 2;
+        q[i][2] -= 3;
+    }
+    computeMassParams (&m1,q,pm);
+    compareMassParams (&m1,&m2,"7");
+
+    // rotate the masses
+    _R(0,0) = -0.87919618797635;
+    _R(0,1) = 0.15278881840384;
+    _R(0,2) = -0.45129772879842;
+    _R(1,0) = -0.47307856232664;
+    _R(1,1) = -0.39258064912909;
+    _R(1,2) = 0.78871864932708;
+    _R(2,0) = -0.05666336483842;
+    _R(2,1) = 0.90693771059546;
+    _R(2,2) = 0.41743652473765;
+    dMassRotate (&m2,R);
+    for (i=0; i<NUMP; i++) {
+        dReal a[3];
+        dMultiply0 (a,&_R(0,0),&q[i][0],3,3,1);
+        q[i][0] = a[0];
+        q[i][1] = a[1];
+        q[i][2] = a[2];
+    }
+    computeMassParams (&m1,q,pm);
+    compareMassParams (&m1,&m2,"8");
+}
+
+//****************************************************************************
+// test rotation stuff
+
+void makeRandomRotation (dMatrix3 R)
+{
+    dReal *u1 = R, *u2=R+4, *u3=R+8;
+    dMakeRandomVector (u1,3,1.0);
+    dNormalize3 (u1);
+    dMakeRandomVector (u2,3,1.0);
+    dReal d = dCalcVectorDot3(u1,u2);
+    u2[0] -= d*u1[0];
+    u2[1] -= d*u1[1];
+    u2[2] -= d*u1[2];
+    dNormalize3(u2);
+    dCalcVectorCross3(u3,u1,u2);
+}
+
+
+void testRtoQandQtoR()
+{
+    HEADER;
+    dMatrix3 R,I,R2;
+    dQuaternion q;
+    int i;
+
+    // test makeRandomRotation()
+    makeRandomRotation (R);
+    dMultiply2 (I,R,R,3,3,3);
+    printf ("\tmakeRandomRotation() - %s (1)\n",
+        cmpIdentityMat3(I) ? "passed" : "FAILED");
+
+    // test QtoR() on random normalized quaternions
+    int ok = 1;
+    for (i=0; i<100; i++) {
+        dMakeRandomVector (q,4,1.0);
+        dNormalize4 (q);
+        dQtoR (q,R);
+        dMultiply2 (I,R,R,3,3,3);
+        if (cmpIdentityMat3(I)==0) ok = 0;
+    }
+    printf ("\tQtoR() orthonormality %s (2)\n", ok ? "passed" : "FAILED");
+
+    // test R -> Q -> R works
+    dReal maxdiff=0;
+    for (i=0; i<100; i++) {
+        makeRandomRotation (R);
+        dRtoQ (R,q);
+        dQtoR (q,R2);
+        dReal diff = dMaxDifference (R,R2,3,3);
+        if (diff > maxdiff) maxdiff = diff;
+    }
+    printf ("\tmaximum difference = %e - %s (3)\n",maxdiff,
+        (maxdiff > tol) ? "FAILED" : "passed");
+}
+
+
+void testQuaternionMultiply()
+{
+    HEADER;
+    dMatrix3 RA,RB,RC,Rtest;
+    dQuaternion qa,qb,qc;
+    dReal diff,maxdiff=0;
+
+    for (int i=0; i<100; i++) {
+        makeRandomRotation (RB);
+        makeRandomRotation (RC);
+        dRtoQ (RB,qb);
+        dRtoQ (RC,qc);
+
+        dMultiply0 (RA,RB,RC,3,3,3);
+        dQMultiply0 (qa,qb,qc);
+        dQtoR (qa,Rtest);
+        diff = dMaxDifference (Rtest,RA,3,3);
+        if (diff > maxdiff) maxdiff = diff;
+
+        dMultiply1 (RA,RB,RC,3,3,3);
+        dQMultiply1 (qa,qb,qc);
+        dQtoR (qa,Rtest);
+        diff = dMaxDifference (Rtest,RA,3,3);
+        if (diff > maxdiff) maxdiff = diff;
+
+        dMultiply2 (RA,RB,RC,3,3,3);
+        dQMultiply2 (qa,qb,qc);
+        dQtoR (qa,Rtest);
+        diff = dMaxDifference (Rtest,RA,3,3);
+        if (diff > maxdiff) maxdiff = diff;
+
+        dMultiply0 (RA,RC,RB,3,3,3);
+        transpose3x3 (RA);
+        dQMultiply3 (qa,qb,qc);
+        dQtoR (qa,Rtest);
+        diff = dMaxDifference (Rtest,RA,3,3);
+        if (diff > maxdiff) maxdiff = diff;
+    }
+    printf ("\tmaximum difference = %e - %s\n",maxdiff,
+        (maxdiff > tol) ? "FAILED" : "passed");
+}
+
+
+void testRotationFunctions()
+{
+    dMatrix3 R1;
+    HEADER;
+
+    printf ("\tdRSetIdentity - ");
+    dMakeRandomMatrix (R1,3,3,1.0);
+    dRSetIdentity (R1);
+    if (cmpIdentityMat3(R1)) printf ("passed\n"); else printf ("FAILED\n");
+
+    printf ("\tdRFromAxisAndAngle - ");
+
+    printf ("\n");
+    printf ("\tdRFromEulerAngles - ");
+
+    printf ("\n");
+    printf ("\tdRFrom2Axes - ");
+
+    printf ("\n");
+}
+
+//****************************************************************************
+
+#include <assert.h>
+
+template<class T>
+class simplevector
+{
+private:
+    int n;
+    int max;
+    T* data;
+
+public:
+    simplevector() { initialize(); }
+    ~simplevector() { finalize(); }
+    T& operator[](int i) { assert(i>=0 && i<n); return data[i]; }
+    const T& operator[](int i) const { assert(i>=0 && i<n); return data[i]; }
+    void push_back(const T& elem)
+    {
+        if (n == max)
+        {
+            max *= 2;
+            T* newdata = new T[max];
+            memcpy(newdata, data, sizeof(T)*n);
+            delete[] data;
+            data = newdata;
+        }
+        data[n++] = elem;
+    }
+    int size() const { return n; }
+    void clear() { finalize(); initialize(); }
+
+private:
+    void finalize() { delete[] data; }
+    void initialize() { data = new T[32]; max = 32; n = 0; }
+};
+
+// matrix header on the stack
+
+class dMatrixComparison {
+    struct dMatInfo;
+    simplevector<dMatInfo*> mat;
+    int afterfirst,index;
+
+public:
+    dMatrixComparison();
+    ~dMatrixComparison();
+
+    dReal nextMatrix (dReal *A, int n, int m, int lower_tri, const char *name, ...);
+    // add a new n*m matrix A to the sequence. the name of the matrix is given
+    // by the printf-style arguments (name,...). if this is the first sequence
+    // then this object will simply record the matrices and return 0.
+    // if this the second or subsequent sequence then this object will compare
+    // the matrices with the first sequence, and report any differences.
+    // the matrix error will be returned. if `lower_tri' is 1 then only the
+    // lower triangle of the matrix (including the diagonal) will be compared
+    // (the matrix must be square).
+
+    void end();
+    // end a sequence.
+
+    void reset();
+    // restarts the object, so the next sequence will be the first sequence.
+
+    void dump();
+    // print out info about all the matrices in the sequence
+};
+
+struct dMatrixComparison::dMatInfo {
+    int n,m;		// size of matrix
+    char name[128];	// name of the matrix
+    dReal *data;		// matrix data
+    int size;		// size of `data'
+};
+
+
+
+dMatrixComparison::dMatrixComparison()
+{
+    afterfirst = 0;
+    index = 0;
+}
+
+
+dMatrixComparison::~dMatrixComparison()
+{
+    reset();
+}
+
+
+dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri,
+                                     const char *name, ...)
+{
+    if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix");
+    int num = n*dPAD(m);
+
+    if (afterfirst==0) {
+        dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo));
+        mi->n = n;
+        mi->m = m;
+        mi->size = num * sizeof(dReal);
+        mi->data = (dReal*) dAlloc (mi->size);
+        memcpy (mi->data,A,mi->size);
+
+        va_list ap;
+        va_start (ap,name);
+        vsprintf (mi->name,name,ap);
+        va_end (ap);
+        if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long");
+
+        mat.push_back(mi);
+        return 0;
+    }
+    else {
+        if (lower_tri && n != m)
+            dDebug (0,"dMatrixComparison, lower triangular matrix must be square");
+        if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices");
+        dMatInfo *mp = mat[index];
+        index++;
+
+        dMatInfo mi;
+        va_list ap;
+        va_start (ap,name);
+        vsprintf (mi.name,name,ap);
+        va_end (ap);
+        if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long");
+
+        if (strcmp(mp->name,mi.name) != 0)
+            dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")",
+            mp->name,mi.name);
+        if (mp->n != n || mp->m != m)
+            dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)",
+            mp->n,mp->m,n,m);
+
+        dReal maxdiff;
+        if (lower_tri) {
+            maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n);
+        }
+        else {
+            maxdiff = dMaxDifference (A,mp->data,n,m);
+        }
+        if (maxdiff > tol)
+            dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", "
+            "error=%.4e)",n,m,mi.name,maxdiff);
+        return maxdiff;
+    }
+}
+
+
+void dMatrixComparison::end()
+{
+    if (mat.size() <= 0) dDebug (0,"no matrices in sequence");
+    afterfirst = 1;
+    index = 0;
+}
+
+
+void dMatrixComparison::reset()
+{
+    for (int i=0; i<mat.size(); i++) {
+        dFree (mat[i]->data,mat[i]->size);
+        dFree (mat[i],sizeof(dMatInfo));
+    }
+    mat.clear();
+    afterfirst = 0;
+    index = 0;
+}
+
+
+void dMatrixComparison::dump()
+{
+    for (int i=0; i<mat.size(); i++)
+        printf ("%d: %s (%dx%d)\n",i,mat[i]->name,mat[i]->n,mat[i]->m);
+}
+
+//****************************************************************************
+// unit test
+
+#include <setjmp.h>
+
+// static jmp_buf jump_buffer;
+
+static void myDebug (int /*num*/, const char* /*msg*/, va_list /*ap*/)
+{
+    // printf ("(Error %d: ",num);
+    // vprintf (msg,ap);
+    // printf (")\n");
+    longjmp (jump_buffer,1);
+}
+
+
+extern "C" void dTestMatrixComparison()
+{
+    volatile int i;
+    printf ("dTestMatrixComparison()\n");
+    dMessageFunction *orig_debug = dGetDebugHandler();
+
+    dMatrixComparison mc;
+    dReal A[50*50];
+
+    // make first sequence
+    unsigned long seed = dRandGetSeed();
+    for (i=1; i<49; i++) {
+        dMakeRandomMatrix (A,i,i+1,1.0);
+        mc.nextMatrix (A,i,i+1,0,"A%d",i);
+    }
+    mc.end();
+
+    //mc.dump();
+
+    // test identical sequence
+    dSetDebugHandler (&myDebug);
+    dRandSetSeed (seed);
+    if (setjmp (jump_buffer)) {
+        printf ("\tFAILED (1)\n");
+    }
+    else {
+        for (i=1; i<49; i++) {
+            dMakeRandomMatrix (A,i,i+1,1.0);
+            mc.nextMatrix (A,i,i+1,0,"A%d",i);
+        }
+        mc.end();
+        printf ("\tpassed (1)\n");
+    }
+    dSetDebugHandler (orig_debug);
+
+    // test broken sequences (with matrix error)
+    dRandSetSeed (seed);
+    volatile int passcount = 0;
+    for (i=1; i<49; i++) {
+        if (setjmp (jump_buffer)) {
+            passcount++;
+        }
+        else {
+            dSetDebugHandler (&myDebug);
+            dMakeRandomMatrix (A,i,i+1,1.0);
+            A[(i-1)*dPAD(i+1)+i] += REAL(0.01);
+            mc.nextMatrix (A,i,i+1,0,"A%d",i);
+            dSetDebugHandler (orig_debug);
+        }
+    }
+    mc.end();
+    printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED");
+
+    // test broken sequences (with name error)
+    dRandSetSeed (seed);
+    passcount = 0;
+    for (i=1; i<49; i++) {
+        if (setjmp (jump_buffer)) {
+            passcount++;
+        }
+        else {
+            dSetDebugHandler (&myDebug);
+            dMakeRandomMatrix (A,i,i+1,1.0);
+            mc.nextMatrix (A,i,i+1,0,"B%d",i);
+            dSetDebugHandler (orig_debug);
+        }
+    }
+    mc.end();
+    printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED");
+
+    // test identical sequence again
+    dSetDebugHandler (&myDebug);
+    dRandSetSeed (seed);
+    if (setjmp (jump_buffer)) {
+        printf ("\tFAILED (4)\n");
+    }
+    else {
+        for (i=1; i<49; i++) {
+            dMakeRandomMatrix (A,i,i+1,1.0);
+            mc.nextMatrix (A,i,i+1,0,"A%d",i);
+        }
+        mc.end();
+        printf ("\tpassed (4)\n");
+    }
+    dSetDebugHandler (orig_debug);
+}
+
+//****************************************************************************
+
+// internal unit tests
+extern "C" void dTestDataStructures();
+extern "C" void dTestMatrixComparison();
+extern "C" int dTestSolveLCP();
+
+
+int main()
+{
+    dInitODE();
+    testRandomNumberGenerator();
+    testInfinity();
+    testPad();
+    testCrossProduct();
+    testSetZero();
+    testNormalize3();
+    //testReorthonormalize();     ... not any more
+    testPlaneSpace();
+    testMatrixMultiply();
+    testSmallMatrixMultiply();
+    testCholeskyFactorization();
+    testCholeskySolve();
+    testInvertPDMatrix();
+    testIsPositiveDefinite();
+    testFastLDLTFactorization();
+    testCoopLDLTFactorization();
+    testSolveLDLT();
+    testCoopSolveLDLT();
+    testLDLTAddTL();
+    testLDLTRemove();
+    testMassFunctions();
+    testRtoQandQtoR();
+    testQuaternionMultiply();
+    testRotationFunctions();
+    dTestMatrixComparison();
+    dTestSolveLCP();
+    // dTestDataStructures();
+    dCloseODE();
+    return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_piston.cpp b/libs/ode-0.16.1/ode/demo/demo_piston.cpp
new file mode 100644
index 0000000..8a0453a
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_piston.cpp
@@ -0,0 +1,813 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ * Created by:    Remi Ricard                                            *
+ *                (remi.ricard@simlog.com or papaDoc@videotron.ca)       *
+ * Creation date: 2007/05/04                                             *
+ *************************************************************************/
+
+/*
+  This program demonstrates how the Piston joint works.
+
+  A Piston joint enables the sliding of a body with respect to another body
+  and the 2 bodies are free to rotate about the sliding axis.
+
+  - The yellow body is fixed to the world.
+  - The yellow body and the blue body are attached by a Piston joint with
+    the axis along the x direction.
+  - The purple object is a geometry obstacle.
+  - The red line is the representation of the prismatic axis
+  - The orange line is the representation of the rotoide axis
+  - The light blue ball is the anchor position
+
+  N.B. Many command options are available type -h to print them.
+*/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include <iostream>
+#include <math.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawSphere dsDrawSphereD
+#endif
+
+
+const dReal VEL_INC = 0.01; // Velocity increment
+
+// physics parameters
+const dReal PI = 3.14159265358979323846264338327950288419716939937510;
+const dReal BODY1_LENGTH = 1.5;    // Size along the X axis
+
+const dReal RADIUS = 0.2;
+const dReal AXIS_RADIUS = 0.01;
+
+
+#define X 0
+#define Y 1
+#define Z 2
+
+enum INDEX
+{
+    BODY1 = 0,
+    BODY2,
+    RECT,
+    BOX,
+    OBS,
+    GROUND,
+    NUM_PARTS,
+    ALL = NUM_PARTS
+};
+
+const int catBits[NUM_PARTS+1] =
+{
+    0x0001, ///< Ext Cylinder category
+    0x0002, ///< Int Cylinder category
+    0x0004, ///< Int_Rect Cylinder category
+    0x0008, ///< Box category
+    0x0010, ///< Obstacle category
+    0x0020, ///< Ground category
+    ~0L    ///< All categories
+};
+
+#define Mass1 10
+#define Mass2 8
+
+
+//camera view
+static float xyz[3] = {2.0f,-3.5f,2.0000f};
+static float hpr[3] = {90.000f,-25.5000f,0.0000f};
+
+
+//world,space,body & geom
+static dWorldID         world;
+static dSpaceID         space;
+static dJointGroupID    contactgroup;
+static dBodyID          body[NUM_PARTS];
+static dGeomID          geom[NUM_PARTS];
+
+// Default Positions and anchor of the 2 bodies
+dVector3 pos1;
+dVector3 pos2;
+dVector3 anchor;
+
+static dJoint *joint;
+
+
+const dReal BODY2_SIDES[3] = {0.4, 0.4, 0.4};
+const dReal OBS_SIDES[3]  = {1,1,1};
+const dReal RECT_SIDES[3] = {0.3, 0.1, 0.2};
+
+
+int type = dJointTypePiston;
+
+//#pragma message("tc to be changed to 0")
+
+int tc = 0; // The test case choice;
+
+
+//collision detection
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+    int i,n;
+
+    dBodyID b1 = dGeomGetBody (o1);
+    dBodyID b2 = dGeomGetBody (o2);
+    if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact) ) return;
+    const int N = 10;
+    dContact contact[N];
+    n = dCollide (o1,o2,N,&contact[0].geom,sizeof (dContact) );
+    if (n > 0)
+    {
+        for  (i=0; i<n; i++)
+        {
+            contact[i].surface.mode = (dContactSlip1 | dContactSlip2 |
+                                       dContactSoftERP | dContactSoftCFM |
+                                       dContactApprox1);
+            contact[i].surface.mu = 0.1;
+            contact[i].surface.slip1 = 0.02;
+            contact[i].surface.slip2 = 0.02;
+            contact[i].surface.soft_erp = 0.1;
+            contact[i].surface.soft_cfm = 0.0001;
+            dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
+            dJointAttach (c,dGeomGetBody (contact[i].geom.g1),dGeomGetBody (contact[i].geom.g2) );
+        }
+    }
+}
+
+static void printKeyBoardShortCut()
+{
+    printf ("Press 'h' for this help.\n");
+    printf ("Press 'q' to add force on BLUE body along positive x direction.\n");
+    printf ("Press 'w' to add force on BLUE body along negative x direction.\n");
+
+    printf ("Press 'a' to add force on BLUE body along positive y direction.\n");
+    printf ("Press 's' to add force on BLUE body along negative y direction.\n");
+
+    printf ("Press 'z' to add force on BLUE body along positive z direction.\n");
+    printf ("Press 'x' to add force on BLUE body along negative z direction.\n");
+
+    printf ("Press 'e' to add torque on BLUE body around positive x direction \n");
+    printf ("Press 'r' to add torque on BLUE body around negative x direction \n");
+
+    printf ("Press 'd' to add torque on BLUE body around positive y direction \n");
+    printf ("Press 'f' to add torque on BLUE body around negative y direction \n");
+
+    printf ("Press 'c' to add torque on BLUE body around positive z direction \n");
+    printf ("Press 'v' to add torque on BLUE body around negative z direction \n");
+
+    printf ("Press 't' to add force on prismatic joint in the positive axis direction\n");
+    printf ("Press 'y' to add force on prismatic joint in the negative axis direction\n");
+
+    printf ("Press 'i' to add limits on the prismatic joint (0 to 0) \n");
+    printf ("Press 'o' to add limits on the rotoide joint (0 to 0)\n");
+    printf ("Press 'k' to add limits on the rotoide joint (-45 to 45deg) \n");
+    printf ("Press 'l' to remove limits on the rotoide joint \n");
+
+
+    printf ("Press '.' to increase joint velocity along the prismatic direction.\n");
+    printf ("Press ',' to decrease joint velocity along the prismatic direction.\n");
+
+    printf ("Press 'p' to print the Position of the joint.\n");
+
+    printf ("Press '+' Go to the next test case.\n");
+    printf ("Press '-' Go to the previous test case.\n");
+
+    printf ("Press '8' To remove one of the body. The blue body and the world will be\n");
+    printf ("          attached to the joint (blue body at position 1)\n");
+    printf ("Press '9' To remove one of the body. The blue body and the world will be\n");
+    printf ("          attached to the joint (body body at position 2)\n");
+
+
+}
+
+
+// start simulation - set viewpoint
+static void start()
+{
+    dAllocateODEDataForThread(dAllocateMaskAll);
+
+    dsSetViewpoint (xyz,hpr);
+    printf ("This program demonstrates how the Piston joint works.\n");
+    printf ("A Piston joint enables the sliding of a body with respect to another body\n");
+    printf ("and the 2 bodies are free to rotate about the sliding axis.\n\n");
+    printf ("The yellow body is fixed to the world\n");
+    printf ("The yellow body and the blue body are attached by a Piston joint with\n");
+    printf ("the axis along the x direction.\n");
+    printf ("The purple object is a geometry obstacle.\n");
+
+    printKeyBoardShortCut();
+}
+
+
+void setPositionBodies (int val)
+{
+    const dVector3 POS1 = {0,0,1.5,0};
+    const dVector3 POS2 = {0,0,1.5,0};
+    const dVector3 ANCHOR = {0,0,1.5,0};
+
+    for (int i=0; i<3; ++i)
+    {
+        pos1[i] = POS1[i];
+        pos2[i] = POS2[i];
+        anchor[i] = ANCHOR[i];
+    }
+
+    if (body[BODY1])
+    {
+        dBodySetLinearVel (body[BODY1], 0,0,0);
+        dBodySetAngularVel (body[BODY1], 0,0,0);
+    }
+
+    if (body[BODY2])
+    {
+        dBodySetLinearVel (body[BODY2], 0,0,0);
+        dBodySetAngularVel (body[BODY2], 0,0,0);
+    }
+
+    switch (val)
+    {
+    case 3:
+        pos1[Z] += -0.5;
+        anchor[Z] -= 0.25;
+        break;
+    case 2:
+        pos1[Z] -= 0.5;
+        anchor[Z] -= 0.5;
+        break;
+    case 1:
+        pos1[Z] += -0.5;
+        break;
+    default: // This is also case 0
+        // Nothing to be done
+        break;
+    }
+
+    const dMatrix3 R =
+    {
+        1,0,0,0,
+        0,1,0,0,
+        0,0,1,0
+    };
+
+    if (body[BODY1])
+    {
+        dBodySetPosition (body[BODY1], pos1[X], pos1[Y], pos1[Z]);
+        dBodySetRotation (body[BODY1], R);
+    }
+
+    if (body[BODY2])
+    {
+        dBodySetPosition (body[BODY2], pos2[X], pos2[Y], pos2[Z]);
+        dBodySetRotation (body[BODY2], R);
+    }
+
+
+
+    if (joint)
+    {
+        joint->attach (body[BODY1], body[BODY2]);
+        if (joint->getType() == dJointTypePiston)
+            dJointSetPistonAnchor(joint->id(), anchor[X], anchor[Y], anchor[Z]);
+    }
+
+}
+
+
+// function to update camera position at each step.
+void update()
+{
+//   static FILE *file = fopen("x:/sim/src/libode/tstsrcSF/export.dat", "w");
+
+//   static int cnt = 0;
+//   char str[24];
+//   sprintf(str, "%06d",cnt++);
+
+//   dWorldExportDIF(world, file, str);
+}
+
+
+// called when a key pressed
+static void command (int cmd)
+{
+    switch (cmd)
+    {
+    case 'h' :
+    case 'H' :
+    case '?' :
+        printKeyBoardShortCut();
+        break;
+
+        // Force
+    case 'q' :
+    case 'Q' :
+        dBodyAddForce (body[BODY1],4,0,0);
+        break;
+    case 'w' :
+    case 'W' :
+        dBodyAddForce (body[BODY1],-4,0,0);
+        break;
+
+    case 'a' :
+    case 'A' :
+        dBodyAddForce (body[BODY1],0,40,0);
+        break;
+    case 's' :
+    case 'S' :
+        dBodyAddForce (body[BODY1],0,-40,0);
+        break;
+
+    case 'z' :
+    case 'Z' :
+        dBodyAddForce (body[BODY1],0,0,4);
+        break;
+    case 'x' :
+    case 'X' :
+        dBodyAddForce (body[BODY1],0,0,-4);
+        break;
+
+        // Torque
+    case 'e':
+    case 'E':
+        dBodyAddTorque (body[BODY1],0.1,0,0);
+        break;
+    case 'r':
+    case 'R':
+        dBodyAddTorque (body[BODY1],-0.1,0,0);
+        break;
+
+    case 'd':
+    case 'D':
+        dBodyAddTorque (body[BODY1],0, 0.1,0);
+        break;
+    case 'f':
+    case 'F':
+        dBodyAddTorque (body[BODY1],0,-0.1,0);
+        break;
+
+    case 'c':
+    case 'C':
+        dBodyAddTorque (body[BODY1],0.1,0,0);
+        break;
+    case 'v':
+    case 'V':
+        dBodyAddTorque (body[BODY1],-0.1,0,0);
+        break;
+
+    case 't':
+    case 'T':
+        if (joint->getType() == dJointTypePiston)
+            dJointAddPistonForce (joint->id(),1);
+        else
+            dJointAddSliderForce (joint->id(),1);
+        break;
+    case 'y':
+    case 'Y':
+        if (joint->getType() == dJointTypePiston)
+            dJointAddPistonForce (joint->id(),-1);
+        else
+            dJointAddSliderForce (joint->id(),-1);
+        break;
+
+
+    case '8' :
+        dJointAttach(joint->id(), body[0], 0);
+        break;
+    case '9' :
+        dJointAttach(joint->id(), 0, body[0]);
+        break;
+
+    case 'i':
+    case 'I' :
+        joint->setParam (dParamLoStop, 0);
+        joint->setParam (dParamHiStop, 0);
+        break;
+
+    case 'o':
+    case 'O' :
+        joint->setParam (dParamLoStop2, 0);
+        joint->setParam (dParamHiStop2, 0);
+        break;
+
+    case 'k':
+    case 'K':
+        joint->setParam (dParamLoStop2, -45.0*3.14159267/180.0);
+        joint->setParam (dParamHiStop2,  45.0*3.14159267/180.0);
+        break;
+    case 'l':
+    case 'L':
+        joint->setParam (dParamLoStop2, -dInfinity);
+        joint->setParam (dParamHiStop2, dInfinity);
+        break;
+
+        // Velocity of joint
+    case ',':
+    case '<' :
+    {
+        dReal vel = joint->getParam (dParamVel) - VEL_INC;
+        joint->setParam (dParamVel, vel);
+        std::cout<<"Velocity = "<<vel<<"  FMax = 2"<<'\n';
+    }
+    break;
+
+    case '.':
+    case '>' :
+    {
+        dReal vel = joint->getParam (dParamVel) + VEL_INC;
+        joint->setParam (dParamVel, vel);
+        std::cout<<"Velocity = "<<vel<<"  FMax = 2"<<'\n';
+    }
+    break;
+
+    case 'p' :
+    case 'P' :
+    {
+        switch (joint->getType() )
+        {
+        case dJointTypeSlider :
+        {
+            dSliderJoint *sj = reinterpret_cast<dSliderJoint *> (joint);
+            std::cout<<"Position ="<<sj->getPosition() <<"\n";
+        }
+        break;
+        case dJointTypePiston :
+        {
+            dPistonJoint *rj = reinterpret_cast<dPistonJoint *> (joint);
+            std::cout<<"Position ="<<rj->getPosition() <<"\n";
+        }
+        break;
+        default:
+        {} // keep the compiler happy
+        }
+    }
+    break;
+
+    case '+' :
+        (++tc) %= 4;
+        setPositionBodies (tc);
+        break;
+    case '-' :
+        (--tc) %= 4;
+        setPositionBodies (tc);
+        break;
+
+
+    }
+}
+
+static void drawBox (dGeomID id, int R, int G, int B)
+{
+    if (!id)
+        return;
+
+    const dReal *pos = dGeomGetPosition (id);
+    const dReal *rot = dGeomGetRotation (id);
+    dsSetColor (R,G,B);
+
+    dVector3 l;
+    dGeomBoxGetLengths (id, l);
+    dsDrawBox (pos, rot, l);
+}
+
+
+// simulation loop
+static void simLoop (int pause)
+{
+    const dReal *rot;
+    dVector3 ax;
+    dReal l=0;
+
+    switch (joint->getType() )
+    {
+    case dJointTypeSlider :
+        ( (dSliderJoint *) joint)->getAxis (ax);
+        l = ( (dSliderJoint *) joint)->getPosition();
+        break;
+    case dJointTypePiston :
+        ( (dPistonJoint *) joint)->getAxis (ax);
+        l = ( (dPistonJoint *) joint)->getPosition();
+        break;
+    default:
+    {} // keep the compiler happy
+    }
+
+
+    if (!pause)
+    {
+        double simstep = 0.01; // 1ms simulation steps
+        double dt = dsElapsedTime();
+
+        int nrofsteps = (int) ceilf (dt/simstep);
+        if (!nrofsteps)
+            nrofsteps = 1;
+
+        for (int i=0; i<nrofsteps && !pause; i++)
+        {
+            dSpaceCollide (space,0,&nearCallback);
+            dWorldStep (world, simstep);
+
+            dJointGroupEmpty (contactgroup);
+        }
+
+        update();
+
+
+        dReal radius, length;
+
+        dsSetTexture (DS_WOOD);
+
+        drawBox (geom[BODY2], 1,1,0);
+
+        drawBox (geom[RECT], 0,0,1);
+
+        if ( geom[BODY1] )
+        {
+            const dReal *pos = dGeomGetPosition (geom[BODY1]);
+            rot = dGeomGetRotation (geom[BODY1]);
+            dsSetColor (0,0,1);
+
+            dGeomCapsuleGetParams (geom[BODY1], &radius, &length);
+            dsDrawCapsule (pos, rot, length, radius);
+        }
+
+
+        drawBox (geom[OBS], 1,0,1);
+
+
+        // Draw the prismatic axis
+        if ( geom[BODY1] )
+        {
+            const dReal *pos = dGeomGetPosition (geom[BODY1]);
+            rot = dGeomGetRotation (geom[BODY2]);
+            dVector3 p;
+            p[X] = pos[X] - l*ax[X];
+            p[Y] = pos[Y] - l*ax[Y];
+            p[Z] = pos[Z] - l*ax[Z];
+            dsSetColor (1,0,0);
+            dsDrawCylinder (p, rot, 3.75, 1.05*AXIS_RADIUS);
+        }
+
+
+        if (joint->getType() == dJointTypePiston )
+        {
+            dVector3 anchor;
+            dJointGetPistonAnchor(joint->id(), anchor);
+
+            // Draw the rotoide axis
+            rot = dGeomGetRotation (geom[BODY2]);
+            dsSetColor (1,0.5,0);
+            dsDrawCylinder (anchor, rot, 4, AXIS_RADIUS);
+
+
+            dsSetColor (0,1,1);
+            rot = dGeomGetRotation (geom[BODY1]);
+            dsDrawSphere (anchor, rot, 1.5*RADIUS);
+        }
+
+    }
+}
+
+
+void Help (char **argv)
+{
+    printf ("%s ", argv[0]);
+    printf (" -h | --help   : print this help\n");
+    printf (" -s | --slider : Set the joint as a slider\n");
+    printf (" -p | --piston : Set the joint as a Piston. (Default joint)\n");
+    printf (" -1 | --offset1 : Create an offset between the 2 bodies\n");
+    printf ("                  Offset one of the body by z=-0.5 and keep the anchor\n");
+    printf ("                  point in the middle of the fixed body\n");
+    printf (" -2 | --offset2 : Create an offset between the 2 bodies\n");
+    printf ("                  Offset one of the body by z=-0.5 and set the anchor\n");
+    printf ("                  point in the middle of the movable body\n");
+    printf (" -3 | --offset3 : Create an offset between the 2 bodies\n");
+    printf ("                  Offset one of the body by z=-0.5 and set the anchor\n");
+    printf ("                  point in the middle of the 2 bodies\n");
+    printf (" -t | --texture-path path  : Path to the texture.\n");
+    printf ("                             Default = %s\n", DRAWSTUFF_TEXTURE_PATH);
+    printf (" -n | --notFixed : In free space with no gravity mode");
+    printf ("-notex          : Don't use texture\n");
+    printf ("-noshadow       : No shadow\n");
+    printf ("-noshadows      : No shadows\n");
+    printf ("-pause          : Initial pause\n");
+    printf ("--------------------------------------------------\n");
+    printf ("Hit any key to continue:");
+    getchar();
+
+    exit (0);
+}
+
+int main (int argc, char **argv)
+{
+    dInitODE2(0);
+    bool fixed  = true;
+
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+    dVector3 offset;
+    dSetZero (offset, 4);
+
+    // Default test case
+
+    if (argc >= 2 )
+    {
+        for (int i=1; i < argc; ++i)
+        {
+            //static int tata = 0;
+
+            if (1)
+            {
+                if ( 0 == strcmp ("-h", argv[i]) || 0 == strcmp ("--help", argv[i]) )
+                    Help (argv);
+
+                if ( 0 == strcmp ("-s", argv[i]) || 0 == strcmp ("--slider", argv[i]) )
+                    type = dJointTypeSlider;
+
+                if ( 0 == strcmp ("-t", argv[i]) || 0 == strcmp ("--texture-path", argv[i]) )
+                {
+                    int j = i+1;
+                    if ( j >= argc      ||  // Check if we have enough arguments
+                            argv[j][0] == '\0' ||  // We should have a path here
+                            argv[j][0] == '-' ) // We should have a path not a command line
+                        Help (argv);
+                    else
+                        fn.path_to_textures = argv[++i]; // Increase i since we use this argument
+                }
+            }
+
+
+            if ( 0 == strcmp ("-1", argv[i]) || 0 == strcmp ("--offset1", argv[i]) )
+                tc = 1;
+
+            if ( 0 == strcmp ("-2", argv[i]) || 0 == strcmp ("--offset2", argv[i]) )
+                tc = 2;
+
+            if ( 0 == strcmp ("-3", argv[i]) || 0 == strcmp ("--offset3", argv[i]) )
+                tc = 3;
+
+            if (0 == strcmp ("-n", argv[i]) || 0 == strcmp ("--notFixed", argv[i]) )
+                fixed = false;
+        }
+    }
+
+    world = dWorldCreate();
+    dWorldSetERP (world, 0.8);
+
+    space = dSimpleSpaceCreate (0);
+    contactgroup = dJointGroupCreate (0);
+    geom[GROUND] = dCreatePlane (space, 0,0,1,0);
+    dGeomSetCategoryBits (geom[GROUND], catBits[GROUND]);
+    dGeomSetCollideBits (geom[GROUND], catBits[ALL]);
+
+    dMass m;
+    dMatrix3 R;
+
+
+    // Create the Obstacle
+    geom[OBS] = dCreateBox (space, OBS_SIDES[0], OBS_SIDES[1], OBS_SIDES[2]);
+    dGeomSetCategoryBits (geom[OBS], catBits[OBS]);
+    dGeomSetCollideBits (geom[OBS], catBits[ALL]);
+    //Rotation of 45deg around y
+    dRFromAxisAndAngle (R, 1,1,0, -0.25*PI);
+    dGeomSetRotation (geom[OBS], R);
+    dGeomSetPosition (geom[OBS], 1.95, -0.2, 0.5);
+
+
+    //Rotation of 90deg around y
+    // Will orient the Z axis along X
+    dRFromAxisAndAngle (R, 0,1,0, -0.5*PI);
+
+
+    // Create Body2 (Wiil be attached to the world)
+    body[BODY2] = dBodyCreate (world);
+    // Main axis of cylinder is along X=1
+    dMassSetBox (&m, 1, BODY2_SIDES[0], BODY2_SIDES[1], BODY2_SIDES[2]);
+    dMassAdjust (&m, Mass1);
+    geom[BODY2] = dCreateBox (space, BODY2_SIDES[0], BODY2_SIDES[1], BODY2_SIDES[2]);
+    dGeomSetBody (geom[BODY2], body[BODY2]);
+    dGeomSetOffsetRotation (geom[BODY2], R);
+    dGeomSetCategoryBits (geom[BODY2], catBits[BODY2]);
+    dGeomSetCollideBits (geom[BODY2], catBits[ALL] & (~catBits[BODY1]) );
+    dBodySetMass (body[BODY2], &m);
+
+
+    // Create Body 1 (Slider on the prismatic axis)
+    body[BODY1] = dBodyCreate (world);
+    // Main axis of capsule is along X=1
+    dMassSetCapsule (&m, 1, 1, RADIUS, BODY1_LENGTH);
+    dMassAdjust (&m, Mass1);
+    geom[BODY1] = dCreateCapsule (space, RADIUS, BODY1_LENGTH);
+    dGeomSetBody (geom[BODY1], body[BODY1]);
+    dGeomSetOffsetRotation (geom[BODY1], R);
+    dGeomSetCategoryBits (geom[BODY1], catBits[BODY1]);
+    dGeomSetCollideBits (geom[BODY1], catBits[ALL] & ~catBits[BODY2] & ~catBits[RECT]);
+
+    dMass mRect;
+    dMassSetBox (&mRect, 1, RECT_SIDES[0], RECT_SIDES[1], RECT_SIDES[2]);
+    dMassAdd (&m, &mRect);
+    // TODO: translate m?
+    geom[RECT] = dCreateBox (space, RECT_SIDES[0], RECT_SIDES[1], RECT_SIDES[2]);
+    dGeomSetBody (geom[RECT], body[BODY1]);
+    dGeomSetOffsetPosition (geom[RECT],
+                            (BODY1_LENGTH-RECT_SIDES[0]) /2.0,
+                            0.0,
+                            -RADIUS -RECT_SIDES[2]/2.0);
+    dGeomSetCategoryBits (geom[RECT], catBits[RECT]);
+    dGeomSetCollideBits (geom[RECT], catBits[ALL] & (~catBits[BODY1]) );
+
+    dBodySetMass (body[BODY1], &m);
+
+
+
+    setPositionBodies (tc);
+
+
+    if ( fixed )
+    {
+        // Attache external cylinder to the world
+        dJointID fixed = dJointCreateFixed (world,0);
+        dJointAttach (fixed , NULL, body[BODY2]);
+        dJointSetFixed (fixed );
+        dWorldSetGravity (world,0,0,-0.8);
+    }
+    else
+    {
+        dWorldSetGravity (world,0,0,0);
+    }
+
+
+
+
+    // The static is here only to help debugging
+    switch (type)
+    {
+    case dJointTypeSlider :
+    {
+        dSliderJoint *sj = new dSliderJoint (world, 0);
+        sj->attach (body[BODY1], body[BODY2]);
+        sj->setAxis (1, 0, 0);
+        joint = sj;
+    }
+    break;
+
+    case dJointTypePiston : // fall through default
+    default:
+    {
+        dPistonJoint *pj = new dPistonJoint (world, 0);
+        pj->attach (body[BODY1], body[BODY2]);
+        pj->setAxis (1, 0, 0);
+
+        dJointSetPistonAnchor(pj->id(), anchor[X], anchor[Y], anchor[Z]);
+
+        joint = pj;
+    }
+    break;
+    };
+
+
+    // run simulation
+    dsSimulationLoop (argc,argv,400,300,&fn);
+
+    delete joint;
+    dJointGroupDestroy (contactgroup);
+    dSpaceDestroy (space);
+    dWorldDestroy (world);
+    dCloseODE();
+    return 0;
+}
+
+
+
+
diff --git a/libs/ode-0.16.1/ode/demo/demo_plane2d.cpp b/libs/ode-0.16.1/ode/demo/demo_plane2d.cpp
new file mode 100644
index 0000000..559f9ae
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_plane2d.cpp
@@ -0,0 +1,304 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// Test my Plane2D constraint.
+// Uses ode-0.35 collision API.
+
+# include       <stdio.h>
+# include       <stdlib.h>
+# include       <math.h>
+# include       <ode/ode.h>
+# include       <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+
+#   define drand48()  ((double) (((double) rand()) / ((double) RAND_MAX)))
+
+# define        N_BODIES        40
+# define        STAGE_SIZE      8.0  // in m
+
+# define        TIME_STEP       0.01
+# define        K_SPRING        10.0
+# define        K_DAMP          10.0
+
+//using namespace ode;
+
+struct GlobalVars
+{
+    dWorld   dyn_world;
+    dBody    dyn_bodies[N_BODIES];
+    dReal    bodies_sides[N_BODIES][3];
+
+    dSpaceID coll_space_id;
+    dJointID plane2d_joint_ids[N_BODIES];
+    dJointGroup coll_contacts;
+};
+
+static GlobalVars *g_globals_ptr = NULL;
+
+
+
+static void     cb_start ()
+/*************************/
+{
+    dAllocateODEDataForThread(dAllocateMaskAll);
+
+    static float    xyz[3] = { 0.5f*STAGE_SIZE, 0.5f*STAGE_SIZE, 0.65f*STAGE_SIZE};
+    static float    hpr[3] = { 90.0f, -90.0f, 0 };
+
+    dsSetViewpoint (xyz, hpr);
+}
+
+
+
+static void     cb_near_collision (void *, dGeomID o1, dGeomID o2)
+/********************************************************************/
+{
+    dBodyID     b1 = dGeomGetBody (o1);
+    dBodyID     b2 = dGeomGetBody (o2);
+    dContact    contact;
+
+
+    // exit without doing anything if the two bodies are static
+    if (b1 == 0 && b2 == 0)
+        return;
+
+    // exit without doing anything if the two bodies are connected by a joint
+    if (b1 && b2 && dAreConnected (b1, b2))
+    {
+        /* MTRAP; */
+        return;
+    }
+
+    contact.surface.mode = 0;
+    contact.surface.mu = 0; // frictionless
+
+    if (dCollide (o1, o2, 1, &contact.geom, sizeof (dContactGeom)))
+    {
+        dJointID c = dJointCreateContact (g_globals_ptr->dyn_world.id(),
+                        g_globals_ptr->coll_contacts.id (), &contact);
+        dJointAttach (c, b1, b2);
+    }
+}
+
+
+static void     track_to_pos (dBody &body, dJointID joint_id,
+                              dReal target_x, dReal target_y)
+/************************************************************************/
+{
+    dReal  curr_x = body.getPosition()[0];
+    dReal  curr_y = body.getPosition()[1];
+
+    dJointSetPlane2DXParam (joint_id, dParamVel, 1 * (target_x - curr_x));
+    dJointSetPlane2DYParam (joint_id, dParamVel, 1 * (target_y - curr_y));
+}
+
+
+
+static void     cb_sim_step (int pause)
+/*************************************/
+{
+    if (! pause)
+    {
+        static dReal angle = 0;
+
+        angle += REAL( 0.01 );
+
+        track_to_pos (g_globals_ptr->dyn_bodies[0], g_globals_ptr->plane2d_joint_ids[0],
+            dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * cos (angle) ),
+            dReal( STAGE_SIZE/2 + STAGE_SIZE/2.0 * sin (angle) ));
+
+        /* double   f0 = 0.001; */
+        /* for (int b = 0; b < N_BODIES; b ++) */
+        /* { */
+            /* double   p = 1 + b / (double) N_BODIES; */
+            /* double   q = 2 - b / (double) N_BODIES; */
+            /* g_globals_ptr->dyn_bodies[b].addForce (f0 * cos (p*angle), f0 * sin (q*angle), 0); */
+        /* } */
+        /* g_globals_ptr->dyn_bodies[0].addTorque (0, 0, 0.1); */
+
+        const int n = 10;
+        for (int i = 0; i < n; i ++)
+        {
+            dSpaceCollide (g_globals_ptr->coll_space_id, 0, &cb_near_collision);
+            g_globals_ptr->dyn_world.step (dReal(TIME_STEP/n));
+            g_globals_ptr->coll_contacts.empty ();
+        }
+    }
+
+# if 1  /* [ */
+    {
+        // @@@ hack Plane2D constraint error reduction here:
+        for (int b = 0; b < N_BODIES; b ++)
+        {
+            const dReal     *rot = dBodyGetAngularVel (g_globals_ptr->dyn_bodies[b].id());
+            const dReal     *quat_ptr;
+            dReal           quat[4],
+                            quat_len;
+
+
+            quat_ptr = dBodyGetQuaternion (g_globals_ptr->dyn_bodies[b].id());
+            quat[0] = quat_ptr[0];
+            quat[1] = 0;
+            quat[2] = 0;
+            quat[3] = quat_ptr[3];
+            quat_len = sqrt (quat[0] * quat[0] + quat[3] * quat[3]);
+            quat[0] /= quat_len;
+            quat[3] /= quat_len;
+            dBodySetQuaternion (g_globals_ptr->dyn_bodies[b].id(), quat);
+            dBodySetAngularVel (g_globals_ptr->dyn_bodies[b].id(), 0, 0, rot[2]);
+        }
+    }
+# endif  /* ] */
+
+
+# if 0  /* [ */
+    {
+        // @@@ friction
+        for (int b = 0; b < N_BODIES; b ++)
+        {
+            const dReal *vel = dBodyGetLinearVel (g_globals_ptr->dyn_bodies[b].id()),
+                        *rot = dBodyGetAngularVel (g_globals_ptr->dyn_bodies[b].id());
+            dReal       s = 1.00;
+            dReal       t = 0.99;
+
+            dBodySetLinearVel (g_globals_ptr->dyn_bodies[b].id(), s*vel[0],s*vel[1],s*vel[2]);
+            dBodySetAngularVel (g_globals_ptr->dyn_bodies[b].id(),t*rot[0],t*rot[1],t*rot[2]);
+        }
+    }
+# endif  /* ] */
+
+
+    {
+        // ode  drawstuff
+
+        dsSetTexture (DS_WOOD);
+        for (int b = 0; b < N_BODIES; b ++)
+        {
+            if (b == 0)
+            dsSetColor (1.0, 0.5, 1.0);
+            else
+            dsSetColor (0, 0.5, 1.0);
+#ifdef dDOUBLE
+            dsDrawBoxD (g_globals_ptr->dyn_bodies[b].getPosition(), g_globals_ptr->dyn_bodies[b].getRotation(), g_globals_ptr->bodies_sides[b]);
+#else
+            dsDrawBox (g_globals_ptr->dyn_bodies[b].getPosition(), g_globals_ptr->dyn_bodies[b].getRotation(), g_globals_ptr->bodies_sides[b]);
+#endif
+        }
+    }
+}
+
+
+
+extern int      main
+/******************/
+(
+    int         argc,
+    char        **argv
+)
+{
+    int         b;
+    dsFunctions drawstuff_functions;
+
+
+    dInitODE2(0);
+
+    g_globals_ptr = new GlobalVars();
+
+    // dynamic world
+
+    dReal  cf_mixing;// = 1 / TIME_STEP * K_SPRING + K_DAMP;
+    dReal  err_reduct;// = TIME_STEP * K_SPRING * cf_mixing;
+    err_reduct = REAL( 0.5 );
+    cf_mixing = REAL( 0.001 );
+    dWorldSetERP (g_globals_ptr->dyn_world.id (), err_reduct);
+    dWorldSetCFM (g_globals_ptr->dyn_world.id (), cf_mixing);
+    g_globals_ptr->dyn_world.setGravity (0, 0.0, -1.0);
+
+    g_globals_ptr->coll_space_id = dSimpleSpaceCreate (0);
+
+    // dynamic bodies
+    for (b = 0; b < N_BODIES; b ++)
+    {
+        int     l = (int) (1 + sqrt ((double) N_BODIES));
+        dReal  x = dReal( (0.5 + (b / l)) / l * STAGE_SIZE );
+        dReal  y = dReal( (0.5 + (b % l)) / l * STAGE_SIZE );
+        dReal  z = REAL( 1.0 ) + REAL( 0.1 ) * (dReal)drand48();
+
+        g_globals_ptr->bodies_sides[b][0] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) );
+        g_globals_ptr->bodies_sides[b][1] = dReal( 5 * (0.2 + 0.7*drand48()) / sqrt((double)N_BODIES) );
+        g_globals_ptr->bodies_sides[b][2] = z;
+
+        g_globals_ptr->dyn_bodies[b].create (g_globals_ptr->dyn_world);
+        g_globals_ptr->dyn_bodies[b].setPosition (x, y, z/2);
+        g_globals_ptr->dyn_bodies[b].setData ((void*) (dsizeint)b);
+        dBodySetLinearVel (g_globals_ptr->dyn_bodies[b].id (),
+            dReal( 3 * (drand48 () - 0.5) ), 
+			dReal( 3 * (drand48 () - 0.5) ), 0);
+
+        dMass m;
+        m.setBox (1, g_globals_ptr->bodies_sides[b][0],g_globals_ptr->bodies_sides[b][1],g_globals_ptr->bodies_sides[b][2]);
+        m.adjust (REAL(0.1) * g_globals_ptr->bodies_sides[b][0] * g_globals_ptr->bodies_sides[b][1]);
+        g_globals_ptr->dyn_bodies[b].setMass (&m);
+
+        g_globals_ptr->plane2d_joint_ids[b] = dJointCreatePlane2D (g_globals_ptr->dyn_world.id (), 0);
+        dJointAttach (g_globals_ptr->plane2d_joint_ids[b], g_globals_ptr->dyn_bodies[b].id (), 0);
+    }
+
+    dJointSetPlane2DXParam (g_globals_ptr->plane2d_joint_ids[0], dParamFMax, 10);
+    dJointSetPlane2DYParam (g_globals_ptr->plane2d_joint_ids[0], dParamFMax, 10);
+
+
+    // collision geoms and joints
+    dCreatePlane (g_globals_ptr->coll_space_id,  1, 0, 0, 0);
+    dCreatePlane (g_globals_ptr->coll_space_id, -1, 0, 0, -STAGE_SIZE);
+    dCreatePlane (g_globals_ptr->coll_space_id,  0,  1, 0, 0);
+    dCreatePlane (g_globals_ptr->coll_space_id,  0, -1, 0, -STAGE_SIZE);
+
+    for (b = 0; b < N_BODIES; b ++)
+    {
+        dGeomID coll_box_id;
+        coll_box_id = dCreateBox (g_globals_ptr->coll_space_id,
+            g_globals_ptr->bodies_sides[b][0], g_globals_ptr->bodies_sides[b][1], g_globals_ptr->bodies_sides[b][2]);
+        dGeomSetBody (coll_box_id, g_globals_ptr->dyn_bodies[b].id ());
+    }
+
+    g_globals_ptr->coll_contacts.create ();
+
+    {
+        // simulation loop (by drawstuff lib)
+        drawstuff_functions.version = DS_VERSION;
+        drawstuff_functions.start = &cb_start;
+        drawstuff_functions.step = &cb_sim_step;
+        drawstuff_functions.command = 0;
+        drawstuff_functions.stop = 0;
+        drawstuff_functions.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+        dsSimulationLoop (argc, argv, 352,288,&drawstuff_functions);
+    }
+
+    delete g_globals_ptr;
+    g_globals_ptr = NULL;
+
+	dCloseODE();
+    return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_rfriction.cpp b/libs/ode-0.16.1/ode/demo/demo_rfriction.cpp
new file mode 100644
index 0000000..61d1115
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_rfriction.cpp
@@ -0,0 +1,258 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+Angular friction demo:
+
+A bunch of ramps of different pitch.
+A bunch of spheres with rolling friction.
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+#define GRAVITY 10	// the global gravity to use
+#define RAMP_COUNT 8
+
+static const dReal rampX = 6.0f;
+static const dReal rampY = 0.5f;
+static const dReal rampZ = 0.25f;
+static const dReal sphereRadius = 0.25f;
+static const dReal maxRamp = M_PI/4.0f; // Needs to be less than pi/2
+static const dReal rampInc = maxRamp/RAMP_COUNT;
+
+// dynamics and collision objects
+static dWorldID world = 0;
+static dSpaceID space = 0;
+static dJointGroupID contactgroup = 0;
+static dGeomID ground;
+
+static dReal mu = REAL(0.37); // the global mu to use
+static dReal rho = REAL(0.1); // the global rho to use
+static dReal omega = REAL(25.0);
+
+static dGeomID rampGeom[RAMP_COUNT];
+static dBodyID sphereBody[RAMP_COUNT];
+static dGeomID sphereGeom[RAMP_COUNT];
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+    int i;
+
+    dBodyID b1 = dGeomGetBody(o1);
+    dBodyID b2 = dGeomGetBody(o2);
+  
+    if (b1==0 && b2==0) return;
+
+    dContact contact[3];		
+    for (int ii=0; ii<3; ii++) {
+        contact[ii].surface.mode = dContactApprox1 | dContactRolling;
+        contact[ii].surface.mu = mu;
+        contact[ii].surface.rho = rho;
+    }
+    if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) {
+        for (i=0; i<numc; i++) {
+            dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+            dJointAttach (c,b1,b2);
+        }
+    }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+    dAllocateODEDataForThread(dAllocateMaskAll);
+
+    static float xyz[3] = {0,-3.0f,3.0f};
+    static float hpr[3] = {90.0000,-15.0000,0.0000};
+    dsSetViewpoint (xyz,hpr);
+    printf ("Press:\n"
+            "\t'[' or ']' to change initial angular velocity\n"
+            "\t'm' to increase sliding friction\n"
+            "\t'n' to decrease sliding friction\n"
+            "\t'j' to increase rolling friction\n"
+            "\t'h' to decrease rolling friction\n"
+            "\t'r' to reset simulation.\n");
+}
+
+/**
+  Delete the bodies, etc.
+*/
+static void clear()
+{
+    if (contactgroup) dJointGroupDestroy (contactgroup);
+    if (space) dSpaceDestroy (space);
+    if (world) dWorldDestroy (world);
+}
+
+
+
+/**
+  Cleanup if necessary and rebuild the
+  world.
+*/
+static void reset()
+{
+    clear();
+
+    // create world
+    world = dWorldCreate();
+    space = dHashSpaceCreate (0);
+    contactgroup = dJointGroupCreate (0);
+    dWorldSetGravity (world,0,0,-GRAVITY);
+    ground = dCreatePlane (space,0,0,1,0);
+
+    // Calculate mass for sphere a capsule with water density.
+    dMass sphereMass;
+    dMassSetSphere(&sphereMass,1000,sphereRadius);
+
+    for (int ii=0;ii<RAMP_COUNT;++ii) {
+        dQuaternion q;
+
+        dReal angle = (ii+1)*rampInc;
+        dReal cosA = dCos(angle);
+        dReal sinA = dSin(angle);
+        dReal rampW = rampX/cosA; // Box width that preserves ground distance
+        dReal zPos = REAL(0.5)*(sinA*rampW-cosA*rampZ); // Position that makes end meet ground
+        dReal yPos = ii*1.25*rampY;
+        dReal xPos = 0;
+    
+    
+        // Create the ramp
+        rampGeom[ii] = dCreateBox(space,rampW,rampY,rampZ);
+        dQFromAxisAndAngle(q,0,1,0,angle);
+        dGeomSetQuaternion(rampGeom[ii],q);
+        dGeomSetPosition(rampGeom[ii],xPos,yPos,zPos);
+
+        // Create the spheres
+        xPos = -REAL(0.5)*rampX + sphereRadius;
+        zPos = sinA*rampW + sphereRadius;
+        sphereBody[ii] = dBodyCreate(world);
+        dBodySetMass(sphereBody[ii],&sphereMass);
+        sphereGeom[ii] = dCreateSphere(space,sphereRadius);
+        dGeomSetBody(sphereGeom[ii],sphereBody[ii]);
+        dBodySetPosition(sphereBody[ii],xPos,yPos,zPos);
+        dBodySetAngularVel(sphereBody[ii],0,omega,0);
+    }
+}
+
+
+static void command (int cmd)
+{
+    switch (cmd) {
+        case 'h': case 'H':
+            rho-=0.02; 
+            if (rho<0) rho=0;
+            break;	
+        case 'j': case 'J':
+            rho+=0.02;
+            if (rho>1) rho=1;
+            break;
+        case 'n': case 'N':
+            mu-=0.02;
+            if (mu<0) mu=0;
+            break;
+        case 'm': case 'M':
+            mu+=0.02;
+            if (mu>1) mu=1;
+            break;
+        case 'r': case 'R':
+            reset();
+            break;
+        case ']':
+            omega+=1;
+            break;
+        case '[':
+            omega-=1;
+            break;
+    }
+}
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+    if (!pause) {
+        dSpaceCollide (space,0,&nearCallback);
+        dWorldStep (world,0.017); // 60 fps
+        // remove all contact joints
+        dJointGroupEmpty (contactgroup);
+    }
+
+    // Render ramps and spheres
+    dsSetTexture (DS_WOOD);
+    for (int ii=0;ii<RAMP_COUNT;++ii) {
+        dVector3 sides;
+
+        dsSetColor (1,0.5,0);
+        dGeomBoxGetLengths(rampGeom[ii],sides);
+        dsDrawBox (dGeomGetPosition(rampGeom[ii]),dGeomGetRotation(rampGeom[ii]),sides);
+
+        dsSetColor(0,0,1);
+        dsDrawSphere (dGeomGetPosition(sphereGeom[ii]),dGeomGetRotation(sphereGeom[ii]), sphereRadius);
+    }
+}
+
+
+int main (int argc, char **argv)
+{
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = 0;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+    dInitODE2(0);
+    reset();
+
+    // run simulation
+    dsSimulationLoop (argc,argv,352,288,&fn);
+
+    clear();
+    dCloseODE();
+    return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_slider.cpp b/libs/ode-0.16.1/ode/demo/demo_slider.cpp
new file mode 100644
index 0000000..33be9ed
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_slider.cpp
@@ -0,0 +1,171 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#endif
+
+
+// some constants
+#define SIDE (0.5f)	// side length of a box
+#define MASS (1.0)	// mass of a box
+
+
+// dynamics and collision objects
+static dWorldID world;
+static dBodyID body[2];
+static dJointID slider;
+
+
+// state set by keyboard commands
+static int occasional_error = 0;
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {1.0382f,-1.0811f,1.4700f};
+  static float hpr[3] = {135.0000f,-19.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("Press 'e' to start/stop occasional error.\n");
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  if (cmd == 'e' || cmd == 'E') {
+    occasional_error ^= 1;
+  }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  const dReal kd = -0.3;	// angular damping constant
+  const dReal ks = 0.5;	// spring constant
+  if (!pause) {
+    // add an oscillating torque to body 0, and also damp its rotational motion
+    static dReal a=0;
+    const dReal *w = dBodyGetAngularVel (body[0]);
+    dBodyAddTorque (body[0],kd*w[0],kd*w[1]+0.1*cos(a),kd*w[2]+0.1*sin(a));
+    a += 0.01;
+
+    // add a spring force to keep the bodies together, otherwise they will
+    // fly apart along the slider axis.
+    const dReal *p1 = dBodyGetPosition (body[0]);
+    const dReal *p2 = dBodyGetPosition (body[1]);
+    dBodyAddForce (body[0],ks*(p2[0]-p1[0]),ks*(p2[1]-p1[1]),
+		   ks*(p2[2]-p1[2]));
+    dBodyAddForce (body[1],ks*(p1[0]-p2[0]),ks*(p1[1]-p2[1]),
+		   ks*(p1[2]-p2[2]));
+
+    // occasionally re-orient one of the bodies to create a deliberate error.
+    if (occasional_error) {
+      static int count = 0;
+      if ((count % 20)==0) {
+	// randomly adjust orientation of body[0]
+	const dReal *R1;
+	dMatrix3 R2,R3;
+	R1 = dBodyGetRotation (body[0]);
+	dRFromAxisAndAngle (R2,dRandReal()-0.5,dRandReal()-0.5,
+			    dRandReal()-0.5,dRandReal()-0.5);
+	dMultiply0 (R3,R1,R2,3,3,3);
+	dBodySetRotation (body[0],R3);
+
+	// randomly adjust position of body[0]
+	const dReal *pos = dBodyGetPosition (body[0]);
+	dBodySetPosition (body[0],
+			  pos[0]+0.2*(dRandReal()-0.5),
+			  pos[1]+0.2*(dRandReal()-0.5),
+			  pos[2]+0.2*(dRandReal()-0.5));
+      }
+      count++;
+    }
+
+    dWorldStep (world,0.05);
+  }
+
+  dReal sides1[3] = {SIDE,SIDE,SIDE};
+  dReal sides2[3] = {SIDE*0.8f,SIDE*0.8f,SIDE*2.0f};
+  dsSetTexture (DS_WOOD);
+  dsSetColor (1,1,0);
+  dsDrawBox (dBodyGetPosition(body[0]),dBodyGetRotation(body[0]),sides1);
+  dsSetColor (0,1,1);
+  dsDrawBox (dBodyGetPosition(body[1]),dBodyGetRotation(body[1]),sides2);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+  dMass m;
+  dMassSetBox (&m,1,SIDE,SIDE,SIDE);
+  dMassAdjust (&m,MASS);
+
+  body[0] = dBodyCreate (world);
+  dBodySetMass (body[0],&m);
+  dBodySetPosition (body[0],0,0,1);
+  body[1] = dBodyCreate (world);
+  dBodySetMass (body[1],&m);
+  dQuaternion q;
+  dQFromAxisAndAngle (q,-1,1,0,0.25*M_PI);
+  dBodySetPosition (body[1],0.2,0.2,1.2);
+  dBodySetQuaternion (body[1],q);
+
+  slider = dJointCreateSlider (world,0);
+  dJointAttach (slider,body[0],body[1]);
+  dJointSetSliderAxis (slider,1,1,1);
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_space.cpp b/libs/ode-0.16.1/ode/demo/demo_space.cpp
new file mode 100644
index 0000000..6f871f6
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_space.cpp
@@ -0,0 +1,232 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+testing procedure:
+  * create a bunch of random boxes
+  * test for intersections directly, put results in n^2 array
+  * get space to report collisions:
+    - all correct collisions reported
+    - no pair reported more than once
+    - no incorrect collisions reported
+
+*/
+
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+
+#define NUM 20			// number of boxes to test
+
+
+// collision objects and globals
+
+static dSpaceID space;
+static dGeomID geom[NUM];
+static dReal bounds[NUM][6];
+static dsizeint good_matrix[NUM][NUM];	// correct collision matrix
+static dsizeint test_matrix[NUM][NUM];	// testing collision matrix
+static dsizeint hits[NUM];		// number of collisions a box has
+static unsigned long seed=37;
+
+
+static void init_test()
+{
+  int i,j;
+  const dReal scale = 0.5;
+
+  // set random boxes
+  dRandSetSeed (seed);
+  for (i=0; i < NUM; i++) {
+    bounds[i][0] = dRandReal()*2-1;
+    bounds[i][1] = bounds[i][0] + dRandReal()*scale;
+    bounds[i][2] = dRandReal()*2-1;
+    bounds[i][3] = bounds[i][2] + dRandReal()*scale;
+    bounds[i][4] = dRandReal()*2;
+    bounds[i][5] = bounds[i][4] + dRandReal()*scale;
+
+    if (geom[i]) dGeomDestroy (geom[i]);
+    geom[i] = dCreateBox (space,
+			  bounds[i][1] - bounds[i][0],
+			  bounds[i][3] - bounds[i][2],
+			  bounds[i][5] - bounds[i][4]);
+    dGeomSetPosition (geom[i],
+		      (bounds[i][0] + bounds[i][1])*0.5,
+		      (bounds[i][2] + bounds[i][3])*0.5,
+		      (bounds[i][4] + bounds[i][5])*0.5);
+    dGeomSetData (geom[i],(void*)(dsizeint)(i));
+  }
+
+  // compute all intersections and put the results in "good_matrix"
+  for (i=0; i < NUM; i++) {
+    for (j=0; j < NUM; j++) good_matrix[i][j] = 0;
+  }
+  for (i=0; i < NUM; i++) hits[i] = 0;
+
+  for (i=0; i < NUM; i++) {
+    for (j=i+1; j < NUM; j++) {
+      dReal *bounds1 = &bounds[i][0];
+      dReal *bounds2 = &bounds[j][0];
+      if (bounds1[0] > bounds2[1] ||
+	  bounds1[1] < bounds2[0] ||
+	  bounds1[2] > bounds2[3] ||
+	  bounds1[3] < bounds2[2] ||
+	  bounds1[4] > bounds2[5] ||
+	  bounds1[5] < bounds2[4]) continue;
+      good_matrix[i][j] = 1;
+      good_matrix[j][i] = 1;
+      hits[i]++;
+      hits[j]++;
+    }
+  }
+}
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  dsizeint i,j;
+  i = (dsizeint) dGeomGetData (o1);
+  j = (dsizeint) dGeomGetData (o2);
+  if (i==j)
+    printf ("collision (%d,%d) is between the same object\n",(int)i,(int)j);
+  if (!good_matrix[i][j] || !good_matrix[j][i])
+    printf ("collision (%d,%d) is incorrect\n",(int)i,(int)j);
+  if (test_matrix[i][j] || test_matrix[j][i])
+    printf ("collision (%d,%d) reported more than once\n",(int)i,(int)j);
+  test_matrix[i][j] = 1;
+  test_matrix[j][i] = 1;
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+static void command (int cmd)
+{
+  if (cmd == ' ') {
+    seed++;
+    init_test();
+  }
+}
+
+
+// simulation loop
+
+static void simLoop (int)
+{
+  int i,j;
+
+  for (i=0; i < NUM; i++) {
+    for (j=0; j < NUM; j++) test_matrix[i][j] = 0;
+  }
+  dSpaceCollide (space,0,&nearCallback);
+  for (i=0; i < NUM; i++) {
+    for (j=i+1; j < NUM; j++) {
+      if (good_matrix[i][j] && !test_matrix[i][j]) {
+	printf ("failed to report collision (%d,%d) (seed=%ld)\n",i,j,seed);
+      }
+    }
+  }
+
+  seed++;
+  init_test();
+
+  for (i=0; i<NUM; i++) {
+    dVector3 pos,side;
+    dMatrix3 R;
+    dRSetIdentity (R);
+    for (j=0; j<3; j++) pos[j] = (bounds[i][j*2+1] + bounds[i][j*2]) * 0.5;
+    for (j=0; j<3; j++) side[j] = bounds[i][j*2+1] - bounds[i][j*2];
+    if (hits[i] > 0) dsSetColor (1,0,0);
+    else dsSetColor (1,1,0);
+    dsDrawBox (pos,R,side);
+  }
+}
+
+
+int main (int argc, char **argv)
+{
+  int i;
+
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  dInitODE2(0);
+
+  // test the simple space:
+  // space = dSimpleSpaceCreate();
+
+  // test the hash space:
+  // space = dHashSpaceCreate (0);
+  // dHashSpaceSetLevels (space,-10,10);
+
+  // test the quadtree space
+  dVector3 Center = {0, 0, 0, 0};
+  dVector3 Extents = {10, 0, 10, 0};
+  space = dQuadTreeSpaceCreate(0, Center, Extents, 7);
+
+  for (i=0; i < NUM; i++) geom[i] = 0;
+  init_test();
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dSpaceDestroy (space);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_space_stress.cpp b/libs/ode-0.16.1/ode/demo/demo_space_stress.cpp
new file mode 100644
index 0000000..dcbd9d7
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_space_stress.cpp
@@ -0,0 +1,449 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <string>
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+
+#define NUM 10000			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 4		// maximum number of contact points per body
+#define WORLD_SIZE 20
+#define WORLD_HEIGHT 20
+
+
+// dynamics and collision objects
+
+struct MyObject {
+  dBodyID body;			// the body
+  dGeomID geom[GPB];		// geometries representing this body
+};
+
+static int num=0;		// number of objects in simulation
+static int nextobj=0;		// next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space = NULL;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1;	// selected object
+static int show_aabb = 0;	// show geom AABBs?
+static int show_contacts = 0;	// show contact points?
+static int random_pos = 1;	// drop objects from random position?
+static int draw_geom = 1;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  int i;
+  // if (o1->body && o2->body) return;
+
+  // exit without doing anything if the two bodies are connected by a joint
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
+
+  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
+  for (i=0; i<MAX_CONTACTS; i++) {
+    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+    contact[i].surface.mu = dInfinity;
+    contact[i].surface.mu2 = 0;
+    contact[i].surface.bounce = 0.1;
+    contact[i].surface.bounce_vel = 0.1;
+    contact[i].surface.soft_cfm = 0.01;
+  }
+  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
+			   sizeof(dContact))) {
+    dMatrix3 RI;
+    dRSetIdentity (RI);
+    const dReal ss[3] = {0.02,0.02,0.02};
+    for (i=0; i<numc; i++) {
+      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+      dJointAttach (c,b1,b2);
+      if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {2.1640f,-1.3079f,3.7600f};
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("To drop another object, press:\n");
+  printf ("   o to disable rendering.\n");
+  printf ("   b for box.\n");
+  printf ("   s for sphere.\n");
+  printf ("   c for cylinder.\n");
+  printf ("   x for a composite object.\n");
+  printf ("   y for cylinder.\n");
+  printf ("To select an object, press space.\n");
+  printf ("To disable the selected object, press d.\n");
+  printf ("To enable the selected object, press e.\n");
+  printf ("To toggle showing the geom AABBs, press a.\n");
+  printf ("To toggle showing the contact points, press t.\n");
+  printf ("To toggle dropping from random position/orientation, press r.\n");
+}
+
+
+char locase(char c)
+{
+    if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+    else return c;
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+    int i,j,k;
+    dReal sides[3];
+    dMass m;
+    bool setBody = false;
+
+    cmd = locase(cmd);
+    if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'y') {
+        if (num < NUM) {
+            // new object to be created
+            i = num;
+            num++;
+        } else {
+            // recycle existing object
+            i = nextobj++;
+            nextobj %= num; // wrap-around if needed
+
+            // destroy the body and geoms for slot i
+            dBodyDestroy (obj[i].body);
+            obj[i].body = 0;
+
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k]) {
+                    dGeomDestroy(obj[i].geom[k]);
+                    obj[i].geom[k] = 0;
+                }
+        }
+
+        obj[i].body = dBodyCreate(world);
+
+        for (k=0; k<3; k++)
+            sides[k] = dRandReal()*0.5+0.1;
+
+        dMatrix3 R;
+        if (random_pos)  {
+            dBodySetPosition(obj[i].body,
+                             dRandReal()*2-1,dRandReal()*2-1,dRandReal()+2);
+            dRFromAxisAndAngle(R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                               dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+        } else {
+            // higher than highest body position
+            dReal maxheight = 0;
+            for (k=0; k<num; k++) {
+                const dReal *pos = dBodyGetPosition(obj[k].body);
+                if (pos[2] > maxheight)
+                    maxheight = pos[2];
+            }
+            dBodySetPosition(obj[i].body, 0,0,maxheight+1);
+            dRSetIdentity(R);
+            //dRFromAxisAndAngle (R,0,0,1,/*dRandReal()*10.0-5.0*/0);
+        }
+
+        dBodySetRotation(obj[i].body,R);
+
+        if (cmd == 'b') {
+
+            dMassSetBox(&m,DENSITY,sides[0],sides[1],sides[2]);
+            obj[i].geom[0] = dCreateBox(space,sides[0],sides[1],sides[2]);
+
+        } else if (cmd == 'c') {
+
+            sides[0] *= 0.5;
+            dMassSetCapsule(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
+
+        } else if (cmd == 'y') {
+
+            dMassSetCylinder(&m,DENSITY,3,sides[0],sides[1]);
+            obj[i].geom[0] = dCreateCylinder(space,sides[0],sides[1]);
+
+        } else if (cmd == 's') {
+
+            sides[0] *= 0.5;
+            dMassSetSphere (&m,DENSITY,sides[0]);
+            obj[i].geom[0] = dCreateSphere (space,sides[0]);
+
+        } else if (cmd == 'x') {
+
+            setBody = true;
+            // start accumulating masses for the composite geometries
+            dMass m2;
+            dMassSetZero (&m);
+
+            dReal dpos[GPB][3];	// delta-positions for composite geometries
+            dMatrix3 drot[GPB];
+      
+            // set random delta positions
+            for (j=0; j<GPB; j++)
+                for (k=0; k<3; k++)
+                    dpos[j][k] = dRandReal()*0.3-0.15;
+    
+            for (k=0; k<GPB; k++) {
+                if (k==0) {
+                    dReal radius = dRandReal()*0.25+0.05;
+                    obj[i].geom[k] = dCreateSphere (space,radius);
+                    dMassSetSphere (&m2,DENSITY,radius);
+                } else if (k==1) {
+                    obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
+                    dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
+                } else {
+                    dReal radius = dRandReal()*0.1+0.05;
+                    dReal length = dRandReal()*1.0+0.1;
+                    obj[i].geom[k] = dCreateCapsule(space,radius,length);
+                    dMassSetCapsule(&m2,DENSITY,3,radius,length);
+                }
+
+                dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                                   dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+                dMassRotate(&m2,drot[k]);
+		
+                dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+                // add to the total mass
+                dMassAdd(&m,&m2);
+
+            }
+            for (k=0; k<GPB; k++) {
+                dGeomSetBody(obj[i].geom[k],obj[i].body);
+                dGeomSetOffsetPosition(obj[i].geom[k],
+                                       dpos[k][0]-m.c[0],
+                                       dpos[k][1]-m.c[1],
+                                       dpos[k][2]-m.c[2]);
+                dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
+            }
+            dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
+            dBodySetMass(obj[i].body,&m);
+
+        }
+
+        if (!setBody) { // avoid calling for composite geometries
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k])
+                    dGeomSetBody(obj[i].geom[k],obj[i].body);
+
+            dBodySetMass(obj[i].body,&m);
+        }
+    }
+
+
+  if (cmd == ' ') {
+    selected++;
+    if (selected >= num) selected = 0;
+    if (selected < 0) selected = 0;
+  }
+  else if (cmd == 'd' && selected >= 0 && selected < num) {
+    dBodyDisable (obj[selected].body);
+  }
+  else if (cmd == 'e' && selected >= 0 && selected < num) {
+    dBodyEnable (obj[selected].body);
+  }
+  else if (cmd == 'a') {
+    show_aabb ^= 1;
+  }
+  else if (cmd == 't') {
+    show_contacts ^= 1;
+  }
+  else if (cmd == 'r') {
+    random_pos ^= 1;
+  }
+  else if (cmd == 'o') {
+    draw_geom ^= 1;
+  }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+    if (!draw_geom){
+        return;
+    }
+
+    if (!g) return;
+    if (!pos) pos = dGeomGetPosition(g);
+    if (!R) R = dGeomGetRotation(g);
+
+    int type = dGeomGetClass (g);
+    if (type == dBoxClass) {
+        dVector3 sides;
+        dGeomBoxGetLengths(g,sides);
+        dsDrawBox(pos,R,sides);
+    }
+    else if (type == dSphereClass) {
+        dsDrawSphere(pos,R,dGeomSphereGetRadius (g));
+    }
+    else if (type == dCapsuleClass) {
+        dReal radius,length;
+        dGeomCapsuleGetParams(g,&radius,&length);
+        dsDrawCapsule (pos,R,length,radius);
+    } else if (type == dCylinderClass) {
+        dReal radius,length;
+        dGeomCylinderGetParams(g,&radius,&length);
+        dsDrawCylinder(pos,R,length,radius);
+    }
+
+    if (show_aabb) {
+        // draw the bounding box for this geom
+        dReal aabb[6];
+        dGeomGetAABB(g,aabb);
+        dVector3 bbpos;
+        for (int i=0; i<3; i++)
+            bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+        dVector3 bbsides;
+        for (int j=0; j<3; j++)
+            bbsides[j] = aabb[j*2+1] - aabb[j*2];
+        dMatrix3 RI;
+        dRSetIdentity(RI);
+        dsSetColorAlpha(1,0,0,0.5);
+        dsDrawBox(bbpos,RI,bbsides);
+    }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  dsSetColor (0,0,2);
+  dSpaceCollide (space,0,&nearCallback);
+  //if (!pause) dWorldStep (world,0.05);
+  if (!pause) dWorldQuickStep (world,0.05);
+  //if (!pause) dWorldStepFast (world,0.05, 1);
+
+  // remove all contact joints
+  dJointGroupEmpty (contactgroup);
+
+  dsSetColor (1,1,0);
+  dsSetTexture (DS_WOOD);
+  for (int i=0; i<num; i++) {
+    for (int j=0; j < GPB; j++) {
+      if (i==selected) {
+	dsSetColor (0,0.7,1);
+      }
+      else if (! dBodyIsEnabled (obj[i].body)) {
+	dsSetColor (1,0,0);
+      }
+      else {
+	dsSetColor (1,1,0);
+      }
+      drawGeom (obj[i].geom[j],0,0,show_aabb);
+    }
+  }
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  dsSetSphereQuality(0);
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+
+  for (int i=1; i<argc; ++i) {
+      if (argv[i] == std::string("quad")) {
+          dVector3 Center = {0, 0, 0, 0};
+          dVector3 Extents = {WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, WORLD_SIZE * 0.55, 0};
+          puts(":::: Using dQuadTreeSpace");
+          space = dQuadTreeSpaceCreate (0, Center, Extents, 6);
+      } else if (argv[i] == std::string("hash")) {
+          puts(":::: Using dHashSpace");
+          space = dHashSpaceCreate (0);
+      } else if (argv[i] == std::string("sap")) {
+          puts(":::: Using dSweepAndPruneSpace");
+          space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
+      } else if (argv[i] == std::string("simple")) {
+          puts(":::: Using dSimpleSpace");
+          space = dSimpleSpaceCreate(0);
+      }
+  }
+  if (!space) {
+      puts(":::: You can specify 'quad', 'hash', 'sap' or 'simple' in the");
+      puts(":::: command line to specify the type of space.");
+      puts(":::: Using SAP space by default.");
+      space = dSweepAndPruneSpaceCreate (0, dSAP_AXES_XYZ);
+  }
+
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-0.5);
+  dWorldSetCFM (world,1e-5);
+  dCreatePlane (space,0,0,1,0);
+  memset (obj,0,sizeof(obj));
+
+  for (int i = 0; i < NUM; i++){
+	command('s');
+  }
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_step.cpp b/libs/ode-0.16.1/ode/demo/demo_step.cpp
new file mode 100644
index 0000000..f19a99c
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_step.cpp
@@ -0,0 +1,192 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// test the step function by comparing the output of the fast and the slow
+// version, for various systems. currently you have to define COMPARE_METHODS
+// in step.cpp for this to work properly.
+//
+// @@@ report MAX error
+
+#include <time.h>
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#endif
+
+
+// some constants
+
+#define NUM 10			// number of bodies
+#define NUMJ 9			// number of joints
+#define SIDE (0.2)		// side length of a box
+#define MASS (1.0)		// mass of a box
+#define RADIUS (0.1732f)	// sphere radius
+
+
+
+// dynamics and collision objects
+
+static dWorldID world=0;
+static dBodyID body[NUM];
+static dJointID joint[NUMJ];
+
+
+// create the test system
+
+void createTest()
+{
+  int i,j;
+  if (world) dWorldDestroy (world);
+
+  world = dWorldCreate();
+
+  // create random bodies
+  for (i=0; i<NUM; i++) {
+    // create bodies at random position and orientation
+    body[i] = dBodyCreate (world);
+    dBodySetPosition (body[i],dRandReal()*2-1,dRandReal()*2-1,
+		      dRandReal()*2+RADIUS);
+    dReal q[4];
+    for (j=0; j<4; j++) q[j] = dRandReal()*2-1;
+    dBodySetQuaternion (body[i],q);
+
+    // set random velocity
+    dBodySetLinearVel (body[i], dRandReal()*2-1,dRandReal()*2-1,
+		       dRandReal()*2-1);
+    dBodySetAngularVel (body[i], dRandReal()*2-1,dRandReal()*2-1,
+			dRandReal()*2-1);
+
+    // set random mass (random diagonal mass rotated by a random amount)
+    dMass m;
+    dMatrix3 R;
+    dMassSetBox (&m,1,dRandReal()+0.1,dRandReal()+0.1,dRandReal()+0.1);
+    dMassAdjust (&m,dRandReal()+1);
+    for (j=0; j<4; j++) q[j] = dRandReal()*2-1;
+    dQtoR (q,R);
+    dMassRotate (&m,R);
+    dBodySetMass (body[i],&m);
+  }
+
+  // create ball-n-socket joints at random positions, linking random bodies
+  // (but make sure not to link the same pair of bodies twice)
+  char linked[NUM*NUM];
+  for (i=0; i<NUM*NUM; i++) linked[i] = 0;
+  for (i=0; i<NUMJ; i++) {
+    int b1,b2;
+    do {
+      b1 = dRandInt (NUM);
+      b2 = dRandInt (NUM);
+    } while (linked[b1*NUM + b2] || b1==b2);
+    linked[b1*NUM + b2] = 1;
+    linked[b2*NUM + b1] = 1;
+    joint[i] = dJointCreateBall (world,0);
+    dJointAttach (joint[i],body[b1],body[b2]);
+    dJointSetBallAnchor (joint[i],dRandReal()*2-1,
+			 dRandReal()*2-1,dRandReal()*2+RADIUS);
+  }
+
+  for (i=0; i<NUM; i++) {
+    // move bodies a bit to get some joint error
+    const dReal *pos = dBodyGetPosition (body[i]); 
+    dBodySetPosition (body[i],pos[0]+dRandReal()*0.2-0.1,
+		      pos[1]+dRandReal()*0.2-0.1,pos[2]+dRandReal()*0.2-0.1);
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {2.6117f,-1.4433f,2.3700f};
+  static float hpr[3] = {151.5000f,-30.5000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  if (!pause) {
+    // add random forces and torques to all bodies
+    int i;
+    const dReal scale1 = 5;
+    const dReal scale2 = 5;
+    for (i=0; i<NUM; i++) {
+      dBodyAddForce (body[i],
+		     scale1*(dRandReal()*2-1),
+		     scale1*(dRandReal()*2-1),
+		     scale1*(dRandReal()*2-1));
+      dBodyAddTorque (body[i],
+		     scale2*(dRandReal()*2-1),
+		     scale2*(dRandReal()*2-1),
+		     scale2*(dRandReal()*2-1));
+    }
+
+    dWorldStep (world,0.05);
+    createTest();
+  }
+
+  // float sides[3] = {SIDE,SIDE,SIDE};
+  dsSetColor (1,1,0);
+  for (int i=0; i<NUM; i++)
+    dsDrawSphere (dBodyGetPosition(body[i]), dBodyGetRotation(body[i]),RADIUS);
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = 0;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  dInitODE2(0);
+  dRandSetSeed (time(0));
+  createTest();
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_tracks.cpp b/libs/ode-0.16.1/ode/demo/demo_tracks.cpp
new file mode 100644
index 0000000..9b4f5dd
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_tracks.cpp
@@ -0,0 +1,498 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+//#include <iostream>
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef dDOUBLE
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawBox dsDrawBoxD
+#define dsDrawTriangle dsDrawTriangleD
+#define dsDrawLine dsDrawLineD
+#endif
+
+
+
+const dReal ball_radius = 0.4;
+const dReal balls_sep = 2; // separation between the balls
+
+/* Choose one test case
+ */
+#define TEST_CASE 0
+
+#if TEST_CASE == 0
+const dReal track_len = 10;
+const dReal track_height = 1;
+const dReal track_width = 0.1;
+const dReal track_gauge = 1;
+const dReal track_elevation = 2;
+const dReal track_angle = 80 * M_PI/180.;
+const dReal track_incl = 10 * M_PI/180.;
+#elif TEST_CASE == 1
+const dReal track_len = 10;
+const dReal track_height = 1;
+const dReal track_width = 0.1;
+const dReal track_gauge = 1.9*ball_radius;
+const dReal track_elevation = 2;
+const dReal track_angle = 0 * M_PI/180.;
+const dReal track_incl = 10 * M_PI/180.;
+#elif TEST_CASE == 2
+const dReal track_len = 10;
+const dReal track_height = 1;
+const dReal track_width = 0.1;
+const dReal track_gauge = 1.9*ball_radius;
+const dReal track_elevation = 2;
+const dReal track_angle = 15 * M_PI/180.;
+const dReal track_incl = 10 * M_PI/180.;
+#elif TEST_CASE == 3
+const dReal track_len = 10;
+const dReal track_height = .7;
+const dReal track_width = 0.1;
+const dReal track_gauge = track_height*1.1;
+const dReal track_elevation = 2;
+const dReal track_angle = 90 * M_PI/180.;
+const dReal track_incl = 10 * M_PI/180.;
+#else
+#error "TEST_CAST to a valid value!"
+#endif
+
+
+
+dWorldID world;
+dSpaceID space;
+dJointGroupID contact_group;
+dGeomID ground;
+dGeomID ball1_geom, ball2_geom;
+dTriMeshDataID mesh_data;
+dGeomID mesh_geom;
+
+dBodyID ball1_body, ball2_body;
+
+const unsigned n_box_verts = 8;
+dVector3 box_verts[n_box_verts] = {
+    {-track_len/2, -track_width/2,  track_height/2}, // 0
+    { track_len/2, -track_width/2,  track_height/2}, // 1
+    { track_len/2,  track_width/2,  track_height/2}, // 2
+    {-track_len/2,  track_width/2,  track_height/2}, // 3
+    { track_len/2, -track_width/2, -track_height/2}, // 4
+    {-track_len/2, -track_width/2, -track_height/2}, // 5
+    {-track_len/2,  track_width/2, -track_height/2}, // 6
+    { track_len/2,  track_width/2, -track_height/2}  // 7
+};
+
+const unsigned n_box_faces = 12;
+dTriIndex box_faces[n_box_faces * 3] = {
+    0, 1, 2,
+    0, 2, 3,
+    1, 4, 7,
+    1, 7, 2,
+    4, 5, 6,
+    4, 6, 7,
+    5, 0, 3,
+    5, 3, 6,
+    3, 2, 7,
+    3, 7, 6,
+    0, 5, 4,
+    0, 4, 1
+};
+
+
+const unsigned n_track_verts = n_box_verts * 2;
+const unsigned n_track_faces = n_box_faces * 2;
+
+dVector3 track_verts[n_track_verts];
+dTriIndex track_faces[n_track_faces * 3];
+
+
+
+void resetBall(dBodyID b, unsigned idx)
+{
+    dBodySetPosition(b,
+                     0.5*track_len*cos(track_incl) // Z
+                     - 0.5*track_height*sin(track_incl)
+                     - ball_radius, // X
+                     balls_sep*idx, // Y
+                     track_elevation + ball_radius// Z
+                     + 0.5*track_len*sin(track_incl)
+                     + 0.5*track_height*cos(track_incl));
+    dMatrix3 r = {1, 0, 0, 0,
+                  0, 1, 0, 0,
+                  0, 0, 1, 0};
+    dBodySetRotation(b, r);
+    dBodySetLinearVel(b, 0, 0, 0);
+    dBodySetAngularVel(b, 0, 0, 0);
+
+}
+
+
+void resetSim()
+{
+    resetBall(ball1_body, 0);
+    resetBall(ball2_body, 1);
+}
+
+
+void start()
+{
+    dAllocateODEDataForThread(dAllocateMaskAll);
+
+    world = dWorldCreate();
+    dWorldSetGravity (world,0,0,-9.8);
+
+    contact_group = dJointGroupCreate(0);
+
+    space = dSimpleSpaceCreate (0);
+
+
+    // first, the ground plane
+    // it has to coincide with the plane we have in drawstuff
+    ground = dCreatePlane(space, 0, 0, 1, 0);
+
+
+    // now a ball
+    dMass m;
+    dMassSetSphere(&m, 0.1, ball_radius);
+
+    ball1_geom = dCreateSphere(space, ball_radius);
+    ball1_body = dBodyCreate(world);
+    dGeomSetBody(ball1_geom, ball1_body);
+    dBodySetMass(ball1_body, &m);
+
+    ball2_geom = dCreateSphere(space, ball_radius);
+    ball2_body = dBodyCreate(world);
+    dGeomSetBody(ball2_geom, ball2_body);
+    dBodySetMass(ball2_body, &m);
+
+
+
+
+    // tracks made out of boxes
+    dGeomID trk;
+    dMatrix3 r1, r2, r3;
+    dVector3 ro = {0, -(0.5*track_gauge + 0.5*track_width), track_elevation};
+    dMatrix3 s1, s2, s3;
+    dVector3 so = {0, 0.5*track_gauge + 0.5*track_width, track_elevation};
+
+    dRFromAxisAndAngle(r1, 1, 0, 0,  track_angle);
+    dRFromAxisAndAngle(r2, 0, 1, 0, -track_incl);
+    dMultiply0_333(r3, r2, r1);
+
+    dRFromAxisAndAngle(s1, 1, 0, 0, -track_angle);
+    dRFromAxisAndAngle(s2, 0, 1, 0, -track_incl);
+    dMultiply0_333(s3, s2, s1);
+
+    trk = dCreateBox(space, track_len, track_width, track_height);
+    dGeomSetPosition(trk, ro[0], ro[1] + balls_sep, ro[2]);
+    dGeomSetRotation(trk, r3);
+
+    trk = dCreateBox(space, track_len, track_width, track_height);
+    dGeomSetPosition(trk, so[0], so[1] + balls_sep, so[2]);
+    dGeomSetRotation(trk, s3);
+
+
+
+    
+
+    // tracks made out of trimesh
+    for (unsigned i=0; i<n_box_verts; ++i) {
+        dVector3 p;
+        dMultiply0_331(p, s3, box_verts[i]);
+        dAddVectors3(p, p, so);
+        dCopyVector3(track_verts[i], p);
+    }
+    // trimesh tracks 2, transform all vertices by s3
+    for (unsigned i=0; i<n_box_verts; ++i) {
+        dVector3 p;
+        dMultiply0_331(p, r3, box_verts[i]);
+        dAddVectors3(p, p, ro);
+        dCopyVector3(track_verts[n_box_verts + i], p);
+    }
+
+    // copy face indices
+    for (unsigned i=0; i<n_box_faces; ++i)
+        for (unsigned j=0; j<3; ++j) // each face index
+            track_faces[3*i+j] = box_faces[3*i+j];
+    for (unsigned i=0; i<n_box_faces; ++i)
+        for (unsigned j=0; j<3; ++j) // each face index
+            track_faces[3*(i + n_box_faces)+j] = box_faces[3*i+j] + n_box_verts;
+
+    mesh_data = dGeomTriMeshDataCreate();
+    dGeomTriMeshDataBuildSimple(mesh_data,
+                                track_verts[0], n_track_verts,
+                                track_faces, 3*n_track_faces);
+    mesh_geom = dCreateTriMesh(space, mesh_data, 0, 0, 0);
+
+
+
+
+
+    resetSim();
+    
+
+    // initial camera position
+    static float xyz[3] = {-5.9414,-0.4804,2.9800};
+    static float hpr[3] = {32.5000,-10.0000,0.0000};
+    dsSetViewpoint (xyz,hpr);
+
+    dsSetSphereQuality(3);
+}
+
+
+void nearCallback(void *, dGeomID a, dGeomID b)
+{
+    const unsigned max_contacts = 8;
+    dContact contacts[max_contacts];
+    
+    if (!dGeomGetBody(a) && !dGeomGetBody(b))
+        return; // don't handle static geom collisions
+
+    int n = dCollide(a, b, max_contacts, &contacts[0].geom, sizeof(dContact));
+    //clog << "got " << n << " contacts" << endl;
+
+    /* Simple contact merging:
+     * If we have contacts that are too close with the same normal, keep only
+     * the one with maximum depth.
+     * The epsilon that defines what "too close" means can be a heuristic.
+     */
+    int new_n = 0;
+    dReal epsilon = 1e-1; // default
+    /* If we know one of the geoms is a sphere, we can base the epsilon on the
+     *  sphere's radius.
+     */
+    dGeomID s = 0;
+    if ((dGeomGetClass(a) == dSphereClass && (s = a)) || 
+        (dGeomGetClass(b) == dSphereClass && (s = b))) {
+        epsilon = dGeomSphereGetRadius(s) * 0.3;
+    }
+
+
+    for (int i=0; i<n; ++i) {
+
+        // this block draws the contact points before merging, in red
+        dMatrix3 r;
+        dRSetIdentity(r);
+        dsSetColor(1, 0, 0);
+        dsSetTexture(DS_NONE);
+        dsDrawSphere(contacts[i].geom.pos, r, 0.008);
+
+        // let's offset the line a bit to avoid drawing overlap issues
+        float xyzf[3], hprf[3];
+        dsGetViewpoint(xyzf, hprf);
+        dVector3 xyz = {dReal(xyzf[0]), dReal(xyzf[1]), dReal(xyzf[2])};
+        dVector3 v;
+        dSubtractVectors3(v, contacts[i].geom.pos, xyz);
+        dVector3 c;
+        dCalcVectorCross3(c, v, contacts[i].geom.pos);
+        dNormalize3(c);
+        dVector3 pos1;
+        dAddScaledVectors3(pos1, contacts[i].geom.pos, c, 1, 0.005);
+        dVector3 pos2;
+        dAddScaledVectors3(pos2, pos1, contacts[i].geom.normal, 1, 0.05);
+        dsDrawLine(pos1, pos2);
+        // end of contacts drawing code
+
+
+
+        int closest_point = i;
+        for (int j=0; j<new_n; ++j) {
+            dReal alignment = dCalcVectorDot3(contacts[i].geom.normal, contacts[j].geom.normal);
+            if (alignment > 0.99 // about 8 degrees of difference
+                &&
+                dCalcPointsDistance3(contacts[i].geom.pos, contacts[j].geom.pos) < epsilon) {
+                // they are too close
+                closest_point = j;
+                //clog << "found close points: " << j << " and " << i << endl;
+                break;
+            }
+        }
+        
+        if (closest_point != i) {
+            // we discard one of the points
+            if (contacts[i].geom.depth > contacts[closest_point].geom.depth)
+                // the new point is deeper, copy it over closest_point
+                contacts[closest_point] = contacts[i];
+        } else
+            contacts[new_n++] = contacts[i]; // the point is preserved
+    }
+    //clog << "reduced from " << n << " to " << new_n << endl;
+    n = new_n;
+
+    for (int i=0; i<n; ++i) {
+        contacts[i].surface.mode = dContactBounce | dContactApprox1 | dContactSoftERP;
+        contacts[i].surface.mu = 10;
+        contacts[i].surface.bounce = 0.2;
+        contacts[i].surface.bounce_vel = 0;
+        contacts[i].surface.soft_erp = 1e-3;
+        //clog << "depth: " << contacts[i].geom.depth << endl;
+
+
+        dJointID contact = dJointCreateContact(world, contact_group, &contacts[i]);
+        dJointAttach(contact, dGeomGetBody(a), dGeomGetBody(b));
+
+        dMatrix3 r;
+        dRSetIdentity(r);
+        dsSetColor(0, 0, 1);
+        dsSetTexture(DS_NONE);
+        dsDrawSphere(contacts[i].geom.pos, r, 0.01);
+        dsSetColor(0, 1, 0);
+        dVector3 pos2;
+        dAddScaledVectors3(pos2, contacts[i].geom.pos, contacts[i].geom.normal, 1, 0.1);
+        dsDrawLine(contacts[i].geom.pos, pos2);
+    }
+    //clog << "----" << endl;
+}
+
+
+
+
+void stop()
+{
+    dGeomDestroy(mesh_geom);
+    dGeomTriMeshDataDestroy(mesh_data);
+
+    dBodyDestroy(ball1_body);
+    dBodyDestroy(ball2_body);
+
+    dGeomDestroy(ground);
+
+    dJointGroupDestroy(contact_group);
+
+    dSpaceDestroy(space); // will destroy all geoms
+
+    dWorldDestroy(world);
+}
+
+
+static void command (int cmd)
+{
+    switch (cmd) {
+        case ' ':
+            resetSim();
+            break;
+    }
+}
+
+
+void drawGeom(dGeomID g)
+{
+    int gclass = dGeomGetClass(g);
+    const dReal *pos = dGeomGetPosition(g);
+    const dReal *rot = dGeomGetRotation(g);
+
+    switch (gclass) {
+        case dSphereClass:
+            dsSetColorAlpha(0, 0.75, 0.5, 0.5);
+            dsSetTexture (DS_CHECKERED);
+            dsDrawSphere(pos, rot, dGeomSphereGetRadius(g));
+            break;
+        case dBoxClass:
+        {
+            dVector3 lengths;
+            dsSetColorAlpha(1, 1, 0, 0.5);
+            dsSetTexture (DS_WOOD);
+            dGeomBoxGetLengths(g, lengths);
+            dsDrawBox(pos, rot, lengths);
+            break;
+        }
+        case dTriMeshClass: 
+        {
+            int numi = dGeomTriMeshGetTriangleCount(g);
+
+            for (int i=0; i<numi; ++i) {
+                dVector3 v0, v1, v2;
+                dGeomTriMeshGetTriangle(g, i, &v0, &v1, &v2);
+
+                dsSetTexture (DS_WOOD);
+
+                dsSetDrawMode(DS_WIREFRAME);
+                dsSetColorAlpha(0, 0, 0, 1.0);
+                dsDrawTriangle(pos, rot, v0, v1, v2, true);
+
+                dsSetDrawMode(DS_POLYFILL);
+                dsSetColorAlpha(1, 1, 0, 0.5);
+                dsDrawTriangle(pos, rot, v0, v1, v2, true);
+            }
+            break;
+        }
+        
+        default:
+        {}
+    }
+}
+
+
+
+void simLoop (int pause)
+{
+    if (!pause) {
+
+        const dReal step = 0.02;
+        const unsigned nsteps = 1;
+
+        for (unsigned i=0; i<nsteps; ++i) {
+            dSpaceCollide(space, 0, nearCallback);
+            dWorldQuickStep(world, step);
+            dJointGroupEmpty(contact_group);
+        }
+    } else {
+        dSpaceCollide(space, 0, nearCallback);
+        dJointGroupEmpty(contact_group);
+    }
+    
+    // now we draw everything
+    unsigned ngeoms = dSpaceGetNumGeoms(space);
+    for (unsigned i=0; i<ngeoms; ++i) {
+        dGeomID g = dSpaceGetGeom(space, i);
+
+        if (g == ground)
+            continue; // drawstuff is already drawing it for us
+
+        drawGeom(g);
+    }
+    
+    if (dBodyGetPosition(ball1_body)[0] < -track_len)
+        resetSim();
+}
+
+
+int main (int argc, char **argv)
+{
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = stop;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+    
+    // create world
+    dInitODE();
+
+    // run demo
+    dsSimulationLoop (argc, argv, 800, 600, &fn);
+
+    dCloseODE();
+    return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_transmission.cpp b/libs/ode-0.16.1/ode/demo/demo_transmission.cpp
new file mode 100644
index 0000000..50cb820
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_transmission.cpp
@@ -0,0 +1,414 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef dDOUBLE
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawLine dsDrawLineD
+#define dsDrawSphere dsDrawSphereD
+#endif
+
+dReal theta = M_PI / 4;
+dReal ratio = 1, speed = 5, rho_1 = 1, rho_2 = 1, backlash = 0.1;
+int mode = 0;
+
+dWorldID world;
+dSpaceID space;
+dBodyID body1, body2;
+dGeomID geom1, geom2;
+dJointID hinge1, hinge2, transmission;
+dJointFeedback feedback;
+
+void setup() {
+    dMatrix3 R;
+    
+    switch (mode) {
+    case 0:
+	// Parallel axes.
+
+	dBodySetPosition(body1, 1, 0, 1);
+	dBodySetPosition(body2, -1, 0, 1);
+
+	dRSetIdentity (R);
+	dBodySetRotation (body1, R);
+	dBodySetRotation (body2, R);
+
+	dJointSetHingeAnchor(hinge2, -1, 0, 1);
+	dJointSetHingeAxis(hinge2, 0, 0, 1);
+
+	dJointSetHingeAnchor(hinge1, 1, 0, 1);
+	dJointSetHingeAxis(hinge1, 0, 0, 1);
+
+	dJointSetTransmissionMode(transmission, dTransmissionParallelAxes);
+	dJointSetTransmissionRatio(transmission, ratio);
+	dJointSetTransmissionAnchor1(transmission, 1, 0, 1);
+	dJointSetTransmissionAnchor2(transmission, -1, 0, 1);
+	dJointSetTransmissionAxis(transmission, 0, 0, 1);
+
+	break;
+    case 1:
+	// Intersecting axes.
+
+	dBodySetPosition(body1, 1, 0, 1);
+	dBodySetPosition(body2, -1, 0, 2);
+
+	dRSetIdentity (R);
+	dBodySetRotation (body1, R);
+
+	dRFromZAxis (R, cos(theta), 0, sin(theta));
+	dBodySetRotation (body2, R);
+
+	dJointSetHingeAnchor(hinge2, -1, 0, 2);
+	dJointSetHingeAxis(hinge2, cos(theta), 0, sin(theta));
+
+	dJointSetHingeAnchor(hinge1, 1, 0, 1);
+	dJointSetHingeAxis(hinge1, 0, 0, 1);
+
+	dJointSetTransmissionMode(transmission, dTransmissionIntersectingAxes);
+	dJointSetTransmissionAnchor1(transmission, 1, 0, 1);
+	dJointSetTransmissionAnchor2(transmission, -1, 0, 2);
+	dJointSetTransmissionAxis1(transmission, 0, 0, -1);
+	dJointSetTransmissionAxis2(transmission, cos(theta), 0, sin(theta));
+
+	break;
+    case 2:
+	// Chain.
+	
+	dBodySetPosition(body1, 2, 0, 1);
+	dBodySetPosition(body2, -2, 0, 1);
+
+	dRSetIdentity (R);
+	dBodySetRotation (body1, R);
+	dBodySetRotation (body2, R);
+
+	dJointSetHingeAnchor(hinge2, -2, 0, 1);
+	dJointSetHingeAxis(hinge2, 0, 0, 1);
+
+	dJointSetHingeAnchor(hinge1, 2, 0, 1);
+	dJointSetHingeAxis(hinge1, 0, 0, 1);
+
+	dJointSetTransmissionMode(transmission, dTransmissionChainDrive);
+	dJointSetTransmissionAnchor1(transmission, 2, 0, 1);
+	dJointSetTransmissionAnchor2(transmission, -2, 0, 1);
+	dJointSetTransmissionRadius1(transmission, rho_1);
+	dJointSetTransmissionRadius2(transmission, rho_2);
+	dJointSetTransmissionAxis(transmission, 0, 0, 1);
+
+	break;
+    }
+
+    dJointSetTransmissionBacklash(transmission, backlash);
+
+    dJointSetHingeParam(hinge2, dParamVel, speed);
+    dJointSetHingeParam(hinge2, dParamFMax, 50);
+
+    dJointSetHingeParam(hinge1, dParamVel, 0);
+    dJointSetHingeParam(hinge1, dParamFMax, 2);
+
+    dBodySetLinearVel(body1, 0, 0, 0);
+    dBodySetLinearVel(body2, 0, 0, 0);
+    dBodySetAngularVel(body1, 0, 0, 0);
+    dBodySetAngularVel(body2, 0, 0, 0);
+}
+
+void start()
+{
+    dMass mass;
+    
+    world = dWorldCreate();
+    dWorldSetGravity (world,0,0,-9.8);
+
+    dWorldSetERP(world, 0.2);
+
+    space = dSimpleSpaceCreate (0);
+    
+    body1 = dBodyCreate(world);
+    body2 = dBodyCreate(world);
+
+    dBodySetFiniteRotationMode(body1, 1);
+    dBodySetFiniteRotationMode(body2, 1);
+
+    geom1 = dCreateCylinder(space, 0.2, 0.5);
+    dGeomSetBody(geom1, body1);
+    dMassSetCylinder(&mass, 100, 3, 0.2, 0.5);
+    dBodySetMass(body1, &mass);
+    
+    geom2 = dCreateCylinder(space, 0.2, 0.5);
+    dGeomSetBody(geom2, body2);
+    dMassSetCylinder(&mass, 100, 3, 0.2, 0.5);
+    dBodySetMass(body2, &mass);
+
+    hinge1 = dJointCreateHinge(world, 0);
+    dJointAttach(hinge1, body1, 0);
+    
+    hinge2 = dJointCreateHinge(world, 0);
+    dJointAttach(hinge2, body2, 0);
+
+    transmission = dJointCreateTransmission(world, 0);
+    dJointAttach(transmission, body1, body2);
+    dJointSetFeedback(transmission, &feedback);
+
+    setup();
+
+    // initial camera position
+    static float xyz[3] = {1.15,-2.78,4.1};
+    static float hpr[3] = {105,-45.5,0};
+    dsSetViewpoint (xyz,hpr);
+
+    fprintf (stderr,
+	     "The green wheel is driving the red one. To control it use the following:\n"
+	     "   '[' : decrease wheel ratio\n"
+	     "   ']' : increase wheel ratio\n"
+	     "   ',' : decrease driving wheel speed\n"
+	     "   '.' : increase driving wheel speed\n"
+	     "   '-' : decrease backlash\n"
+	     "   '=' : increase backlash\n"
+	     "   '1' : switch to parallel axes gears mode\n"
+	     "   '2' : switch to intersecting axes gears mode\n"
+	     "   '3' : switch to chain (or belt) mode\n"
+);
+}
+
+void stop()
+{
+    dSpaceDestroy(space);
+
+    dWorldDestroy(world);
+}
+
+void drawGeom(dGeomID g)
+{
+    int gclass = dGeomGetClass(g);
+    const dReal *pos = dGeomGetPosition(g);
+    const dReal *rot = dGeomGetRotation(g);
+
+    switch (gclass) {
+        case dCylinderClass:
+        {
+            dReal length, radius;
+
+	    if (g == geom1) {
+		dsSetColorAlpha(1, 0, 0, 1);
+	    } else {
+		dsSetColorAlpha(0, 1, 0, 1);
+	    }
+
+            dsSetTexture (DS_WOOD);
+            dGeomCylinderGetParams(g, &radius, &length);
+            dsDrawCylinder(pos, rot, length, radius);
+            break;
+        }
+        
+        default:
+	{
+	    abort();
+	}
+    }
+}
+
+void simLoop(int pause)
+{
+    if (!pause) {
+
+        const dReal step = 0.003;
+        const unsigned nsteps = 4;
+
+        for (unsigned i=0; i<nsteps; ++i) {
+            dWorldQuickStep(world, step);
+        }
+    }
+
+#if 0
+    {
+	const dReal *omega_1, *omega_2;
+
+	omega_1 = dBodyGetAngularVel(body1);
+	omega_2 = dBodyGetAngularVel(body2);
+
+	printf ("T1: %f, %f, %f\n",
+		feedback.t1[0], feedback.t1[1], feedback.t1[2]);
+
+	printf ("T2: %f, %f, %f\n",
+		feedback.t2[0], feedback.t2[1], feedback.t2[2]);
+
+	printf ("F1: %f, %f, %f\n",
+		feedback.f1[0], feedback.f1[1], feedback.f1[2]);
+
+	printf ("F2: %f, %f, %f\n",
+		feedback.f2[0], feedback.f2[1], feedback.f2[2]);
+    }
+#endif
+
+    // now we draw everything
+    unsigned ngeoms = dSpaceGetNumGeoms(space);
+    for (unsigned i=0; i<ngeoms; ++i) {
+        dGeomID g = dSpaceGetGeom(space, i);
+
+        drawGeom(g);
+    }
+
+    const dReal *R_1 = dGeomGetRotation(geom1);
+    const dReal *R_2 = dGeomGetRotation(geom2);
+    dVector3 c_1, c_2, a_1, a_2;
+
+    dJointGetTransmissionContactPoint1(transmission, c_1);
+    dJointGetTransmissionContactPoint2(transmission, c_2);
+    dJointGetTransmissionAnchor1(transmission, a_1);
+    dJointGetTransmissionAnchor2(transmission, a_2);
+
+    dsSetColorAlpha(1, 0, 0, 0.5);
+    dsDrawCylinder(a_1, R_1, 0.05, dCalcPointsDistance3(c_1, a_1));
+    dsSetColorAlpha(0, 1, 0, 0.5);
+    dsDrawCylinder(a_2, R_2, 0.05, dCalcPointsDistance3(c_2, a_2));
+
+    dsSetColorAlpha(1, 0, 0, 0.5);
+    dsDrawSphere (c_1, R_1, 0.05);
+    dsDrawSphere (c_2, R_1, 0.05);
+
+    dsSetColorAlpha(1, 1, 0, 0.5);
+    if (mode == dTransmissionChainDrive) {
+        dsDrawLine(c_1, c_2);
+    }
+}
+
+static void command (int cmd)
+{
+    if (cmd == '[') {
+	switch(mode) {
+	case dTransmissionParallelAxes:
+	    if (ratio > 0.125) {
+		ratio *= 0.5;
+
+		fprintf (stderr, "Gear ratio set to %.3f.\n", ratio);
+	    }
+	    break;
+	case dTransmissionIntersectingAxes:
+	    if (theta > 0.1) {
+		theta -= 0.1;
+
+		fprintf (stderr, "Gear angle set to %.3f deg.\n",
+			 theta / M_PI * 180);
+	    }
+	    break;
+	case dTransmissionChainDrive:
+	    if (rho_2 > 0.125) {
+		rho_2 /= 2;
+
+		fprintf (stderr, "Sprocket ratio set to %.3f.\n", rho_2 / rho_1);
+	    }
+	    break;
+	}
+
+	setup();
+    } else if (cmd == ']') {
+	switch(mode) {
+	case dTransmissionParallelAxes:
+	    if (ratio < 8) {
+		ratio *= 2;
+
+		fprintf (stderr, "Gear ratio set to %.3f.\n", ratio);
+	    }
+	    break;
+	case dTransmissionIntersectingAxes:
+	    if (theta < 0.9) {
+		theta += 0.1;
+
+		fprintf (stderr, "Gear angle set to %.3f deg.\n",
+			 theta / M_PI * 180);
+	    }
+	    break;
+	case dTransmissionChainDrive:
+	    if (rho_2 < 2) {
+		rho_2 *= 2;
+
+		fprintf (stderr, "Sprocket ratio set to %.3f.\n", rho_2 / rho_1);
+	    }
+	    break;
+	}
+
+	setup();
+    } else if (cmd == '.') {
+	speed += 5;
+
+	fprintf (stderr, "Driving wheel speed set to %g rad/s.\n", speed);
+
+	dJointSetHingeParam(hinge2, dParamVel, speed);
+    } else if (cmd == ',') {
+	speed -= 5;
+
+	fprintf (stderr, "Driving wheel speed set to %g rad/s.\n", speed);
+
+	dJointSetHingeParam(hinge2, dParamVel, speed);
+    } else if (cmd == '/') {
+	if (dJointGetHingeParam(hinge2, dParamFMax) > 0) {
+	    dJointSetHingeParam(hinge2, dParamFMax, 0);
+	} else {
+	    dJointSetHingeParam(hinge2, dParamFMax, 50);
+	}
+
+    } else if (cmd == '-') {
+	backlash -= 0.1;
+
+	fprintf (stderr, "Backlash set to %g m.\n", backlash);
+
+        dJointSetTransmissionBacklash(transmission, backlash);
+    } else if (cmd == '=') {
+	backlash += 0.1;
+
+	fprintf (stderr, "Backlash set to %g m.\n", backlash);
+
+        dJointSetTransmissionBacklash(transmission, backlash);
+    } else if (cmd == '1') {
+	mode = dTransmissionParallelAxes;
+	setup();
+    } else if (cmd == '2') {
+	mode = dTransmissionIntersectingAxes;
+	setup();
+    } else if (cmd == '3') {
+	mode = dTransmissionChainDrive;
+	setup();
+    }
+}
+
+int main(int argc, char **argv)
+{
+    // setup pointers to drawstuff callback functions
+    dsFunctions fn;
+    fn.version = DS_VERSION;
+    fn.start = &start;
+    fn.step = &simLoop;
+    fn.command = &command;
+    fn.stop = stop;
+    fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+    
+    // create world
+    dInitODE();
+
+    // run demo
+    dsSimulationLoop (argc, argv, 800, 600, &fn);
+
+    dCloseODE();
+    return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp b/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp
new file mode 100644
index 0000000..1c53334
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/demo_trimesh.cpp
@@ -0,0 +1,605 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// TriMesh test by Erwin de Vries
+
+#include <ode/ode.h>
+#include <drawstuff/drawstuff.h>
+#include "texturepath.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+#endif
+
+//<---- Convex Object
+static const dReal planes[] =  // planes for a cube
+{
+    1.0f ,0.0f ,0.0f ,0.25f, 
+    0.0f ,1.0f ,0.0f ,0.25f, 
+    0.0f ,0.0f ,1.0f ,0.25f, 
+    0.0f ,0.0f ,-1.0f,0.25f, 
+    0.0f ,-1.0f,0.0f ,0.25f, 
+    -1.0f,0.0f ,0.0f ,0.25f 
+    /* 
+    1.0f ,0.0f ,0.0f ,2.0f, 
+    0.0f ,1.0f ,0.0f ,1.0f, 
+    0.0f ,0.0f ,1.0f ,1.0f, 
+    0.0f ,0.0f ,-1.0f,1.0f, 
+    0.0f ,-1.0f,0.0f ,1.0f, 
+    -1.0f,0.0f ,0.0f ,0.0f 
+    */ 
+};
+static const unsigned int planecount=6;
+
+static const dReal points[] = // points for a cube
+{ 
+    0.25f,0.25f,0.25f,  
+    -0.25f,0.25f,0.25f, 
+    
+    0.25f,-0.25f,0.25f, 
+    -0.25f,-0.25f,0.25f, 
+    
+    0.25f,0.25f,-0.25f, 
+    -0.25f,0.25f,-0.25f, 
+    
+    0.25f,-0.25f,-0.25f, 
+    -0.25f,-0.25f,-0.25f, 
+};
+static const unsigned int pointcount=8;
+
+static const unsigned int polygons[] = //Polygons for a cube (6 squares)
+  {
+    4,0,2,6,4, // positive X
+    4,1,0,4,5, // positive Y
+    4,0,1,3,2, // positive Z
+    4,3,1,5,7, // negative X
+    4,2,3,7,6, // negative Y
+    4,5,4,6,7, // negative Z
+  };
+//----> Convex Object
+
+// select correct drawing functions
+
+#ifdef dDOUBLE
+#define dsDrawBox dsDrawBoxD
+#define dsDrawSphere dsDrawSphereD
+#define dsDrawCylinder dsDrawCylinderD
+#define dsDrawCapsule dsDrawCapsuleD
+#define dsDrawLine dsDrawLineD
+#define dsDrawTriangle dsDrawTriangleD
+#define dsDrawConvex dsDrawConvexD
+#endif
+
+
+// some constants
+
+#define NUM 200			// max number of objects
+#define DENSITY (5.0)		// density of all objects
+#define GPB 3			// maximum number of geometries per body
+#define MAX_CONTACTS 40		// maximum number of contact points per body
+
+
+// dynamics and collision objects
+
+struct MyObject {
+  dBodyID body;			// the body
+  dGeomID geom[GPB];		// geometries representing this body
+};
+
+static int num=0;		// number of objects in simulation
+static int nextobj=0;		// next object to recycle if num==NUM
+static dWorldID world;
+static dSpaceID space;
+static MyObject obj[NUM];
+static dJointGroupID contactgroup;
+static int selected = -1;	// selected object
+static int show_aabb = 0;	// show geom AABBs?
+static int show_contacts = 0;	// show contact points?
+static int random_pos = 1;	// drop objects from random position?
+
+#define VertexCount 5
+#define IndexCount 12
+
+static dVector3 Size;
+static float Vertices[VertexCount][3];
+static dTriIndex Indices[IndexCount];
+
+static dGeomID TriMesh;
+static dGeomID Ray;
+
+
+// this is called by dSpaceCollide when two objects in space are
+// potentially colliding.
+
+static void nearCallback (void *, dGeomID o1, dGeomID o2)
+{
+  int i;
+  // if (o1->body && o2->body) return;
+
+  // exit without doing anything if the two bodies are connected by a joint
+  dBodyID b1 = dGeomGetBody(o1);
+  dBodyID b2 = dGeomGetBody(o2);
+  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
+
+  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
+  for (i=0; i<MAX_CONTACTS; i++) {
+    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+    contact[i].surface.mu = dInfinity;
+    contact[i].surface.mu2 = 0;
+    contact[i].surface.bounce = 0.1;
+    contact[i].surface.bounce_vel = 0.1;
+    contact[i].surface.soft_cfm = 0.01;
+  }
+  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
+			   sizeof(dContact))) {
+    dMatrix3 RI;
+    dRSetIdentity (RI);
+    const dReal ss[3] = {0.02,0.02,0.02};
+    for (i=0; i<numc; i++) {
+		if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
+			dMatrix3 Rotation;
+			dRSetIdentity(Rotation);
+			dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
+			
+			dVector3 End;
+			End[0] = contact[i].geom.pos[0] + (contact[i].geom.normal[0] * contact[i].geom.depth);
+			End[1] = contact[i].geom.pos[1] + (contact[i].geom.normal[1] * contact[i].geom.depth);
+			End[2] = contact[i].geom.pos[2] + (contact[i].geom.normal[2] * contact[i].geom.depth);
+			End[3] = contact[i].geom.pos[3] + (contact[i].geom.normal[3] * contact[i].geom.depth);
+			
+			dsDrawLine(contact[i].geom.pos, End);
+			continue;
+		}
+		
+      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+      dJointAttach (c,b1,b2);
+      if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
+    }
+  }
+}
+
+
+// start simulation - set viewpoint
+
+static void start()
+{
+  dAllocateODEDataForThread(dAllocateMaskAll);
+
+  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+  dsSetViewpoint (xyz,hpr);
+  printf ("To drop another object, press:\n");
+  printf ("   b for box.\n");
+  printf ("   s for sphere.\n");
+  printf ("   c for cylinder.\n");
+  printf( "   v for a convex.\n" );
+  printf ("   x for a composite object.\n");
+  printf ("To select an object, press space.\n");
+  printf ("To disable the selected object, press d.\n");
+  printf ("To enable the selected object, press e.\n");
+  printf ("To toggle showing the geom AABBs, press a.\n");
+  printf ("To toggle showing the contact points, press t.\n");
+  printf ("To toggle dropping from random position/orientation, press r.\n");
+}
+
+
+char locase (char c)
+{
+  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+  else return c;
+}
+
+
+// called when a key pressed
+
+static void command (int cmd)
+{
+  int i,j,k;
+  dReal sides[3];
+  dMass m;
+  bool setBody = false;
+
+  cmd = locase (cmd);
+  if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x' || cmd == 'v' 
+      /* || cmd == 'l' */) {
+    if (num < NUM) {
+      i = num;
+      num++;
+    }
+    else {
+      i = nextobj;
+      nextobj++;
+      if (nextobj >= num) nextobj = 0;
+
+      // destroy the body and geoms for slot i
+      dBodyDestroy (obj[i].body);
+      for (k=0; k < GPB; k++) {
+	if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
+      }
+      memset (&obj[i],0,sizeof(obj[i]));
+    }
+
+    obj[i].body = dBodyCreate (world);
+    for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
+
+    dMatrix3 R;
+    if (random_pos) {
+      dBodySetPosition (obj[i].body,
+			dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1);
+      dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+			  dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+    }
+    else {
+      dReal maxheight = 0;
+      for (k=0; k<num; k++) {
+	const dReal *pos = dBodyGetPosition (obj[k].body);
+	if (pos[2] > maxheight) maxheight = pos[2];
+      }
+      dBodySetPosition (obj[i].body, 0,0,maxheight+1);
+      dRFromAxisAndAngle (R,0,0,1,dRandReal()*10.0-5.0);
+    }
+    dBodySetRotation (obj[i].body,R);
+    dBodySetData (obj[i].body,(void*)(dsizeint)i);
+
+    if (cmd == 'b') {
+      dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
+      obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
+    }
+    else if (cmd == 'c') {
+      sides[0] *= 0.5;
+      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
+      obj[i].geom[0] = dCreateCapsule (space,sides[0],sides[1]);
+    }
+/*
+    // cylinder option not yet implemented
+    else if (cmd == 'l') {
+      sides[1] *= 0.5;
+      dMassSetCapsule (&m,DENSITY,3,sides[0],sides[1]);
+      obj[i].geom[0] = dCreateCylinder (space,sides[0],sides[1]);
+    }
+*/
+    else if (cmd == 's') {
+      sides[0] *= 0.5;
+      dMassSetSphere (&m,DENSITY,sides[0]);
+      obj[i].geom[0] = dCreateSphere (space,sides[0]);
+    }
+    else if (cmd == 'x') {
+ 
+            setBody = true;
+            // start accumulating masses for the composite geometries
+            dMass m2;
+            dMassSetZero (&m);
+
+            dReal dpos[GPB][3];	// delta-positions for composite geometries
+            dMatrix3 drot[GPB];
+      
+            // set random delta positions
+            for (j=0; j<GPB; j++)
+                for (k=0; k<3; k++)
+                    dpos[j][k] = dRandReal()*0.3-0.15;
+    
+            for (k=0; k<GPB; k++) {
+                if (k==0) {
+                    dReal radius = dRandReal()*0.25+0.05;
+                    obj[i].geom[k] = dCreateSphere (space,radius);
+                    dMassSetSphere (&m2,DENSITY,radius);
+                } else if (k==1) {
+                    obj[i].geom[k] = dCreateBox(space,sides[0],sides[1],sides[2]);
+                    dMassSetBox(&m2,DENSITY,sides[0],sides[1],sides[2]);
+                } else {
+                    dReal radius = dRandReal()*0.1+0.05;
+                    dReal length = dRandReal()*1.0+0.1;
+                    obj[i].geom[k] = dCreateCapsule(space,radius,length);
+                    dMassSetCapsule(&m2,DENSITY,3,radius,length);
+                }
+
+                dRFromAxisAndAngle(drot[k],dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+                                   dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+                dMassRotate(&m2,drot[k]);
+		
+                dMassTranslate(&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+                // add to the total mass
+                dMassAdd(&m,&m2);
+
+            }
+            for (k=0; k<GPB; k++) {
+                dGeomSetBody(obj[i].geom[k],obj[i].body);
+                dGeomSetOffsetPosition(obj[i].geom[k],
+                                       dpos[k][0]-m.c[0],
+                                       dpos[k][1]-m.c[1],
+                                       dpos[k][2]-m.c[2]);
+                dGeomSetOffsetRotation(obj[i].geom[k], drot[k]);
+            }
+            dMassTranslate(&m,-m.c[0],-m.c[1],-m.c[2]);
+            dBodySetMass(obj[i].body,&m);
+
+        } else if (cmd == 'v') {
+
+            dMassSetBox (&m,DENSITY,0.25,0.25,0.25);
+
+            obj[i].geom[0] = dCreateConvex(space,
+                                           planes,
+                                           planecount,
+                                           points,
+                                           pointcount,
+                                           polygons);
+        }
+
+        if (!setBody) { // avoid calling for composite geometries
+            for (k=0; k < GPB; k++)
+                if (obj[i].geom[k])
+                    dGeomSetBody(obj[i].geom[k],obj[i].body);
+
+            dBodySetMass(obj[i].body,&m);
+        }
+  }
+
+  if (cmd == ' ') {
+    selected++;
+    if (selected >= num) selected = 0;
+    if (selected < 0) selected = 0;
+  }
+  else if (cmd == 'd' && selected >= 0 && selected < num) {
+    dBodyDisable (obj[selected].body);
+  }
+  else if (cmd == 'e' && selected >= 0 && selected < num) {
+    dBodyEnable (obj[selected].body);
+  }
+  else if (cmd == 'a') {
+    show_aabb ^= 1;
+  }
+  else if (cmd == 't') {
+    show_contacts ^= 1;
+  }
+  else if (cmd == 'r') {
+    random_pos ^= 1;
+  }
+}
+
+
+// draw a geom
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R, int show_aabb)
+{
+  if (!g) return;
+  if (!pos) pos = dGeomGetPosition (g);
+  if (!R) R = dGeomGetRotation (g);
+
+  int type = dGeomGetClass (g);
+  if (type == dBoxClass) {
+    dVector3 sides;
+    dGeomBoxGetLengths (g,sides);
+    dsDrawBox (pos,R,sides);
+  }
+  else if (type == dSphereClass) {
+    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
+  }
+  else if (type == dCapsuleClass) {
+    dReal radius,length;
+    dGeomCapsuleGetParams (g,&radius,&length);
+    dsDrawCapsule (pos,R,length,radius);
+  } else if (type == dConvexClass) {
+   //dVector3 sides={0.50,0.50,0.50};
+    dsDrawConvex(pos,R,planes,
+                 planecount,
+                 points,
+                 pointcount,
+                 polygons);
+  }
+/*
+  // cylinder option not yet implemented
+  else if (type == dCylinderClass) {
+    dReal radius,length;
+    dGeomCylinderGetParams (g,&radius,&length);
+    dsDrawCylinder (pos,R,length,radius);
+  }
+*/
+
+  if (show_aabb) {
+    // draw the bounding box for this geom
+    dReal aabb[6];
+    dGeomGetAABB (g,aabb);
+    dVector3 bbpos;
+    for (int i=0; i<3; i++) bbpos[i] = 0.5*(aabb[i*2] + aabb[i*2+1]);
+    dVector3 bbsides;
+    for (int j=0; j<3; j++) bbsides[j] = aabb[j*2+1] - aabb[j*2];
+    dMatrix3 RI;
+    dRSetIdentity (RI);
+    dsSetColorAlpha (1,0,0,0.5);
+    dsDrawBox (bbpos,RI,bbsides);
+  }
+}
+
+
+// simulation loop
+
+static void simLoop (int pause)
+{
+  dsSetColor (0,0,2);
+  dSpaceCollide (space,0,&nearCallback);
+  if (!pause) dWorldStep (world,0.05);
+  //if (!pause) dWorldStepFast (world,0.05, 1);
+
+  // remove all contact joints
+  dJointGroupEmpty (contactgroup);
+
+  dsSetColor (1,1,0);
+  dsSetTexture (DS_WOOD);
+  for (int i=0; i<num; i++) {
+    for (int j=0; j < GPB; j++) {
+      if (i==selected) {
+	dsSetColor (0,0.7,1);
+      }
+      else if (! dBodyIsEnabled (obj[i].body)) {
+	dsSetColor (1,0,0);
+      }
+      else {
+	dsSetColor (1,1,0);
+      }
+      drawGeom (obj[i].geom[j],0,0,show_aabb);
+    }
+  }
+
+  /*{
+    for (int i = 1; i < IndexCount; i++) {
+      dsDrawLine(Vertices[Indices[i - 1]], Vertices[Indices[i]]);
+    }
+  }*/
+
+  {const dReal* Pos = dGeomGetPosition(TriMesh);
+  const dReal* Rot = dGeomGetRotation(TriMesh);
+
+  {for (int i = 0; i < IndexCount / 3; i++){
+    const float *p = Vertices[Indices[i * 3 + 0]];
+    const dVector3 v0 = { p[0], p[1], p[2] };
+    p = Vertices[Indices[i * 3 + 1]];
+    const dVector3 v1 = { p[0], p[1], p[2] };
+    p = Vertices[Indices[i * 3 + 2]];
+    const dVector3 v2 = { p[0], p[1], p[2] };
+    dsDrawTriangle(Pos, Rot, v0, v1, v2, 0);
+  }}}
+
+  if (Ray){
+	  dVector3 Origin, Direction;
+	  dGeomRayGet(Ray, Origin, Direction);
+	  
+	  dReal Length = dGeomRayGetLength(Ray);
+	  
+	  dVector3 End;
+	  End[0] = Origin[0] + (Direction[0] * Length);
+	  End[1] = Origin[1] + (Direction[1] * Length);
+	  End[2] = Origin[2] + (Direction[2] * Length);
+	  End[3] = Origin[3] + (Direction[3] * Length);
+	  
+	  dsDrawLine(Origin, End);
+  }
+}
+
+
+int main (int argc, char **argv)
+{
+  // setup pointers to drawstuff callback functions
+  dsFunctions fn;
+  fn.version = DS_VERSION;
+  fn.start = &start;
+  fn.step = &simLoop;
+  fn.command = &command;
+  fn.stop = 0;
+  fn.path_to_textures = DRAWSTUFF_TEXTURE_PATH;
+
+  // create world
+  dInitODE2(0);
+  world = dWorldCreate();
+
+  space = dSimpleSpaceCreate(0);
+  contactgroup = dJointGroupCreate (0);
+  dWorldSetGravity (world,0,0,-0.5);
+  dWorldSetCFM (world,1e-5);
+  //dCreatePlane (space,0,0,1,0);
+  memset (obj,0,sizeof(obj));
+  
+  Size[0] = 5.0f;
+  Size[1] = 5.0f;
+  Size[2] = 2.5f;
+  
+  Vertices[0][0] = -Size[0];
+  Vertices[0][1] = -Size[1];
+  Vertices[0][2] = Size[2];
+  
+  Vertices[1][0] = Size[0];
+  Vertices[1][1] = -Size[1];
+  Vertices[1][2] = Size[2];
+  
+  Vertices[2][0] = Size[0];
+  Vertices[2][1] = Size[1];
+  Vertices[2][2] = Size[2];
+  
+  Vertices[3][0] = -Size[0];
+  Vertices[3][1] = Size[1];
+  Vertices[3][2] = Size[2];
+  
+  Vertices[4][0] = 0;
+  Vertices[4][1] = 0;
+  Vertices[4][2] = 0;
+  
+  Indices[0] = 0;
+  Indices[1] = 1;
+  Indices[2] = 4;
+  
+  Indices[3] = 1;
+  Indices[4] = 2;
+  Indices[5] = 4;
+  
+  Indices[6] = 2;
+  Indices[7] = 3;
+  Indices[8] = 4;
+  
+  Indices[9] = 3;
+  Indices[10] = 0;
+  Indices[11] = 4;
+
+  dTriMeshDataID Data = dGeomTriMeshDataCreate();
+
+  //dGeomTriMeshDataBuildSimple(Data, (dReal*)Vertices, VertexCount, Indices, IndexCount);
+  dGeomTriMeshDataBuildSingle(Data, Vertices[0], 3 * sizeof(float), VertexCount, &Indices[0], IndexCount, 3 * sizeof(dTriIndex));
+  dGeomTriMeshDataPreprocess2(Data, (1U << dTRIDATAPREPROCESS_BUILD_FACE_ANGLES), NULL);
+
+  TriMesh = dCreateTriMesh(space, Data, 0, 0, 0);
+
+  //dGeomSetPosition(TriMesh, 0, 0, 1.0);
+  
+  Ray = dCreateRay(space, 0.9);
+  dVector3 Origin, Direction;
+  Origin[0] = 0.0;
+  Origin[1] = 0;
+  Origin[2] = 0.5;
+  Origin[3] = 0;
+  
+  Direction[0] = 0;
+  Direction[1] = 1.1f;
+  Direction[2] = -1;
+  Direction[3] = 0;
+  dNormalize3(Direction);
+  
+  dGeomRaySet(Ray, Origin[0], Origin[1], Origin[2], Direction[0], Direction[1], Direction[2]);
+  
+  dThreadingImplementationID threading = dThreadingAllocateMultiThreadedImplementation();
+  dThreadingThreadPoolID pool = dThreadingAllocateThreadPool(4, 0, dAllocateFlagBasicData, NULL);
+  dThreadingThreadPoolServeMultiThreadedImplementation(pool, threading);
+  // dWorldSetStepIslandsProcessingMaxThreadCount(world, 1);
+  dWorldSetStepThreadingImplementation(world, dThreadingImplementationGetFunctions(threading), threading);
+
+  // run simulation
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+  dThreadingImplementationShutdownProcessing(threading);
+  dThreadingFreeThreadPool(pool);
+  dWorldSetStepThreadingImplementation(world, NULL, NULL);
+  dThreadingFreeImplementation(threading);
+
+  dJointGroupDestroy (contactgroup);
+  dSpaceDestroy (space);
+  dWorldDestroy (world);
+  dCloseODE();
+  return 0;
+}
diff --git a/libs/ode-0.16.1/ode/demo/halton235_geom.h b/libs/ode-0.16.1/ode/demo/halton235_geom.h
new file mode 100644
index 0000000..c571d4f
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/halton235_geom.h
@@ -0,0 +1,2271 @@
+// Generated by ./Tools/mksrc.py
+
+// h00
+const int h00_numv = 14;
+const int h00_numf = 9;
+const dReal h00_volu = 0.105869;
+const dReal h00_pos[3] = { -0.801161,-0.825905,-0.503586 };
+const dReal h00_verts[ h00_numv * 3 ] = {
+  -0.198839,-0.174095,-0.496414, -0.198839,-0.073069,-0.496414, 0.355754,-0.174095,0.317906, 0.266263,0.078525,-0.113353, -0.198839,0.418138,0.148658, -0.198839,0.151957,0.285583, -0.004749,-0.165186,-0.496414, -0.198839,0.342511,-0.068863, -0.198839,-0.174095,0.341490, 0.030157,-0.174095,0.397398, -0.005096,-0.174095,-0.496414, 0.428901,-0.174095,0.139324, -0.198839,0.419530,0.145078, -0.111897,0.386202,0.018538, 
+};
+const unsigned int h00_faces[] = {
+  5, 7,13,3,6,1,
+  4, 6,10,0,1,
+  7, 0,8,5,4,12,7,1,
+  6, 11,3,13,12,4,2,
+  4, 4,5,9,2,
+  6, 9,8,0,10,11,2,
+  4, 11,10,6,3,
+  3, 8,9,5,
+  3, 12,13,7,
+};
+const dReal h00_planes[ h00_numf * 4 ] = {
+  0.322183,0.678839,-0.659831,0.213885,0,0,-1,0.496414,-1,3.46515e-16,1.34725e-16,0.198839,0.66261,0.69806,0.271405,0.200478,0.212159,0.447018,0.869002,0.273913,-0,-1,0,0.174095,0.825473,-0.0322069,-0.563523,0.281141,-0.233951,0.164312,0.958263,0.34515,-0.131169,0.932758,-0.335793,0.368685
+};
+// h01
+const int h01_numv = 16;
+const int h01_numf = 10;
+const dReal h01_volu = 0.123003;
+const dReal h01_pos[3] = { -0.669502,-0.555335,-0.800913 };
+const dReal h01_verts[ h01_numv * 3 ] = {
+  0.137874,0.266251,0.316069, -0.136407,-0.435756,-0.199087, -0.330498,0.127352,-0.199087, 0.378917,-0.091301,0.019367, 0.437409,0.033623,-0.016334, 0.038469,0.311615,0.180723, -0.330498,-0.343638,-0.199087, 0.193689,-0.157234,0.188948, 0.276656,-0.200503,-0.199087, 0.399981,0.033623,-0.199087, -0.039317,0.311615,-0.199087, -0.330498,0.071941,0.228464, 0.134604,-0.192045,0.183974, -0.243556,0.115632,0.315865, 0.128360,0.261346,0.324519, -0.053858,0.233367,0.333678, 
+};
+const unsigned int h01_faces[] = {
+  5, 8,3,7,12,1,
+  5, 12,13,11,6,1,
+  6, 6,2,10,9,8,1,
+  6, 11,13,15,5,10,2,
+  3, 6,11,2,
+  4, 8,9,4,3,
+  5, 4,0,14,7,3,
+  5, 9,10,5,0,4,
+  4, 15,14,0,5,
+  5, 14,15,13,12,7,
+};
+const dReal h01_planes[ h01_numf * 4 ] = {
+  0.485031,-0.851631,0.198669,0.265389,-0.322183,-0.678839,0.659831,0.208392,0,0,-1,0.199087,-0.53156,0.839996,0.108863,0.260981,-1,0,-0,0.330498,0.870584,-0.458578,-0.178296,0.368295,0.693474,-0.121763,0.710118,0.287639,0.531559,0.839996,-0.108863,0.26253,-0.120149,0.911352,0.393704,0.35052,0.0929092,-0.293639,0.951391,0.243929
+};
+// h02
+const int h02_numv = 22;
+const int h02_numf = 13;
+const dReal h02_volu = 0.069699;
+const dReal h02_pos[3] = { -0.226726,-0.554920,-0.490680 };
+const dReal h02_verts[ h02_numv * 3 ] = {
+  0.092179,-0.226103,0.260087, -0.296734,0.272195,0.041665, -0.063859,-0.091716,-0.290866, 0.291800,-0.116083,-0.104671, -0.005367,0.033207,-0.326567, 0.057499,0.071569,-0.315604, -0.314416,0.260931,0.014286, 0.001987,-0.310858,0.106391, 0.200664,0.041526,0.249449, -0.249087,-0.157649,-0.121285, 0.164143,-0.213455,-0.116915, 0.086533,-0.112211,0.311781, 0.301609,-0.100599,-0.031006, -0.013037,0.041374,0.269240, 0.214238,-0.145305,0.159971, -0.177599,0.337949,0.022880, -0.304902,0.265836,0.005836, 0.151444,0.029502,0.298046, 0.226514,0.065723,0.196331, -0.078156,0.329100,-0.024159, 0.053890,0.084483,0.272741, -0.198047,0.327898,0.050872, 
+};
+const unsigned int h02_faces[] = {
+  4, 13,20,21,1,
+  5, 21,15,16,6,1,
+  7, 6,9,7,0,11,13,1,
+  5, 9,6,16,4,2,
+  5, 4,5,3,10,2,
+  4, 10,7,9,2,
+  5, 5,19,18,12,3,
+  6, 12,14,0,7,10,3,
+  5, 16,15,19,5,4,
+  7, 18,19,15,21,20,17,8,
+  5, 17,11,0,14,8,
+  4, 14,12,18,8,
+  4, 17,20,13,11,
+};
+const dReal h02_planes[ h02_numf * 4 ] = {
+  -0.322885,0.43293,0.841615,0.248718,-0.488006,0.871758,-0.0434537,0.380285,-0.73548,-0.309929,0.602505,0.158984,-0.693474,0.121763,-0.710118,0.239666,0.398278,-0.419584,-0.815674,0.250302,-0.11362,-0.877785,-0.465387,0.223128,0.726907,0.646142,-0.23261,0.161453,0.598819,-0.796079,0.0875987,0.257978,-0.27553,0.653111,-0.705358,0.253514,0.315015,0.796483,0.516121,0.225033,0.709719,-0.26169,0.654077,0.294707,0.913105,-0.120244,0.389591,0.275417,-0.158394,0.166869,0.973173,0.270985
+};
+// h03
+const int h03_numv = 18;
+const int h03_numf = 11;
+const dReal h03_volu = 0.069585;
+const dReal h03_pos[3] = { -0.013871,-0.718833,-0.869565 };
+const dReal h03_verts[ h03_numv * 3 ] = {
+  -0.207492,-0.281167,-0.130435, 0.113468,0.049972,0.264160, -0.007999,0.353837,-0.130435, 0.078945,0.047830,0.274214, -0.003048,-0.281167,0.119131, -0.048711,-0.049541,0.261970, -0.155356,0.235482,0.063281, 0.163083,-0.281167,0.065052, -0.378975,-0.037005,-0.130435, -0.276714,0.072197,0.088019, 0.263172,-0.281167,-0.130435, 0.247851,0.256254,-0.130435, 0.308871,0.008019,-0.130435, 0.268707,0.210552,0.010520, 0.116203,0.335344,-0.130435, 0.263499,0.226082,-0.009852, -0.255650,0.197121,-0.130435, -0.218222,0.197121,0.052318, 
+};
+const unsigned int h03_faces[] = {
+  7, 13,15,14,2,6,3,1,
+  5, 3,5,4,7,1,
+  5, 7,10,12,13,1,
+  4, 16,17,6,2,
+  8, 14,11,12,10,0,8,16,2,
+  5, 6,17,9,5,3,
+  5, 5,9,8,0,4,
+  4, 0,10,7,4,
+  4, 9,17,16,8,
+  3, 14,15,11,
+  4, 15,13,12,11,
+};
+const dReal h03_planes[ h03_numf * 4 ] = {
+  0.119725,0.804079,0.582343,0.207598,0.274018,-0.465094,0.841785,0.230216,0.881437,-0.139289,0.451296,0.212269,-0.53156,0.839996,0.108863,0.287274,0,-0,-1,0.130435,-0.398278,0.419584,0.815674,0.212296,-0.679728,-0.477395,0.556833,0.202635,-0,-1,-0,0.281167,-0.870584,0.458578,0.178296,0.289704,0.509459,0.848006,0.146072,0.324522,0.968964,0.238186,-0.066148,0.309823
+};
+// h04
+const int h04_numv = 18;
+const int h04_numf = 11;
+const dReal h04_volu = 0.049776;
+const dReal h04_pos[3] = { 0.037853,-0.892026,-0.431971 };
+const dReal h04_verts[ h04_numv * 3 ] = {
+  -0.100436,0.123651,-0.175624, 0.353999,-0.060233,0.083056, 0.061744,0.223165,-0.173434, -0.054772,-0.107974,-0.318463, 0.079577,0.232813,-0.134685, 0.365414,-0.107974,0.061633, 0.111359,-0.107974,-0.372542, -0.262592,0.026248,0.047682, -0.327682,-0.107974,0.107959, -0.050341,0.191801,0.101262, -0.248632,-0.107974,0.379486, -0.172400,0.111003,0.201378, 0.324182,-0.074827,0.146980, 0.312271,-0.107974,0.174077, -0.248842,-0.086035,0.364515, -0.264984,-0.107974,0.352871, 0.027221,0.221023,-0.163380, 0.037030,0.236507,-0.089715, 
+};
+const unsigned int h04_faces[] = {
+  4, 12,13,5,1,
+  5, 5,6,2,4,1,
+  5, 4,17,9,12,1,
+  4, 16,17,4,2,
+  5, 6,3,0,16,2,
+  4, 8,7,0,3,
+  7, 6,5,13,10,15,8,3,
+  5, 8,15,14,11,7,
+  6, 11,9,17,16,0,7,
+  6, 11,14,10,13,12,9,
+  3, 14,15,10,
+};
+const dReal h04_planes[ h04_numf * 4 ] = {
+  0.903842,0.0244154,0.42717,0.353968,0.79204,0.397342,-0.463457,0.217956,0.496382,0.766976,0.406636,0.163295,-0.11569,0.975032,-0.189546,0.243324,-0.274018,0.465094,-0.841785,0.232868,-0.83085,0.164121,-0.531744,0.197127,0,-1,0,0.107974,-0.837582,0.502473,0.214421,0.243355,-0.598819,0.796079,-0.0875987,0.173963,0.289106,0.541464,0.789452,0.169241,-0.80443,0.32957,0.494242,0.35198
+};
+// h05
+const int h05_numv = 12;
+const int h05_numf = 8;
+const dReal h05_volu = 0.060052;
+const dReal h05_pos[3] = { -0.361440,-0.882680,-0.728709 };
+const dReal h05_verts[ h05_numv * 3 ] = {
+  -0.444817,-0.117320,-0.271291, 0.140076,-0.117320,-0.271291, 0.136701,0.016901,0.344420, -0.031407,0.126842,-0.271291, 0.070855,0.236044,-0.052837, -0.114373,0.170111,0.116744, 0.344521,-0.117320,-0.021725, 0.298857,0.114305,0.121114, -0.444469,-0.108411,-0.271291, 0.071611,-0.117320,0.404697, -0.173458,0.135300,0.111770, -0.010820,-0.117320,0.364447, 
+};
+const unsigned int h05_faces[] = {
+  5, 3,4,7,6,1,
+  5, 6,9,11,0,1,
+  4, 0,8,3,1,
+  5, 5,10,11,9,2,
+  4, 9,6,7,2,
+  4, 7,4,5,2,
+  5, 8,10,5,4,3,
+  4, 0,11,10,8,
+};
+const dReal h05_planes[ h05_numf * 4 ] = {
+  0.679728,0.477395,-0.556833,0.190269,0,-1,0,0.11732,0,0,-1,0.271291,-0.373525,0.524676,0.76498,0.221281,0.83085,-0.164121,0.531744,0.293948,0.11362,0.877785,0.465387,0.190656,-0.485031,0.851631,-0.198669,0.177153,-0.825473,0.0322069,0.563523,0.210527
+};
+// h06
+const int h06_numv = 16;
+const int h06_numf = 10;
+const dReal h06_volu = 0.067458;
+const dReal h06_pos[3] = { 0.885250,-0.616510,-0.689541 };
+const dReal h06_verts[ h06_numv * 3 ] = {
+  -0.230633,-0.043361,0.025874, -0.001305,-0.383490,-0.079103, 0.114750,-0.383490,0.055891, 0.114750,0.141993,-0.310459, 0.042572,0.157183,0.322917, 0.114750,0.349093,0.009138, 0.114750,-0.209139,-0.310459, 0.114750,-0.383490,-0.220772, 0.114750,0.143660,0.326163, -0.023969,0.120047,-0.310459, -0.230634,0.218132,-0.108639, -0.072958,0.349093,0.054965, -0.138827,-0.119612,0.199579, 0.020027,-0.383490,0.025057, -0.041036,-0.038390,0.301047, 0.114750,-0.091790,0.305977, 
+};
+const unsigned int h06_faces[] = {
+  6, 0,10,9,6,7,1,
+  4, 7,2,13,1,
+  4, 13,12,0,1,
+  5, 15,14,12,13,2,
+  7, 7,6,3,5,8,15,2,
+  5, 9,10,11,5,3,
+  3, 6,9,3,
+  4, 14,15,8,4,
+  4, 8,5,11,4,
+  6, 11,10,0,12,14,4,
+};
+const dReal h06_planes[ h06_numf * 4 ] = {
+  -0.735479,-0.309932,-0.602505,0.167476,0,-1,0,0.38349,-0.794108,-0.585614,0.162633,0.212748,-0.239912,-0.631869,0.73701,0.255977,1,-0,0,0.11475,-0.131611,0.831909,-0.539079,0.270385,0,0,-1,0.310459,-0.0606999,-0.0852635,0.994508,0.305158,0.131611,0.831909,0.539078,0.310442,-0.793214,0.278548,0.541501,0.184874
+};
+// h07
+const int h07_numv = 18;
+const int h07_numf = 11;
+const dReal h07_volu = 0.100040;
+const dReal h07_pos[3] = { 0.439796,-0.816642,-0.690430 };
+const dReal h07_verts[ h07_numv * 3 ] = {
+  -0.290584,-0.183358,-0.114083, 0.444149,-0.183358,-0.078214, -0.340199,0.147781,0.085025, -0.036530,-0.183358,0.320092, -0.047944,-0.135617,0.341515, 0.306627,0.080520,0.200468, -0.322367,0.157429,0.123774, 0.465481,-0.183358,0.025945, 0.214820,0.156771,0.026763, -0.144796,0.105827,-0.309570, 0.159858,-0.183358,-0.309570, -0.190496,-0.183358,-0.309570, -0.155412,0.298926,0.091748, -0.184960,0.308361,-0.168615, -0.134267,0.332806,-0.106403, 0.196572,0.110989,0.274357, -0.157992,0.325768,-0.131745, -0.142419,0.333870,-0.095406, 
+};
+const unsigned int h07_faces[] = {
+  7, 10,9,13,16,14,8,1,
+  4, 8,5,7,1,
+  6, 7,3,0,11,10,1,
+  6, 6,12,17,16,13,2,
+  5, 13,9,11,0,2,
+  5, 0,3,4,6,2,
+  5, 7,5,15,4,3,
+  4, 15,12,6,4,
+  6, 8,14,17,12,15,5,
+  3, 10,11,9,
+  3, 16,17,14,
+};
+const dReal h07_planes[ h07_numf * 4 ] = {
+  0.525603,0.55372,-0.645861,0.182432,0.794108,0.585614,-0.162633,0.258045,0,-1,0,0.183358,-0.632147,0.768422,0.0995875,0.337082,-0.881437,0.139289,-0.451296,0.282078,-0.79204,-0.397342,0.463457,0.250137,0.488522,-0.25733,0.833743,0.296212,-0.212159,0.447016,0.869003,0.246326,0.381225,0.903643,0.195187,0.228784,-1.58443e-16,2.50379e-17,-1,0.30957,-0.105626,0.979232,-0.173057,0.35849
+};
+// h08
+const int h08_numv = 22;
+const int h08_numf = 13;
+const dReal h08_volu = 0.095115;
+const dReal h08_pos[3] = { 0.582909,-0.382310,-0.514785 };
+const dReal h08_verts[ h08_numv * 3 ] = {
+  0.039696,0.333763,-0.114253, -0.040720,0.073975,-0.343437, -0.281418,0.194479,0.107755, 0.071707,-0.016068,-0.283395, 0.071707,-0.277561,-0.148882, 0.163514,-0.353812,0.024824, 0.072380,0.310495,-0.182078, 0.344912,-0.077018,0.148161, 0.229382,0.114893,-0.119790, 0.056106,0.251986,0.176207, 0.261304,-0.272590,0.126291, 0.053460,-0.323343,0.098712, -0.280479,0.198156,0.096008, -0.285532,-0.100462,-0.271051, 0.094134,-0.250952,0.200497, -0.277380,-0.101526,-0.282048, -0.010614,0.002589,0.315575, -0.026292,0.211375,0.249710, 0.146296,0.123570,0.286302, 0.056041,0.119791,0.321947, -0.290185,0.102104,0.127875, -0.298525,-0.135406,-0.083897, 
+};
+const unsigned int h08_faces[] = {
+  6, 15,13,12,0,6,1,
+  4, 6,8,3,1,
+  4, 3,4,15,1,
+  5, 20,16,19,17,2,
+  5, 17,9,0,12,2,
+  5, 12,13,21,20,2,
+  6, 8,7,10,5,4,3,
+  6, 5,11,21,13,15,4,
+  4, 10,14,11,5,
+  6, 0,9,18,7,8,6,
+  6, 18,19,16,14,10,7,
+  4, 17,19,18,9,
+  5, 14,16,20,21,11,
+};
+const dReal h08_planes[ h08_numf * 4 ] = {
+  -0.595386,0.627237,-0.502085,0.243079,0.598205,0.236327,-0.765702,0.256094,0.107916,-0.45476,-0.884052,0.265581,-0.484779,0.229821,0.843903,0.272055,-0.215549,0.936705,0.275902,0.272559,-0.995125,0.0827659,-0.053632,0.290362,0.793214,-0.278548,-0.541501,0.214813,-0.381225,-0.903643,-0.195187,0.252539,0.131611,-0.83191,0.539077,0.329242,0.750032,0.646492,0.139642,0.229594,0.364346,-0.255892,0.895417,0.278042,0.228161,0.721101,0.654183,0.30978,-0.595564,-0.522855,0.609857,0.197424
+};
+// h09
+const int h09_numv = 16;
+const int h09_numf = 10;
+const dReal h09_volu = 0.059582;
+const dReal h09_pos[3] = { 0.627742,-0.657906,-0.898694 };
+const dReal h09_verts[ h09_numv * 3 ] = {
+  -0.028087,-0.342094,-0.101306, 0.372258,-0.342094,-0.101306, 0.233539,0.161443,-0.101306, 0.372258,-0.167743,-0.101306, 0.256203,-0.342094,0.130050, 0.372258,-0.342094,-0.011619, -0.322212,0.174071,0.101861, 0.026875,-0.001965,0.235027, -0.098160,0.388838,-0.101306, 0.026875,0.259528,0.100514, -0.332742,-0.052909,-0.101306, -0.085552,0.349571,0.040471, -0.393762,0.195327,-0.101306, -0.372906,0.149626,0.039648, -0.378114,0.165155,0.019276, -0.345937,0.167033,0.076519, 
+};
+const unsigned int h09_faces[] = {
+  7, 0,10,12,8,2,3,1,
+  3, 3,5,1,
+  4, 5,4,0,1,
+  4, 8,11,9,2,
+  6, 9,7,4,5,3,2,
+  7, 7,6,15,13,10,0,4,
+  6, 11,8,12,14,15,6,
+  4, 7,9,11,6,
+  4, 13,14,12,10,
+  3, 15,14,13,
+};
+const dReal h09_planes[ h09_numf * 4 ] = {
+  0,0,-1,0.101306,1,0,0,0.372258,0,-1,0,0.342094,0.55667,0.812007,0.175394,0.243329,0.735479,0.309932,0.602505,0.160762,-0.525603,-0.55372,0.645861,0.138757,-0.527367,0.805591,0.270012,0.337657,-0.107916,0.45476,0.884052,0.203982,-0.968964,-0.238186,0.066148,0.328316,-0.830322,0.320028,0.456232,0.375605
+};
+// h10
+const int h10_numv = 18;
+const int h10_numf = 11;
+const dReal h10_volu = 0.082139;
+const dReal h10_pos[3] = { -0.348593,-0.203405,-0.827574 };
+const dReal h10_verts[ h10_numv * 3 ] = {
+  0.351136,-0.038001,-0.172426, 0.318157,0.110282,-0.172426, -0.183035,-0.085679,0.342730, -0.360226,-0.040315,-0.172426, 0.190400,0.248876,-0.172426, 0.296736,0.161596,-0.025823, 0.116500,-0.318307,0.010327, -0.282440,-0.040315,0.207384, -0.155944,0.334915,-0.140051, -0.055732,-0.013566,0.359774, 0.296359,0.169251,-0.045236, -0.155944,0.347503,-0.172426, 0.079072,-0.318307,-0.172426, 0.043711,-0.022416,0.312735, 0.326723,-0.161591,-0.172426, 0.179366,-0.279946,0.021290, 0.100706,0.105108,0.263039, 0.042697,0.111008,0.290353, 
+};
+const unsigned int h10_faces[] = {
+  4, 10,5,0,1,
+  7, 0,14,12,3,11,4,1,
+  3, 4,10,1,
+  5, 6,15,13,9,2,
+  5, 9,17,8,7,2,
+  5, 7,3,12,6,2,
+  4, 7,8,11,3,
+  7, 11,8,17,16,5,10,4,
+  6, 16,13,15,14,0,5,
+  4, 12,14,15,6,
+  4, 13,16,17,9,
+};
+const dReal h10_planes[ h10_numf * 4 ] = {
+  0.973989,0.216619,0.066491,0.322306,-0,0,-1,0.172426,0.722579,0.66608,-0.18498,0.335245,0.27553,-0.653111,0.705358,0.247274,-0.46199,0.681388,0.567693,0.220745,-0.531559,-0.839996,0.108863,0.206575,-0.870584,0.458578,0.178296,0.264376,0.256529,0.900843,0.350248,0.212649,0.830851,-0.164118,0.531744,0.206291,0.53156,-0.839996,-0.108863,0.328179,0.433652,0.152283,0.888119,0.293288
+};
+// h11
+const int h11_numv = 18;
+const int h11_numf = 11;
+const dReal h11_volu = 0.058443;
+const dReal h11_pos[3] = { -0.902277,0.042835,-0.283464 };
+const dReal h11_verts[ h11_numv * 3 ] = {
+  0.065494,-0.341848,-0.057123, 0.194525,0.153131,-0.091230, -0.097723,-0.350111,0.163707, 0.194525,-0.144351,0.061796, 0.065493,0.122511,-0.295991, -0.097723,-0.183345,0.306682, -0.097723,0.152153,0.335446, -0.097723,-0.428001,-0.052654, 0.107269,-0.156775,0.196004, -0.097723,0.199975,-0.375687, 0.037223,0.358435,0.033582, -0.097723,0.406471,-0.057020, -0.067761,-0.416891,-0.051054, -0.040073,-0.340339,0.134552, 0.056142,-0.350169,-0.055126, 0.004412,-0.376327,-0.008857, 0.025793,-0.108438,0.290488, -0.096343,0.152412,0.335215, 
+};
+const unsigned int h11_faces[] = {
+  5, 4,9,11,10,1,
+  6, 10,17,16,8,3,1,
+  4, 3,0,4,1,
+  5, 7,12,15,13,2,
+  5, 13,8,16,5,2,
+  6, 5,6,11,9,7,2,
+  6, 8,13,15,14,0,3,
+  6, 0,14,12,7,9,4,
+  4, 16,17,6,5,
+  4, 17,10,11,6,
+  3, 14,15,12,
+};
+const dReal h11_planes[ h11_numf * 4 ] = {
+  0.553062,0.69918,-0.453068,0.255983,0.793213,0.278551,0.5415,0.147553,0.835369,-0.251444,-0.48881,0.168589,0.314046,-0.893286,0.321583,0.334705,0.443092,-0.583496,0.68059,0.272405,-1,0,0,0.0977235,0.66062,-0.653782,0.368986,0.245683,0.212159,-0.447018,-0.869002,0.216347,0.179474,-0.0840327,0.980167,0.298468,-0.066237,0.837367,0.542613,0.315898,0.474713,-0.879502,0.0335246,0.332778
+};
+// h12
+const int h12_numv = 22;
+const int h12_numf = 13;
+const dReal h12_volu = 0.106128;
+const dReal h12_pos[3] = { -0.838340,-0.076123,-0.758521 };
+const dReal h12_verts[ h12_numv * 3 ] = {
+  0.207307,-0.167597,0.138331, 0.129521,-0.167597,-0.241479, -0.161660,0.318933,0.099371, 0.312802,0.272050,-0.241479, -0.161660,-0.330252,0.400013, -0.074718,-0.363580,0.273473, 0.001556,0.241469,0.179066, -0.161660,-0.309043,0.422403, -0.161660,-0.407271,0.186072, -0.161660,-0.351860,-0.241479, -0.007794,-0.231211,0.419931, 0.001557,-0.222890,0.417934, 0.309084,0.269226,-0.210613, -0.161660,0.422173,-0.241479, 0.072963,0.309250,0.057032, -0.161660,0.392766,-0.014569, -0.131698,-0.297933,0.424004, -0.161660,-0.327468,0.404309, 0.114980,-0.245845,0.291286, 0.009169,-0.227496,0.411012, 0.333803,0.207633,-0.209104, 0.333803,0.220221,-0.241479, 
+};
+const unsigned int h12_faces[] = {
+  6, 0,18,5,8,9,1,
+  5, 9,13,3,21,1,
+  4, 21,20,0,1,
+  4, 6,14,15,2,
+  8, 15,13,9,8,4,17,7,2,
+  6, 7,16,10,11,6,2,
+  4, 12,20,21,3,
+  5, 13,15,14,12,3,
+  7, 5,18,19,10,16,17,4,
+  3, 8,5,4,
+  8, 11,19,18,0,20,12,14,6,
+  3, 17,16,7,
+  3, 19,11,10,
+};
+const dReal h12_planes[ h12_numf * 4 ] = {
+  0.53156,-0.839996,-0.108863,0.235917,0,0,-1,0.241479,0.870584,-0.458578,-0.178296,0.23267,0.131611,0.83191,0.539077,0.297616,-1,0,0,0.16166,-0.212159,0.447018,0.869002,0.263219,0.917084,0.371595,0.144476,0.353071,0.299389,0.946218,0.12263,0.321456,0.425203,-0.759567,0.4922,0.378997,0.131169,-0.932758,0.335793,0.421162,0.735479,0.309932,0.602505,0.183872,0.216442,-0.684063,0.696571,0.470649,0.494656,-0.366713,0.787932,0.411811
+};
+// h13
+const int h13_numv = 22;
+const int h13_numf = 13;
+const dReal h13_volu = 0.080573;
+const dReal h13_pos[3] = { -0.579196,0.019592,-0.524795 };
+const dReal h13_verts[ h13_numv * 3 ] = {
+  -0.186181,0.213535,-0.176694, 0.154423,-0.034973,0.266436, 0.105286,0.335497,0.021835, 0.055737,-0.302317,0.075780, -0.128556,-0.121108,0.303127, 0.252786,0.058395,0.170378, -0.257588,0.145754,-0.054660, 0.097995,0.334920,0.024505, 0.093556,-0.038093,0.287537, 0.074659,0.111918,-0.442830, -0.051837,-0.263312,-0.095394, -0.257587,-0.318605,0.184208, 0.273300,-0.111989,-0.012426, 0.049940,0.173511,-0.444339, -0.026589,0.239892,0.129875, -0.128556,0.176374,0.150102, 0.038054,-0.313581,0.048402, 0.047568,-0.308676,0.039952, -0.249976,-0.323211,0.177286, -0.144164,-0.341560,0.057561, 0.174871,-0.236563,0.056995, 0.154423,-0.246614,0.084987, 
+};
+const unsigned int h13_faces[] = {
+  5, 21,20,12,5,1,
+  6, 5,2,7,14,8,1,
+  7, 8,4,11,18,3,21,1,
+  5, 5,12,9,13,2,
+  4, 13,0,7,2,
+  5, 16,17,20,21,3,
+  4, 18,19,16,3,
+  4, 8,14,15,4,
+  4, 15,6,11,4,
+  5, 15,14,7,0,6,
+  8, 0,13,9,10,19,18,11,6,
+  5, 12,20,17,10,9,
+  4, 17,16,19,10,
+};
+const dReal h13_planes[ h13_numf * 4 ] = {
+  0.805487,-0.385719,0.449901,0.257745,0.24653,0.556538,0.793403,0.229997,0.284317,-0.624016,0.727852,0.259655,0.904761,0.357436,-0.231619,0.21012,-0.184883,0.934913,-0.302912,0.287581,0.488006,-0.871758,0.0434537,0.29404,0.159459,-0.944944,0.285751,0.316215,-0.107916,0.45476,0.884052,0.226779,-0.835369,0.251444,0.48881,0.225111,-0.493234,0.850287,0.183662,0.240945,-0.735479,-0.309932,-0.602505,0.17721,0.46199,-0.681388,-0.567693,0.209624,0.120149,-0.911352,-0.393704,0.271298
+};
+// h14
+const int h14_numv = 24;
+const int h14_numf = 14;
+const dReal h14_volu = 0.092625;
+const dReal h14_pos[3] = { 0.037294,-0.326434,-0.629340 };
+const dReal h14_verts[ h14_numv * 3 ] = {
+  0.244511,-0.164440,-0.192835, -0.034752,0.085028,-0.370660, -0.037506,-0.162763,0.334991, -0.206521,-0.156917,-0.176944, 0.151340,0.267484,0.166363, 0.265137,0.142280,0.210563, 0.260084,-0.156338,-0.156496, -0.285181,0.228137,0.064806, 0.037588,-0.329085,0.107655, -0.342176,0.100614,0.114501, 0.027780,-0.344569,0.033990, -0.089151,0.284625,-0.224057, -0.059164,-0.038562,-0.370660, 0.065038,-0.057055,-0.370660, 0.036995,0.362842,0.085406, 0.062303,-0.342427,0.023935, 0.217542,-0.181847,-0.229705, 0.212334,-0.166317,-0.250077, 0.224212,0.171137,0.236256, 0.080136,-0.332779,0.062684, 0.146779,-0.002116,0.303773, 0.264198,0.138603,0.222310, 0.247091,-0.191282,0.030659, 0.255431,0.046228,0.242430, 
+};
+const unsigned int h14_faces[] = {
+  6, 12,3,9,7,11,1,
+  9, 11,14,4,5,6,0,17,13,1,
+  3, 13,12,1,
+  6, 8,19,22,23,20,2,
+  7, 20,18,4,14,7,9,2,
+  5, 9,3,10,8,2,
+  7, 12,13,17,16,15,10,3,
+  4, 18,21,5,4,
+  5, 21,23,22,6,5,
+  6, 22,19,15,16,0,6,
+  3, 14,11,7,
+  4, 10,15,19,8,
+  3, 17,0,16,
+  4, 20,23,21,18,
+};
+const dReal h14_planes[ h14_numf * 4 ] = {
+  -0.830851,0.164118,-0.531744,0.239924,0.738081,0.518376,-0.431883,0.178509,0,0,-1,0.37066,0.582463,-0.552262,0.596442,0.267845,-0.240814,0.443968,0.863077,0.225893,-0.726907,-0.646142,0.23261,0.210353,-0.119725,-0.804079,-0.582343,0.253941,0.662611,0.698059,0.271405,0.33215,0.995125,-0.0827659,0.053632,0.263362,0.632147,-0.768422,-0.0995875,0.300129,-0.380333,0.921564,-0.0778922,0.313659,0.11569,-0.975032,0.189546,0.345622,0.830322,-0.320028,-0.456232,0.343625,0.433652,0.152283,0.888119,0.333115
+};
+// h15
+const int h15_numv = 16;
+const int h15_numf = 10;
+const dReal h15_volu = 0.047330;
+const dReal h15_pos[3] = { 0.221274,0.213040,-0.893886 };
+const dReal h15_verts[ h15_numv * 3 ] = {
+  -0.273508,-0.247194,0.021075, -0.214206,0.249387,-0.106114, -0.394680,0.092354,-0.106114, 0.468273,-0.026582,-0.106114, -0.379467,-0.167569,-0.106114, -0.251710,-0.306163,-0.106114, -0.130453,-0.090301,0.212222, 0.215618,0.100683,0.162583, 0.108399,0.111587,0.216806, 0.543500,0.089559,-0.106114, 0.556660,0.080198,-0.106114, 0.496376,0.018888,-0.040935, 0.000444,-0.021162,0.246756, 0.322381,0.024676,0.097420, 0.541635,0.087788,-0.096097, 0.556215,0.081512,-0.106114, 
+};
+const unsigned int h15_faces[] = {
+  5, 2,6,12,8,1,
+  5, 8,7,14,9,1,
+  8, 9,15,10,3,5,4,2,1,
+  4, 4,0,6,2,
+  3, 10,11,3,
+  7, 11,13,12,6,0,5,3,
+  3, 5,0,4,
+  6, 13,11,10,15,14,7,
+  4, 8,12,13,7,
+  3, 14,15,9,
+};
+const dReal h15_planes[ h15_numf * 4 ] = {
+  -0.469359,0.539421,0.69909,0.160881,0.201934,0.957321,0.206781,0.173545,0,0,-1,0.106114,-0.781405,-0.0457332,0.622346,0.238142,0.765488,-0.633631,0.11198,0.363418,0.324513,-0.835692,0.443069,0.127159,-0.722579,-0.66608,0.18498,0.366181,0.613049,0.207593,0.762283,0.27702,0.433652,-0.152283,0.888119,0.222564,0.518906,0.82,0.241527,0.329834
+};
+// h16
+const int h16_numv = 24;
+const int h16_numf = 14;
+const dReal h16_volu = 0.105221;
+const dReal h16_pos[3] = { -0.230932,0.200668,-0.677519 };
+const dReal h16_verts[ h16_numv * 3 ] = {
+  0.072738,-0.155197,-0.322481, 0.178698,-0.234822,-0.195293, -0.074965,-0.293065,0.140297, -0.273605,-0.069158,-0.290106, -0.242978,0.154421,0.174559, 0.321753,-0.077929,-0.004145, 0.331656,-0.130769,0.158361, -0.234281,0.105965,-0.322481, 0.057526,0.104725,-0.322481, -0.070916,0.357222,-0.022485, 0.179075,-0.242477,-0.175878, 0.305221,-0.164260,0.133584, 0.289986,0.017556,0.326217, -0.205442,0.224195,0.181431, -0.273605,-0.056571,-0.322481, -0.016955,-0.298965,0.112984, -0.012263,0.183238,-0.322481, -0.122870,0.351842,-0.002882, -0.294606,-0.004741,-0.322481, -0.298324,-0.007565,-0.291615, 0.354068,-0.072999,0.110530, 0.306083,0.044665,0.287425, 0.072223,0.006072,0.394149, -0.095479,-0.122681,0.323101, 
+};
+const unsigned int h16_faces[] = {
+  7, 10,15,2,3,14,0,1,
+  4, 0,8,5,1,
+  6, 5,20,6,11,10,1,
+  7, 15,11,6,12,22,23,2,
+  5, 23,4,19,3,2,
+  4, 19,18,14,3,
+  4, 23,22,13,4,
+  6, 13,17,7,18,19,4,
+  6, 8,16,9,21,20,5,
+  4, 20,21,12,6,
+  4, 17,9,16,7,
+  6, 16,8,0,14,18,7,
+  6, 17,13,22,12,21,9,
+  3, 11,15,10,
+};
+const dReal h16_planes[ h16_numf * 4 ] = {
+  -0.256529,-0.900843,-0.350248,0.234098,0.781405,0.0457332,-0.622346,0.250435,0.837582,-0.502473,-0.214421,0.309541,0.247318,-0.694798,0.675344,0.27983,-0.904761,-0.357436,0.231619,0.205073,-0.917084,-0.371595,-0.144476,0.318531,-0.501077,0.186311,0.84511,0.298042,-0.876412,0.477567,-0.0618929,0.275891,0.726908,0.64614,-0.232611,0.184496,0.941719,-0.0992098,0.32144,0.376203,-0.28037,0.805551,-0.521997,0.31938,0,0,-1,0.322481,0.148211,0.780702,0.607074,0.254723,0.380333,-0.921564,0.0778922,0.277867
+};
+// h17
+const int h17_numv = 26;
+const int h17_numf = 15;
+const dReal h17_volu = 0.108916;
+const dReal h17_pos[3] = { 0.335926,-0.094685,-0.795267 };
+const dReal h17_verts[ h17_numv * 3 ] = {
+  0.319363,0.022871,0.098404, -0.388160,0.060531,-0.077543, 0.353621,0.281144,-0.204733, 0.207729,0.332401,-0.001198, 0.193656,-0.174383,-0.204733, -0.101947,-0.367894,-0.204733, -0.366362,0.001562,-0.204733, -0.261637,0.131093,0.251333, 0.356211,0.239639,0.008049, -0.212790,0.222354,0.228279, -0.038549,-0.388087,0.009431, -0.033495,-0.089469,0.376490, -0.054122,-0.396189,-0.026907, 0.286680,0.046139,0.166229, 0.206263,-0.213650,-0.062955, -0.030396,-0.389151,-0.001566, -0.086298,-0.398066,-0.084150, -0.233594,-0.288804,-0.204733, -0.114208,0.286563,0.148137, -0.245105,0.217424,0.113603, 0.376946,0.258587,-0.036908, 0.381724,0.326613,-0.139554, -0.147292,0.035735,0.332290, -0.235202,0.164584,0.276109, -0.333383,-0.146721,-0.204733, -0.387783,0.052876,-0.058130, 
+};
+const unsigned int h17_faces[] = {
+  4, 6,24,25,1,
+  6, 25,7,23,9,19,1,
+  7, 19,18,3,21,2,6,1,
+  6, 21,20,0,14,4,2,
+  6, 4,5,17,24,6,2,
+  4, 8,20,21,3,
+  8, 18,9,23,22,11,13,8,3,
+  6, 14,15,12,16,5,4,
+  3, 16,17,5,
+  3, 22,23,7,
+  9, 25,24,17,16,12,10,11,22,7,
+  4, 13,0,20,8,
+  3, 18,19,9,
+  6, 15,14,0,13,11,10,
+  3, 12,15,10,
+};
+const dReal h17_planes[ h17_numf * 4 ] = {
+  -0.973989,-0.216619,-0.066491,0.370108,-0.837582,0.502473,0.214421,0.338905,-0.324513,0.835692,-0.443069,0.210905,0.929286,-0.326334,-0.173016,0.27229,-4.07036e-16,-9.05266e-17,-1,0.204733,0.43192,0.742413,0.512121,0.335888,0.289106,0.541464,0.789452,0.239093,0.527367,-0.805591,-0.270012,0.297889,-0.509459,-0.848006,-0.146072,0.39382,-0.621965,-0.0849382,0.778424,0.347238,-0.738081,-0.518376,0.431883,0.2337,0.903842,0.0244154,0.42717,0.331247,-0.485104,0.868795,0.0993492,0.319085,0.595386,-0.627237,0.502085,0.225206,0.105626,-0.979232,0.173057,0.377587
+};
+// h18
+const int h18_numv = 18;
+const int h18_numf = 11;
+const dReal h18_volu = 0.081077;
+const dReal h18_pos[3] = { 0.870716,-0.039183,-0.528244 };
+const dReal h18_verts[ h18_numv * 3 ] = {
+  -0.102809,0.184137,0.110997, 0.129284,0.393063,-0.471756, 0.129284,0.325763,0.151471, 0.124364,0.395398,-0.471756, -0.058424,-0.228234,-0.106332, 0.057106,-0.420144,0.161620, -0.248110,-0.009363,-0.100794, -0.231701,-0.091141,0.189666, 0.129284,-0.228234,-0.152159, 0.129284,-0.433667,0.164866, 0.129284,-0.166980,0.404939, -0.141510,-0.219557,0.299761, 0.129284,0.397646,-0.471756, -0.215427,-0.032631,-0.168619, 0.102902,0.388713,-0.463077, 0.129284,0.404181,-0.453605, -0.178579,0.184137,-0.258974, -0.157844,0.203085,-0.303931, 
+};
+const unsigned int h18_faces[] = {
+  7, 8,4,13,17,14,3,1,
+  3, 3,12,1,
+  7, 12,15,2,10,9,8,1,
+  6, 15,14,17,16,0,2,
+  5, 0,7,11,10,2,
+  4, 14,15,12,3,
+  6, 5,11,7,6,13,4,
+  4, 8,9,5,4,
+  4, 9,10,11,5,
+  4, 16,17,13,6,
+  4, 7,0,16,6,
+};
+const dReal h18_planes[ h18_numf * 4 ] = {
+  -0.212159,-0.447018,-0.869002,0.206822,0,-0,-1,0.471756,1,0,-0,0.129284,-0.53156,0.839996,0.108863,0.221407,-0.398278,0.419585,0.815673,0.208745,-0.395039,0.86436,-0.311169,0.439434,-0.750032,-0.646492,-0.139642,0.206219,-0.131611,-0.831909,-0.539078,0.25488,-0.156805,-0.660773,0.734024,0.387299,-0.903842,-0.0244154,-0.42717,0.267537,-0.870583,0.45858,0.178295,0.193736
+};
+// h19
+const int h19_numv = 16;
+const int h19_numf = 10;
+const dReal h19_volu = 0.057269;
+const dReal h19_pos[3] = { 0.808301,-0.134672,-0.879100 };
+const dReal h19_verts[ h19_numv * 3 ] = {
+  0.052980,-0.361791,-0.120900, 0.191699,-0.339845,-0.120900, -0.030366,0.427910,-0.120900, 0.191699,0.488552,-0.120900, -0.118754,0.321131,-0.120900, 0.191699,-0.132745,0.198697, 0.186779,0.490887,-0.120900, 0.003992,-0.132745,0.244524, -0.153012,0.062857,0.182237, -0.153685,-0.263706,0.080920, -0.278719,-0.134396,-0.120900, -0.266112,-0.173663,0.020877, -0.090651,0.366600,-0.055721, -0.095429,0.298574,0.046924, -0.012422,0.433588,-0.120900, 0.165316,0.484202,-0.112221, 
+};
+const unsigned int h19_faces[] = {
+  5, 5,7,9,0,1,
+  8, 0,10,4,2,14,6,3,1,
+  3, 3,5,1,
+  5, 12,13,15,14,2,
+  3, 4,12,2,
+  7, 6,15,13,8,7,5,3,
+  6, 10,11,8,13,12,4,
+  3, 14,15,6,
+  4, 8,11,9,7,
+  4, 11,10,0,9,
+};
+const dReal h19_planes[ h19_numf * 4 ] = {
+  0.131611,-0.831909,0.539079,0.242775,-4.33777e-17,-9.13967e-17,-1,0.1209,1,0,0,0.191699,-0.256638,0.811103,0.525594,0.291328,-0.765488,0.633631,-0.11198,0.307921,0.212159,0.447018,0.869002,0.153999,-0.929286,0.326334,0.173016,0.194234,-0.275992,0.959497,0.0565231,0.412621,-0.598205,-0.236327,0.765702,0.216216,-0.55667,-0.812007,-0.175394,0.28549
+};
+// h20
+const int h20_numv = 30;
+const int h20_numf = 17;
+const dReal h20_volu = 0.107509;
+const dReal h20_pos[3] = { 0.402458,0.140897,-0.404353 };
+const dReal h20_verts[ h20_numv * 3 ] = {
+  -0.100408,0.282050,-0.142576, 0.065914,0.236686,0.319509, -0.125820,0.203801,0.337118, 0.365449,0.004057,-0.012894, 0.056400,0.231781,0.327959, 0.034434,0.172826,-0.326950, -0.072786,0.183730,-0.272727, -0.247229,0.030507,0.295489, 0.136546,-0.281738,0.161639, 0.289679,0.004057,-0.382865, 0.141197,0.096819,-0.392113, -0.100966,-0.328728,-0.002677, -0.140953,-0.296194,0.011269, -0.180740,0.050981,-0.242777, -0.253566,0.024492,0.286206, -0.033492,0.282050,0.184162, 0.236557,-0.271221,0.065774, 0.154159,-0.311832,0.139278, -0.301735,-0.070997,-0.114805, -0.213824,-0.199847,-0.058625, -0.310451,0.100424,0.233258, -0.241567,0.131963,0.326249, -0.062874,0.247232,-0.227963, -0.327109,0.098788,0.164544, -0.279322,-0.013228,-0.162635, -0.343405,0.077327,0.053051, -0.313038,0.127071,0.015013, -0.327307,0.104436,0.014259, -0.100027,-0.325051,-0.014425, 0.220147,-0.189444,-0.224685, 
+};
+const unsigned int h20_faces[] = {
+  8, 3,9,10,5,22,0,15,1,
+  4, 15,2,4,1,
+  6, 4,8,17,16,3,1,
+  7, 15,0,26,23,20,21,2,
+  5, 21,7,8,4,2,
+  4, 16,29,9,3,
+  3, 6,22,5,
+  4, 10,13,6,5,
+  7, 13,24,27,26,0,22,6,
+  6, 14,12,11,17,8,7,
+  4, 21,20,14,7,
+  8, 29,28,19,18,24,13,10,9,
+  5, 28,29,16,17,11,
+  4, 12,19,28,11,
+  7, 14,20,23,25,18,19,12,
+  4, 25,27,24,18,
+  4, 26,27,25,23,
+};
+const dReal h20_planes[ h20_numf * 4 ] = {
+  0.531561,0.839995,-0.108864,0.199069,-0.120149,0.911351,0.393704,0.333576,0.693474,-0.121763,0.710118,0.243778,-0.53156,0.839996,0.108863,0.274773,0.0929092,-0.293639,0.951391,0.249197,0.870583,-0.45858,-0.178295,0.318592,-0.320422,0.578682,-0.749971,0.334181,-0.433652,0.152283,-0.888119,0.301757,-0.720506,0.471135,-0.508826,0.277775,-0.322183,-0.678839,0.659831,0.253916,-0.770892,-0.145024,0.620237,0.369436,-0.289106,-0.541464,-0.789452,0.21631,0.215549,-0.936705,-0.275902,0.286897,-0.662611,-0.698059,-0.271405,0.297099,-0.847832,-0.483811,0.217045,0.265252,-0.941719,0.0992098,-0.32144,0.314009,-0.846082,0.532633,0.0211314,0.332856
+};
+// h21
+const int h21_numv = 20;
+const int h21_numf = 12;
+const dReal h21_volu = 0.107886;
+const dReal h21_pos[3] = { -0.701261,0.516623,-0.734170 };
+const dReal h21_verts[ h21_numv * 3 ] = {
+  0.220060,-0.162111,0.233880, -0.071194,0.139979,-0.265830, 0.326350,0.086982,0.076961, 0.175723,-0.320696,-0.265830, -0.194481,0.286846,0.262411, 0.236048,-0.209990,-0.265830, -0.298739,0.200252,0.166960, 0.264887,-0.091760,0.238083, 0.347459,0.035887,0.053770, -0.298739,0.031984,-0.265830, -0.298739,-0.199980,-0.038920, -0.298739,-0.170573,-0.265830, -0.064116,-0.283496,0.032682, 0.172005,-0.323520,-0.234964, 0.067327,0.317485,0.021628, 0.227351,-0.161534,0.231210, 0.015724,0.286846,0.365050, -0.065674,0.367082,0.311546, 0.153155,0.171345,0.362933, 0.139764,0.180879,0.371107, 
+};
+const unsigned int h21_faces[] = {
+  6, 9,6,4,17,14,1,
+  5, 14,2,8,5,1,
+  5, 5,3,11,9,1,
+  4, 18,7,8,2,
+  6, 14,17,16,19,18,2,
+  6, 5,8,7,15,13,3,
+  5, 13,12,10,11,3,
+  3, 16,17,4,
+  7, 6,10,12,0,19,16,4,
+  4, 9,11,10,6,
+  5, 18,19,0,15,7,
+  4, 13,15,0,12,
+};
+const dReal h21_planes[ h21_numf * 4 ] = {
+  -0.404539,0.852363,-0.331398,0.236209,0.595564,0.522855,-0.609857,0.192906,-1.16998e-16,-0,-1,0.26583,0.864691,0.138024,0.482969,0.331367,0.636259,0.754085,0.162882,0.285771,0.876412,-0.477567,0.0618929,0.290707,-0.299389,-0.946218,-0.12263,0.283437,-0.433652,0.152285,0.888119,0.361071,-0.398278,-0.419584,0.815674,0.171144,-1,0,0,0.298739,0.349687,-0.276295,0.895198,0.331112,0.184883,-0.934913,0.302912,0.26309
+};
+// h22
+const int h22_numv = 14;
+const int h22_numf = 9;
+const dReal h22_volu = 0.065276;
+const dReal h22_pos[3] = { -0.383570,0.726249,-0.891974 };
+const dReal h22_verts[ h22_numv * 3 ] = {
+  0.403835,0.273751,-0.108026, -0.250365,0.107859,0.179431, -0.224444,0.273751,-0.108026, 0.311631,-0.076337,-0.108026, -0.388885,-0.069647,-0.108026, 0.349740,0.107545,0.033083, 0.400677,0.273751,-0.064850, -0.189576,0.273751,0.079255, 0.008658,-0.122644,0.234765, -0.081643,-0.419616,-0.108026, 0.029768,-0.173739,0.211573, 0.125191,-0.098941,0.194122, 0.140375,-0.342343,-0.108026, 0.081722,-0.168359,0.191970, 
+};
+const unsigned int h22_faces[] = {
+  6, 8,11,5,6,7,1,
+  4, 7,2,4,1,
+  5, 4,9,10,8,1,
+  4, 7,6,0,2,
+  6, 0,3,12,9,4,2,
+  5, 5,11,13,12,3,
+  4, 0,6,5,3,
+  4, 10,13,11,8,
+  4, 12,13,10,9,
+};
+const dReal h22_planes[ h22_numf * 4 ] = {
+  0.212159,0.447018,0.869002,0.151024,-0.889469,0.425934,0.165603,0.298347,-0.595564,-0.522855,0.609857,0.202141,0,1,0,0.273751,0,0,-1,0.108026,0.758508,-0.488331,0.431507,0.227038,0.964613,-0.254054,0.0705546,0.312375,0.364346,-0.255892,0.895417,0.244751,0.28037,-0.805551,0.521997,0.258742
+};
+// h23
+const int h23_numv = 16;
+const int h23_numf = 10;
+const dReal h23_volu = 0.051599;
+const dReal h23_pos[3] = { -0.800668,0.450995,-0.472891 };
+const dReal h23_verts[ h23_numv * 3 ] = {
+  0.035291,-0.217869,-0.228598, -0.199332,-0.134353,-0.300199, -0.199332,0.265879,-0.094319, -0.095074,0.352473,0.001132, -0.199332,-0.001690,0.132407, -0.199332,-0.208186,-0.186260, 0.189555,0.299490,0.167366, -0.199332,0.309177,-0.027504, -0.064385,-0.049725,0.223009, -0.036116,-0.285650,-0.106564, 0.116475,0.143410,0.211970, 0.319467,-0.096483,-0.027399, 0.092916,-0.255030,0.098198, 0.194883,-0.191512,0.077971, 0.239171,0.246507,0.109828, 0.115131,0.352473,0.103771, 
+};
+const unsigned int h23_faces[] = {
+  4, 0,9,5,1,
+  5, 5,4,7,2,1,
+  7, 2,3,15,14,11,0,1,
+  3, 7,3,2,
+  7, 7,4,8,10,6,15,3,
+  5, 5,9,12,8,4,
+  3, 14,15,6,
+  5, 10,13,11,14,6,
+  4, 12,13,10,8,
+  5, 0,11,13,12,9,
+};
+const dReal h23_planes[ h23_numf * 4 ] = {
+  -0.131611,-0.83191,-0.539077,0.299835,-1,6.69634e-17,-4.33923e-17,0.199332,0.398278,0.419584,-0.815674,0.109103,-0.195313,0.823048,-0.533334,0.308068,-0.398278,0.419585,0.815673,0.186681,-0.553062,-0.69918,0.453068,0.171414,0.647541,0.750402,-0.132616,0.325287,0.693474,-0.121763,0.710118,0.213834,0.349687,-0.276295,0.895198,0.190861,0.493234,-0.850287,-0.183662,0.244643
+};
+// h24
+const int h24_numv = 12;
+const int h24_numf = 8;
+const dReal h24_volu = 0.050770;
+const dReal h24_pos[3] = { -0.845297,0.862613,-0.757515 };
+const dReal h24_verts[ h24_numv * 3 ] = {
+  0.078361,0.021092,0.334891, -0.154703,-0.145738,0.190305, -0.154703,0.137387,-0.242485, -0.154703,-0.314006,-0.242485, 0.072842,-0.206011,-0.242485, 0.237283,0.137387,-0.242485, -0.154703,-0.102441,0.257120, -0.050445,-0.059144,0.285756, 0.211362,-0.028505,0.044972, -0.154703,0.137387,0.380489, 0.272151,0.137387,-0.055204, 0.060041,0.137387,0.393596, 
+};
+const unsigned int h24_faces[] = {
+  3, 7,6,1,
+  5, 6,9,2,3,1,
+  6, 3,4,8,0,7,1,
+  4, 5,4,3,2,
+  5, 9,11,10,5,2,
+  4, 5,10,8,4,
+  5, 7,0,11,9,6,
+  4, 10,11,0,8,
+};
+const dReal h24_planes[ h24_numf * 4 ] = {
+  0.195313,-0.823048,0.533334,0.19123,-1,0,0,0.154703,0.404539,-0.852363,0.331398,0.124705,0,0,-1,0.242485,0,1,-0,0.137387,0.889469,-0.425934,-0.165603,0.192694,-0.0541955,-0.456759,0.887938,0.283483,0.901694,-0.0730722,0.426155,0.211832
+};
+// h25
+const int h25_numv = 16;
+const int h25_numf = 10;
+const dReal h25_volu = 0.064196;
+const dReal h25_pos[3] = { 0.265380,0.609017,-0.859766 };
+const dReal h25_verts[ h25_numv * 3 ] = {
+  0.171512,-0.295294,0.128463, -0.112864,0.390983,-0.140234, -0.179972,0.258217,0.163631, -0.171482,0.390983,0.031499, -0.146465,0.312621,0.159756, 0.063572,-0.117444,0.267684, -0.245115,0.390983,-0.140234, -0.337319,0.040895,-0.140234, 0.499394,-0.306418,-0.140234, 0.112578,-0.021086,0.259138, 0.074204,-0.220888,0.227450, 0.064293,-0.284390,0.182686, -0.258312,-0.146590,-0.140234, 0.497529,-0.308188,-0.130217, -0.299210,0.224777,0.000875, -0.248273,0.390983,-0.097058, 
+};
+const unsigned int h25_faces[] = {
+  6, 3,4,9,13,8,1,
+  5, 8,12,7,6,1,
+  4, 6,15,3,1,
+  7, 14,7,12,11,10,5,2,
+  4, 5,9,4,2,
+  5, 4,3,15,14,2,
+  5, 10,0,13,9,5,
+  4, 7,14,15,6,
+  5, 13,0,11,12,8,
+  3, 11,0,10,
+};
+const dReal h25_planes[ h25_numf * 4 ] = {
+  0.727925,0.639055,0.248465,0.13286,0,-0,-1,0.140234,0,1,0,0.390983,-0.735479,-0.309932,0.602505,0.150925,-0.158394,0.166867,0.973173,0.230836,-0.747363,0.49209,0.446425,0.33462,0.598205,-0.236329,0.765702,0.270751,-0.964613,0.254054,-0.0705546,0.345666,-0.201934,-0.957321,-0.206781,0.221494,0.320422,-0.578682,0.749971,0.322182
+};
+// h26
+const int h26_numv = 24;
+const int h26_numf = 14;
+const dReal h26_volu = 0.101687;
+const dReal h26_pos[3] = { -0.341007,0.877992,-0.537072 };
+const dReal h26_verts[ h26_numv * 3 ] = {
+  0.358114,0.122008,-0.419752, -0.168425,-0.052359,0.397165, -0.220490,-0.180490,0.174009, 0.459922,0.043646,-0.162938, 0.324251,-0.109249,-0.070985, -0.202046,0.011183,0.424477, 0.252084,0.007514,0.202105, -0.286958,0.122008,0.388199, 0.307177,-0.044198,-0.321819, 0.426415,-0.010758,-0.159063, 0.082627,-0.250684,-0.160780, -0.033904,-0.274387,-0.120138, -0.232139,0.122008,-0.275647, -0.292928,-0.043884,-0.175471, -0.344531,-0.074523,0.167952, -0.207099,-0.190024,0.165835, -0.444249,0.122008,0.173153, -0.425929,0.005713,0.114448, 0.327136,0.122008,0.185091, -0.202046,0.122008,0.443480, 0.434905,0.122008,-0.291195, 0.483509,0.122008,-0.120325, -0.187210,-0.038985,0.408631, -0.270106,-0.127507,0.231547, 
+};
+const unsigned int h26_faces[] = {
+  5, 22,23,2,15,1,
+  6, 15,11,10,4,6,1,
+  6, 6,18,19,5,22,1,
+  3, 23,14,2,
+  6, 14,17,13,11,15,2,
+  3, 20,21,3,
+  6, 21,18,6,4,9,3,
+  5, 9,8,0,20,3,
+  4, 10,8,9,4,
+  3, 19,7,5,
+  7, 7,16,17,14,23,22,5,
+  8, 19,18,21,20,0,12,16,7,
+  6, 10,11,13,12,0,8,
+  4, 13,17,16,12,
+};
+const dReal h26_planes[ h26_numf * 4 ] = {
+  -0.256638,-0.811103,0.525594,0.29444,0.324513,-0.835692,0.443069,0.165071,0.433652,-0.152285,0.888119,0.287665,-0.647541,-0.750402,0.132616,0.301294,-0.636259,-0.754085,-0.162882,0.248051,0.95246,-0.139363,-0.270922,0.476118,0.791095,-0.458379,0.40504,0.277839,0.747363,-0.49209,-0.446425,0.39499,0.555832,-0.7947,-0.243931,0.284365,-0.540055,-0.142236,0.829524,0.459639,-0.742791,-0.391264,0.543299,0.37632,0,1,0,0.122008,-0.212159,-0.447018,-0.869002,0.234249,-0.901694,0.0730722,-0.426155,0.335702
+};
+// h27
+const int h27_numv = 24;
+const int h27_numf = 14;
+const dReal h27_volu = 0.100588;
+const dReal h27_pos[3] = { 0.167088,0.649940,-0.364014 };
+const dReal h27_verts[ h27_numv * 3 ] = {
+  -0.183844,0.118803,-0.244043, -0.044353,-0.266136,0.405236, -0.256011,0.235567,0.029047, 0.161864,-0.158366,-0.228068, 0.300539,0.065664,-0.127155, -0.024586,0.350060,-0.293383, -0.048173,0.271698,-0.335996, -0.180959,0.350060,0.012033, -0.081680,0.217294,-0.332121, -0.044357,0.350060,0.088262, -0.006196,-0.377080,0.285910, 0.201878,-0.226993,0.143823, -0.003872,-0.277036,0.420726, 0.210870,-0.062009,-0.236614, -0.003871,0.350060,0.098146, 0.183618,0.350060,-0.130723, -0.165155,-0.254165,0.331667, -0.075081,-0.408619,0.192919, -0.091738,-0.410255,0.124205, 0.005721,-0.287236,0.414262, -0.077668,-0.381972,-0.025325, -0.102748,-0.401170,0.182332, 0.134962,-0.226993,-0.182915, 0.109551,-0.305242,0.296779, 
+};
+const unsigned int h27_faces[] = {
+  7, 16,21,17,10,19,12,1,
+  4, 12,14,9,1,
+  5, 9,7,2,16,1,
+  6, 7,5,6,8,0,2,
+  6, 0,20,18,21,16,2,
+  5, 13,4,11,22,3,
+  5, 22,20,0,8,3,
+  4, 8,6,13,3,
+  5, 13,6,5,15,4,
+  7, 15,14,12,19,23,11,4,
+  5, 7,9,14,15,5,
+  7, 17,18,20,22,11,23,10,
+  3, 23,19,10,
+  3, 21,18,17,
+};
+const dReal h27_planes[ h27_numf * 4 ] = {
+  -0.40667,-0.730271,0.54893,0.434835,-0.212159,0.447018,0.869002,0.242593,-0.444511,0.409753,0.796563,0.233461,-0.791095,0.458379,-0.40504,0.298742,-0.954535,-0.263372,-0.139635,0.178273,0.870583,-0.45858,-0.178295,0.254203,-0.309646,-0.434949,-0.84554,0.211601,0.158394,-0.166867,-0.973173,0.274014,0.598205,0.236328,-0.765702,0.292665,0.73548,0.309929,0.602505,0.16478,1.09327e-15,1,1.13815e-15,0.35006,0.53156,-0.839996,-0.108863,0.282326,0.425203,-0.759567,0.4922,0.424508,-0.292039,-0.95183,0.0934524,0.428891
+};
+// h28
+const int h28_numv = 18;
+const int h28_numf = 11;
+const dReal h28_volu = 0.075441;
+const dReal h28_pos[3] = { 0.013616,0.472900,-0.719797 };
+const dReal h28_verts[ h28_numv * 3 ] = {
+  -0.187022,-0.167506,-0.280203, 0.109520,-0.345231,0.152809, -0.085555,0.177012,-0.280203, -0.271995,0.154408,0.021945, -0.030372,0.295843,0.111740, 0.061535,-0.227567,0.329703, 0.075804,-0.204932,0.330457, 0.071792,0.394334,0.023662, 0.208102,-0.281022,0.072668, -0.047446,0.360894,-0.139094, 0.077205,-0.350161,0.038133, -0.006548,-0.010473,-0.280203, 0.288434,-0.049953,0.172868, 0.315336,0.018674,0.127715, 0.316057,-0.148273,0.042717, 0.325968,-0.084770,0.087482, -0.256811,-0.088994,-0.280203, -0.315464,0.084990,0.019794, 
+};
+const unsigned int h28_faces[] = {
+  7, 8,14,15,12,6,5,1,
+  6, 5,17,16,0,10,1,
+  3, 10,8,1,
+  5, 16,17,3,9,2,
+  7, 9,7,13,15,14,11,2,
+  4, 11,0,16,2,
+  5, 17,5,6,4,3,
+  4, 4,7,9,3,
+  5, 6,12,13,7,4,
+  5, 10,0,11,14,8,
+  3, 15,13,12,
+};
+const dReal h28_planes[ h28_numf * 4 ] = {
+  0.720506,-0.471135,0.508826,0.319313,-0.726908,-0.64614,0.232611,0.179002,0.485104,-0.868795,-0.0993492,0.337882,-0.758508,0.488331,-0.431507,0.272244,0.735479,0.309932,-0.602505,0.160762,0,0,-1,0.280203,-0.469484,0.267909,0.841315,0.187527,-0.555832,0.7947,0.243931,0.279245,0.309646,0.434949,0.84554,0.213753,0.469359,-0.539421,-0.69909,0.198463,0.901694,-0.0730722,0.426155,0.337399
+};
+// h29
+const int h29_numv = 20;
+const int h29_numf = 12;
+const dReal h29_volu = 0.090754;
+const dReal h29_pos[3] = { -0.195482,0.549508,-0.348926 };
+const dReal h29_verts[ h29_numv * 3 ] = {
+  -0.062897,0.077801,-0.348926, 0.254536,-0.331284,-0.002375, -0.179429,0.054098,-0.308283, 0.178726,0.219235,-0.259131, -0.352624,0.138460,-0.022310, 0.259822,-0.300738,0.167244, 0.197415,-0.153733,0.316579, 0.065987,-0.327570,0.133724, 0.114982,-0.134660,0.333685, 0.270633,-0.304175,-0.041168, -0.106366,0.008382,-0.351078, 0.106560,0.335999,0.013959, -0.240892,-0.124645,-0.147161, -0.313950,0.276125,0.209019, -0.158320,0.003002,-0.331475, 0.036774,-0.342768,0.065557, 0.284902,-0.281540,-0.040413, 0.270832,-0.309823,0.109117, 0.013405,-0.084041,0.336165, 0.046528,-0.137097,0.329090, 
+};
+const unsigned int h29_faces[] = {
+  4, 9,16,17,1,
+  5, 17,5,7,15,1,
+  6, 15,12,14,10,9,1,
+  4, 0,10,14,2,
+  4, 14,12,4,2,
+  6, 4,13,11,3,0,2,
+  5, 16,9,10,0,3,
+  6, 11,6,5,17,16,3,
+  7, 12,15,7,19,18,13,4,
+  5, 6,8,19,7,5,
+  5, 11,13,18,8,6,
+  3, 18,19,8,
+};
+const dReal h29_planes[ h29_numf * 4 ] = {
+  0.846082,-0.532633,-0.0211314,0.391862,0.105626,-0.979232,0.173057,0.350878,-0.148211,-0.780702,-0.607074,0.22235,-0.364346,0.255892,-0.895417,0.355259,-0.864691,-0.138024,-0.482969,0.296575,-0.324513,0.835692,-0.443069,0.240027,0.469484,-0.267909,-0.841315,0.243184,0.954535,0.263372,0.139635,0.192157,-0.73808,-0.518378,0.431882,0.178854,-0.0212658,-0.716912,0.696839,0.326619,0.289106,0.541462,0.789453,0.223758,-0.0600487,-0.168696,0.983837,0.344105
+};
+// h30
+const int h30_numv = 26;
+const int h30_numf = 15;
+const dReal h30_volu = 0.141813;
+const dReal h30_pos[3] = { 0.709749,0.432546,-0.520590 };
+const dReal h30_verts[ h30_numv * 3 ] = {
+  0.086130,-0.133630,-0.479410, 0.290251,-0.067548,-0.461259, 0.290251,0.254276,-0.130163, -0.166094,-0.194830,-0.275875, -0.114073,0.017151,0.452790, 0.263868,-0.083016,-0.470730, -0.015645,0.141724,0.383369, -0.170984,0.316821,0.046789, -0.242122,0.283058,0.029421, 0.290251,0.110614,0.239339, -0.340783,-0.009598,0.300399, 0.290251,-0.018830,0.261535, 0.067740,-0.137994,-0.479410, -0.241377,-0.054963,0.435747, 0.058158,-0.287592,0.103343, 0.290251,-0.145966,0.143817, 0.068185,-0.139308,-0.479410, -0.017612,-0.287592,-0.266628, 0.053160,-0.131717,-0.469392, -0.272857,-0.118823,-0.210712, 0.007901,-0.200618,-0.414231, 0.003123,-0.268644,-0.311584, -0.331791,0.155385,-0.080037, -0.407699,-0.009598,-0.026339, -0.380797,0.059028,-0.071491, -0.370165,-0.044416,-0.111725, 
+};
+const unsigned int h30_faces[] = {
+  6, 15,14,17,21,5,1,
+  9, 5,0,12,18,22,8,7,2,1,
+  5, 2,9,11,15,1,
+  4, 7,6,9,2,
+  4, 20,21,17,3,
+  8, 17,14,13,10,23,25,19,3,
+  6, 19,18,12,16,20,3,
+  5, 13,14,15,11,4,
+  4, 11,9,6,4,
+  6, 6,7,8,10,13,4,
+  5, 21,20,16,0,5,
+  5, 22,24,23,10,8,
+  3, 0,16,12,
+  5, 19,25,24,22,18,
+  3, 24,25,23,
+};
+const dReal h30_planes[ h30_numf * 4 ] = {
+  0.53156,-0.839996,-0.108863,0.26124,-0.167754,0.706913,-0.687119,0.220498,1,-0,0,0.290251,0.256529,0.900844,0.350247,0.257932,-0.43192,-0.742413,-0.512121,0.357665,-0.531561,-0.839995,0.108864,0.221912,-0.613049,-0.207593,-0.762283,0.352564,0.275531,-0.653109,0.705359,0.276747,0.433652,0.152285,0.888119,0.355275,-0.46199,0.681388,0.567693,0.321433,0.256638,-0.811103,-0.525594,0.382466,-0.870583,0.45858,0.178295,0.345838,-0,0,-1,0.479409,-0.598205,0.236329,-0.765702,0.296486,-0.901694,0.0730722,-0.426155,0.378142
+};
+// h31
+const int h31_numv = 20;
+const int h31_numf = 12;
+const dReal h31_volu = 0.145607;
+const dReal h31_pos[3] = { 0.628702,0.773411,-0.793457 };
+const dReal h31_verts[ h31_numv * 3 ] = {
+  -0.189575,0.226589,0.317223, 0.371298,-0.414948,-0.206543, -0.476185,0.226589,-0.206543, 0.371298,0.226589,-0.206543, -0.250744,-0.185480,0.192828, 0.148787,-0.478859,-0.206543, -0.509787,0.148227,0.093447, -0.534804,0.226589,-0.034811, -0.277996,0.226589,0.298719, -0.486200,0.226589,0.136059, 0.371298,-0.408413,-0.188392, 0.167177,-0.474495,-0.206543, 0.366378,-0.417196,-0.206543, 0.344915,-0.423881,-0.197864, 0.371298,-0.086589,0.142703, 0.371298,0.226589,0.089002, -0.161075,-0.057807,0.302287, -0.089936,-0.024044,0.319655, 0.134207,-0.472582,-0.196526, 0.136072,-0.470812,-0.206543, 
+};
+const unsigned int h31_faces[] = {
+  4, 10,13,12,1,
+  7, 12,11,5,19,2,3,1,
+  5, 3,15,14,10,1,
+  6, 19,18,4,6,7,2,
+  7, 7,9,8,0,15,3,2,
+  5, 16,8,9,6,4,
+  9, 18,5,11,13,10,14,17,16,4,
+  3, 18,19,5,
+  3, 9,7,6,
+  4, 16,17,0,8,
+  3, 12,13,11,
+  4, 15,0,17,14,
+};
+const dReal h31_planes[ h31_numf * 4 ] = {
+  0.395039,-0.86436,0.311169,0.441071,-0,-0,-1,0.206543,1,-0,0,0.371298,-0.727925,-0.639055,-0.248465,0.253143,4.94863e-17,1,-0,0.226589,-0.598205,-0.236328,0.765702,0.341479,0.167754,-0.706913,0.687119,0.221551,-0.518906,-0.82,-0.241527,0.365343,-0.95246,0.139363,0.270922,0.531526,-0.204299,-0.0717432,0.976276,0.332171,0.275992,-0.959497,-0.0565231,0.51309,0.372229,0.156858,0.91479,0.255169
+};
+// h32
+const int h32_numv = 22;
+const int h32_numf = 13;
+const dReal h32_volu = 0.092552;
+const dReal h32_pos[3] = { -0.648077,-0.694629,-0.055690 };
+const dReal h32_verts[ h32_numv * 3 ] = {
+  -0.351923,0.020682,-0.162313, -0.351923,0.291038,-0.298522, 0.116588,0.074450,0.304425, 0.180292,0.145010,-0.063690, -0.351923,0.286862,-0.299238, 0.082653,-0.305371,0.200452, 0.444715,-0.214767,0.086986, 0.440565,-0.305371,0.060643, 0.437298,-0.305371,0.003205, 0.441236,-0.180086,0.007980, 0.202670,-0.305371,-0.129990, -0.122926,-0.305371,-0.050498, -0.351923,0.343433,0.003710, 0.034975,0.067995,0.334312, -0.249787,0.361137,-0.236631, 0.059834,0.222599,0.089656, 0.420946,-0.305371,-0.023410, 0.437088,-0.283432,-0.011766, -0.351923,0.387353,-0.064067, -0.294272,0.397125,-0.093222, -0.351923,0.309463,-0.280428, -0.321961,0.320573,-0.278827, 
+};
+const unsigned int h32_faces[] = {
+  3, 20,21,1,
+  9, 21,14,3,9,17,16,10,4,1,
+  6, 4,0,12,18,20,1,
+  5, 13,5,7,6,2,
+  5, 6,9,3,15,2,
+  6, 15,19,18,12,13,2,
+  4, 14,19,15,3,
+  4, 10,11,0,4,
+  5, 13,12,0,11,5,
+  6, 11,10,16,8,7,5,
+  5, 7,8,17,9,6,
+  3, 16,17,8,
+  5, 21,20,18,19,14,
+};
+const dReal h32_planes[ h32_numf * 4 ] = {
+  -0.216442,0.684063,-0.696571,0.483201,0.433652,0.152285,-0.888119,0.156831,-1,0,0,0.351923,0.349687,-0.276295,0.895198,0.29272,0.727924,0.639056,0.248465,0.208084,0.131611,0.83191,0.539077,0.241389,0.471464,0.878752,-0.0742736,0.21716,-0.212159,-0.447018,-0.869002,0.206469,-0.73548,-0.309929,0.602505,0.154628,-3.74119e-15,-1,2.12832e-16,0.305371,0.99796,-0.0292037,-0.0567728,0.445142,0.80443,-0.32957,-0.494242,0.450833,-0.314046,0.893286,-0.321583,0.47714
+};
+// h33
+const int h33_numv = 18;
+const int h33_numf = 11;
+const dReal h33_volu = 0.056945;
+const dReal h33_pos[3] = { -0.288352,-0.547292,0.050646 };
+const dReal h33_verts[ h33_numv * 3 ] = {
+  0.084990,-0.362104,-0.019350, -0.079434,0.021164,0.334816, 0.019488,-0.072734,0.262363, 0.115516,0.076855,-0.268585, 0.213070,0.021874,-0.243280, 0.274323,0.089944,-0.132397, 0.019789,0.332949,0.053313, 0.257211,0.025988,-0.078610, 0.131191,0.288888,-0.060012, 0.118204,-0.320377,0.031687, 0.081511,-0.327423,-0.098356, -0.243137,-0.072887,0.198089, -0.179433,-0.002327,-0.170026, -0.299891,0.075262,-0.016680, -0.055817,0.322184,0.088384, -0.038680,0.277450,0.153234, 0.148159,-0.119839,-0.229545, 0.048588,0.033746,-0.272086, 
+};
+const unsigned int h33_faces[] = {
+  5, 11,0,9,2,1,
+  7, 2,7,5,8,6,15,1,
+  5, 15,14,13,11,1,
+  3, 9,7,2,
+  4, 4,16,17,3,
+  7, 17,12,13,14,6,8,3,
+  4, 8,5,4,3,
+  7, 5,7,9,0,10,16,4,
+  3, 14,15,6,
+  5, 0,11,13,12,10,
+  4, 12,17,16,10,
+};
+const dReal h33_planes[ h33_numf * 4 ] = {
+  -0.167754,-0.706913,0.687119,0.228423,0.73548,0.309929,0.602505,0.149866,-0.708232,0.479648,0.518021,0.239851,0.830851,-0.164118,0.531744,0.167639,0.158394,-0.166869,-0.973173,0.266852,-0.391463,0.659847,-0.641373,0.177755,0.49733,0.589428,-0.636583,0.273727,0.877503,-0.423705,-0.224641,0.232352,0.131611,0.83191,0.539077,0.308327,-0.727924,-0.639056,-0.248465,0.174346,-0.309646,-0.434949,-0.84554,0.200337
+};
+// h34
+const int h34_numv = 24;
+const int h34_numf = 14;
+const dReal h34_volu = 0.086482;
+const dReal h34_pos[3] = { -0.499709,-0.643458,-0.327986 };
+const dReal h34_verts[ h34_numv * 3 ] = {
+  -0.500291,0.235691,-0.026942, -0.413349,0.203755,-0.157062, -0.223651,0.321490,-0.139249, 0.209880,-0.356542,0.003973, 0.365162,-0.137565,0.097393, 0.292868,-0.231257,0.280276, 0.359516,-0.023673,0.149087, -0.329463,0.339839,-0.019523, -0.041433,0.349469,-0.148408, 0.054302,-0.356542,0.142306, 0.272578,-0.356542,0.248886, 0.288720,-0.334603,0.260530, 0.023896,-0.069111,-0.283979, 0.274970,-0.222320,-0.056303, 0.127449,-0.356542,-0.036276, -0.035189,-0.103922,-0.288953, -0.023751,0.360733,-0.121029, -0.500291,0.237083,-0.030523, -0.346425,0.336124,-0.010604, 0.259945,0.129913,0.106546, -0.500291,0.239867,-0.026226, -0.470329,0.269402,-0.006532, -0.398155,0.309966,0.035665, 0.031924,0.093839,0.208606, 
+};
+const unsigned int h34_faces[] = {
+  7, 17,20,21,18,7,2,1,
+  5, 2,8,12,15,1,
+  6, 15,14,9,0,17,1,
+  4, 7,16,8,2,
+  5, 14,15,12,13,3,
+  5, 13,4,11,10,3,
+  4, 10,9,14,3,
+  7, 13,12,8,16,19,6,4,
+  4, 6,5,11,4,
+  4, 6,19,23,5,
+  9, 23,22,21,20,0,9,10,11,5,
+  6, 18,22,23,19,16,7,
+  3, 0,20,17,
+  3, 21,22,18,
+};
+const dReal h34_planes[ h34_numf * 4 ] = {
+  -0.425203,0.759567,-0.4922,0.407829,-0.0929092,0.293639,-0.951391,0.247662,-0.66261,-0.69806,-0.271405,0.174284,-0.159459,0.944944,-0.285751,0.379244,0.373525,-0.524676,-0.76498,0.262425,0.837582,-0.502473,-0.214421,0.354093,0,-1,0,0.356542,0.73548,0.309929,-0.602505,0.167254,0.941719,-0.0992098,0.32144,0.388833,0.309646,0.434949,0.84554,0.227085,-0.433652,-0.152285,0.888119,0.157132,0.148211,0.780702,0.607074,0.204631,-1,0,-0,0.500291,-0.474713,0.879502,-0.0335246,0.460429
+};
+// h35
+const int h35_numv = 12;
+const int h35_numf = 8;
+const dReal h35_volu = 0.072358;
+const dReal h35_pos[3] = { -0.852811,-0.781078,0.150064 };
+const dReal h35_verts[ h35_numv * 3 ] = {
+  -0.147189,-0.218922,0.332047, 0.103613,-0.074924,0.288589, -0.147189,0.429882,-0.202044, -0.147189,-0.218922,-0.312160, 0.239709,0.154443,0.128558, 0.287386,-0.218922,-0.005301, -0.043492,-0.218922,0.344705, 0.074717,-0.218922,0.306226, -0.147189,0.402063,0.012610, 0.208223,0.167113,0.176854, -0.147189,0.107130,-0.368067, 0.081807,-0.218922,-0.256252, 
+};
+const unsigned int h35_faces[] = {
+  3, 6,7,1,
+  5, 7,5,4,9,1,
+  5, 9,8,0,6,1,
+  4, 8,9,4,2,
+  5, 4,5,11,10,2,
+  5, 10,3,0,8,2,
+  3, 10,11,3,
+  6, 11,5,7,6,0,3,
+};
+const dReal h35_planes[ h35_numf * 4 ] = {
+  0.309078,0.0542691,0.949487,0.301971,0.822068,-0.096228,0.561199,0.254343,-0.107916,0.45476,0.884052,0.209874,0.512085,0.851811,0.110395,0.2685,0.73548,0.309929,-0.602505,0.146711,-1,-0,-0,0.147189,0.233951,-0.164312,-0.958263,0.300667,0,-1,0,0.218922
+};
+// h36
+const int h36_numv = 18;
+const int h36_numf = 11;
+const dReal h36_volu = 0.076715;
+const dReal h36_pos[3] = { 0.330903,-0.599381,-0.308448 };
+const dReal h36_verts[ h36_numv * 3 ] = {
+  0.235744,-0.093981,0.208985, 0.157036,0.091360,0.296934, -0.213473,-0.059832,-0.258208, 0.131366,0.084254,0.304768, 0.060949,-0.352878,-0.040467, 0.031132,-0.367472,0.023458, -0.038178,0.319175,-0.078462, 0.346140,-0.033881,-0.005840, 0.305466,-0.106272,-0.107625, -0.256020,-0.056138,-0.213238, -0.331115,0.110184,0.014099, -0.356965,0.085987,0.067218, 0.185622,-0.147504,0.212044, 0.241393,0.219660,0.109239, -0.343391,-0.100844,-0.022261, -0.046519,0.081665,-0.290234, -0.272849,0.156195,0.144404, -0.146830,0.270831,-0.017119, 
+};
+const unsigned int h36_faces[] = {
+  6, 13,6,17,16,3,1,
+  4, 3,12,0,1,
+  4, 0,7,13,1,
+  6, 9,10,17,6,15,2,
+  4, 15,8,4,2,
+  5, 4,5,14,9,2,
+  6, 16,11,14,5,12,3,
+  6, 8,7,0,12,5,4,
+  5, 13,7,8,15,6,
+  4, 14,11,10,9,
+  4, 11,16,17,10,
+};
+const dReal h36_planes[ h36_numf * 4 ] = {
+  -0.066237,0.837367,0.542613,0.227221,0.349687,-0.276295,0.895198,0.295486,0.864691,0.138024,0.482969,0.291807,-0.582463,0.552262,-0.596442,0.245303,0.212159,-0.447016,-0.869003,0.205839,-0.496382,-0.766976,-0.406636,0.25685,-0.398278,-0.419584,0.815674,0.16092,0.722578,-0.66608,0.18498,0.2716,0.595564,0.522855,-0.609857,0.191995,-0.913105,0.120244,-0.389591,0.310099,-0.654405,0.755705,0.0257735,0.300313
+};
+// h37
+const int h37_numv = 18;
+const int h37_numf = 11;
+const dReal h37_volu = 0.098217;
+const dReal h37_pos[3] = { 0.055330,-0.588368,0.333127 };
+const dReal h37_verts[ h37_numv * 3 ] = {
+  -0.107417,0.016721,0.347927, 0.283844,-0.036335,0.197820, 0.129290,0.324988,-0.064466, -0.012100,0.128834,-0.356552, 0.344968,0.171444,-0.038138, -0.270436,0.127441,0.395275, -0.130084,-0.375511,-0.154724, 0.001812,-0.380727,-0.087638, -0.247911,0.142505,0.383526, 0.360906,0.133475,0.137346, 0.062042,-0.352141,-0.072933, 0.261216,0.073240,-0.194499, 0.127844,0.325300,-0.059106, 0.361773,0.137946,0.130076, -0.225478,-0.279302,-0.250794, -0.324194,-0.031659,-0.020118, -0.297963,0.086614,0.328910, -0.086471,0.067064,-0.361091, 
+};
+const unsigned int h37_faces[] = {
+  6, 10,11,4,13,9,1,
+  5, 9,8,5,0,1,
+  4, 0,7,10,1,
+  4, 12,13,4,2,
+  4, 4,11,3,2,
+  8, 3,17,15,16,5,8,12,2,
+  7, 11,10,7,6,14,17,3,
+  5, 16,6,7,0,5,
+  4, 16,15,14,6,
+  4, 9,13,12,8,
+  3, 15,17,14,
+};
+const dReal h37_planes[ h37_numf * 4 ] = {
+  0.870583,-0.45858,-0.178295,0.228502,0.372229,0.156856,0.91479,0.280919,0.167754,-0.706913,0.687119,0.209227,0.568104,0.816131,0.105771,0.331865,0.49733,0.589428,-0.636583,0.296895,-0.616962,0.758294,-0.21059,0.180245,0.398278,-0.419585,-0.815673,0.231954,-0.32928,-0.737152,0.590069,0.228345,-0.799798,-0.547681,0.245698,0.271686,0.226312,0.817437,0.529699,0.263537,-0.830851,0.164118,-0.531744,0.274859
+};
+// h38
+const int h38_numv = 28;
+const int h38_numf = 16;
+const dReal h38_volu = 0.093559;
+const dReal h38_pos[3] = { 0.133166,-0.773583,-0.050905 };
+const dReal h38_verts[ h38_numv * 3 ] = {
+  -0.076024,-0.195512,0.296394, 0.264846,-0.226417,0.026836, 0.183380,0.258456,0.189533, -0.015793,-0.166926,0.311098, -0.267713,-0.007440,-0.179688, -0.159228,0.260189,-0.190326, -0.343945,-0.226417,-0.001580, -0.273359,0.106452,-0.127994, 0.216958,-0.226417,-0.206989, 0.383359,0.026697,-0.045499, 0.329103,0.258456,0.047225, -0.089936,0.314049,0.027481, -0.145654,0.073358,-0.279804, 0.228869,-0.193270,-0.234086, -0.131382,0.326289,-0.026485, -0.075112,0.330397,-0.113139, -0.208448,0.248166,-0.141729, -0.011151,-0.226417,0.296364, -0.211663,-0.226417,0.216210, -0.072038,-0.226417,0.288931, -0.336528,-0.135813,0.082201, -0.147195,0.316236,-0.030846, -0.340678,-0.226417,0.055858, -0.164307,0.252279,0.022941, -0.344155,-0.204478,-0.016551, -0.340007,-0.101132,0.003195, -0.207920,-0.190296,0.229308, -0.303314,-0.094086,0.133238, 
+};
+const unsigned int h38_faces[] = {
+  4, 8,13,9,1,
+  6, 9,10,2,3,17,1,
+  7, 17,19,18,22,6,8,1,
+  5, 10,15,14,11,2,
+  7, 11,23,27,26,0,3,2,
+  4, 0,19,17,3,
+  4, 24,25,7,4,
+  5, 7,16,5,12,4,
+  6, 12,13,8,6,24,4,
+  5, 16,21,14,15,5,
+  6, 15,10,9,13,12,5,
+  5, 22,20,25,24,6,
+  7, 25,20,27,23,21,16,7,
+  4, 14,21,23,11,
+  5, 26,27,20,22,18,
+  4, 19,0,26,18,
+};
+const dReal h38_planes[ h38_numf * 4 ] = {
+  0.870583,-0.45858,-0.178295,0.329616,0.693474,-0.121763,0.710118,0.23029,0,-1,0,0.226417,0.124536,0.983986,0.127525,0.301324,-0.398278,0.419585,0.815673,0.190005,-0.117405,-0.247372,0.961781,0.342356,-0.941719,0.0992098,-0.32144,0.309131,-0.709719,0.26169,-0.654077,0.305583,-0.289106,-0.541464,-0.789452,0.223281,-0.465257,0.845503,-0.262033,0.343944,0.398278,0.419584,-0.815674,0.200998,-0.99796,0.0292037,0.0567728,0.336541,-0.877503,0.423705,0.224641,0.256225,-0.548603,0.619234,0.561769,0.259246,-0.770892,-0.145024,0.620237,0.330106,-0.445543,-0.264025,0.855443,0.33904
+};
+// h39
+const int h39_numv = 32;
+const int h39_numf = 18;
+const dReal h39_volu = 0.060173;
+const dReal h39_pos[3] = { -0.130993,-0.349156,0.297470 };
+const dReal h39_verts[ h39_numv * 3 ] = {
+  0.132777,-0.098138,-0.374861, 0.174223,-0.110378,-0.320895, -0.236793,-0.176972,0.087992, 0.120090,0.163784,-0.274197, -0.036262,0.126682,-0.293283, -0.239846,-0.040235,0.342234, -0.196039,0.079314,-0.093590, -0.026168,0.090752,-0.306837, -0.084113,-0.111771,0.430932, -0.132771,0.138527,-0.197817, -0.061588,-0.096707,0.419183, -0.167047,-0.030107,0.457226, 0.314167,0.086089,-0.023449, 0.140527,0.255266,-0.004320, -0.137571,0.134813,-0.193511, 0.315613,0.085777,-0.028809, 0.116964,-0.108191,-0.379221, 0.099852,-0.172148,-0.325434, -0.176687,-0.026318,0.447418, -0.168971,-0.023213,0.453768, -0.137871,-0.270870,0.015539, -0.111640,-0.152598,0.364567, -0.122362,-0.092357,0.456223, -0.127730,-0.079472,0.460978, -0.243030,-0.080780,0.324741, -0.136583,-0.114124,0.420896, -0.241856,-0.054541,0.348612, -0.178625,-0.028253,0.445248, -0.171209,-0.024409,0.453290, -0.169333,-0.024798,0.455225, 0.224076,0.244621,-0.088171, 0.213513,0.251212,-0.061379, 
+};
+const unsigned int h39_faces[] = {
+  5, 0,3,30,15,1,
+  8, 15,12,10,8,21,20,17,1,
+  4, 17,16,0,1,
+  5, 20,21,25,24,2,
+  5, 24,26,5,6,2,
+  7, 6,14,7,16,17,20,2,
+  5, 0,16,7,4,3,
+  6, 4,9,13,31,30,3,
+  4, 7,14,9,4,
+  4, 26,27,18,5,
+  8, 18,28,19,13,9,14,6,5,
+  4, 10,23,22,8,
+  4, 22,25,21,8,
+  8, 12,31,13,19,29,11,23,10,
+  7, 27,26,24,25,22,23,11,
+  5, 29,28,18,27,11,
+  4, 15,30,31,12,
+  3, 28,29,19,
+};
+const dReal h39_planes[ h39_numf * 4 ] = {
+  0.794364,0.251059,-0.553132,0.288182,0.616962,-0.758294,0.21059,0.12361,0.548603,-0.619234,-0.561769,0.344197,-0.526505,-0.792388,0.308081,0.292012,-0.991673,0.108076,-0.0700326,0.209533,-0.73548,-0.309929,-0.602505,0.17599,0.0284606,0.359798,-0.932596,0.318062,-0.184883,0.934913,-0.302912,0.213979,-0.696788,0.0734069,-0.713511,0.243827,-0.830322,0.320028,0.456232,0.342411,-0.493232,0.850288,0.183662,0.146944,0.512456,-0.101226,0.852726,0.335677,-0.0662371,-0.837367,0.542614,0.332994,0.553104,0.49165,0.672575,0.200322,-0.664689,-0.486283,0.567201,0.385014,-0.721996,-0.0507074,0.690036,0.437637,0.818514,0.542417,0.189261,0.299408,-0.474458,0.651966,0.591464,0.333423
+};
+// h40
+const int h40_numv = 24;
+const int h40_numf = 14;
+const dReal h40_volu = 0.115424;
+const dReal h40_pos[3] = { 0.492476,-0.748212,0.263785 };
+const dReal h40_verts[ h40_numv * 3 ] = {
+  -0.375103,-0.192297,-0.003592, 0.259307,0.208511,0.137583, 0.097667,-0.251788,0.295436, 0.264741,-0.251788,-0.112461, -0.092178,0.331289,0.031204, 0.024049,0.001327,-0.360189, 0.074171,0.054850,-0.363248, 0.312772,-0.115013,-0.159366, -0.175930,0.233085,-0.125157, -0.094464,-0.251788,-0.287854, -0.004537,0.240191,-0.275299, -0.030207,0.233085,-0.267465, -0.370461,-0.251788,-0.018326, 0.056736,-0.251788,0.315422, -0.153302,0.123509,0.267162, -0.068302,0.078845,0.319783, 0.171724,0.348803,0.156293, 0.053571,0.367605,-0.023060, -0.075373,0.297791,0.199418, 0.109457,0.331072,0.189737, -0.005042,0.303901,0.226077, 0.014996,0.282164,0.244247, -0.076239,0.293319,0.206688, -0.068649,0.297216,0.207331, 
+};
+const unsigned int h40_faces[] = {
+  4, 2,3,7,1,
+  6, 7,6,10,17,16,1,
+  7, 16,19,21,15,13,2,1,
+  5, 13,12,9,3,2,
+  5, 9,5,6,7,3,
+  5, 17,10,11,8,4,
+  6, 8,0,14,22,18,4,
+  7, 18,23,20,19,16,17,4,
+  6, 9,12,0,8,11,5,
+  4, 11,10,6,5,
+  5, 13,15,14,0,12,
+  6, 15,21,20,23,22,14,
+  3, 22,23,18,
+  3, 20,21,19,
+};
+const dReal h40_planes[ h40_numf * 4 ] = {
+  0.908278,-0.191373,0.372031,0.246805,0.73808,0.518378,-0.431882,0.240058,0.433652,0.152285,0.888119,0.266393,5.15129e-17,-1,5.27492e-17,0.251788,0.398278,-0.419585,-0.815673,0.302818,-0.348894,0.86639,-0.357268,0.308038,-0.870583,0.45858,0.178295,0.237735,-0.162747,0.964426,0.208316,0.341006,-0.693474,0.121763,-0.710118,0.23926,-0.349687,0.276295,-0.895198,0.314397,-0.598205,-0.236328,0.765702,0.267084,-0.296224,0.4369,0.849335,0.326283,-0.440632,0.78713,0.431589,0.353679,0.071473,0.677671,0.731884,0.371046
+};
+// h41
+const int h41_numv = 18;
+const int h41_numf = 11;
+const dReal h41_volu = 0.076473;
+const dReal h41_pos[3] = { 0.741085,-0.876917,-0.246261 };
+const dReal h41_verts[ h41_numv * 3 ] = {
+  0.005338,0.140795,-0.243701, -0.174437,0.183555,0.146798, 0.258916,-0.123083,-0.387389, 0.103129,0.222017,-0.142233, 0.164192,-0.123083,-0.418224, 0.016133,-0.123083,0.397585, 0.258916,0.168617,-0.137303, 0.258916,-0.123083,0.279039, -0.343073,-0.123083,0.222192, -0.064041,0.243655,-0.068027, -0.104715,0.171264,-0.169812, -0.390960,-0.123083,-0.011633, -0.224559,0.130032,0.149857, -0.379049,-0.089936,-0.038730, -0.349233,-0.075342,-0.102654, -0.337817,-0.123083,-0.124077, 0.258916,-0.009416,0.259549, 0.064164,0.013692,0.350680, 
+};
+const unsigned int h41_faces[] = {
+  6, 9,10,14,13,12,1,
+  5, 12,8,5,17,1,
+  6, 17,16,6,3,9,1,
+  5, 4,0,3,6,2,
+  4, 6,16,7,2,
+  7, 7,5,8,11,15,4,2,
+  4, 0,10,9,3,
+  5, 15,14,10,0,4,
+  4, 7,16,17,5,
+  4, 12,13,11,8,
+  4, 13,14,15,11,
+};
+const dReal h41_planes[ h41_numf * 4 ] = {
+  -0.722578,0.66608,-0.18498,0.221152,-0.398278,0.419585,0.815673,0.266231,0.287163,0.873965,0.392074,0.167884,0.239912,0.631869,-0.73701,0.269854,1,0,0,0.258915,0,-1,0,0.123083,-0.131611,0.83191,-0.539077,0.2478,-0.488522,0.25733,-0.833743,0.236806,0.433652,0.152285,0.888119,0.341356,-0.870583,0.45858,0.178295,0.281846,-0.903842,-0.0244154,-0.42717,0.361341
+};
+// h42
+const int h42_numv = 26;
+const int h42_numf = 15;
+const dReal h42_volu = 0.137951;
+const dReal h42_pos[3] = { 0.814994,-0.482932,0.027418 };
+const dReal h42_verts[ h42_numv * 3 ] = {
+  -0.063211,-0.056769,0.373950, 0.185005,0.097851,0.415613, -0.248347,-0.210430,-0.126881, 0.112828,0.023604,-0.394042, -0.108847,0.115253,0.400661, -0.327055,-0.025089,-0.038931, -0.085789,0.224192,-0.255901, 0.185005,-0.403401,-0.014130, 0.185005,-0.225368,-0.410982, -0.009747,-0.380293,0.077002, -0.175394,0.222730,-0.208732, 0.002670,0.221670,0.389944, -0.150794,0.083523,0.392660, 0.160182,0.229752,0.436714, 0.133897,0.345057,0.231744, -0.006362,0.255606,0.329122, 0.185005,0.234054,0.438967, 0.185005,0.352490,0.238788, 0.029219,-0.171968,-0.415912, -0.137952,-0.150330,-0.341706, 0.185005,0.276769,-0.150723, 0.185005,0.010082,-0.390796, -0.176045,0.220413,-0.220256, -0.242698,0.103211,-0.226628, -0.268948,0.102325,0.213307, -0.248100,0.136462,0.190657, 
+};
+const unsigned int h42_faces[] = {
+  4, 0,9,7,1,
+  7, 7,8,21,20,17,16,1,
+  6, 16,13,4,12,0,1,
+  4, 5,23,19,2,
+  6, 19,18,8,7,9,2,
+  6, 9,0,12,24,5,2,
+  4, 6,20,21,3,
+  4, 21,8,18,3,
+  6, 18,19,23,22,6,3,
+  3, 13,11,4,
+  6, 11,15,25,24,12,4,
+  6, 24,25,10,22,23,5,
+  6, 22,10,14,17,20,6,
+  4, 25,15,14,10,
+  6, 13,16,17,14,15,11,
+};
+const dReal h42_planes[ h42_numf * 4 ] = {
+  0.267862,-0.627092,0.731441,0.29219,1,2.67045e-16,1.9344e-17,0.185006,-0.0600487,-0.168696,0.983837,0.381279,-0.864691,-0.138024,-0.482969,0.305068,-0.287163,-0.873965,-0.392074,0.304972,-0.73808,-0.518378,0.431882,0.237585,0.156805,0.660773,-0.734024,0.322525,0.0606999,0.0852635,-0.994508,0.400738,-0.364346,0.255892,-0.895417,0.317763,-0.280943,0.383024,0.879979,0.427298,-0.590109,0.664552,0.458413,0.324491,-0.86695,0.495807,-0.0507289,0.273077,-0.11569,0.975032,-0.189546,0.277024,-0.485104,0.868795,0.0993492,0.257853,-0.191731,0.844679,0.499756,0.381605
+};
+// h43
+const int h43_numv = 26;
+const int h43_numf = 15;
+const dReal h43_volu = 0.091347;
+const dReal h43_pos[3] = { -0.439313,0.395062,-0.161996 };
+const dReal h43_verts[ h43_numv * 3 ] = {
+  -0.171800,0.355423,-0.143529, -0.041887,-0.040549,-0.338294, -0.088904,0.443945,0.033555, -0.050746,0.256028,0.267789, -0.120718,0.085236,0.331241, 0.112903,-0.317075,-0.192421, -0.024680,-0.380539,0.081401, 0.014540,-0.410443,-0.096363, -0.166472,-0.135578,-0.232924, -0.179653,0.199344,0.219565, 0.056744,-0.387608,-0.004660, -0.088904,0.425462,0.081094, -0.046327,-0.413563,-0.075262, -0.024725,0.299814,0.247575, -0.150602,0.151087,0.286944, -0.050613,-0.134365,0.334664, -0.244880,0.199344,-0.098926, -0.122184,0.302440,-0.201067, -0.108793,0.292906,-0.209241, -0.034597,-0.039973,-0.340964, 0.309817,-0.173124,-0.053206, -0.070119,0.430571,0.022089, 0.002939,0.029802,-0.334091, 0.280604,-0.188322,-0.121373, 0.290359,0.017349,0.142160, 0.257236,0.070405,0.149235, 
+};
+const unsigned int h43_faces[] = {
+  5, 8,16,0,17,1,
+  5, 17,18,22,19,1,
+  6, 19,5,7,12,8,1,
+  5, 21,18,17,0,2,
+  5, 0,16,9,11,2,
+  5, 11,13,25,21,2,
+  6, 4,15,24,25,13,3,
+  5, 13,11,9,14,3,
+  3, 14,4,3,
+  8, 14,9,16,8,12,6,15,4,
+  4, 19,22,23,5,
+  5, 23,20,10,7,5,
+  5, 10,20,24,15,6,
+  4, 12,7,10,6,
+  7, 21,25,24,20,23,22,18,
+};
+const dReal h43_planes[ h43_numf * 4 ] = {
+  -0.693474,0.121763,-0.710118,0.264339,-0.349687,0.276295,-0.895198,0.306284,-0.24653,-0.556538,-0.793403,0.301297,0.256638,0.811103,-0.525594,0.319633,-0.870583,0.45858,0.178295,0.286965,0.662611,0.698059,0.271405,0.260098,0.433652,0.152285,0.888119,0.254811,-0.49733,0.589429,0.636582,0.346617,-0.296224,0.4369,0.849335,0.354333,-0.935836,-0.295766,0.191659,0.151248,0.501077,-0.186311,-0.84511,0.278264,0.632147,-0.768422,-0.0995875,0.334181,0.582464,-0.552261,0.596443,0.244332,0.11569,-0.975032,0.189546,0.383611,0.73808,0.518378,-0.431882,0.161906
+};
+// h44
+const int h44_numv = 26;
+const int h44_numf = 15;
+const dReal h44_volu = 0.104111;
+const dReal h44_pos[3] = { -0.656166,-0.300748,0.215302 };
+const dReal h44_verts[ h44_numv * 3 ] = {
+  -0.220317,0.235145,-0.208278, 0.078796,0.351295,-0.102059, 0.283317,-0.102949,0.430780, 0.285327,-0.088643,0.424402, 0.201177,0.226255,-0.138992, 0.124677,-0.319431,0.033433, 0.117727,0.304230,-0.184196, 0.043064,-0.325887,0.063320, -0.138842,0.186808,-0.302762, 0.311997,0.075640,-0.076273, 0.067923,-0.171282,-0.181336, -0.343834,-0.050448,-0.267282, -0.343834,-0.078267,-0.052628, -0.343834,0.035932,0.053112, 0.088073,0.239020,0.159535, 0.282143,-0.129188,0.406909, -0.286183,0.003244,-0.364214, -0.343834,0.054532,0.043544, 0.011578,-0.313217,0.111616, 0.329134,0.030906,-0.011422, 0.089881,-0.140507,0.355648, 0.092412,-0.225203,0.279944, 0.288380,-0.225380,0.170160, 0.101854,0.336248,-0.130909, -0.343834,-0.006528,-0.335059, -0.343834,0.160238,-0.192084, 
+};
+const unsigned int h44_faces[] = {
+  7, 14,3,19,9,4,23,1,
+  5, 23,6,8,0,1,
+  5, 0,25,17,14,1,
+  5, 15,22,19,3,2,
+  6, 3,14,17,13,20,2,
+  4, 20,21,15,2,
+  6, 9,10,16,8,6,4,
+  3, 6,23,4,
+  6, 22,15,21,18,7,5,
+  6, 7,11,24,16,10,5,
+  5, 10,9,19,22,5,
+  4, 18,12,11,7,
+  5, 16,24,25,0,8,
+  6, 12,13,17,25,24,11,
+  5, 18,21,20,13,12,
+};
+const dReal h44_planes[ h44_numf * 4 ] = {
+  0.727924,0.639056,0.248465,0.256497,-0.131611,0.83191,-0.539077,0.336893,-0.446963,0.816184,0.366152,0.214133,0.991673,-0.108076,0.0700326,0.322253,-0.398278,0.419585,0.815673,0.19534,-0.156805,-0.660773,0.734024,0.339803,0.438192,-0.051293,-0.897417,0.201283,0.722578,0.66608,-0.18498,0.321781,0.20808,-0.904248,0.372879,0.327254,-0.131611,-0.83191,-0.539077,0.231306,0.708232,-0.479648,-0.518021,0.224196,-0.512085,-0.851811,-0.110395,0.248551,-0.443092,0.583496,-0.68059,0.376579,-1,6.26681e-16,4.55506e-17,0.343834,-0.619037,-0.533581,0.576268,0.22428
+};
+// h45
+const int h45_numv = 22;
+const int h45_numf = 13;
+const dReal h45_volu = 0.073607;
+const dReal h45_pos[3] = { -0.692003,0.228592,-0.074767 };
+const dReal h45_verts[ h45_numv * 3 ] = {
+  0.206363,-0.247093,-0.162491, 0.114633,-0.178045,0.188010, 0.007810,0.365814,-0.186155, -0.306616,-0.033345,0.126518, -0.055718,0.198405,0.254002, 0.153565,-0.225110,0.105873, -0.184480,-0.294195,0.081791, 0.073037,0.365814,0.132336, 0.155930,-0.080562,0.225951, -0.173050,0.172678,-0.175116, -0.103005,-0.342532,-0.012694, -0.015749,-0.330108,-0.146901, 0.086218,0.030892,-0.320153, -0.015750,-0.032626,-0.299926, 0.228010,-0.214069,-0.005829, 0.104078,0.176805,0.286842, 0.137691,-0.193092,0.159160, 0.102087,0.317557,0.199715, -0.062260,0.197254,0.252076, 0.131971,0.251706,0.244012, 0.186972,0.021095,0.262581, 0.202077,0.032105,0.247435, 
+};
+const unsigned int h45_faces[] = {
+  8, 8,20,15,4,18,3,6,1,
+  5, 6,10,5,16,1,
+  3, 16,8,1,
+  4, 12,13,9,2,
+  5, 9,3,18,7,2,
+  8, 7,17,19,21,14,0,12,2,
+  6, 9,13,11,10,6,3,
+  4, 15,19,17,4,
+  4, 17,7,18,4,
+  6, 14,21,20,8,16,5,
+  5, 10,11,0,14,5,
+  4, 13,12,0,11,
+  4, 20,21,19,15,
+};
+const dReal h45_planes[ h45_numf * 4 ] = {
+  -0.228531,-0.267508,0.936063,0.19742,0.131611,-0.83191,0.539077,0.264556,0.535431,-0.493566,0.685351,0.278107,-0.349687,0.276295,-0.895198,0.264987,-0.717787,0.680568,0.147003,0.21599,0.935836,0.295766,-0.191659,0.151183,-0.793213,-0.278551,-0.5415,0.183991,-0.103318,0.522457,0.846383,0.324397,-0.311731,0.703731,0.638425,0.319154,0.777333,-0.40946,0.477593,0.262108,0.35532,-0.923345,0.145539,0.277827,0.107916,-0.45476,-0.884052,0.278288,0.613049,0.207593,0.762283,0.319163
+};
+// h46
+const int h46_numv = 24;
+const int h46_numf = 14;
+const dReal h46_volu = 0.077166;
+const dReal h46_pos[3] = { -0.506861,-0.263372,-0.148064 };
+const dReal h46_verts[ h46_numv * 3 ] = {
+  -0.435488,-0.034132,-0.000849, 0.039076,-0.286247,0.028683, -0.031577,0.266854,0.179170, 0.042868,0.277895,0.067468, 0.334025,-0.207064,-0.069876, -0.200891,0.161856,-0.073604, -0.329922,-0.035641,-0.192524, -0.391003,-0.070120,-0.144257, 0.124292,0.270826,-0.018593, -0.288147,0.149432,0.060603, 0.051872,0.188879,0.224374, -0.081382,-0.208658,0.182030, 0.243097,0.052743,0.247717, 0.267097,-0.250173,-0.073376, 0.162691,0.038264,0.287094, 0.339607,0.040898,0.152251, 0.238297,0.049029,0.252023, 0.349700,0.004968,0.138697, 0.021220,0.244871,-0.089194, -0.322311,-0.040247,-0.199445, -0.016599,-0.019353,-0.300951, 0.082088,0.247991,-0.110295, -0.339273,-0.043963,-0.190526, 0.082087,0.036350,-0.291745, 
+};
+const unsigned int h46_faces[] = {
+  6, 7,22,19,20,13,1,
+  7, 13,4,17,16,14,11,1,
+  4, 11,0,7,1,
+  6, 10,12,15,8,3,2,
+  5, 3,18,5,9,2,
+  6, 9,0,11,14,10,2,
+  4, 8,21,18,3,
+  4, 13,20,23,4,
+  6, 23,21,8,15,17,4,
+  7, 18,21,23,20,19,6,5,
+  6, 6,22,7,0,9,5,
+  3, 19,22,6,
+  4, 14,16,12,10,
+  4, 16,17,15,12,
+};
+const dReal h46_planes[ h46_numf * 4 ] = {
+  -0.148211,-0.780702,-0.607074,0.200269,0.391463,-0.659847,0.641373,0.222573,-0.471464,-0.878752,0.0742736,0.235248,0.496382,0.766976,0.406636,0.261853,-0.35532,0.923345,-0.145539,0.231542,-0.438192,0.051293,0.897417,0.188315,-0.11569,0.975032,-0.189546,0.253209,0.322885,-0.43293,-0.841615,0.256305,0.792041,0.39734,-0.463457,0.214671,-0.284317,0.624016,-0.727852,0.21169,-0.66062,0.653782,-0.368986,0.26569,-0.494656,0.366713,-0.787932,0.301823,0.289106,0.541464,0.789452,0.2944,0.696788,-0.0734069,0.713511,0.342264
+};
+// h47
+const int h47_numv = 36;
+const int h47_numf = 20;
+const dReal h47_volu = 0.096745;
+const dReal h47_pos[3] = { -0.132135,0.108975,0.072319 };
+const dReal h47_verts[ h47_numv * 3 ] = {
+  0.298509,0.263511,-0.009995, -0.406303,-0.105494,-0.041213, 0.295351,0.263929,-0.015607, -0.362255,0.123840,0.142831, -0.016819,0.303436,-0.092155, 0.214655,-0.206919,0.163772, 0.119596,0.038081,0.333996, -0.357791,0.151721,0.100349, 0.141669,-0.202865,0.220831, -0.322854,-0.183468,0.003991, -0.422177,-0.073475,0.012073, 0.248529,0.277838,-0.020262, -0.331858,-0.094452,-0.152914, -0.250434,-0.101521,-0.238975, -0.131628,-0.319604,0.027334, 0.281027,0.056414,-0.190466, 0.134068,0.286800,-0.104666, 0.293847,0.266235,0.003176, -0.403938,0.039055,0.078865, -0.372896,0.140712,0.115495, -0.035119,-0.331449,-0.068132, 0.121232,-0.294347,-0.049046, 0.051634,0.305873,-0.087560, 0.254870,0.274829,-0.031097, 0.196475,0.139795,-0.254001, 0.002640,0.112963,-0.287521, 0.198447,0.073853,0.288417, 0.224142,0.132346,-0.243414, 0.225218,-0.213510,0.136980, 0.298178,-0.027388,0.023425, 0.292448,0.199019,0.106734, 0.304944,0.253729,-0.022071, 0.308556,0.186869,0.065231, 0.305066,0.254217,-0.020526, 0.293027,0.163885,-0.150423, 0.287364,0.062429,-0.181183, 
+};
+const unsigned int h47_faces[] = {
+  6, 12,13,20,14,9,1,
+  3, 9,10,1,
+  6, 10,18,19,7,12,1,
+  4, 0,33,31,2,
+  7, 31,34,27,24,16,23,2,
+  5, 23,11,17,0,2,
+  10, 6,26,30,17,11,22,4,7,19,3,
+  3, 19,18,3,
+  7, 18,10,9,14,8,6,3,
+  5, 22,16,24,25,4,
+  5, 25,13,12,7,4,
+  6, 28,29,32,30,26,5,
+  4, 26,6,8,5,
+  6, 8,14,20,21,28,5,
+  4, 23,16,22,11,
+  7, 25,24,27,15,21,20,13,
+  4, 27,34,35,15,
+  5, 35,29,28,21,15,
+  5, 30,32,33,0,17,
+  6, 35,34,31,33,32,29,
+};
+const dReal h47_planes[ h47_numf * 4 ] = {
+  -0.496382,-0.766976,-0.406636,0.299351,-0.722578,-0.66608,0.18498,0.35623,-0.777333,0.40946,-0.477593,0.292321,0.60243,0.746152,-0.283435,0.379283,0.40667,0.730271,-0.54893,0.321417,0.292039,0.95183,-0.0934524,0.338928,-0.066237,0.837367,0.542613,0.205196,-0.897445,0.121213,0.424146,0.400696,-0.398278,-0.419584,0.815674,0.208821,0.0212658,0.716912,-0.696839,0.281397,-0.582464,0.552261,-0.596443,0.232337,0.913105,-0.120244,0.389591,0.284687,0.576312,-0.303571,0.758755,0.310786,0.184883,-0.934913,0.302912,0.282746,0.191593,0.968844,-0.156953,0.319978,0.212159,-0.447018,-0.869002,0.19992,0.770892,0.145024,-0.620237,0.342957,0.836212,-0.484521,-0.256884,0.256592,0.900933,0.358346,0.24476,0.360918,0.997066,-0.0350131,-0.0680664,0.296668
+};
+// h48
+const int h48_numv = 24;
+const int h48_numf = 14;
+const dReal h48_volu = 0.097516;
+const dReal h48_pos[3] = { 0.292729,-0.243911,-0.041409 };
+const dReal h48_verts[ h48_numv * 3 ] = {
+  -0.303632,0.058539,0.064682, -0.108656,-0.084639,-0.284158, 0.263889,0.072976,-0.223666, 0.274166,-0.102559,0.259484, 0.253318,-0.136696,0.282134, 0.346872,-0.016291,-0.139905, -0.290945,-0.203383,-0.035982, 0.008763,0.056080,-0.365621, 0.246275,0.103070,-0.201305, 0.107569,-0.173012,0.336398, -0.249499,-0.215623,0.017984, -0.234675,-0.199275,-0.122635, 0.023817,-0.271216,0.180037, 0.169540,-0.271216,0.037729, -0.126686,0.325499,0.137154, 0.195210,-0.264110,0.029895, 0.346221,-0.018608,-0.151429, 0.279567,-0.135810,-0.157801, -0.143837,0.409300,-0.076739, -0.137500,0.415315,-0.067456, -0.031223,0.088614,-0.351675, -0.000004,-0.036295,-0.345501, -0.199646,0.139376,0.250708, -0.108109,-0.019468,0.310070, 
+};
+const unsigned int h48_faces[] = {
+  4, 20,7,21,1,
+  6, 21,17,15,13,11,1,
+  6, 11,6,0,18,20,1,
+  5, 16,17,21,7,2,
+  6, 7,20,18,19,8,2,
+  4, 8,5,16,2,
+  6, 14,22,23,9,4,3,
+  6, 4,15,17,16,5,3,
+  5, 5,8,19,14,3,
+  5, 9,12,13,15,4,
+  5, 10,23,22,0,6,
+  5, 11,13,12,10,6,
+  4, 23,10,12,9,
+  5, 19,18,0,22,14,
+};
+const dReal h48_planes[ h48_numf * 4 ] = {
+  -0.433652,-0.152283,-0.888119,0.312375,0.066237,-0.837367,-0.542613,0.217865,-0.830851,0.164118,-0.531744,0.227486,0.484779,-0.229821,-0.843903,0.299909,0.322183,0.678839,-0.659831,0.282141,0.794108,0.585614,-0.162633,0.288667,0.212159,0.447018,0.869002,0.237812,0.86695,-0.495807,0.0507289,0.301701,0.66261,0.69806,0.271405,0.180498,0.348894,-0.86639,0.357268,0.30761,-0.794364,-0.251059,0.553132,0.262275,-0.124536,-0.983986,-0.127525,0.240948,-0.49733,-0.589428,0.636583,0.262626,-0.836212,0.484521,0.256884,0.29888
+};
+// h49
+const int h49_numv = 30;
+const int h49_numf = 17;
+const dReal h49_volu = 0.103417;
+const dReal h49_pos[3] = { -0.082648,-0.117151,-0.277803 };
+const dReal h49_verts[ h49_numv * 3 ] = {
+  0.344154,-0.038146,-0.115281, -0.165239,0.018854,-0.286732, -0.342125,0.101770,0.019444, -0.222234,-0.108669,-0.237036, -0.321677,-0.099820,-0.189997, 0.084432,-0.330143,0.200412, -0.076061,0.323891,-0.005566, -0.299921,0.124605,0.111147, -0.223248,0.024754,-0.259418, 0.141702,0.335375,-0.073499, 0.231540,0.282540,0.159656, 0.156937,0.153559,-0.266131, -0.243762,0.195138,-0.076614, -0.084607,-0.105324,0.281990, 0.266721,-0.211399,-0.047765, 0.071745,-0.068221,0.301076, -0.090188,-0.353285,0.059864, -0.342125,-0.109871,-0.162005, -0.074513,-0.141253,0.268436, 0.140702,-0.326035,0.113759, 0.082436,-0.372046,-0.016546, 0.056586,-0.396243,0.036572, 0.007365,-0.408266,0.085169, 0.068619,-0.340196,0.196052, 0.183372,0.187050,-0.241355, 0.271282,0.058201,-0.185174, 0.174655,0.358472,0.106708, -0.046848,0.339089,0.062601, 0.146988,0.365921,0.096121, 0.157998,0.356836,0.037994, 
+};
+const unsigned int h49_faces[] = {
+  4, 3,4,8,1,
+  7, 8,12,6,9,24,11,1,
+  7, 11,25,0,14,20,3,1,
+  6, 17,16,18,13,7,2,
+  5, 7,27,6,12,2,
+  5, 12,8,4,17,2,
+  7, 20,21,22,16,17,4,3,
+  5, 15,13,18,23,5,
+  5, 23,22,21,19,5,
+  6, 19,14,0,10,15,5,
+  5, 27,28,29,9,6,
+  7, 13,15,10,26,28,27,7,
+  7, 29,26,10,0,25,24,9,
+  3, 24,25,11,
+  4, 19,21,20,14,
+  4, 22,23,18,16,
+  3, 29,28,26,
+};
+const dReal h49_planes[ h49_numf * 4 ] = {
+  -0.433652,-0.152283,-0.888119,0.323437,-0.247318,0.694798,-0.675344,0.247609,0.240814,-0.443968,-0.863077,0.199309,-0.792041,-0.39734,0.463457,0.239551,-0.632147,0.768422,0.0995875,0.296413,-0.805487,0.385719,-0.449901,0.306085,-0.315015,-0.796483,-0.516121,0.2789,-0.0284606,-0.359798,0.932596,0.303286,0.465257,-0.845503,0.262033,0.370934,0.830851,-0.164118,0.531744,0.230901,-0.105626,0.979232,-0.173057,0.326162,-0.212159,0.447018,0.869002,0.215918,0.847832,0.483811,-0.217045,0.29835,0.621965,0.0849382,-0.778424,0.317815,0.654405,-0.755705,-0.0257735,0.33553,-0.49733,-0.589428,0.636583,0.291198,0.292039,0.95183,-0.0934524,0.382238
+};
+// h50
+const int h50_numv = 20;
+const int h50_numf = 12;
+const dReal h50_volu = 0.069183;
+const dReal h50_pos[3] = { -0.304007,-0.060848,0.383791 };
+const dReal h50_verts[ h50_numv * 3 ] = {
+  0.035443,-0.153495,-0.279832, 0.291468,0.207904,0.022524, -0.264086,-0.000880,-0.008953, -0.190383,0.293663,-0.168640, 0.004043,-0.311521,0.367447, -0.001962,-0.311376,0.364440, -0.150982,-0.013645,-0.307481, -0.250305,0.096348,-0.299398, 0.040243,-0.149781,-0.284138, -0.040162,-0.164260,-0.244761, -0.228192,0.064423,0.060664, 0.001805,-0.312717,0.366969, -0.232066,0.208878,-0.232607, -0.273363,0.111395,-0.270548, 0.313541,-0.033043,-0.090641, -0.003673,-0.314626,0.361097, -0.023025,-0.208994,-0.179911, -0.066832,-0.328543,0.255913, -0.170020,0.271491,-0.017447, 0.190786,0.198102,0.196479, 
+};
+const unsigned int h50_faces[] = {
+  4, 3,18,19,1,
+  4, 19,4,14,1,
+  7, 14,8,6,7,12,3,1,
+  6, 10,18,3,12,13,2,
+  7, 13,7,6,9,16,17,2,
+  5, 17,15,5,10,2,
+  8, 11,15,17,16,0,8,14,4,
+  6, 19,18,10,5,11,4,
+  3, 15,11,5,
+  4, 8,0,9,6,
+  3, 13,12,7,
+  3, 0,16,9,
+};
+const dReal h50_planes[ h50_numf * 4 ] = {
+  0.124536,0.983986,0.127525,0.243745,0.859244,-0.150868,0.488814,0.230086,0.398278,0.419584,-0.815674,0.184946,-0.929286,0.326334,0.173016,0.243575,-0.727924,-0.639056,-0.248465,0.195021,-0.848621,-0.0894025,0.521393,0.219519,0.493232,-0.850288,-0.183662,0.199392,-0.398278,0.419584,0.815674,0.167397,-0.604872,-0.393584,0.692258,0.376026,-0.289106,-0.541464,-0.789452,0.293779,-0.535431,0.493566,-0.685351,0.386768,-0.131611,-0.83191,-0.539077,0.273881
+};
+// h51
+const int h51_numv = 20;
+const int h51_numf = 12;
+const dReal h51_volu = 0.097496;
+const dReal h51_pos[3] = { 0.796238,0.092236,-0.101631 };
+const dReal h51_verts[ h51_numv * 3 ] = {
+  -0.221011,0.347408,0.061823, -0.319697,0.291705,0.052616, 0.203762,-0.222678,0.367837, -0.200562,0.357460,0.033830, 0.203762,0.194344,-0.275142, -0.239620,-0.263171,-0.163444, 0.152653,-0.230111,0.360793, 0.203762,0.321480,-0.157424, -0.337380,0.280442,0.025237, -0.327866,0.285347,0.016786, -0.028332,0.052718,-0.315616, 0.203762,-0.298399,-0.021674, -0.257234,-0.233077,-0.141083, -0.157288,-0.354755,-0.091207, 0.203762,0.006585,0.328526, -0.156637,-0.352438,-0.079683, 0.030926,0.103995,0.283692, -0.036002,0.060886,0.280191, -0.157223,-0.222560,-0.236947, -0.067033,-0.350976,-0.126852, 
+};
+const unsigned int h51_faces[] = {
+  4, 17,16,0,1,
+  5, 0,3,9,8,1,
+  6, 8,12,15,6,17,1,
+  5, 14,16,17,6,2,
+  6, 6,15,13,19,11,2,
+  5, 11,4,7,14,2,
+  5, 7,4,10,9,3,
+  5, 0,16,14,7,3,
+  5, 11,19,18,10,4,
+  4, 18,19,13,5,
+  4, 13,15,12,5,
+  6, 12,8,9,10,18,5,
+};
+const dReal h51_planes[ h51_numf * 4 ] = {
+  -0.322885,0.43293,0.841615,0.273796,-0.488006,0.871758,-0.0434538,0.408025,-0.73548,-0.309929,0.602505,0.176424,-0.158394,0.166869,0.973173,0.288536,0.11569,-0.975032,0.189546,0.310413,1,0,0,0.203762,-0.275531,0.653109,-0.705359,0.26486,0.315015,0.796483,0.516121,0.238991,0.398278,-0.419585,-0.815673,0.224036,-0.228161,-0.721101,-0.654183,0.351367,-0.794108,-0.585614,0.162633,0.31782,-0.693474,0.121763,-0.710118,0.250191
+};
+// h52
+const int h52_numv = 16;
+const int h52_numf = 10;
+const dReal h52_volu = 0.084293;
+const dReal h52_pos[3] = { 0.513157,0.018456,0.067444 };
+const dReal h52_verts[ h52_numv * 3 ] = {
+  -0.347114,0.063132,0.028301, -0.352265,0.254404,-0.145548, 0.247079,0.134666,0.111116, -0.336736,0.277388,0.070106, 0.126444,-0.278658,-0.248758, -0.340226,0.344736,-0.015651, 0.295476,-0.245782,0.289096, -0.054299,0.354222,-0.143838, 0.053738,-0.364926,0.150631, -0.036616,0.365485,-0.116459, 0.025847,-0.159297,-0.310158, -0.357928,0.152948,-0.176308, 0.019058,0.098592,0.213176, 0.435734,-0.156331,0.191718, -0.340348,0.344248,-0.017196, -0.236518,0.326242,-0.134679, 
+};
+const unsigned int h52_faces[] = {
+  3, 14,15,1,
+  5, 15,7,10,11,1,
+  6, 11,0,3,5,14,1,
+  4, 12,6,13,2,
+  6, 13,4,10,7,9,2,
+  5, 9,5,3,12,2,
+  5, 0,8,6,12,3,
+  4, 13,6,8,4,
+  5, 8,0,11,10,4,
+  5, 9,7,15,14,5,
+};
+const dReal h52_planes[ h52_numf * 4 ] = {
+  -0.425203,0.759567,-0.4922,0.41466,-0.0929092,0.293639,-0.951391,0.245904,-0.997066,0.0350131,0.0680664,0.350232,0.309646,0.434949,0.84554,0.229033,0.73548,0.309929,-0.602505,0.156511,0.148211,0.780702,0.607074,0.209209,-0.433652,-0.152285,0.888119,0.166047,0.485104,-0.868795,-0.0993492,0.328149,-0.66261,-0.69806,-0.271405,0.17825,-0.159459,0.944944,-0.285751,0.38448
+};
+// h53
+const int h53_numv = 16;
+const int h53_numf = 10;
+const dReal h53_volu = 0.086476;
+const dReal h53_pos[3] = { -0.781555,0.807509,0.197497 };
+const dReal h53_verts[ h53_numv * 3 ] = {
+  0.291496,-0.156419,-0.091704, -0.218445,0.192491,0.461269, -0.218445,0.192491,-0.255541, -0.218445,-0.397567,0.047987, 0.027292,-0.381663,-0.020188, -0.218445,-0.373860,0.169935, 0.033835,-0.380512,-0.018262, 0.352556,0.192491,0.043056, 0.162589,-0.213103,-0.139928, 0.191640,-0.261360,-0.072549, 0.238502,0.192491,-0.291089, 0.253338,0.013015,-0.278399, 0.326334,-0.087525,-0.081781, 0.317517,-0.112633,-0.111918, 0.238502,0.081667,-0.310092, 0.153590,0.192491,-0.346370, 
+};
+const unsigned int h53_faces[] = {
+  7, 5,6,9,0,12,7,1,
+  5, 7,10,15,2,1,
+  4, 2,3,5,1,
+  7, 15,14,11,8,4,3,2,
+  4, 4,6,5,3,
+  4, 8,9,6,4,
+  6, 12,13,11,14,10,7,
+  5, 11,13,0,9,8,
+  3, 14,15,10,
+  3, 0,13,12,
+};
+const dReal h53_planes[ h53_numf * 4 ] = {
+  0.545755,-0.383303,0.745138,0.150709,-0,1,0,0.192491,-1,0,-0,0.218445,-0.212159,-0.447018,-0.869002,0.182363,0.11569,-0.975032,0.189546,0.371464,0.311731,-0.703731,-0.638425,0.289984,0.944939,0.0553043,-0.322539,0.329903,0.49733,-0.589429,-0.636582,0.295545,0.540055,0.142236,-0.829524,0.397648,0.877441,-0.462191,0.128357,0.316295
+};
+// h54
+const int h54_numv = 20;
+const int h54_numf = 12;
+const dReal h54_volu = 0.089003;
+const dReal h54_pos[3] = { -0.845912,0.679404,-0.140778 };
+const dReal h54_verts[ h54_numv * 3 ] = {
+  0.317695,0.141120,0.059877, 0.091649,-0.253558,0.318087, -0.154088,0.080768,-0.359617, -0.152707,-0.484157,0.192529, -0.154088,0.320596,0.082735, 0.078976,0.204301,-0.281846, -0.154088,-0.269462,0.386262, -0.154088,0.320596,-0.236248, -0.154088,-0.484416,0.192760, 0.226946,-0.084997,0.198347, 0.060656,0.320596,-0.223141, 0.161719,-0.084997,-0.120143, 0.217947,0.320596,-0.008094, -0.049829,0.124065,-0.330981, -0.154088,-0.230098,-0.199706, -0.019141,-0.278134,-0.109104, 0.160374,0.124065,-0.228342, 0.234799,0.071081,-0.164747, 0.302859,0.209772,0.028184, 0.317695,0.159603,0.012337, 
+};
+const unsigned int h54_faces[] = {
+  4, 6,8,3,1,
+  5, 3,15,11,9,1,
+  7, 9,0,18,12,4,6,1,
+  5, 7,10,5,13,2,
+  7, 13,16,17,11,15,14,2,
+  6, 14,8,6,4,7,2,
+  4, 8,14,15,3,
+  4, 12,10,7,4,
+  7, 10,12,18,19,17,16,5,
+  3, 16,13,5,
+  5, 11,17,19,0,9,
+  3, 0,19,18,
+};
+const dReal h54_planes[ h54_numf * 4 ] = {
+  0.242073,-0.64915,0.721114,0.41616,0.717787,-0.680568,-0.147003,0.191588,0.212159,0.447018,0.869002,0.182518,0.0541955,0.456759,-0.887938,0.347858,0.398278,-0.419585,-0.815673,0.19807,-1,0,0,0.154088,0.066237,-0.837367,-0.542613,0.290833,0,1,0,0.320596,0.742791,0.391264,-0.543299,0.291725,0.433652,-0.152285,-0.888119,0.253448,0.870583,-0.45858,-0.178295,0.201189,0.962317,0.253449,0.0985412,0.34739
+};
+// h55
+const int h55_numv = 16;
+const int h55_numf = 10;
+const dReal h55_volu = 0.055290;
+const dReal h55_pos[3] = { 0.087136,0.788999,0.139771 };
+const dReal h55_verts[ h55_numv * 3 ] = {
+  0.076080,-0.416095,-0.083059, -0.323951,0.211001,0.286715, 0.205112,0.211001,-0.185127, 0.076081,0.211001,-0.405639, -0.148237,0.211001,0.332473, 0.101171,-0.226374,0.192117, -0.006832,-0.085411,0.277812, 0.205111,-0.223849,0.038561, -0.274823,0.078877,0.258729, 0.035595,0.211001,-0.415523, 0.074576,-0.413789,-0.064275, 0.079238,-0.416513,-0.077447, 0.107256,-0.249478,0.168347, 0.117855,-0.236273,0.172768, 0.029258,-0.402186,-0.087713, 0.035598,-0.405195,-0.098549, 
+};
+const unsigned int h55_faces[] = {
+  4, 8,6,4,1,
+  5, 4,2,3,9,1,
+  5, 9,15,14,8,1,
+  5, 7,11,0,3,2,
+  6, 4,6,5,13,7,2,
+  4, 0,15,9,3,
+  3, 12,13,5,
+  6, 6,8,14,10,12,5,
+  5, 13,12,10,11,7,
+  5, 14,15,0,11,10,
+};
+const dReal h55_planes[ h55_numf * 4 ] = {
+  -0.241471,-0.286187,0.927248,0.283694,0,1,0,0.211001,-0.866617,-0.228251,-0.443708,0.105363,0.835368,-0.251447,-0.48881,0.20878,0.793214,0.278548,0.541501,0.121225,0.212159,-0.447018,-0.869002,0.274321,0.443092,-0.583496,0.68059,0.307669,-0.463507,-0.691764,0.553737,0.216086,0.66062,-0.653782,0.368986,0.296077,-0.292039,-0.95183,0.0934524,0.366071
+};
+// h56
+const int h56_numv = 20;
+const int h56_numf = 12;
+const dReal h56_volu = 0.096963;
+const dReal h56_pos[3] = { -0.186579,0.800379,0.005269 };
+const dReal h56_verts[ h56_numv * 3 ] = {
+  0.004502,-0.334912,-0.018030, 0.302973,-0.413566,0.046788, 0.309310,0.199621,-0.281021, -0.242420,0.199621,0.235284, -0.121421,0.199621,0.412527, 0.172708,0.199621,-0.357250, -0.050236,0.199621,0.421217, -0.341638,0.020145,-0.086171, -0.356474,0.199621,-0.098861, 0.097656,0.085128,-0.340236, -0.001108,0.067497,0.393231, -0.356474,0.088797,-0.117864, -0.277459,-0.105503,0.080310, 0.309314,-0.416575,0.035953, 0.106078,-0.385531,-0.020510, 0.188512,-0.404604,-0.037617, -0.268642,-0.080395,0.110447, -0.118494,0.123210,0.393231, -0.341638,0.038628,-0.133710, -0.322853,0.025254,-0.145176, 
+};
+const unsigned int h56_faces[] = {
+  4, 14,15,13,1,
+  5, 13,2,6,10,1,
+  7, 10,17,16,12,0,14,1,
+  5, 13,15,9,5,2,
+  6, 5,8,3,4,6,2,
+  4, 16,17,4,3,
+  6, 8,11,7,12,16,3,
+  4, 17,10,6,4,
+  6, 9,19,18,11,8,5,
+  5, 18,19,0,12,7,
+  3, 11,18,7,
+  5, 15,14,0,19,9,
+};
+const dReal h56_planes[ h56_numf * 4 ] = {
+  -0.191593,-0.968844,0.156953,0.349977,0.866617,0.228251,0.443708,0.188925,-0.322183,-0.678838,0.659831,0.214003,0.444511,-0.409753,-0.796563,0.279548,4.04497e-16,1,-1.19541e-16,0.199621,-0.813673,-0.17144,0.555468,0.293719,-0.944939,-0.0553043,0.322539,0.29392,-0.117405,-0.247371,0.961782,0.361636,-0.433652,0.152285,-0.888119,0.272785,-0.662611,-0.698059,-0.271405,0.235698,-0.962317,-0.253449,-0.0985412,0.33215,-0.289106,-0.541462,-0.789453,0.194274
+};
+// h57
+const int h57_numv = 16;
+const int h57_numf = 10;
+const dReal h57_volu = 0.081294;
+const dReal h57_pos[3] = { 0.851151,0.533342,0.098902 };
+const dReal h57_verts[ h57_numv * 3 ] = {
+  -0.184097,0.265595,0.004922, 0.148849,0.009818,-0.380153, 0.148849,-0.049459,0.325702, -0.275924,-0.093697,-0.138710, 0.148849,-0.119626,-0.357957, -0.275924,0.137573,0.059567, -0.112901,0.343928,0.059438, -0.249462,0.157589,0.121951, 0.148849,-0.434521,0.127992, 0.148849,0.447452,0.070089, 0.148849,-0.343521,0.212252, -0.023987,-0.337111,0.083159, -0.018406,-0.089149,0.305285, -0.008312,-0.125079,0.291731, -0.255475,-0.083645,-0.166703, -0.157047,0.040928,-0.236124, 
+};
+const unsigned int h57_faces[] = {
+  4, 4,14,15,1,
+  5, 15,0,6,9,1,
+  6, 9,2,10,8,4,1,
+  4, 12,13,10,2,
+  5, 9,6,7,12,2,
+  5, 14,4,8,11,3,
+  6, 11,13,12,7,5,3,
+  5, 5,0,15,14,3,
+  4, 7,6,0,5,
+  4, 10,13,11,8,
+};
+const dReal h57_planes[ h57_numf * 4 ] = {
+  -0.433652,-0.152285,-0.888119,0.271577,-0.247318,0.694798,-0.675344,0.226742,1,0,-0,0.148849,-0.0284606,-0.359798,0.932596,0.317307,-0.212159,0.447018,0.869002,0.229347,-0.315015,-0.796483,-0.516121,0.233139,-0.792041,-0.39734,0.463457,0.191487,-0.805488,0.385717,-0.449902,0.248519,-0.777693,0.614473,0.132726,0.307026,-0.49733,-0.589428,0.636583,0.26357
+};
+// h58
+const int h58_numv = 20;
+const int h58_numf = 12;
+const dReal h58_volu = 0.077812;
+const dReal h58_pos[3] = { 0.374418,0.849026,0.291935 };
+const dReal h58_verts[ h58_numv * 3 ] = {
+  -0.082171,-0.283876,-0.113603, 0.200809,-0.178111,-0.133466, -0.082170,0.150974,-0.337291, 0.089508,-0.034332,0.259248, 0.146093,0.150974,0.326019, 0.410849,0.150974,-0.104898, -0.435519,0.150974,0.180309, -0.294114,-0.145438,0.125648, 0.292636,-0.050089,-0.188111, 0.183309,0.150974,-0.304884, 0.227271,-0.158095,-0.071082, 0.363832,0.028244,-0.133595, -0.169427,-0.296300,0.020604, 0.087144,-0.178878,0.139171, 0.071270,-0.146859,0.192458, -0.429747,0.150974,0.185433, -0.186111,-0.286401,0.039952, 0.048213,-0.131812,0.221308, -0.268420,-0.171352,0.132706, -0.212551,-0.233071,0.128708, 
+};
+const unsigned int h58_faces[] = {
+  5, 10,13,12,0,1,
+  5, 0,2,9,8,1,
+  4, 8,11,10,1,
+  6, 0,12,16,7,6,2,
+  6, 6,15,4,5,9,2,
+  6, 4,15,18,19,17,3,
+  3, 17,14,3,
+  7, 14,13,10,11,5,4,3,
+  4, 11,8,9,5,
+  4, 7,18,15,6,
+  4, 16,19,18,7,
+  6, 13,14,17,19,16,12,
+};
+const dReal h58_planes[ h58_numf * 4 ] = {
+  0.35532,-0.923345,0.145539,0.216384,0.107916,-0.45476,-0.884052,0.220658,0.777693,-0.614473,-0.132726,0.283326,-0.793214,-0.278548,-0.541501,0.205768,0,1,-0,0.150974,-0.228531,-0.267508,0.936063,0.231401,0.535431,-0.493566,0.685351,0.242546,0.777334,-0.409459,0.477594,0.20745,0.658203,-0.077045,-0.748888,0.337347,-0.604377,-0.413861,0.68077,0.323484,-0.722579,-0.66608,0.18498,0.332636,0.131611,-0.83191,0.539078,0.235303
+};
+// h59
+const int h59_numv = 12;
+const int h59_numf = 8;
+const dReal h59_volu = 0.098632;
+const dReal h59_pos[3] = { 0.795288,0.838821,-0.270144 };
+const dReal h59_verts[ h59_numv * 3 ] = {
+  -0.010021,0.161179,0.457181, -0.356162,0.161179,-0.206090, 0.204712,-0.152000,-0.380610, 0.204712,0.161179,-0.434310, -0.057037,0.038449,0.428484, -0.237561,0.161179,0.257195, -0.256523,-0.089455,-0.203657, -0.128234,-0.039885,0.373968, 0.204712,-0.295661,-0.011106, -0.101183,-0.264551,0.132922, 0.204712,0.141973,0.439135, 0.204712,0.161179,0.444075, 
+};
+const unsigned int h59_faces[] = {
+  4, 3,2,6,1,
+  5, 6,9,7,5,1,
+  5, 5,0,11,3,1,
+  5, 3,11,10,8,2,
+  4, 8,9,6,2,
+  4, 10,11,0,4,
+  4, 0,5,7,4,
+  5, 7,9,8,10,4,
+};
+const dReal h59_planes[ h59_numf * 4 ] = {
+  -0.372229,-0.156858,-0.91479,0.29582,-0.90476,-0.357438,0.231619,0.216895,0,1,0,0.161178,1,1.92688e-15,-1.87292e-15,0.204712,-0.256529,-0.900844,-0.350247,0.217721,0.0590083,-0.248661,0.966792,0.401329,-0.658203,0.077045,0.748888,0.361391,0.247318,-0.694798,0.675344,0.248554
+};
+// h60
+const int h60_numv = 22;
+const int h60_numf = 13;
+const dReal h60_volu = 0.091310;
+const dReal h60_pos[3] = { 0.415485,0.715407,-0.130668 };
+const dReal h60_verts[ h60_numv * 3 ] = {
+  -0.064779,0.284593,-0.364069, 0.142242,0.284593,0.117719, -0.242554,-0.352215,0.182461, 0.061056,-0.331466,0.081653, 0.180191,-0.265711,0.062868, 0.251569,0.083531,0.234492, -0.123237,0.284593,0.085312, -0.123238,-0.150257,0.309000, 0.159742,-0.044491,0.289138, 0.278619,-0.141137,-0.006553, -0.252268,0.284593,-0.135200, 0.123280,0.033960,-0.343133, 0.052142,0.000197,-0.360501, 0.023641,0.284593,-0.345566, 0.159742,-0.275763,0.090860, -0.138846,-0.370709,0.063434, -0.249111,-0.342921,0.192992, -0.046519,-0.292460,-0.089523, -0.252269,-0.342503,0.187380, -0.242676,-0.352703,0.180916, 0.052887,-0.337824,0.045824, 0.043373,-0.342729,0.054274, 
+};
+const unsigned int h60_faces[] = {
+  5, 5,9,11,13,1,
+  5, 13,0,10,6,1,
+  5, 6,7,8,5,1,
+  4, 16,18,19,2,
+  5, 19,15,21,3,2,
+  6, 3,14,8,7,16,2,
+  5, 21,20,4,14,3,
+  6, 20,17,12,11,9,4,
+  5, 9,5,8,14,4,
+  5, 10,18,16,7,6,
+  7, 0,12,17,15,19,18,10,
+  4, 12,0,13,11,
+  4, 17,20,21,15,
+};
+const dReal h60_planes[ h60_numf * 4 ] = {
+  0.90476,0.357438,-0.231619,0.203154,8.63556e-17,1,-5.05304e-17,0.284593,-0.107916,0.45476,0.884052,0.218141,-0.60243,-0.746152,0.283435,0.460644,0.159459,-0.944944,0.285751,0.346285,0.284317,-0.624015,0.727852,0.28363,0.488006,-0.871758,0.0434538,0.322301,0.46199,-0.681388,-0.567693,0.228609,0.805488,-0.385717,0.449902,0.275915,-0.835368,0.251447,0.48881,0.21621,-0.73548,-0.309929,-0.602505,0.178793,0.204299,0.0717432,-0.976276,0.362615,0.120149,-0.911351,-0.393704,0.29619
+};
+// h61
+const int h61_numv = 24;
+const int h61_numf = 14;
+const dReal h61_volu = 0.075853;
+const dReal h61_pos[3] = { 0.499694,0.403970,0.252554 };
+const dReal h61_verts[ h61_numv * 3 ] = {
+  0.101994,0.286961,-0.031701, -0.294704,0.148756,0.059985, -0.023153,-0.020028,-0.301569, 0.156136,0.037589,0.286475, -0.323273,-0.108125,-0.115004, 0.032521,-0.286922,0.028066, -0.038132,0.266178,0.178552, 0.260541,-0.250848,-0.073994, 0.327470,-0.207739,-0.070493, 0.075532,0.266945,-0.094084, 0.075532,0.035675,-0.292362, 0.343145,0.004293,0.138079, 0.231743,0.048354,0.251404, 0.045317,0.188205,0.223756, -0.087937,-0.209333,0.181412, -0.330859,-0.089605,0.055955, 0.333052,0.040223,0.151633, 0.236542,0.052068,0.247099, -0.339382,-0.095975,-0.073501, -0.326763,-0.040778,-0.200761, -0.207448,0.161180,-0.074222, -0.333320,-0.031483,-0.190230, -0.305302,0.135551,0.055565, -0.337982,-0.028760,-0.177059, 
+};
+const unsigned int h61_faces[] = {
+  5, 20,21,23,22,1,
+  7, 22,15,14,3,13,6,1,
+  5, 6,0,9,20,1,
+  5, 7,5,4,19,2,
+  6, 19,21,20,9,10,2,
+  4, 10,8,7,2,
+  7, 14,5,7,8,11,12,3,
+  4, 12,17,13,3,
+  5, 18,23,21,19,4,
+  5, 5,14,15,18,4,
+  5, 13,17,16,0,6,
+  6, 10,9,0,16,11,8,
+  4, 16,17,12,11,
+  4, 22,23,18,15,
+};
+const dReal h61_planes[ h61_numf * 4 ] = {
+  -0.66062,0.653782,-0.368986,0.269808,-0.438192,0.051293,0.897417,0.190598,-0.35532,0.923345,-0.145539,0.233338,-0.148211,-0.780702,-0.607074,0.202142,-0.284317,0.624015,-0.727852,0.213583,0.322885,-0.43293,-0.841615,0.255,0.391463,-0.659847,0.641373,0.220056,0.289106,0.541462,0.789453,0.291652,-0.900933,-0.358346,-0.24476,0.358143,-0.471464,-0.878752,0.0742736,0.238885,0.496382,0.766976,0.406636,0.25783,0.792041,0.39734,-0.463457,0.209497,0.696788,-0.0734069,0.713511,0.337305,-0.991833,0.112685,0.0597434,0.321404
+};
+// h62
+const int h62_numv = 18;
+const int h62_numf = 11;
+const dReal h62_volu = 0.089635;
+const dReal h62_pos[3] = { -0.412607,-0.798932,0.393221 };
+const dReal h62_verts[ h62_numv * 3 ] = {
+  0.143743,0.178906,-0.080212, -0.336591,-0.057070,0.045432, -0.365487,-0.201068,0.063069, -0.043446,-0.201068,0.325146, -0.118881,0.178753,-0.144486, -0.152818,-0.201068,-0.248459, 0.205095,-0.201068,-0.388268, 0.337853,-0.164947,-0.214818, 0.038585,0.368996,0.228990, 0.242459,-0.068737,-0.310888, -0.200495,0.172297,-0.114599, -0.231981,0.184967,-0.066303, 0.334110,-0.201068,-0.227916, 0.209245,-0.110463,-0.361925, 0.145031,0.335652,0.325145, 0.169974,0.297178,0.268816, -0.151147,0.272981,0.102025, 0.044821,0.272804,-0.007759, 
+};
+const unsigned int h62_faces[] = {
+  5, 11,10,5,2,1,
+  6, 2,3,14,8,16,1,
+  3, 16,11,1,
+  5, 5,6,12,3,2,
+  5, 12,7,15,14,3,
+  6, 10,11,16,8,17,4,
+  5, 17,0,9,13,4,
+  5, 13,6,5,10,4,
+  5, 13,9,7,12,6,
+  4, 9,0,15,7,
+  5, 14,15,0,17,8,
+};
+const dReal h62_planes[ h62_numf * 4 ] = {
+  -0.822068,0.096228,-0.561199,0.245712,-0.616244,0.216405,0.75724,0.229475,-0.870583,0.45858,0.178295,0.27496,4.16641e-16,-1,1.84056e-16,0.201068,0.793214,-0.278548,0.541501,0.197612,-0.20808,0.904248,-0.372879,0.24025,0.167754,0.706913,-0.687119,0.205699,-0.349687,0.276295,-0.895198,0.220304,0.770892,0.145024,-0.620237,0.369765,0.799798,0.547681,-0.245698,0.232657,0.526505,0.792388,-0.308081,0.242156
+};
+// h63
+const int h63_numv = 20;
+const int h63_numf = 12;
+const dReal h63_volu = 0.065070;
+const dReal h63_pos[3] = { -0.683722,-0.408459,0.881106 };
+const dReal h63_verts[ h63_numv * 3 ] = {
+  0.408763,0.050375,-0.050997, 0.001643,0.372246,0.104787, -0.316278,-0.373443,0.118894, -0.000569,0.379463,0.118894, -0.316278,-0.303582,-0.012874, 0.413107,-0.090210,0.118894, 0.072977,-0.026465,-0.250457, -0.316278,0.104758,0.118894, -0.133134,0.036421,-0.232486, -0.316278,-0.061367,-0.137470, 0.406500,0.014459,-0.083368, 0.416439,0.055265,0.118894, 0.411396,0.069115,-0.001513, 0.370009,0.144956,0.118894, 0.377753,0.036235,-0.132875, 0.381520,0.034894,-0.130346, 0.374104,0.031050,-0.138388, 0.376042,0.032985,-0.136218, 0.383396,0.034505,-0.128411, 0.385682,0.029196,-0.126410, 
+};
+const unsigned int h63_faces[] = {
+  5, 8,9,7,3,1,
+  8, 3,13,12,0,18,15,14,1,
+  6, 14,17,16,6,8,1,
+  7, 4,6,16,19,10,5,2,
+  6, 5,11,13,3,7,2,
+  4, 7,9,4,2,
+  4, 9,8,6,4,
+  5, 10,0,12,11,5,
+  4, 19,18,0,10,
+  3, 12,13,11,
+  3, 15,17,14,
+  5, 18,19,16,17,15,
+};
+const dReal h63_planes[ h63_numf * 4 ] = {
+  -0.589724,0.677749,-0.439183,0.2053,0.50496,0.797961,-0.32905,0.263387,0.141863,0.672536,-0.72634,0.174471,0.324513,-0.835692,-0.443069,0.156769,2.1681e-17,-2.49173e-17,1,0.118894,-1,0,0,0.316278,-0.212159,-0.447018,-0.869002,0.213995,0.998749,-0.0228741,-0.044466,0.409367,0.901569,0.256913,-0.348094,0.399222,0.887955,0.459664,0.015677,0.397046,0.604872,0.393584,-0.692258,0.334738,0.721996,0.0507074,-0.690036,0.367169
+};
+// h64
+const int h64_numv = 14;
+const int h64_numf = 9;
+const dReal h64_volu = 0.063334;
+const dReal h64_pos[3] = { -0.862240,-0.589074,0.504780 };
+const dReal h64_verts[ h64_numv * 3 ] = {
+  -0.034062,-0.410926,-0.010011, 0.045384,0.217035,0.143840, 0.295955,0.147819,0.066170, 0.251495,0.154150,0.125869, -0.137760,-0.410926,0.116573, -0.137760,0.324258,-0.236366, -0.137760,0.210059,-0.342106, -0.137760,-0.122967,0.363452, -0.137760,-0.410926,-0.022669, 0.298486,0.063123,-0.009534, -0.137760,0.298525,-0.037806, 0.113042,-0.266928,-0.066127, -0.137760,0.119248,0.238856, 0.217652,-0.024891,-0.177862, 
+};
+const unsigned int h64_faces[] = {
+  3, 10,12,1,
+  4, 12,7,3,1,
+  5, 3,2,5,10,1,
+  5, 9,13,6,5,2,
+  7, 3,7,4,0,11,9,2,
+  7, 7,12,10,5,6,8,4,
+  3, 8,0,4,
+  5, 13,11,0,8,6,
+  3, 11,13,9,
+};
+const dReal h64_planes[ h64_numf * 4 ] = {
+  -0.163718,0.827886,0.536471,0.249417,0.212159,0.447018,0.869002,0.231645,0.299389,0.946218,0.12263,0.23659,0.619037,0.533581,-0.576268,0.223949,0.679728,-0.477395,0.556833,0.167446,-1,0,0,0.13776,-0,-1,0,0.410926,0.107916,-0.45476,-0.884052,0.192047,0.870583,-0.45858,-0.178295,0.23261
+};
+// h65
+const int h65_numv = 22;
+const int h65_numf = 13;
+const dReal h65_volu = 0.115639;
+const dReal h65_pos[3] = { -0.632833,-0.759826,0.781144 };
+const dReal h65_verts[ h65_numv * 3 ] = {
+  -0.367167,-0.022076,0.218856, 0.176779,-0.240174,-0.062777, -0.145261,-0.240174,-0.324854, -0.367167,-0.240174,-0.159791, -0.367167,-0.240174,0.218856, 0.229214,-0.240174,0.218856, -0.367167,0.047785,0.087088, 0.379478,0.318313,-0.027451, 0.258810,0.329890,-0.158933, 0.022088,0.324902,-0.150495, -0.263470,-0.240174,-0.286375, -0.116365,-0.096176,-0.342491, 0.384007,0.200623,0.218856, 0.365257,0.296546,-0.062778, 0.323215,0.382417,-0.038426, 0.362218,0.261157,0.218856, 0.374110,0.331198,-0.022696, 0.069079,0.233875,-0.285898, 0.066548,0.318571,-0.210194, 0.259984,0.356129,-0.135062, 0.334793,0.380563,-0.026448, 0.355611,0.365826,0.016594, 
+};
+const unsigned int h65_faces[] = {
+  5, 13,7,12,5,1,
+  6, 5,4,3,10,2,1,
+  6, 2,11,17,8,13,1,
+  3, 10,11,2,
+  7, 6,9,18,17,11,10,3,
+  4, 4,0,6,3,
+  5, 5,12,15,0,4,
+  7, 0,15,21,20,14,9,6,
+  7, 13,8,19,14,20,16,7,
+  5, 16,21,15,12,7,
+  4, 17,18,19,8,
+  4, 14,19,18,9,
+  3, 20,21,16,
+};
+const dReal h65_planes[ h65_numf * 4 ] = {
+  0.929286,-0.326334,-0.173016,0.253517,5.14845e-16,-1,8.60294e-16,0.240174,0.616244,-0.216405,-0.75724,0.208451,-0.309078,-0.0542691,-0.949487,0.366376,-0.679728,0.477395,-0.556833,0.223893,-1,0,0,0.367167,-0,0,1,0.218856,-0.324513,0.835692,0.443069,0.19767,0.664689,0.486283,-0.567201,0.422595,0.931229,0.335191,0.143037,0.45615,0.156805,0.660773,-0.734024,0.375226,-0.11569,0.975032,-0.189546,0.34276,0.777249,0.606249,-0.168364,0.495386
+};
+// h66
+const int h66_numv = 12;
+const int h66_numf = 8;
+const dReal h66_volu = 0.090843;
+const dReal h66_pos[3] = { 0.194452,-0.846656,0.702344 };
+const dReal h66_verts[ h66_numv * 3 ] = {
+  0.144722,0.221953,-0.171396, 0.354760,-0.153344,-0.123136, 0.229722,0.177289,-0.118776, -0.077080,-0.093853,-0.442151, -0.263367,-0.153344,0.297656, 0.293204,-0.153344,0.297656, -0.291202,0.163722,0.297656, 0.229722,0.015381,0.297656, -0.072437,-0.153344,-0.456885, -0.246539,0.275009,-0.021290, -0.133324,-0.153344,-0.464317, -0.137311,-0.122439,-0.456854, 
+};
+const unsigned int h66_faces[] = {
+  5, 8,3,0,2,1,
+  4, 2,7,5,1,
+  5, 5,4,10,8,1,
+  5, 0,9,6,7,2,
+  4, 8,10,11,3,
+  4, 11,9,0,3,
+  5, 6,9,11,10,4,
+  4, 5,7,6,4,
+};
+const dReal h66_planes[ h66_numf * 4 ] = {
+  0.598205,0.236328,-0.765702,0.270266,0.927293,0.348894,0.13565,0.258762,2.17789e-18,-1,-1.78413e-17,0.153344,0.256529,0.900843,0.350248,0.17704,0.117405,0.247372,-0.961781,0.392986,-0.167754,0.706913,-0.687119,0.250394,-0.982077,-0.0862167,-0.167608,0.221978,0,0,1,0.297657
+};
+// h67
+const int h67_numv = 14;
+const int h67_numf = 9;
+const dReal h67_volu = 0.073139;
+const dReal h67_pos[3] = { -0.182450,-0.819619,0.699488 };
+const dReal h67_verts[ h67_numv * 3 ] = {
+  0.085699,0.136685,0.300512, -0.221169,-0.180381,0.300512, -0.273604,-0.180381,0.018878, 0.130363,0.247972,-0.018435, -0.085126,0.356339,0.018877, 0.113535,-0.180381,0.300512, -0.066376,0.260416,0.300512, -0.060183,0.317865,-0.037452, 0.103953,-0.180381,-0.534183, 0.107696,-0.144260,-0.521085, 0.239592,-0.149476,-0.453999, 0.243578,-0.180381,-0.461462, -0.070905,0.378106,0.054205, -0.032656,0.358692,0.028913, 
+};
+const unsigned int h67_faces[] = {
+  5, 6,12,4,2,1,
+  5, 2,8,11,5,1,
+  4, 5,0,6,1,
+  5, 4,7,9,8,2,
+  5, 10,9,7,13,3,
+  5, 13,12,6,0,3,
+  5, 0,5,11,10,3,
+  4, 12,13,7,4,
+  4, 9,10,11,8,
+};
+const dReal h67_planes[ h67_numf * 4 ] = {
+  -0.929286,0.326334,0.173016,0.198658,4.99955e-17,-1,-5.73911e-19,0.180381,0,0,1,0.300512,-0.793214,0.278548,-0.541501,0.156559,0.32928,0.737152,-0.590069,0.236597,0.59399,0.730061,0.337914,0.25224,0.982077,0.0862167,0.167608,0.146316,0.0662371,0.837367,-0.542614,0.282505,0.445543,0.264025,-0.855443,0.455654
+};
+// h68
+const int h68_numv = 24;
+const int h68_numf = 14;
+const dReal h68_volu = 0.110178;
+const dReal h68_pos[3] = { 0.194790,-0.476753,0.823942 };
+const dReal h68_verts[ h68_numv * 3 ] = {
+  -0.387371,0.030890,-0.107289, 0.221446,0.021860,-0.353469, -0.465405,-0.021917,0.176058, -0.291540,-0.206181,0.176058, 0.076464,0.334736,-0.007133, 0.229384,-0.354523,0.176058, 0.292644,0.032441,-0.334080, -0.452945,0.146290,0.025179, 0.246219,0.093034,-0.297244, 0.229037,0.025757,-0.352826, 0.107091,0.321655,0.176058, 0.390186,-0.018723,0.176058, 0.312682,0.010704,-0.315910, 0.229384,-0.192615,-0.240374, 0.144384,-0.147950,-0.292995, -0.246877,-0.094895,-0.142888, -0.409896,0.015825,-0.095540, -0.443616,-0.082450,0.176058, -0.462073,0.123559,0.176058, -0.472012,0.082753,-0.026204, -0.453513,0.048124,-0.065494, -0.448145,0.035240,-0.070249, -0.469749,0.118668,0.006167, -0.467116,0.137408,0.055651, 
+};
+const unsigned int h68_faces[] = {
+  5, 14,15,16,0,1,
+  9, 0,20,19,22,7,4,8,9,1,
+  6, 9,6,12,13,14,1,
+  5, 19,20,21,17,2,
+  7, 17,3,5,11,10,18,2,
+  5, 18,23,22,19,2,
+  5, 17,21,16,15,3,
+  5, 15,14,13,5,3,
+  6, 10,11,12,6,8,4,
+  5, 7,23,18,10,4,
+  4, 13,12,11,5,
+  3, 9,8,6,
+  3, 22,23,7,
+  4, 21,20,0,16,
+};
+const dReal h68_planes[ h68_numf * 4 ] = {
+  -0.372229,-0.156856,-0.91479,0.237492,-0.27553,0.653111,-0.705358,0.202583,0.296224,-0.4369,-0.849335,0.35626,-0.931229,-0.335191,-0.143037,0.415561,-0,0,1,0.176058,-0.998749,0.0228741,0.044466,0.472149,-0.59399,-0.730061,-0.337914,0.264205,-0.256529,-0.900843,-0.350248,0.198862,0.766208,0.637263,-0.0825892,0.272492,-0.326272,0.937436,0.121492,0.287979,0.88947,-0.425933,-0.165603,0.325878,0.16676,0.602337,-0.780629,0.329134,-0.777217,0.601031,-0.186267,0.435271,-0.512456,0.101226,-0.852726,0.293125
+};
+// h69
+const int h69_numv = 18;
+const int h69_numf = 11;
+const dReal h69_volu = 0.150904;
+const dReal h69_pos[3] = { 0.751581,-0.668854,0.749549 };
+const dReal h69_verts[ h69_numv * 3 ] = {
+  0.248419,0.357221,0.250451, -0.263925,-0.331146,0.250451, 0.248419,0.283773,-0.306518, 0.248419,-0.331146,0.009798, 0.000203,0.129153,-0.348181, 0.248419,-0.331146,0.250451, -0.202369,-0.331146,-0.170342, -0.161439,-0.331146,-0.190328, 0.248419,0.424683,-0.270088, -0.087381,0.269445,-0.329471, -0.149648,0.251714,-0.296027, -0.327407,-0.162422,0.250451, -0.166605,0.173379,0.250451, -0.045433,0.301175,-0.321470, -0.327407,-0.000512,-0.165981, -0.244109,0.202806,-0.241517, 0.223596,0.415674,-0.285417, 0.248419,0.419976,-0.283164, 
+};
+const unsigned int h69_faces[] = {
+  4, 11,14,6,1,
+  5, 6,7,3,5,1,
+  5, 5,0,12,11,1,
+  6, 4,9,13,16,17,2,
+  6, 17,8,0,5,3,2,
+  4, 3,7,4,2,
+  7, 7,6,14,15,10,9,4,
+  3, 17,16,8,
+  7, 16,13,10,15,12,0,8,
+  3, 10,13,9,
+  4, 12,15,14,11,
+};
+const dReal h69_planes[ h69_numf * 4 ] = {
+  -0.927293,-0.348894,-0.13565,0.326296,0,-1,-0,0.331146,8.48822e-17,-4.06468e-17,1,0.250451,0.0600487,0.168696,-0.983837,0.364353,1,-0,0,0.248419,0.398278,-0.419585,-0.815673,0.229892,-0.433652,-0.152285,-0.888119,0.28947,-0.131169,0.932758,-0.335793,0.454236,-0.402198,0.907959,0.117672,0.2539,-0.469026,0.741177,-0.480283,0.39893,-0.88947,0.425933,0.165603,0.263513
+};
+// h70
+const int h70_numv = 8;
+const int h70_numf = 6;
+const dReal h70_volu = 0.052841;
+const dReal h70_pos[3] = { 0.870032,-0.820199,0.384721 };
+const dReal h70_verts[ h70_numv * 3 ] = {
+  0.129968,-0.179801,0.374626, 0.129968,-0.179801,-0.351943, -0.279890,-0.179801,0.174500, 0.129968,0.435118,0.058310, -0.112815,-0.179801,-0.233397, -0.118249,0.280498,0.016648, 0.129968,-0.066134,-0.371433, -0.064784,-0.043027,-0.280302, 
+};
+const unsigned int h70_faces[] = {
+  4, 4,7,6,1,
+  4, 6,3,0,1,
+  4, 0,2,4,1,
+  4, 5,7,4,2,
+  4, 0,3,5,2,
+  4, 6,7,5,3,
+};
+const dReal h70_planes[ h70_numf * 4 ] = {
+  -0.433652,-0.152285,-0.888119,0.283587,1,0,0,0.129968,0,-1,0,0.179801,-0.908278,0.191373,-0.372031,0.154889,-0.398278,0.419585,0.815673,0.178367,-0.267862,0.627092,-0.731441,0.195395
+};
+// h71
+const int h71_numv = 16;
+const int h71_numf = 10;
+const dReal h71_volu = 0.078575;
+const dReal h71_pos[3] = { -0.715618,-0.146967,0.614144 };
+const dReal h71_verts[ h71_numv * 3 ] = {
+  -0.284382,-0.099249,-0.355298, 0.407938,-0.228507,0.130744, -0.284382,-0.117849,-0.345730, 0.406000,-0.230442,0.128574, 0.033539,0.110754,0.371749, 0.104873,-0.287957,0.016505, -0.197952,0.422046,0.249299, -0.284382,0.237452,0.048837, -0.101238,-0.225072,0.034476, -0.284382,-0.143582,-0.147170, 0.149333,-0.294288,-0.043194, 0.409649,-0.225257,0.134087, 0.147525,0.085239,-0.239307, 0.183419,0.150542,-0.169689, 0.342769,-0.256730,0.031938, 0.344779,-0.242424,0.025560, 
+};
+const unsigned int h71_faces[] = {
+  4, 3,14,15,1,
+  5, 15,12,13,11,1,
+  6, 11,4,8,5,3,1,
+  6, 0,12,15,14,10,2,
+  5, 10,5,8,9,2,
+  4, 9,7,0,2,
+  4, 5,10,14,3,
+  4, 11,13,6,4,
+  5, 6,7,9,8,4,
+  5, 13,12,0,7,6,
+};
+const dReal h71_planes[ h71_numf * 4 ] = {
+  0.830322,-0.320028,-0.456232,0.352199,0.848621,0.0894025,-0.521393,0.257586,-0.141863,-0.672536,0.72634,0.190772,0.398278,-0.419585,-0.815673,0.218187,-0.299389,-0.946218,-0.12263,0.239048,-1,-0,0,0.284382,0.11569,-0.975032,0.189546,0.296029,0.727925,0.639055,0.248465,0.187558,-0.735479,-0.309932,0.602505,0.164988,-0.1544,0.759081,-0.632422,0.193269
+};
+// h72
+const int h72_numv = 24;
+const int h72_numf = 14;
+const dReal h72_volu = 0.135103;
+const dReal h72_pos[3] = { -0.469590,0.119774,0.755853 };
+const dReal h72_verts[ h72_numv * 3 ] = {
+  -0.212489,-0.155987,0.230040, -0.214701,-0.148769,0.244147, -0.443980,0.155306,0.107590, 0.375305,0.040715,-0.139275, -0.004437,0.090870,-0.389509, 0.311360,0.156806,0.046426, -0.480672,0.247962,0.244147, -0.005314,0.363706,-0.137567, 0.163621,-0.491997,-0.007622, 0.213688,0.055724,0.244147, -0.495580,0.247143,0.161130, -0.499540,0.269230,0.219387, 0.144703,0.290282,-0.088352, 0.355676,0.140088,-0.062598, -0.062609,-0.116199,-0.311398, -0.088334,0.254773,-0.303291, 0.356369,0.017480,-0.175583, 0.155877,-0.383277,0.244147, 0.169264,-0.493727,-0.003158, 0.197264,-0.459118,0.123740, 0.194631,-0.477857,0.074256, 0.211435,-0.450236,0.093267, 0.167388,-0.493339,-0.005093, 0.169626,-0.492143,-0.004615, 
+};
+const unsigned int h72_faces[] = {
+  8, 0,8,22,18,20,19,17,1,
+  4, 17,9,6,1,
+  6, 6,11,10,2,0,1,
+  5, 10,15,4,14,2,
+  4, 14,8,0,2,
+  7, 16,4,15,7,12,13,3,
+  7, 13,5,9,17,19,21,3,
+  6, 21,20,18,23,16,3,
+  6, 16,23,22,8,14,4,
+  3, 13,12,5,
+  6, 12,7,11,6,9,5,
+  4, 15,10,11,7,
+  3, 22,23,18,
+  3, 20,21,19,
+};
+const dReal h72_planes[ h72_numf * 4 ] = {
+  -0.50496,-0.797961,0.32905,0.307465,0,0,1,0.244147,-0.820856,-0.550308,0.152828,0.29542,-0.751031,-0.0376746,-0.659191,0.256669,-0.727925,-0.639055,-0.248465,0.197203,0.49733,0.589429,-0.636582,0.299309,0.913105,-0.120244,0.389591,0.283536,0.892822,-0.397939,-0.210981,0.348263,0.398278,-0.419584,-0.815674,0.277818,0.568103,0.816132,0.105771,0.30977,0.226312,0.817437,0.529699,0.223235,-0.411928,0.842404,-0.347377,0.356365,0.474458,-0.651966,-0.591464,0.404071,0.777217,-0.601031,0.186267,0.452309
+};
+// h73
+const int h73_numv = 16;
+const int h73_numf = 10;
+const dReal h73_volu = 0.036032;
+const dReal h73_pos[3] = { -0.912743,-0.085439,0.831075 };
+const dReal h73_verts[ h73_numv * 3 ] = {
+  0.095887,-0.286600,-0.182455, -0.087257,0.175924,-0.168094, -0.087257,-0.205110,-0.364101, 0.230664,0.049226,0.154818, -0.037519,0.453174,0.168925, 0.228452,0.056443,0.168925, -0.087257,0.484247,0.168925, -0.000826,0.360518,0.032367, -0.087257,-0.218262,0.168925, -0.087257,-0.384387,-0.087440, -0.087257,0.485343,0.150329, -0.064760,0.476158,0.168925, -0.052427,0.452355,0.085908, -0.087257,0.457669,0.073457, -0.056387,0.474442,0.144165, -0.056885,0.474757,0.144652, 
+};
+const unsigned int h73_faces[] = {
+  4, 13,12,7,1,
+  5, 7,3,0,2,1,
+  7, 2,9,8,6,10,13,1,
+  3, 0,9,2,
+  5, 5,8,9,0,3,
+  6, 7,12,14,4,5,3,
+  4, 14,15,11,4,
+  5, 11,6,8,5,4,
+  4, 11,15,10,6,
+  5, 15,14,12,13,10,
+};
+const dReal h73_planes[ h73_numf * 4 ] = {
+  0.347582,0.610296,-0.711847,0.196695,0.735479,0.309932,-0.602505,0.091627,-1,0,0,0.0872566,0.163718,-0.827886,-0.536471,0.350852,0.589724,-0.677749,0.439183,0.170659,0.820856,0.550308,-0.152828,0.192771,0.636259,0.754085,0.162882,0.345375,3.43778e-17,-3.95092e-17,1,0.168925,0.337828,0.939579,0.0553497,0.434861,0.255819,0.909579,-0.327448,0.369911
+};
+// h74
+const int h74_numv = 22;
+const int h74_numf = 13;
+const dReal h74_volu = 0.115647;
+const dReal h74_pos[3] = { -0.806688,0.162223,0.365754 };
+const dReal h74_verts[ h74_numv * 3 ] = {
+  -0.106882,0.112856,0.497689, -0.158482,0.204693,0.551229, 0.218764,0.243174,-0.153679, 0.270615,-0.014193,-0.214570, -0.193312,-0.071737,0.297227, 0.312298,0.070592,-0.150604, -0.069795,-0.227826,-0.358730, 0.248765,0.212323,0.086808, -0.193312,-0.408439,-0.106908, -0.193312,0.210007,0.538778, 0.301657,0.087464,-0.177940, -0.191931,0.033024,-0.314003, -0.193312,0.271426,0.001678, 0.058968,0.264774,-0.186519, -0.193312,0.247719,-0.120270, 0.052425,0.263623,-0.188445, 0.332661,0.048420,0.000590, 0.274489,-0.158648,0.078702, 0.238595,-0.223951,0.009084, 0.229318,-0.111676,-0.252511, -0.193312,-0.302733,-0.342536, -0.193312,0.032765,-0.313772, 
+};
+const unsigned int h74_faces[] = {
+  6, 7,2,13,12,9,1,
+  4, 9,4,0,1,
+  5, 0,17,16,7,1,
+  5, 7,16,5,10,2,
+  8, 10,3,19,6,11,15,13,2,
+  6, 5,16,17,18,19,3,
+  3, 10,5,3,
+  7, 9,12,14,21,20,8,4,
+  5, 8,18,17,0,4,
+  4, 20,21,11,6,
+  5, 19,18,8,20,6,
+  4, 21,14,15,11,
+  4, 13,15,14,12,
+};
+const dReal h74_planes[ h74_numf * 4 ] = {
+  0.110273,0.987466,0.11292,0.246896,-0.347582,-0.610296,0.711847,0.322553,0.751031,0.0376746,0.659191,0.252053,0.878502,0.475257,-0.0486263,0.315228,0.228531,0.267508,-0.936063,0.258898,0.929286,-0.326334,-0.173016,0.293234,0.897445,-0.121213,-0.424146,0.335592,-1,0,0,0.193312,0.1544,-0.759081,0.632422,0.21258,-0.179474,0.0840327,-0.980167,0.344997,0.446963,-0.816184,-0.366152,0.286102,-0.242073,0.64915,-0.721114,0.29433,-0.11569,0.975032,-0.189546,0.286695
+};
+// h75
+const int h75_numv = 18;
+const int h75_numf = 11;
+const dReal h75_volu = 0.089620;
+const dReal h75_pos[3] = { 0.052817,0.072055,0.868740 };
+const dReal h75_verts[ h75_numv * 3 ] = {
+  0.433734,0.123433,0.131260, 0.005775,0.176863,-0.278988, 0.218437,-0.214071,-0.051932, -0.366530,-0.335558,0.131260, -0.308719,0.103443,0.131260, -0.147102,0.088434,-0.252162, -0.310972,-0.402518,-0.019619, -0.003079,0.231496,-0.237914, 0.112171,0.347564,-0.006639, 0.302595,-0.019353,-0.141822, 0.235603,0.353295,0.131260, 0.077918,0.377107,0.131260, 0.249063,-0.227153,0.131260, -0.166731,0.187806,-0.175486, -0.093909,0.310921,0.131260, -0.211047,0.204525,-0.066461, -0.325143,-0.411399,0.010853, -0.320100,-0.425249,0.131260, 
+};
+const unsigned int h75_faces[] = {
+  6, 7,8,10,0,9,1,
+  5, 9,2,6,5,1,
+  4, 5,13,7,1,
+  5, 12,17,16,6,2,
+  4, 9,0,12,2,
+  3, 16,17,3,
+  8, 17,12,0,10,11,14,4,3,
+  7, 4,15,13,5,6,16,3,
+  3, 14,15,4,
+  6, 13,15,14,11,8,7,
+  3, 11,10,8,
+};
+const dReal h75_planes[ h75_numf * 4 ] = {
+  0.619037,0.533582,-0.576267,0.258718,0.107917,-0.454758,-0.884053,0.166834,-0.421977,0.500122,-0.756183,0.296982,0.326272,-0.937436,-0.121492,0.278257,0.870584,-0.458578,-0.178296,0.297595,-0.887955,-0.459664,-0.015677,0.477648,0,0,1,0.13126,-0.913105,0.120244,-0.389591,0.243193,-0.694517,0.719058,0.0245236,0.292011,-0.345296,0.896431,-0.277815,0.27468,0.14709,0.974029,-0.172138,0.356179
+};
+// h76
+const int h76_numv = 24;
+const int h76_numf = 14;
+const dReal h76_volu = 0.095138;
+const dReal h76_pos[3] = { 0.088788,-0.142804,0.576459 };
+const dReal h76_verts[ h76_numv * 3 ] = {
+  0.352221,-0.240915,-0.049761, -0.386828,-0.236459,0.178237, 0.182466,0.000788,0.240349, -0.006268,0.044860,-0.340368, 0.298110,0.182836,0.102163, -0.389114,-0.231150,0.176236, -0.030195,0.391722,0.013292, -0.363747,-0.215280,0.253650, -0.388752,-0.229565,0.174779, -0.101327,0.289860,-0.170144, 0.328315,-0.307617,-0.113256, -0.079254,0.048914,-0.283309, 0.094387,-0.120263,-0.302438, -0.281369,-0.303059,0.140194, 0.335039,-0.308192,-0.105343, 0.327448,-0.312089,-0.105986, 0.022142,0.379302,-0.133650, -0.346943,-0.187659,0.272661, -0.202009,0.280058,0.003811, -0.183073,0.303293,0.040119, 0.266624,0.195506,0.150459, -0.022476,0.325632,-0.215723, -0.347511,-0.285824,0.181989, -0.366010,-0.251196,0.221279, 
+};
+const unsigned int h76_faces[] = {
+  3, 22,23,1,
+  4, 23,7,5,1,
+  8, 5,8,11,3,12,13,22,1,
+  9, 17,7,23,22,13,15,14,0,2,
+  4, 0,4,20,2,
+  5, 20,6,19,17,2,
+  4, 11,9,21,3,
+  8, 21,16,4,0,14,10,12,3,
+  4, 16,6,20,4,
+  6, 7,17,19,18,8,5,
+  6, 16,21,9,18,19,6,
+  4, 18,9,11,8,
+  3, 14,15,10,
+  4, 15,13,12,10,
+};
+const dReal h76_planes[ h76_numf * 4 ] = {
+  -0.777249,-0.606249,0.168364,0.474024,-0.901569,-0.256913,0.348094,0.471545,-0.553104,-0.49165,-0.672575,0.210334,0.27553,-0.653111,0.705358,0.219292,0.822068,-0.096228,0.561199,0.284807,-0.107917,0.454758,0.884053,0.193148,-0.576312,0.303571,-0.758755,0.275486,0.73548,0.309929,-0.602505,0.214367,0.512085,0.851811,0.110395,0.319678,-0.892822,0.397939,0.210981,0.292608,-0.517294,0.817451,-0.253339,0.332466,-0.859244,0.150868,-0.488814,0.213964,0.440632,-0.78713,-0.431589,0.435681,-0.226312,-0.817437,-0.529699,0.237148
+};
+// h77
+const int h77_numv = 26;
+const int h77_numf = 15;
+const dReal h77_volu = 0.087804;
+const dReal h77_pos[3] = { 0.390778,-0.073451,0.362494 };
+const dReal h77_verts[ h77_numv * 3 ] = {
+  -0.003880,0.113483,0.316128, 0.315369,-0.294228,0.065585, -0.206158,-0.189928,-0.093832, 0.020979,0.268088,0.071472, -0.324466,0.256279,-0.001758, -0.230465,0.381445,-0.183441, 0.426887,-0.187811,0.054869, 0.211155,-0.343689,0.091028, -0.224735,0.155039,-0.266749, 0.077733,0.119939,0.286241, 0.026325,-0.376970,0.100709, -0.297695,-0.031084,-0.153195, 0.009520,-0.343472,-0.067504, 0.155269,-0.307156,-0.121769, -0.207604,-0.189616,-0.088472, -0.308258,-0.024493,-0.126403, 0.050231,-0.310268,0.164204, 0.176117,-0.273019,-0.144419, 0.417855,-0.153875,-0.005953, 0.273422,-0.325958,0.057585, 0.096656,-0.370860,0.127368, 0.033049,-0.377545,0.108622, -0.214357,0.369295,-0.224944, 0.141437,0.190499,-0.081874, -0.279848,0.309949,0.080316, -0.221943,0.387815,-0.053985, 
+};
+const unsigned int h77_faces[] = {
+  6, 19,13,17,18,6,1,
+  7, 6,9,0,16,20,7,1,
+  3, 7,19,1,
+  4, 14,15,11,2,
+  6, 11,8,17,13,12,2,
+  4, 12,10,14,2,
+  5, 25,24,0,9,3,
+  5, 9,6,18,23,3,
+  5, 23,22,5,25,3,
+  4, 24,25,5,4,
+  6, 5,22,8,11,15,4,
+  8, 15,14,10,21,16,0,24,4,
+  7, 20,21,10,12,13,19,7,
+  5, 22,23,18,17,8,
+  3, 21,20,16,
+};
+const dReal h77_planes[ h77_numf * 4 ] = {
+  0.590109,-0.664552,-0.458413,0.351567,0.349687,-0.276295,0.895198,0.250286,0.469026,-0.741177,0.480283,0.397491,-0.818514,-0.542417,-0.189261,0.289522,-0.212159,-0.447018,-0.869002,0.21018,-0.568104,-0.816131,-0.105771,0.28205,0.131611,0.83191,0.539077,0.264315,0.727924,0.639056,0.248465,0.204352,0.471464,0.878752,-0.0742736,0.240165,-0.784459,0.61982,0.0211391,0.41334,-0.913105,0.120244,-0.389591,0.327772,-0.73548,-0.309929,0.602505,0.158151,0.162747,-0.964426,-0.208316,0.346865,0.433652,0.152285,-0.888119,0.163058,-0.16676,-0.602337,0.780629,0.306692
+};
+// h78
+const int h78_numv = 20;
+const int h78_numf = 12;
+const dReal h78_volu = 0.126407;
+const dReal h78_pos[3] = { 0.652845,-0.171711,0.785711 };
+const dReal h78_verts[ h78_numv * 3 ] = {
+  -0.350965,0.016612,0.214289, 0.347155,-0.072460,-0.306250, -0.381591,0.029695,0.031097, 0.347155,-0.139922,0.214289, 0.322332,-0.081469,-0.321579, -0.265947,0.211743,-0.107089, -0.020631,0.312250,-0.000249, 0.347155,0.151286,0.214289, 0.347155,-0.036860,-0.269624, -0.184333,0.218199,-0.136976, -0.297433,0.224413,-0.058793, -0.211836,-0.212008,-0.259013, -0.050911,-0.245429,-0.332189, -0.067869,-0.323764,0.214289, -0.166294,0.367199,0.214289, -0.026282,0.399418,0.214289, -0.145373,-0.294337,-0.277679, -0.165410,-0.272600,-0.295849, 0.053302,-0.195968,-0.357632, 0.164820,-0.089551,-0.368349, 
+};
+const unsigned int h78_faces[] = {
+  7, 3,13,16,12,18,4,1,
+  6, 4,19,9,6,8,1,
+  4, 8,7,3,1,
+  6, 11,17,16,13,0,2,
+  4, 0,14,10,2,
+  4, 10,5,11,2,
+  6, 7,15,14,0,13,3,
+  3, 18,19,4,
+  6, 10,14,15,6,9,5,
+  7, 9,19,18,12,17,11,5,
+  4, 15,7,8,6,
+  3, 16,17,12,
+};
+const dReal h78_planes[ h78_numf * 4 ] = {
+  0.402198,-0.907959,-0.117672,0.241453,0.167754,0.706913,-0.687119,0.217444,1,-0,0,0.347155,-0.766208,-0.637263,0.0825892,0.276023,-0.870584,0.458578,0.178296,0.351369,-0.822068,0.096228,-0.561199,0.2991,0,-0,1,0.214289,0.280943,-0.383024,-0.879979,0.404745,-0.20808,0.904248,-0.372879,0.286737,-0.349687,0.276295,-0.895198,0.247367,0.526505,0.792388,-0.308081,0.236638,-0.071473,-0.677671,-0.731884,0.413083
+};
+// h79
+const int h79_numv = 20;
+const int h79_numf = 12;
+const dReal h79_volu = 0.069132;
+const dReal h79_pos[3] = { 0.747670,0.086302,0.441993 };
+const dReal h79_verts[ h79_numv * 3 ] = {
+  0.252330,0.012519,-0.215098, 0.012566,0.066820,-0.263433, 0.201221,-0.224177,-0.182831, 0.095169,0.321961,-0.051360, -0.091840,0.355257,0.097036, -0.215455,0.030746,-0.161373, -0.279159,-0.039814,0.206742, 0.060963,-0.313628,-0.085453, -0.115456,0.054238,0.343469, 0.252330,-0.294873,0.074094, -0.016233,0.366022,0.061965, -0.074702,0.310522,0.161887, 0.252330,0.103519,-0.130839, 0.252330,-0.216744,-0.175787, -0.335913,0.108335,-0.008027, 0.079494,0.109929,-0.259932, 0.069995,-0.347564,-0.024631, 0.252330,-0.330473,0.037468, 0.252330,-0.335180,0.024392, 0.227507,-0.339482,0.022139, 
+};
+const unsigned int h79_faces[] = {
+  7, 5,14,4,10,3,15,1,
+  5, 15,0,13,2,1,
+  4, 2,7,5,1,
+  6, 13,18,19,16,7,2,
+  6, 10,11,8,9,12,3,
+  4, 12,0,15,3,
+  5, 14,6,8,11,4,
+  3, 11,10,4,
+  5, 7,16,6,14,5,
+  6, 16,19,17,9,8,6,
+  6, 17,18,13,0,12,9,
+  3, 19,18,17,
+};
+const dReal h79_planes[ h79_numf * 4 ] = {
+  -0.391463,0.659847,-0.641373,0.208131,0.158394,-0.166869,-0.973173,0.247207,-0.309646,-0.434949,-0.84554,0.189789,0.191731,-0.844679,-0.499756,0.319309,0.73548,0.309929,0.602505,0.138836,0.49733,0.589428,-0.636583,0.269798,-0.708232,0.479648,0.518021,0.285709,0.131611,0.831909,0.539078,0.335765,-0.727924,-0.639056,-0.248465,0.177281,-0.167754,-0.706913,0.687119,0.217031,1,0,0,0.25233,0.131169,-0.932758,0.335793,0.35393
+};
+// h80
+const int h80_numv = 14;
+const int h80_numf = 9;
+const dReal h80_volu = 0.076324;
+const dReal h80_pos[3] = { 0.872729,0.237609,0.718600 };
+const dReal h80_verts[ h80_numv * 3 ] = {
+  0.127271,0.331095,-0.032200, 0.127271,-0.258034,0.281400, 0.127271,-0.446180,-0.202512, -0.199761,0.159215,-0.114719, -0.141292,0.214715,-0.214641, -0.136492,0.218429,-0.218946, -0.240515,-0.097070,0.066863, -0.246166,-0.009903,0.281400, -0.239577,0.050556,0.281400, 0.127271,0.263358,0.281400, 0.127271,0.246274,-0.293996, 0.127271,-0.047788,-0.407445, -0.039983,0.206584,-0.314412, -0.029889,0.170654,-0.327966, 
+};
+const unsigned int h80_faces[] = {
+  4, 7,6,2,1,
+  6, 2,11,10,0,9,1,
+  4, 9,8,7,1,
+  6, 6,3,4,13,11,2,
+  6, 8,9,0,5,4,3,
+  4, 6,7,8,3,
+  4, 5,12,13,4,
+  4, 0,10,12,5,
+  4, 11,13,12,10,
+};
+const dReal h80_planes[ h80_numf * 4 ] = {
+  -0.526505,-0.792388,0.308081,0.224148,1,0,0,0.127271,0,0,1,0.281401,-0.73548,-0.309929,-0.602505,0.166694,-0.493234,0.850287,0.183662,0.212838,-0.991673,0.108076,-0.0700326,0.223339,-0.696788,0.0734069,-0.713511,0.267361,-0.184883,0.934913,-0.302912,0.295769,0.0284606,0.359798,-0.932596,0.36641
+};
+// h81
+const int h81_numv = 10;
+const int h81_numf = 7;
+const dReal h81_volu = 0.092471;
+const dReal h81_pos[3] = { -0.647649,0.823554,0.820209 };
+const dReal h81_verts[ h81_numv * 3 ] = {
+  0.457657,0.176446,0.179791, -0.352351,-0.423650,0.161195, -0.352351,0.176446,-0.147497, -0.352351,-0.424746,0.179791, -0.352351,0.176446,0.179791, 0.395926,0.059255,0.179791, 0.203225,-0.169390,-0.173056, 0.338792,0.176446,-0.400601, -0.321979,-0.434236,0.155518, -0.329854,-0.432835,0.179791, 
+};
+const unsigned int h81_faces[] = {
+  4, 8,9,3,1,
+  4, 3,4,2,1,
+  5, 2,7,6,8,1,
+  4, 4,0,7,2,
+  5, 9,5,0,4,3,
+  4, 6,7,0,5,
+  4, 9,8,6,5,
+};
+const dReal h81_planes[ h81_numf * 4 ] = {
+  -0.337828,-0.939579,-0.0553497,0.508165,-1,-9.23352e-17,0,0.352351,-0.309646,-0.434949,-0.84554,0.157073,0,1,-0,0.176446,-0,0,1,0.179791,0.870584,-0.458578,-0.178296,0.285458,0.546922,-0.806654,0.224019,0.209019
+};
+// h82
+const int h82_numv = 22;
+const int h82_numf = 13;
+const dReal h82_volu = 0.133984;
+const dReal h82_pos[3] = { -0.704013,0.655334,0.510913 };
+const dReal h82_verts[ h82_numv * 3 ] = {
+  -0.295987,0.344666,0.147853, 0.143982,-0.175036,-0.341668, -0.295987,-0.255430,0.470491, 0.398940,0.268255,-0.112413, -0.265615,-0.266016,0.464814, -0.043708,-0.228337,-0.331678, 0.395156,0.344666,-0.091306, 0.146090,-0.280788,-0.058352, 0.259589,-0.001170,0.136240, -0.295987,0.344666,0.161799, 0.268488,-0.087750,0.102566, -0.295987,-0.221685,-0.143481, -0.265117,-0.266331,0.464327, 0.229109,-0.171854,0.107373, -0.295987,-0.283104,0.393619, -0.261157,-0.288418,0.406070, 0.116089,-0.249937,-0.298838, 0.396013,0.344666,-0.093117, 0.248792,0.064649,-0.395197, 0.275014,0.344666,-0.270360, 0.114098,-0.109185,-0.385965, 0.213954,-0.004245,-0.405120, 
+};
+const unsigned int h82_faces[] = {
+  4, 16,5,20,1,
+  3, 20,21,1,
+  8, 21,18,3,10,13,7,16,1,
+  5, 14,15,12,4,2,
+  5, 4,8,6,9,2,
+  5, 9,0,11,14,2,
+  4, 18,19,17,3,
+  5, 17,6,8,10,3,
+  5, 12,13,10,8,4,
+  6, 16,7,15,14,11,5,
+  7, 11,0,19,18,21,20,5,
+  5, 17,19,0,9,6,
+  4, 13,12,15,7,
+};
+const dReal h82_planes[ h82_numf * 4 ] = {
+  0.103318,-0.522457,-0.846383,0.395508,0.296224,-0.4369,-0.849335,0.409315,0.88947,-0.425933,-0.165603,0.259202,-0.255819,-0.909579,0.327448,0.462115,0.309646,0.434949,0.84554,0.195068,-1,0,0,0.295987,0.813673,0.17144,-0.555468,0.433038,0.901694,-0.0730707,0.426155,0.292215,0.598205,-0.236328,0.765702,0.259883,-0.110273,-0.987466,-0.11292,0.267748,-0.545755,0.383303,-0.745138,0.183477,-9.72172e-17,1,0,0.344666,0.411928,-0.842404,0.347377,0.276446
+};
+// h83
+const int h83_numv = 12;
+const int h83_numf = 8;
+const dReal h83_volu = 0.056796;
+const dReal h83_pos[3] = { -0.429347,0.488254,0.882979 };
+const dReal h83_verts[ h83_numv * 3 ] = {
+  -0.006178,0.079330,-0.269501, -0.548156,-0.097535,0.117020, -0.015077,0.165910,-0.235826, -0.540281,-0.098936,0.092747, 0.104460,-0.078198,-0.215479, 0.388255,-0.105278,0.117020, 0.173445,-0.312756,0.117020, 0.177624,0.394555,0.117020, -0.045557,-0.004774,-0.264694, 0.271117,-0.211674,-0.080700, -0.539783,-0.099251,0.092261, -0.520915,-0.120519,0.117020, 
+};
+const unsigned int h83_faces[] = {
+  4, 3,10,11,1,
+  5, 11,6,5,7,1,
+  4, 7,2,3,1,
+  6, 7,5,9,4,0,2,
+  5, 0,8,10,3,2,
+  6, 9,6,11,10,8,4,
+  3, 8,0,4,
+  3, 6,9,5,
+};
+const dReal h83_planes[ h83_numf * 4 ] = {
+  -0.636259,-0.754085,-0.162882,0.403258,0,0,1,0.117021,-0.546922,0.806654,-0.224019,0.194907,0.735479,0.309932,-0.602505,0.182419,-0.598205,0.236328,-0.765702,0.228801,-0.226312,-0.817437,-0.529699,0.15442,0.233951,-0.164311,-0.958264,0.243773,0.694517,-0.719058,-0.0245236,0.342481
+};
+// h84
+const int h84_numv = 22;
+const int h84_numf = 13;
+const dReal h84_volu = 0.109330;
+const dReal h84_pos[3] = { -0.121674,0.670783,0.713170 };
+const dReal h84_verts[ h84_numv * 3 ] = {
+  -0.313851,-0.103198,-0.099691, -0.010109,0.329217,0.286830, 0.252410,-0.221620,0.286830, -0.068318,0.329217,0.286830, 0.080582,-0.287807,0.286830, 0.201978,0.032805,-0.295587, -0.187183,0.329217,-0.293562, 0.227672,0.006891,-0.288529, -0.130049,0.212026,0.286830, -0.322750,-0.016619,-0.066017, -0.036556,-0.394202,0.089109, 0.171412,-0.367231,-0.082344, -0.203213,-0.260726,-0.045669, 0.007760,-0.410921,-0.019916, 0.265234,-0.083360,-0.251274, 0.286662,-0.251163,0.148930, -0.115141,0.329217,-0.286684, -0.066013,0.197094,-0.314670, -0.183399,0.252807,-0.314670, -0.186326,0.329217,-0.295374, 0.060573,0.329217,-0.240926, 0.066345,0.329217,-0.235802, 
+};
+const unsigned int h84_faces[] = {
+  6, 2,15,14,7,21,1,
+  7, 21,20,16,19,6,3,1,
+  5, 3,8,4,2,1,
+  6, 4,10,13,11,15,2,
+  4, 6,9,8,3,
+  6, 8,9,0,12,10,4,
+  4, 20,21,7,5,
+  9, 7,14,11,13,12,0,18,17,5,
+  4, 17,16,20,5,
+  5, 19,18,0,9,6,
+  3, 12,13,10,
+  3, 14,15,11,
+  4, 17,18,19,16,
+};
+const dReal h84_planes[ h84_numf * 4 ] = {
+  0.894954,0.426518,0.130919,0.168922,0,1,0,0.329217,0,0,1,0.28683,0.345296,-0.896431,0.277815,0.365509,-0.870584,0.458578,0.178296,0.261589,-0.735479,-0.309932,0.602505,0.202751,0.604377,0.413861,-0.68077,0.336874,-0.212159,-0.447018,-0.869002,0.19935,0.241471,0.286187,-0.927248,0.332242,-0.901694,0.0730707,-0.426155,0.317941,-0.568103,-0.816132,-0.105771,0.333064,0.877503,-0.423705,-0.224641,0.32451,0.117405,0.247371,-0.961782,0.343649
+};
+// h85
+const int h85_numv = 36;
+const int h85_numf = 20;
+const dReal h85_volu = 0.148789;
+const dReal h85_pos[3] = { -0.198763,0.456116,0.345386 };
+const dReal h85_verts[ h85_numv * 3 ] = {
+  0.248501,-0.152565,0.285440, 0.011075,0.411760,0.053114, 0.304761,0.221558,0.079254, 0.360475,-0.080906,-0.269891, -0.389161,-0.050719,-0.133311, 0.279067,0.247472,0.072197, 0.342323,0.131307,0.116509, -0.236762,0.111468,0.268093, 0.084849,-0.196255,0.347868, 0.186224,-0.309060,0.060929, -0.295627,-0.223301,-0.130236, 0.016686,0.009351,-0.358147, 0.315157,-0.069303,-0.293328, -0.106311,0.467473,0.053114, 0.257356,-0.207198,0.244366, 0.367598,-0.141752,-0.036878, 0.104478,-0.295627,0.271192, -0.126124,-0.046060,0.322115, -0.256458,0.263868,-0.229670, 0.085542,-0.318862,0.234884, -0.291296,0.194974,-0.239593, -0.265275,0.238760,-0.259807, -0.361268,0.024182,-0.176141, -0.291163,-0.195420,-0.172718, -0.276141,0.027364,0.272900, -0.306268,-0.206429,-0.157572, -0.275264,-0.245473,0.020958, -0.359160,-0.081570,0.107176, 0.360630,0.159839,0.075257, 0.387070,0.106509,-0.013499, 0.393155,0.083405,-0.037268, 0.359076,-0.148122,-0.166333, 0.309693,-0.219618,0.097423, 0.265075,-0.273288,0.015350, 0.118262,-0.041268,-0.360627, 0.049809,-0.043705,-0.365222, 
+};
+const unsigned int h85_faces[] = {
+  7, 12,34,11,21,18,13,1,
+  9, 13,7,17,8,0,6,2,5,1,
+  6, 5,29,30,3,12,1,
+  4, 28,29,5,2,
+  3, 6,28,2,
+  4, 30,15,31,3,
+  10, 31,33,9,10,25,23,35,34,12,3,
+  5, 25,10,26,27,4,
+  8, 27,24,7,13,18,20,22,4,
+  4, 22,23,25,4,
+  8, 0,14,32,15,30,29,28,6,
+  3, 24,17,7,
+  7, 17,24,27,26,19,16,8,
+  4, 16,14,0,8,
+  4, 19,26,10,9,
+  6, 33,32,14,16,19,9,
+  3, 34,35,11,
+  6, 35,23,22,20,21,11,
+  4, 32,33,31,15,
+  3, 21,20,18,
+};
+const dReal h85_planes[ h85_numf * 4 ] = {
+  0.322183,0.678838,-0.659831,0.24804,0.212159,0.447018,0.869002,0.23257,0.463507,0.691764,-0.553737,0.260563,0.722579,0.66608,-0.18498,0.353129,0.602768,0.50566,0.617235,0.344652,0.991833,-0.112685,-0.0597434,0.382771,0.066237,-0.837367,-0.542613,0.238071,-0.878502,-0.475257,0.0486263,0.359502,-0.88947,0.425933,0.165603,0.302468,-0.613049,-0.207593,-0.762283,0.350725,0.933932,-0.105417,0.341552,0.345658,-0.233951,0.164311,0.958264,0.33061,-0.49733,-0.589429,0.636582,0.294927,0.421977,-0.500122,0.756183,0.397007,-0.124536,-0.983986,-0.127525,0.273149,0.517294,-0.817451,0.253339,0.364409,0.0600487,0.168696,-0.983837,0.354938,-0.433652,-0.152285,-0.888119,0.309417,0.784459,-0.61982,-0.0211391,0.377005,-0.877441,0.462191,-0.128357,0.376465
+};
+// h86
+const int h86_numv = 14;
+const int h86_numf = 9;
+const dReal h86_volu = 0.108919;
+const dReal h86_pos[3] = { 0.238541,0.789776,0.775739 };
+const dReal h86_verts[ h86_numv * 3 ] = {
+  -0.094981,-0.202353,-0.313843, -0.370325,0.210224,0.224261, -0.076674,-0.173821,-0.355096, 0.281969,0.210224,-0.157785, 0.225385,0.024918,-0.224556, 0.374020,0.210224,0.224261, 0.316487,0.210224,-0.084750, -0.107806,-0.340614,0.224261, 0.201351,-0.281476,0.224261, 0.184090,-0.072562,-0.262496, -0.073553,-0.370157,0.086361, 0.049879,-0.364426,0.224261, -0.132543,-0.112102,-0.351098, -0.293871,0.210224,-0.298371, 
+};
+const unsigned int h86_faces[] = {
+  6, 13,12,0,10,7,1,
+  5, 7,11,8,5,1,
+  5, 5,6,3,13,1,
+  6, 12,13,3,4,9,2,
+  6, 9,8,11,10,0,2,
+  3, 0,12,2,
+  3, 6,4,3,
+  5, 6,5,8,9,4,
+  3, 10,11,7,
+};
+const dReal h86_planes[ h86_numf * 4 ] = {
+  -0.894954,-0.426518,-0.130919,0.212399,0,0,1,0.224261,0,1,0,0.210224,0.228531,0.267508,-0.936063,0.268372,0.446964,-0.816183,-0.366153,0.237618,-0.602768,-0.50566,-0.617235,0.353289,0.897445,-0.121212,-0.424146,0.294495,0.929286,-0.326334,-0.173016,0.240167,-0.14709,-0.974029,0.172138,0.386228
+};
+// h87
+const int h87_numv = 16;
+const int h87_numf = 10;
+const dReal h87_volu = 0.089360;
+const dReal h87_pos[3] = { 0.798384,0.791714,0.481127 };
+const dReal h87_verts[ h87_numv * 3 ] = {
+  -0.277873,0.208286,0.136827, -0.253373,-0.199539,-0.004817, 0.201616,0.208286,-0.307196, 0.201616,0.189080,-0.312136, 0.201616,-0.223010,0.205272, 0.201616,0.208286,0.427133, 0.201616,-0.307831,-0.056523, -0.352696,-0.089547,0.003266, -0.060134,0.085556,-0.322787, -0.013117,0.208286,-0.294090, -0.336822,-0.121565,-0.050021, -0.196695,-0.100782,-0.260274, -0.062147,-0.335676,0.018525, 0.034362,-0.347521,-0.076940, -0.334458,0.022980,0.070056, -0.243356,0.208286,0.209862, 
+};
+const unsigned int h87_faces[] = {
+  5, 10,11,13,12,1,
+  7, 12,4,5,15,14,7,1,
+  3, 7,10,1,
+  4, 3,8,9,2,
+  5, 9,0,15,5,2,
+  5, 5,4,6,3,2,
+  5, 6,13,11,8,3,
+  4, 12,13,6,4,
+  7, 14,0,9,8,11,10,7,
+  3, 15,0,14,
+};
+const dReal h87_planes[ h87_numf * 4 ] = {
+  -0.496382,-0.766976,-0.406636,0.28077,-0.398278,-0.419587,0.815673,0.180707,-0.722578,-0.66608,0.18498,0.3151,-0.0590083,0.248661,-0.966792,0.336891,0,1,0,0.208286,1,1.89246e-16,1.50725e-16,0.201616,0.212159,-0.447018,-0.869002,0.229499,0.184883,-0.934913,0.302912,0.307949,-0.777334,0.409459,-0.477594,0.235937,-0.897445,0.121212,0.424146,0.332657
+};
+// h88
+const int h88_numv = 26;
+const int h88_numf = 15;
+const dReal h88_volu = 0.102785;
+const dReal h88_pos[3] = { 0.372790,0.365732,0.656967 };
+const dReal h88_verts[ h88_numv * 3 ] = {
+  -0.084370,0.059618,0.343033, 0.095722,-0.319244,-0.008232, 0.172221,0.226443,-0.180656, 0.300178,0.031092,-0.053086, 0.259424,-0.225193,0.128495, 0.253773,-0.138025,0.343033, -0.207802,0.053887,0.205134, 0.072899,0.336435,-0.172573, -0.203955,-0.051368,-0.348458, 0.260362,-0.077566,0.343033, 0.038967,-0.171095,-0.223000, 0.088772,0.304416,-0.225861, 0.113761,-0.170244,0.343033, 0.067103,0.142568,0.343033, -0.229230,0.221691,-0.195070, -0.323052,-0.062181,-0.026140, 0.014109,-0.325700,0.021656, -0.261860,-0.129234,-0.214158, -0.017378,-0.313030,0.069951, -0.314197,-0.116814,-0.067215, 0.049841,0.351482,-0.143724, -0.178398,0.173789,-0.348849, -0.210923,0.250223,-0.236324, 0.283040,0.075827,-0.117937, -0.184483,0.196893,-0.325078, -0.167799,0.186994,-0.344427, 
+};
+const unsigned int h88_faces[] = {
+  5, 10,23,3,4,1,
+  6, 4,5,12,18,16,1,
+  5, 16,17,8,10,1,
+  7, 23,10,8,21,25,11,2,
+  3, 11,7,2,
+  7, 7,20,13,9,3,23,2,
+  4, 9,5,4,3,
+  5, 9,13,0,12,5,
+  6, 15,19,18,12,0,6,
+  6, 0,13,20,22,14,6,
+  3, 14,15,6,
+  6, 11,25,24,22,20,7,
+  8, 17,19,15,14,22,24,21,8,
+  4, 18,19,17,16,
+  3, 24,25,21,
+};
+const dReal h88_planes[ h88_numf * 4 ] = {
+  0.708232,-0.479648,-0.518021,0.225182,0.20808,-0.904248,0.372879,0.305524,-0.131611,-0.83191,-0.539077,0.257422,0.438192,-0.051293,-0.897417,0.225975,0.722578,0.66608,-0.18498,0.30869,0.727925,0.639055,0.248465,0.225187,0.991673,-0.108076,0.0700326,0.2906,0,-0,1,0.343033,-0.619037,-0.533582,0.576267,0.218095,-0.446964,0.816183,0.366153,0.211972,-0.877503,0.423705,0.224641,0.25126,-0.131611,0.83191,-0.539078,0.36332,-0.933932,0.105417,-0.341552,0.304082,-0.512085,-0.851811,-0.110395,0.267819,-0.443092,0.583496,-0.68059,0.417874
+};
+// h89
+const int h89_numv = 16;
+const int h89_numf = 10;
+const dReal h89_volu = 0.098811;
+const dReal h89_pos[3] = { 0.713605,0.673779,0.814484 };
+const dReal h89_verts[ h89_numv * 3 ] = {
+  -0.273713,-0.165479,0.185516, -0.080453,-0.385613,0.185516, 0.286395,-0.172812,0.185516, 0.286395,0.326221,0.093776, -0.101044,0.326221,0.185516, 0.286395,0.326221,0.185516, 0.017832,-0.221455,-0.310526, 0.286395,-0.105074,-0.128085, -0.040637,-0.276955,-0.210604, -0.057774,-0.232220,-0.275455, -0.158577,0.326221,-0.123495, -0.267917,0.028388,-0.330091, -0.290974,0.043435,-0.301241, -0.249679,0.140915,-0.263301, -0.168594,-0.081604,-0.338174, 0.022632,-0.217741,-0.314831, 
+};
+const unsigned int h89_faces[] = {
+  6, 8,6,15,7,2,1,
+  5, 2,5,4,0,1,
+  7, 0,12,11,14,9,8,1,
+  4, 7,3,5,2,
+  7, 7,15,14,11,13,10,3,
+  4, 10,4,5,3,
+  5, 10,13,12,0,4,
+  4, 9,14,15,6,
+  3, 8,9,6,
+  3, 12,13,11,
+};
+const dReal h89_planes[ h89_numf * 4 ] = {
+  0.493234,-0.850287,-0.183662,0.254128,-0,1.12896e-16,1,0.185516,-0.727925,-0.639055,-0.248465,0.258897,1,0,0,0.286395,0.398278,0.419587,-0.815673,0.174452,0,1,0,0.326221,-0.929286,0.326334,0.173016,0.232453,-0.289106,-0.541462,-0.789453,0.3599,-0.131611,-0.831909,-0.539078,0.349281,-0.535431,0.493566,-0.685351,0.38369
+};
+
+//Aggregate of all cells.
+const int halton_numc = 90;
+const int halton_numv[ halton_numc ] = {
+  h00_numv,h01_numv,h02_numv,h03_numv,h04_numv,h05_numv,h06_numv,h07_numv,h08_numv,h09_numv,h10_numv,h11_numv,h12_numv,h13_numv,h14_numv,h15_numv,h16_numv,h17_numv,h18_numv,h19_numv,h20_numv,h21_numv,h22_numv,h23_numv,h24_numv,h25_numv,h26_numv,h27_numv,h28_numv,h29_numv,h30_numv,h31_numv,h32_numv,h33_numv,h34_numv,h35_numv,h36_numv,h37_numv,h38_numv,h39_numv,h40_numv,h41_numv,h42_numv,h43_numv,h44_numv,h45_numv,h46_numv,h47_numv,h48_numv,h49_numv,h50_numv,h51_numv,h52_numv,h53_numv,h54_numv,h55_numv,h56_numv,h57_numv,h58_numv,h59_numv,h60_numv,h61_numv,h62_numv,h63_numv,h64_numv,h65_numv,h66_numv,h67_numv,h68_numv,h69_numv,h70_numv,h71_numv,h72_numv,h73_numv,h74_numv,h75_numv,h76_numv,h77_numv,h78_numv,h79_numv,h80_numv,h81_numv,h82_numv,h83_numv,h84_numv,h85_numv,h86_numv,h87_numv,h88_numv,h89_numv,
+};
+const int halton_numf[ halton_numc ] = {
+  h00_numf,h01_numf,h02_numf,h03_numf,h04_numf,h05_numf,h06_numf,h07_numf,h08_numf,h09_numf,h10_numf,h11_numf,h12_numf,h13_numf,h14_numf,h15_numf,h16_numf,h17_numf,h18_numf,h19_numf,h20_numf,h21_numf,h22_numf,h23_numf,h24_numf,h25_numf,h26_numf,h27_numf,h28_numf,h29_numf,h30_numf,h31_numf,h32_numf,h33_numf,h34_numf,h35_numf,h36_numf,h37_numf,h38_numf,h39_numf,h40_numf,h41_numf,h42_numf,h43_numf,h44_numf,h45_numf,h46_numf,h47_numf,h48_numf,h49_numf,h50_numf,h51_numf,h52_numf,h53_numf,h54_numf,h55_numf,h56_numf,h57_numf,h58_numf,h59_numf,h60_numf,h61_numf,h62_numf,h63_numf,h64_numf,h65_numf,h66_numf,h67_numf,h68_numf,h69_numf,h70_numf,h71_numf,h72_numf,h73_numf,h74_numf,h75_numf,h76_numf,h77_numf,h78_numf,h79_numf,h80_numf,h81_numf,h82_numf,h83_numf,h84_numf,h85_numf,h86_numf,h87_numf,h88_numf,h89_numf,
+};
+const dReal halton_volu[ halton_numc ] = {
+  h00_volu,h01_volu,h02_volu,h03_volu,h04_volu,h05_volu,h06_volu,h07_volu,h08_volu,h09_volu,h10_volu,h11_volu,h12_volu,h13_volu,h14_volu,h15_volu,h16_volu,h17_volu,h18_volu,h19_volu,h20_volu,h21_volu,h22_volu,h23_volu,h24_volu,h25_volu,h26_volu,h27_volu,h28_volu,h29_volu,h30_volu,h31_volu,h32_volu,h33_volu,h34_volu,h35_volu,h36_volu,h37_volu,h38_volu,h39_volu,h40_volu,h41_volu,h42_volu,h43_volu,h44_volu,h45_volu,h46_volu,h47_volu,h48_volu,h49_volu,h50_volu,h51_volu,h52_volu,h53_volu,h54_volu,h55_volu,h56_volu,h57_volu,h58_volu,h59_volu,h60_volu,h61_volu,h62_volu,h63_volu,h64_volu,h65_volu,h66_volu,h67_volu,h68_volu,h69_volu,h70_volu,h71_volu,h72_volu,h73_volu,h74_volu,h75_volu,h76_volu,h77_volu,h78_volu,h79_volu,h80_volu,h81_volu,h82_volu,h83_volu,h84_volu,h85_volu,h86_volu,h87_volu,h88_volu,h89_volu,
+};
+const dReal* halton_pos[ halton_numc ] = {
+  h00_pos,h01_pos,h02_pos,h03_pos,h04_pos,h05_pos,h06_pos,h07_pos,h08_pos,h09_pos,h10_pos,h11_pos,h12_pos,h13_pos,h14_pos,h15_pos,h16_pos,h17_pos,h18_pos,h19_pos,h20_pos,h21_pos,h22_pos,h23_pos,h24_pos,h25_pos,h26_pos,h27_pos,h28_pos,h29_pos,h30_pos,h31_pos,h32_pos,h33_pos,h34_pos,h35_pos,h36_pos,h37_pos,h38_pos,h39_pos,h40_pos,h41_pos,h42_pos,h43_pos,h44_pos,h45_pos,h46_pos,h47_pos,h48_pos,h49_pos,h50_pos,h51_pos,h52_pos,h53_pos,h54_pos,h55_pos,h56_pos,h57_pos,h58_pos,h59_pos,h60_pos,h61_pos,h62_pos,h63_pos,h64_pos,h65_pos,h66_pos,h67_pos,h68_pos,h69_pos,h70_pos,h71_pos,h72_pos,h73_pos,h74_pos,h75_pos,h76_pos,h77_pos,h78_pos,h79_pos,h80_pos,h81_pos,h82_pos,h83_pos,h84_pos,h85_pos,h86_pos,h87_pos,h88_pos,h89_pos,
+};
+const dReal* halton_verts[ halton_numc ] = {
+  h00_verts,h01_verts,h02_verts,h03_verts,h04_verts,h05_verts,h06_verts,h07_verts,h08_verts,h09_verts,h10_verts,h11_verts,h12_verts,h13_verts,h14_verts,h15_verts,h16_verts,h17_verts,h18_verts,h19_verts,h20_verts,h21_verts,h22_verts,h23_verts,h24_verts,h25_verts,h26_verts,h27_verts,h28_verts,h29_verts,h30_verts,h31_verts,h32_verts,h33_verts,h34_verts,h35_verts,h36_verts,h37_verts,h38_verts,h39_verts,h40_verts,h41_verts,h42_verts,h43_verts,h44_verts,h45_verts,h46_verts,h47_verts,h48_verts,h49_verts,h50_verts,h51_verts,h52_verts,h53_verts,h54_verts,h55_verts,h56_verts,h57_verts,h58_verts,h59_verts,h60_verts,h61_verts,h62_verts,h63_verts,h64_verts,h65_verts,h66_verts,h67_verts,h68_verts,h69_verts,h70_verts,h71_verts,h72_verts,h73_verts,h74_verts,h75_verts,h76_verts,h77_verts,h78_verts,h79_verts,h80_verts,h81_verts,h82_verts,h83_verts,h84_verts,h85_verts,h86_verts,h87_verts,h88_verts,h89_verts,
+};
+const unsigned int* halton_faces[ halton_numc ] = {
+  h00_faces,h01_faces,h02_faces,h03_faces,h04_faces,h05_faces,h06_faces,h07_faces,h08_faces,h09_faces,h10_faces,h11_faces,h12_faces,h13_faces,h14_faces,h15_faces,h16_faces,h17_faces,h18_faces,h19_faces,h20_faces,h21_faces,h22_faces,h23_faces,h24_faces,h25_faces,h26_faces,h27_faces,h28_faces,h29_faces,h30_faces,h31_faces,h32_faces,h33_faces,h34_faces,h35_faces,h36_faces,h37_faces,h38_faces,h39_faces,h40_faces,h41_faces,h42_faces,h43_faces,h44_faces,h45_faces,h46_faces,h47_faces,h48_faces,h49_faces,h50_faces,h51_faces,h52_faces,h53_faces,h54_faces,h55_faces,h56_faces,h57_faces,h58_faces,h59_faces,h60_faces,h61_faces,h62_faces,h63_faces,h64_faces,h65_faces,h66_faces,h67_faces,h68_faces,h69_faces,h70_faces,h71_faces,h72_faces,h73_faces,h74_faces,h75_faces,h76_faces,h77_faces,h78_faces,h79_faces,h80_faces,h81_faces,h82_faces,h83_faces,h84_faces,h85_faces,h86_faces,h87_faces,h88_faces,h89_faces,
+};
+const dReal* halton_planes[ halton_numc ] = {
+  h00_planes,h01_planes,h02_planes,h03_planes,h04_planes,h05_planes,h06_planes,h07_planes,h08_planes,h09_planes,h10_planes,h11_planes,h12_planes,h13_planes,h14_planes,h15_planes,h16_planes,h17_planes,h18_planes,h19_planes,h20_planes,h21_planes,h22_planes,h23_planes,h24_planes,h25_planes,h26_planes,h27_planes,h28_planes,h29_planes,h30_planes,h31_planes,h32_planes,h33_planes,h34_planes,h35_planes,h36_planes,h37_planes,h38_planes,h39_planes,h40_planes,h41_planes,h42_planes,h43_planes,h44_planes,h45_planes,h46_planes,h47_planes,h48_planes,h49_planes,h50_planes,h51_planes,h52_planes,h53_planes,h54_planes,h55_planes,h56_planes,h57_planes,h58_planes,h59_planes,h60_planes,h61_planes,h62_planes,h63_planes,h64_planes,h65_planes,h66_planes,h67_planes,h68_planes,h69_planes,h70_planes,h71_planes,h72_planes,h73_planes,h74_planes,h75_planes,h76_planes,h77_planes,h78_planes,h79_planes,h80_planes,h81_planes,h82_planes,h83_planes,h84_planes,h85_planes,h86_planes,h87_planes,h88_planes,h89_planes,
+};
diff --git a/libs/ode-0.16.1/ode/demo/icosahedron_geom.h b/libs/ode-0.16.1/ode/demo/icosahedron_geom.h
new file mode 100644
index 0000000..eb0a0ea
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/icosahedron_geom.h
@@ -0,0 +1,216 @@
+//<---- Icosahedron ---->
+/*
+   This is a description of a convex icosahedron, to test
+   the convex collision detection.
+*/
+unsigned int Sphere_pointcount = 42;
+unsigned int Sphere_planecount = 80;
+dReal Sphere_points[126]={
+0.000000,0.000000,-0.300000,
+0.217080,-0.157716,-0.134164,
+-0.082915,-0.255192,-0.134164,
+-0.268327,0.000000,-0.134164,
+-0.082915,0.255192,-0.134164,
+0.217080,0.157716,-0.134164,
+0.082915,-0.255192,0.134164,
+-0.217080,-0.157716,0.134164,
+-0.217080,0.157716,0.134164,
+0.082915,0.255192,0.134164,
+0.268327,0.000000,0.134164,
+0.000000,0.000000,0.300000,
+0.127597,-0.092703,-0.255196,
+-0.048737,-0.149999,-0.255196,
+0.078861,-0.242703,-0.157721,
+0.127597,0.092703,-0.255196,
+0.255194,0.000000,-0.157721,
+-0.157719,0.000000,-0.255195,
+-0.206457,-0.149999,-0.157721,
+-0.048737,0.149999,-0.255196,
+-0.206457,0.149999,-0.157721,
+0.078861,0.242703,-0.157721,
+0.285317,0.092704,0.000000,
+0.285317,-0.092704,0.000000,
+0.176336,-0.242705,0.000000,
+0.000000,-0.300000,0.000000,
+-0.176336,-0.242705,0.000000,
+-0.285317,-0.092704,0.000000,
+-0.285317,0.092704,0.000000,
+-0.176336,0.242705,0.000000,
+0.000000,0.300000,0.000000,
+0.176336,0.242705,0.000000,
+0.206457,-0.149999,0.157721,
+-0.078861,-0.242703,0.157721,
+-0.255194,0.000000,0.157721,
+-0.078861,0.242703,0.157721,
+0.206457,0.149999,0.157721,
+0.157719,0.000000,0.255195,
+0.048737,-0.149999,0.255196,
+-0.127597,-0.092703,0.255196,
+-0.127597,0.092703,0.255196,
+0.048737,0.149999,0.255196
+};
+unsigned int Sphere_polygons[]={
+3,14,12,1,
+3,12,14,13,
+3,2,13,14,
+3,13,0,12,
+3,16,1,12,
+3,12,15,16,
+3,5,16,15,
+3,12,0,15,
+3,18,13,2,
+3,13,18,17,
+3,3,17,18,
+3,17,0,13,
+3,20,17,3,
+3,17,20,19,
+3,4,19,20,
+3,19,0,17,
+3,21,19,4,
+3,19,21,15,
+3,5,15,21,
+3,15,0,19,
+3,23,1,16,
+3,16,22,23,
+3,10,23,22,
+3,22,16,5,
+3,25,2,14,
+3,14,24,25,
+3,6,25,24,
+3,24,14,1,
+3,27,3,18,
+3,18,26,27,
+3,7,27,26,
+3,26,18,2,
+3,29,4,20,
+3,20,28,29,
+3,8,29,28,
+3,28,20,3,
+3,31,5,21,
+3,21,30,31,
+3,9,31,30,
+3,30,21,4,
+3,32,23,10,
+3,23,32,24,
+3,6,24,32,
+3,24,1,23,
+3,33,25,6,
+3,25,33,26,
+3,7,26,33,
+3,26,2,25,
+3,34,27,7,
+3,27,34,28,
+3,8,28,34,
+3,28,3,27,
+3,35,29,8,
+3,29,35,30,
+3,9,30,35,
+3,30,4,29,
+3,36,31,9,
+3,31,36,22,
+3,10,22,36,
+3,22,5,31,
+3,38,6,32,
+3,32,37,38,
+3,11,38,37,
+3,37,32,10,
+3,39,7,33,
+3,33,38,39,
+3,11,39,38,
+3,38,33,6,
+3,40,8,34,
+3,34,39,40,
+3,11,40,39,
+3,39,34,7,
+3,41,9,35,
+3,35,40,41,
+3,11,41,40,
+3,40,35,8,
+3,37,10,36,
+3,36,41,37,
+3,11,37,41,
+3,41,36,9,
+};
+dReal Sphere_planes[]={
+0.471317,-0.583121,-0.661687,0.283056,
+0.187594,-0.577345,-0.794658,0.280252,
+-0.038547,-0.748789,-0.661687,0.283056,
+0.102381,-0.315090,-0.943523,0.283057,
+0.700228,-0.268049,-0.661688,0.283056,
+0.607060,0.000000,-0.794656,0.280252,
+0.700228,0.268049,-0.661688,0.283056,
+0.331305,0.000000,-0.943524,0.283057,
+-0.408939,-0.628443,-0.661686,0.283056,
+-0.491119,-0.356821,-0.794657,0.280252,
+-0.724044,-0.194735,-0.661694,0.283057,
+-0.268034,-0.194737,-0.943523,0.283057,
+-0.724044,0.194735,-0.661694,0.283057,
+-0.491119,0.356821,-0.794657,0.280252,
+-0.408939,0.628443,-0.661686,0.283056,
+-0.268034,0.194737,-0.943523,0.283057,
+-0.038547,0.748789,-0.661687,0.283056,
+0.187594,0.577345,-0.794658,0.280252,
+0.471317,0.583121,-0.661687,0.283056,
+0.102381,0.315090,-0.943523,0.283057,
+0.904981,-0.268049,-0.330393,0.283056,
+0.982246,0.000000,-0.187599,0.280252,
+0.992077,0.000000,0.125631,0.283057,
+0.904981,0.268049,-0.330393,0.283056,
+0.024726,-0.943519,-0.330396,0.283056,
+0.303531,-0.934171,-0.187598,0.280251,
+0.306568,-0.943519,0.125651,0.283056,
+0.534590,-0.777851,-0.330395,0.283056,
+-0.889698,-0.315092,-0.330386,0.283056,
+-0.794656,-0.577348,-0.187595,0.280251,
+-0.802607,-0.583125,0.125648,0.283055,
+-0.574584,-0.748793,-0.330397,0.283055,
+-0.574584,0.748793,-0.330397,0.283055,
+-0.794656,0.577348,-0.187595,0.280251,
+-0.802607,0.583125,0.125648,0.283055,
+-0.889698,0.315092,-0.330386,0.283056,
+0.534590,0.777851,-0.330395,0.283056,
+0.303531,0.934171,-0.187598,0.280251,
+0.306568,0.943519,0.125651,0.283056,
+0.024726,0.943519,-0.330396,0.283056,
+0.889698,-0.315092,0.330386,0.283056,
+0.794656,-0.577348,0.187595,0.280251,
+0.574584,-0.748793,0.330397,0.283055,
+0.802607,-0.583125,-0.125648,0.283055,
+-0.024726,-0.943519,0.330396,0.283055,
+-0.303531,-0.934171,0.187598,0.280251,
+-0.534590,-0.777851,0.330395,0.283056,
+-0.306568,-0.943519,-0.125651,0.283056,
+-0.904981,-0.268049,0.330393,0.283056,
+-0.982246,0.000000,0.187599,0.280252,
+-0.904981,0.268049,0.330393,0.283056,
+-0.992077,0.000000,-0.125631,0.283057,
+-0.534590,0.777851,0.330395,0.283056,
+-0.303531,0.934171,0.187598,0.280251,
+-0.024726,0.943519,0.330396,0.283055,
+-0.306568,0.943519,-0.125651,0.283056,
+0.574584,0.748793,0.330397,0.283055,
+0.794656,0.577348,0.187595,0.280251,
+0.889698,0.315092,0.330386,0.283056,
+0.802607,0.583125,-0.125648,0.283055,
+0.408939,-0.628443,0.661686,0.283056,
+0.491119,-0.356821,0.794657,0.280252,
+0.268034,-0.194737,0.943523,0.283057,
+0.724044,-0.194735,0.661694,0.283057,
+-0.471317,-0.583121,0.661687,0.283056,
+-0.187594,-0.577345,0.794658,0.280252,
+-0.102381,-0.315090,0.943523,0.283057,
+0.038547,-0.748789,0.661687,0.283056,
+-0.700228,0.268049,0.661688,0.283056,
+-0.607060,0.000000,0.794656,0.280252,
+-0.331305,0.000000,0.943524,0.283057,
+-0.700228,-0.268049,0.661688,0.283056,
+0.038547,0.748789,0.661687,0.283056,
+-0.187594,0.577345,0.794658,0.280252,
+-0.102381,0.315090,0.943523,0.283057,
+-0.471317,0.583121,0.661687,0.283056,
+0.724044,0.194735,0.661694,0.283057,
+0.491119,0.356821,0.794657,0.280252,
+0.268034,0.194737,0.943523,0.283057,
+0.408939,0.628443,0.661686,0.283056,
+};
+
diff --git a/libs/ode-0.16.1/ode/demo/texturepath.h b/libs/ode-0.16.1/ode/demo/texturepath.h
new file mode 100644
index 0000000..5815138
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/texturepath.h
@@ -0,0 +1,26 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef DRAWSTUFF_TEXTURE_PATH
+#define DRAWSTUFF_TEXTURE_PATH "../../drawstuff/textures"
+#endif
+
diff --git a/libs/ode-0.16.1/ode/demo/world_geom3.h b/libs/ode-0.16.1/ode/demo/world_geom3.h
new file mode 100644
index 0000000..27cd69e
--- /dev/null
+++ b/libs/ode-0.16.1/ode/demo/world_geom3.h
@@ -0,0 +1,9 @@
+// mesh for a world model, to be used with test_cyl.cpp
+
+static float world_vertices[] = {10.000000f,-10.000000f,1.000000f,-10.000000f,-10.000000f,1.000000f,-10.000000f,-10.000000f,-1.000000f,-10.000000f,-10.000000f,-1.000000f,10.000000f,-10.000000f,-1.000000f,10.000000f,-10.000000f,1.000000f,10.000000f,10.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,10.000000f,-10.000000f,-1.000000f,10.000000f,-10.000000f,-1.000000f,10.000000f,10.000000f,-1.000000f,10.000000f,10.000000f,1.000000f,10.000000f,10.000000f,-1.000000f,10.000000f,-10.000000f,-1.000000f,-10.000000f,-10.000000f,-1.000000f,-10.000000f,-10.000000f,-1.000000f,-10.000000f,10.000000f,-1.000000f,10.000000f,10.000000f,-1.000000f,0.000000f,9.000000f,-0.000000f,0.000000f,-9.000000f,0.000000f,9.000000f,-9.000000f,0.000000f,0.000000f,9.000000f,-0.000000f,9.000000f,-9.000000f,0.000000f,9.000000f,9.000000f,-0.000000f,10.000000f,10.000000f,-1.000000f,-10.000000f,10.000000f,-1.000000f,-10.000000f,10.000000f,1.000000f,10.000000f,10.000000f,-1.000000f,-10.000000f,10.000000f,1.000000f,10.000000f,10.000000f,1.000000f,-10.000000f,-10.000000f,-1.000000f,-10.000000f,-10.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-10.000000f,10.000000f,-1.000000f,-10.000000f,-10.000000f,-1.000000f,9.000000f,-9.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,-10.000000f,-10.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,9.000000f,9.000000f,1.000000f,9.000000f,-9.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,10.000000f,-10.000000f,1.000000f,10.000000f,10.000000f,1.000000f,9.000000f,9.000000f,1.000000f,-9.000000f,9.000000f,1.000000f,9.000000f,9.000000f,1.000000f,10.000000f,10.000000f,1.000000f,10.000000f,10.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-9.000000f,9.000000f,1.000000f,-9.000000f,9.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,-10.000000f,10.000000f,1.000000f,-10.000000f,-10.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,0.000000f,-9.000000f,0.000000f,-9.000000f,-9.000000f,0.000000f,-9.000000f,-9.000000f,1.000000f,0.000000f,-9.000000f,0.000000f,-9.000000f,-9.000000f,1.000000f,9.000000f,-9.000000f,1.000000f,0.000000f,-9.000000f,0.000000f,9.000000f,-9.000000f,1.000000f,9.000000f,-9.000000f,0.000000f,9.000000f,-9.000000f,0.000000f,9.000000f,-9.000000f,1.000000f,9.000000f,9.000000f,1.000000f,9.000000f,9.000000f,1.000000f,9.000000f,9.000000f,-0.000000f,9.000000f,-9.000000f,0.000000f,0.000000f,9.000000f,-0.000000f,9.000000f,9.000000f,-0.000000f,9.000000f,9.000000f,1.000000f,0.000000f,9.000000f,-0.000000f,9.000000f,9.000000f,1.000000f,-9.000000f,9.000000f,1.000000f,0.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,1.000000f,-9.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,1.000000f,-9.000000f,-9.000000f,1.000000f,-9.000000f,-9.000000f,0.000000f,-9.000000f,-9.000000f,0.000000f,-9.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,1.000000f,-2.997000f,-1.748874f,0.000000f,-2.997000f,-2.001000f,0.000000f,0.000000f,-9.000000f,0.000000f,-2.997000f,-1.748874f,0.000000f,0.000000f,-9.000000f,0.000000f,-2.997000f,1.748874f,-0.000000f,-2.997000f,-2.001000f,0.000000f,-2.997000f,-6.003000f,0.002697f,0.000000f,-9.000000f,0.000000f,0.000000f,9.000000f,-0.000000f,-2.997000f,2.001000f,-0.000000f,-2.997000f,1.748874f,-0.000000f,0.000000f,9.000000f,-0.000000f,-2.997000f,1.748874f,-0.000000f,0.000000f,-9.000000f,0.000000f,-2.997000f,2.001000f,-0.000000f,0.000000f,9.000000f,-0.000000f,-2.997000f,6.003000f,0.002697f,-6.003000f,6.003000f,0.002697f,-2.997000f,6.003000f,0.002697f,0.000000f,9.000000f,-0.000000f,0.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,-0.000000f,-6.003000f,6.003000f,0.002697f,-6.003000f,1.748874f,-0.000000f,-9.000000f,-9.000000f,0.000000f,-6.003000f,-1.748874f,0.000000f,-6.003000f,2.001000f,-0.000000f,-6.003000f,6.003000f,0.002697f,-9.000000f,9.000000f,-0.000000f,-9.000000f,9.000000f,-0.000000f,-6.003000f,1.748874f,-0.000000f,-6.003000f,2.001000f,-0.000000f,-9.000000f,9.000000f,-0.000000f,-9.000000f,-9.000000f,0.000000f,-6.003000f,1.748874f,-0.000000f,-9.000000f,-9.000000f,0.000000f,-6.003000f,-6.003000f,0.002697f,-6.003000f,-2.001000f,0.000000f,-9.000000f,-9.000000f,0.000000f,-6.003000f,-2.001000f,0.000000f,-6.003000f,-1.748874f,0.000000f,-6.003000f,-6.003000f,0.002697f,-9.000000f,-9.000000f,0.000000f,0.000000f,-9.000000f,0.000000f,-6.003000f,-6.003000f,0.002697f,0.000000f,-9.000000f,0.000000f,-2.997000f,-6.003000f,0.002697f,-2.997000f,1.748874f,1.237951f,-2.997000f,1.748874f,-0.000000f,-2.997000f,2.001000f,-0.000000f,-2.997000f,1.748874f,1.237951f,-2.997000f,2.001000f,-0.000000f,-2.997000f,2.001000f,1.515748f,-6.003000f,-2.001000f,1.515748f,-6.003000f,-6.003000f,0.002697f,-2.997000f,-6.003000f,0.002697f,-6.003000f,-2.001000f,1.515748f,-2.997000f,-6.003000f,0.002697f,-2.997000f,-2.001000f,1.515748f,-2.997000f,2.001000f,1.515748f,-2.997000f,6.003000f,0.002697f,-6.003000f,6.003000f,0.002697f,-6.003000f,6.003000f,0.002697f,-6.003000f,2.001000f,1.515748f,-2.997000f,2.001000f,1.515748f,-6.003000f,-2.00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+
+static float world_normals[] = {0.000000f,-1.000000f,0.000000f,-0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,-0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000225f,0.000161f,1.000000f,0.000225f,-0.000161f,1.000000f,0.000000f,0.000000f,1.000000f,0.000225f,0.000161f,1.000000f,0.000000f,0.000000f,1.000000f,-0.000000f,0.000000f,1.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,-0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,-0.000000f,-1.000000f,0.000000f,0.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,-0.000000f,-1.000000f,0.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,-0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,-0.000000f,0.000000f,1.000000f,0.000787f,0.000337f,1.000000f,0.000225f,-0.000161f,1.000000f,-0.000000f,0.000000f,1.000000f,0.000225f,-0.000161f,1.000000f,0.000000f,0.000000f,1.000000f,0.000787f,0.000337f,1.000000f,0.000400f,-0.179805f,0.983702f,0.000225f,-0.000161f,1.000000f,0.000225f,0.000161f,1.000000f,0.000787f,-0.000337f,1.000000f,0.000000f,0.000000f,1.000000f,0.000225f,0.000161f,1.000000f,0.000000f,0.000000f,1.000000f,0.000225f,-0.000161f,1.000000f,0.000787f,-0.000337f,1.000000f,0.000225f,0.000161f,1.000000f,0.000532f,0.119686f,0.992812f,-0.000320f,0.143927f,0.989588f,0.000532f,0.119686f,0.992812f,0.000225f,0.000161f,1.000000f,0.000225f,0.000161f,1.000000f,-0.000393f,0.000056f,1.000000f,-0.000320f,0.143927f,0.989588f,-0.000000f,0.000000f,1.000000f,-0.000315f,-0.000045f,1.000000f,0.000000f,0.000000f,1.000000f,-0.000787f,-0.000337f,1.000000f,-0.000320f,0.143927f,0.989588f,-0.000393f,0.000056f,1.000000f,-0.000393f,0.000056f,1.000000f,-0.000000f,0.000000f,1.000000f,-0.000787f,-0.000337f,1.000000f,-0.000393f,0.000056f,1.000000f,-0.000315f,-0.000045f,1.000000f,-0.000000f,0.000000f,1.000000f,-0.000315f,-0.000045f,1.000000f,-0.000398f,-0.089784f,0.995961f,-0.000787f,0.000337f,1.000000f,-0.000315f,-0.000045f,1.000000f,-0.000787f,0.000337f,1.000000f,0.000000f,0.000000f,1.000000f,-0.000398f,-0.089784f,0.995961f,-0.000315f,-0.000045f,1.000000f,0.000225f,-0.000161f,1.000000f,-0.000398f,-0.089784f,0.995961f,0.000225f,-0.000161f,1.000000f,0.000400f,-0.179805f,0.983702f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,0.000000f,-0.239222f,0.970965f,-0.000398f,-0.089784f,0.995961f,0.000400f,-0.179805f,0.983702f,0.000000f,-0.239222f,0.970965f,0.000400f,-0.179805f,0.983702f,0.000000f,-0.119611f,0.992821f,0.000000f,0.239222f,0.970965f,0.000532f,0.119686f,0.992812f,-0.000320f,0.143927f,0.989588f,-0.000320f,0.143927f,0.989588f,0.000000f,0.119611f,0.992821f,0.000000f,0.239222f,0.970965f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,-1.000000f,0.000000f,0.000000f,1.000000f,0.000000f,0.000000f,1.000000f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+
+
+static dTriIndex world_indices[] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227};
+
author	sanine <sanine.not@pm.me>	2022-10-01 20:59:36 -0500
committer	sanine <sanine.not@pm.me>	2022-10-01 20:59:36 -0500
commit	c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 (patch)
tree	277dd280daf10bf77013236b8edfa5f88708c7e0 /libs/ode-0.16.1/ode/demo
parent	1cf9cc3408af7008451f9133fb95af66a9697d15 (diff)