add ode

48 files changed, 3872 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/AssertException.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/AssertException.cpp
new file mode 100644
index 0000000..49f7ba7
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/AssertException.cpp
@@ -0,0 +1,32 @@
+#include "AssertException.h"
+#include <cstring>
+
+namespace UnitTest {
+
+AssertException::AssertException(char const* description, char const* filename, int const lineNumber)
+    : m_lineNumber(lineNumber)
+{
+    std::strcpy(m_description, description);
+    std::strcpy(m_filename, filename);
+}
+
+AssertException::~AssertException() throw()
+{
+}
+
+char const* AssertException::what() const throw()
+{
+    return m_description;
+}
+
+char const* AssertException::Filename() const
+{
+    return m_filename;
+}
+
+int AssertException::LineNumber() const
+{
+    return m_lineNumber;
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/AssertException.h b/libs/ode-0.16.1/tests/UnitTest++/src/AssertException.h
new file mode 100644
index 0000000..e04d450
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/AssertException.h
@@ -0,0 +1,28 @@
+#ifndef UNITTEST_ASSERTEXCEPTION_H
+#define UNITTEST_ASSERTEXCEPTION_H
+
+#include <exception>
+
+
+namespace UnitTest {
+
+class AssertException : public std::exception
+{
+public:
+    AssertException(char const* description, char const* filename, int lineNumber);
+    virtual ~AssertException() throw();
+
+    virtual char const* what() const throw();
+
+    char const* Filename() const;
+    int LineNumber() const;
+
+private:
+    char m_description[512];
+    char m_filename[256];
+    int m_lineNumber;
+};
+
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/CheckMacros.h b/libs/ode-0.16.1/tests/UnitTest++/src/CheckMacros.h
new file mode 100644
index 0000000..2d499cc
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/CheckMacros.h
@@ -0,0 +1,102 @@
+#ifndef UNITTEST_CHECKMACROS_H 
+#define UNITTEST_CHECKMACROS_H
+
+#include "Checks.h"
+#include "AssertException.h"
+#include "MemoryOutStream.h"
+#include "TestDetails.h"
+
+#ifdef CHECK
+    #error UnitTest++ redefines CHECK
+#endif
+
+
+#define CHECK(value) \
+    do \
+    { \
+        try { \
+            if (!UnitTest::Check(value)) \
+                testResults_.OnTestFailure( UnitTest::TestDetails(m_details, __LINE__), #value); \
+        } \
+        catch (...) { \
+            testResults_.OnTestFailure(UnitTest::TestDetails(m_details, __LINE__), \
+                    "Unhandled exception in CHECK(" #value ")"); \
+        } \
+    } while (0)
+
+#define CHECK_EQUAL(expected, actual) \
+    do \
+    { \
+        try { \
+            UnitTest::CheckEqual(testResults_, expected, actual, UnitTest::TestDetails(m_details, __LINE__)); \
+        } \
+        catch (...) { \
+            testResults_.OnTestFailure(UnitTest::TestDetails(m_details, __LINE__), \
+                    "Unhandled exception in CHECK_EQUAL(" #expected ", " #actual ")"); \
+        } \
+    } while (0)
+
+#define CHECK_CLOSE(expected, actual, tolerance) \
+    do \
+    { \
+        try { \
+            UnitTest::CheckClose(testResults_, expected, actual, tolerance, UnitTest::TestDetails(m_details, __LINE__)); \
+        } \
+        catch (...) { \
+            testResults_.OnTestFailure(UnitTest::TestDetails(m_details, __LINE__), \
+                    "Unhandled exception in CHECK_CLOSE(" #expected ", " #actual ")"); \
+        } \
+    } while (0)
+
+#define CHECK_ARRAY_EQUAL(expected, actual, count) \
+    do \
+    { \
+        try { \
+            UnitTest::CheckArrayEqual(testResults_, expected, actual, count, UnitTest::TestDetails(m_details, __LINE__)); \
+        } \
+        catch (...) { \
+            testResults_.OnTestFailure(UnitTest::TestDetails(m_details, __LINE__), \
+                    "Unhandled exception in CHECK_ARRAY_EQUAL(" #expected ", " #actual ")"); \
+        } \
+    } while (0)
+
+#define CHECK_ARRAY_CLOSE(expected, actual, count, tolerance) \
+    do \
+    { \
+        try { \
+            UnitTest::CheckArrayClose(testResults_, expected, actual, count, tolerance, UnitTest::TestDetails(m_details, __LINE__)); \
+        } \
+        catch (...) { \
+            testResults_.OnTestFailure(UnitTest::TestDetails(m_details, __LINE__), \
+                    "Unhandled exception in CHECK_ARRAY_CLOSE(" #expected ", " #actual ")"); \
+        } \
+    } while (0)
+
+#define CHECK_ARRAY2D_CLOSE(expected, actual, rows, columns, tolerance) \
+    do \
+    { \
+        try { \
+            UnitTest::CheckArray2DClose(testResults_, expected, actual, rows, columns, tolerance, UnitTest::TestDetails(m_details, __LINE__)); \
+        } \
+        catch (...) { \
+            testResults_.OnTestFailure(UnitTest::TestDetails(m_details, __LINE__), \
+                    "Unhandled exception in CHECK_ARRAY_CLOSE(" #expected ", " #actual ")"); \
+        } \
+    } while (0)
+
+
+#define CHECK_THROW(expression, ExpectedExceptionType) \
+    do \
+    { \
+        bool caught_ = false; \
+        try { expression; } \
+        catch (ExpectedExceptionType const&) { caught_ = true; } \
+        catch (...) {} \
+        if (!caught_) \
+            testResults_.OnTestFailure(UnitTest::TestDetails(m_details, __LINE__), "Expected exception: \"" #ExpectedExceptionType "\" not thrown"); \
+    } while(0)
+
+#define CHECK_ASSERT(expression) \
+    CHECK_THROW(expression, UnitTest::AssertException);
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Checks.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/Checks.cpp
new file mode 100644
index 0000000..36db997
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Checks.cpp
@@ -0,0 +1,48 @@
+#include "Checks.h"
+#include <cstring>
+
+namespace UnitTest {
+
+namespace {
+
+void CheckStringsEqual(TestResults& results, char const* expected, char const* actual, 
+                       TestDetails const& details)
+{
+    if (std::strcmp(expected, actual))
+    {
+        UnitTest::MemoryOutStream stream;
+        stream << "Expected " << expected << " but was " << actual;
+
+        results.OnTestFailure(details, stream.GetText());
+    }
+}
+
+}
+
+
+void CheckEqual(TestResults& results, char const* expected, char const* actual,
+                TestDetails const& details)
+{
+    CheckStringsEqual(results, expected, actual, details);
+}
+
+void CheckEqual(TestResults& results, char* expected, char* actual,
+                TestDetails const& details)
+{
+    CheckStringsEqual(results, expected, actual, details);
+}
+
+void CheckEqual(TestResults& results, char* expected, char const* actual,
+                TestDetails const& details)
+{
+    CheckStringsEqual(results, expected, actual, details);
+}
+
+void CheckEqual(TestResults& results, char const* expected, char* actual,
+                TestDetails const& details)
+{
+    CheckStringsEqual(results, expected, actual, details);
+}
+
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Checks.h b/libs/ode-0.16.1/tests/UnitTest++/src/Checks.h
new file mode 100644
index 0000000..b470b62
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Checks.h
@@ -0,0 +1,146 @@
+#ifndef UNITTEST_CHECKS_H
+#define UNITTEST_CHECKS_H
+
+#include "Config.h"
+#include "TestResults.h"
+#include "MemoryOutStream.h"
+
+namespace UnitTest {
+
+
+template< typename Value >
+bool Check(Value const value)
+{
+    return !!value; // doing double negative to avoid silly VS warnings
+}
+
+
+template< typename Expected, typename Actual >
+void CheckEqual(TestResults& results, Expected const expected, Actual const actual, TestDetails const& details)
+{
+    if (!(expected == actual))
+    {
+        UnitTest::MemoryOutStream stream;
+        stream << "Expected " << expected << " but was " << actual;
+
+        results.OnTestFailure(details, stream.GetText());
+    }
+}
+
+void CheckEqual(TestResults& results, char const* expected, char const* actual, TestDetails const& details);
+
+void CheckEqual(TestResults& results, char* expected, char* actual, TestDetails const& details);
+
+void CheckEqual(TestResults& results, char* expected, char const* actual, TestDetails const& details);
+
+void CheckEqual(TestResults& results, char const* expected, char* actual, TestDetails const& details);
+
+template< typename Expected, typename Actual, typename Tolerance >
+bool AreClose(Expected const expected, Actual const actual, Tolerance const tolerance)
+{
+    return (actual >= (expected - tolerance)) && (actual <= (expected + tolerance));
+}
+
+template< typename Expected, typename Actual, typename Tolerance >
+void CheckClose(TestResults& results, Expected const expected, Actual const actual, Tolerance const tolerance,
+                TestDetails const& details)
+{
+    if (!AreClose(expected, actual, tolerance))
+    { 
+        UnitTest::MemoryOutStream stream;
+        stream << "Expected " << expected << " +/- " << tolerance << " but was " << actual;
+
+        results.OnTestFailure(details, stream.GetText());
+    }
+}
+
+
+template< typename Expected, typename Actual >
+void CheckArrayEqual(TestResults& results, Expected const expected, Actual const actual,
+                int const count, TestDetails const& details)
+{
+    bool equal = true;
+    for (int i = 0; i < count; ++i)
+        equal &= (expected[i] == actual[i]);
+
+    if (!equal)
+    {
+        UnitTest::MemoryOutStream stream;
+        stream << "Expected [ ";
+        for (int i = 0; i < count; ++i)
+            stream << expected[i] << " ";
+        stream << "] but was [ ";
+        for (int i = 0; i < count; ++i)
+            stream << actual[i] << " ";
+        stream << "]";
+
+        results.OnTestFailure(details, stream.GetText());
+    }
+}
+
+template< typename Expected, typename Actual, typename Tolerance >
+bool ArrayAreClose(Expected const expected, Actual const actual, int const count, Tolerance const tolerance)
+{
+    bool equal = true;
+    for (int i = 0; i < count; ++i)
+        equal &= AreClose(expected[i], actual[i], tolerance);
+    return equal;
+}
+
+template< typename Expected, typename Actual, typename Tolerance >
+void CheckArrayClose(TestResults& results, Expected const expected, Actual const actual,
+                   int const count, Tolerance const tolerance, TestDetails const& details)
+{
+    bool equal = ArrayAreClose(expected, actual, count, tolerance);
+
+    if (!equal)
+    {
+        UnitTest::MemoryOutStream stream;
+        stream << "Expected [ ";
+        for (int i = 0; i < count; ++i)
+            stream << expected[i] << " ";
+        stream << "] +/- " << tolerance << " but was [ ";
+        for (int i = 0; i < count; ++i)
+            stream << actual[i] << " ";
+        stream << "]";
+
+        results.OnTestFailure(details, stream.GetText());
+    }
+}
+
+template< typename Expected, typename Actual, typename Tolerance >
+void CheckArray2DClose(TestResults& results, Expected const expected, Actual const actual,
+                   int const rows, int const columns, Tolerance const tolerance, TestDetails const& details)
+{
+    bool equal = true;
+    for (int i = 0; i < rows; ++i)
+        equal &= ArrayAreClose(expected[i], actual[i], columns, tolerance);
+
+    if (!equal)
+    {
+        UnitTest::MemoryOutStream stream;
+        stream << "Expected [ ";    
+        for (int i = 0; i < rows; ++i)
+        {
+            stream << "[ ";
+            for (int j = 0; j < columns; ++j)
+                stream << expected[i][j] << " ";
+            stream << "] ";
+        }
+        stream << "] +/- " << tolerance << " but was [ ";
+        for (int i = 0; i < rows; ++i)
+        {
+            stream << "[ ";
+            for (int j = 0; j < columns; ++j)
+                stream << actual[i][j] << " ";
+            stream << "] ";
+        }
+        stream << "]";
+
+        results.OnTestFailure(details, stream.GetText());
+    }
+}
+
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Config.h b/libs/ode-0.16.1/tests/UnitTest++/src/Config.h
new file mode 100644
index 0000000..db423d4
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Config.h
@@ -0,0 +1,25 @@
+#ifndef UNITTEST_CONFIG_H
+#define UNITTEST_CONFIG_H
+
+// Standard defines documented here: http://predef.sourceforge.net
+
+#if defined _MSC_VER
+    #pragma warning(disable:4127) // conditional expression is constant
+	#pragma warning(disable:4702) // unreachable code
+	#pragma warning(disable:4722) // destructor never returns, potential memory leak
+#endif
+
+#if defined(unix) || defined(__unix__) || defined(__unix) || defined(linux) || \
+    defined(__APPLE__) || defined (__NetBSD__) || defined (__OpenBSD__) || defined (__FreeBSD__)        
+    #define UNITTEST_POSIX
+#endif
+
+#if defined (__MINGW32__)
+    #define UNITTEST_MINGW
+#endif
+
+// by default, MemoryOutStream is implemented in terms of std::ostringstream.
+// uncomment this line to use the custom MemoryOutStream (no deps on std::ostringstream).
+//#define UNITTEST_USE_CUSTOM_STREAMS
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestReporter.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestReporter.cpp
new file mode 100644
index 0000000..05e8055
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestReporter.cpp
@@ -0,0 +1,28 @@
+#include "DeferredTestReporter.h"
+#include "TestDetails.h"
+
+using namespace UnitTest;
+
+void DeferredTestReporter::ReportTestStart(TestDetails const& details)
+{
+    m_results.push_back(DeferredTestResult(details.suiteName, details.testName));
+}
+
+void DeferredTestReporter::ReportFailure(TestDetails const& details, char const* failure)
+{
+    DeferredTestResult& r = m_results.back();
+    r.failed = true;
+    r.failures.push_back(DeferredTestResult::Failure(details.lineNumber, failure));
+    r.failureFile = details.filename;
+}
+
+void DeferredTestReporter::ReportTestFinish(TestDetails const&, float const secondsElapsed)
+{
+    DeferredTestResult& r = m_results.back();
+    r.timeElapsed = secondsElapsed;
+}
+
+DeferredTestReporter::DeferredTestResultList& DeferredTestReporter::GetResults()
+{
+    return m_results;
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestReporter.h b/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestReporter.h
new file mode 100644
index 0000000..026ed05
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestReporter.h
@@ -0,0 +1,28 @@
+#ifndef UNITTEST_DEFERREDTESTREPORTER_H
+#define UNITTEST_DEFERREDTESTREPORTER_H
+
+#include "TestReporter.h"
+#include "DeferredTestResult.h"
+
+#include <vector>
+
+namespace UnitTest
+{
+
+class DeferredTestReporter : public TestReporter
+{
+public:
+    virtual void ReportTestStart(TestDetails const& details);
+    virtual void ReportFailure(TestDetails const& details, char const* failure);
+    virtual void ReportTestFinish(TestDetails const& details, float secondsElapsed);
+
+    typedef std::vector< DeferredTestResult > DeferredTestResultList;
+    DeferredTestResultList& GetResults();
+
+private:
+    DeferredTestResultList m_results;
+};
+
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestResult.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestResult.cpp
new file mode 100644
index 0000000..6e35f86
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestResult.cpp
@@ -0,0 +1,26 @@
+#include "DeferredTestResult.h"
+
+#include <cstdlib>
+
+namespace UnitTest
+{
+
+DeferredTestResult::DeferredTestResult()
+	: suiteName("")
+	, testName("")
+	, failureFile("")
+	, timeElapsed(0.0f)
+	, failed(false)
+{
+}
+
+DeferredTestResult::DeferredTestResult(char const* suite, char const* test)
+	: suiteName(suite)
+	, testName(test)
+	, failureFile("")
+	, timeElapsed(0.0f)
+	, failed(false)
+{
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestResult.h b/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestResult.h
new file mode 100644
index 0000000..6cca77c
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/DeferredTestResult.h
@@ -0,0 +1,29 @@
+#ifndef UNITTEST_DEFERREDTESTRESULT_H
+#define UNITTEST_DEFERREDTESTRESULT_H
+
+#include <string>
+#include <vector>
+
+namespace UnitTest
+{
+
+struct DeferredTestResult
+{
+	DeferredTestResult();
+    DeferredTestResult(char const* suite, char const* test);
+
+    std::string suiteName;
+    std::string testName;
+    std::string failureFile;
+    
+    typedef std::pair< int, std::string > Failure;
+    typedef std::vector< Failure > FailureVec;
+    FailureVec failures;
+    
+    float timeElapsed;
+	bool failed;
+};
+
+}
+
+#endif //UNITTEST_DEFERREDTESTRESULT_H
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Makefile.am b/libs/ode-0.16.1/tests/UnitTest++/src/Makefile.am
new file mode 100644
index 0000000..c17c4b1
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Makefile.am
@@ -0,0 +1,33 @@
+if WIN32
+SUBDIRS = Win32
+else
+SUBDIRS = Posix
+endif
+
+
+check_LTLIBRARIES = libunittestpp.la
+
+libunittestpp_la_SOURCES = AssertException.cpp       AssertException.h \
+                            CheckMacros.h             Checks.cpp \
+                            Checks.h                  Config.h \
+                            DeferredTestReporter.cpp  DeferredTestReporter.h \
+                            DeferredTestResult.cpp    DeferredTestResult.h \
+                            MemoryOutStream.cpp       MemoryOutStream.h \
+                            ReportAssert.cpp          ReportAssert.h \
+                            Test.cpp                  TestDetails.cpp \
+                            TestDetails.h             Test.h \
+                            TestList.cpp              TestList.h \
+                            TestMacros.h              TestReporter.cpp \
+                            TestReporter.h            TestReporterStdout.cpp \
+                            TestReporterStdout.h      TestResults.cpp \
+                            TestResults.h             TestRunner.cpp \
+                            TestRunner.h              TestSuite.h \
+                            TimeConstraint.cpp        TimeConstraint.h \
+                            TimeHelpers.h             UnitTest++.h \
+                            XmlTestReporter.cpp       XmlTestReporter.h
+if WIN32
+libunittestpp_la_LIBADD = $(builddir)/Win32/libhelper.la
+else
+libunittestpp_la_LIBADD = $(builddir)/Posix/libhelper.la
+endif
+
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Makefile.in b/libs/ode-0.16.1/tests/UnitTest++/src/Makefile.in
new file mode 100644
index 0000000..a0707bd
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Makefile.in
@@ -0,0 +1,784 @@
+# Makefile.in generated by automake 1.15 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994-2014 Free Software Foundation, Inc.
+
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+VPATH = @srcdir@
+am__is_gnu_make = { \
+  if test -z '$(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 $$has_opt = yes
+am__make_dryrun = (target_option=n; $(am__make_running_with_option))
+am__make_keepgoing = (target_option=k; $(am__make_running_with_option))
+pkgdatadir = $(datadir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkglibexecdir = $(libexecdir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+build_triplet = @build@
+host_triplet = @host@
+subdir = tests/UnitTest++/src
+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 \
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+	     $$unique
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+	esac; \
+	for i in $$list; do \
+	  if test -f "$$i"; then \
+	    echo "$(subdir)/$$i"; \
+	  else \
+	    echo "$$sdir/$$i"; \
+	  fi; \
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diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/MemoryOutStream.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/MemoryOutStream.cpp
new file mode 100644
index 0000000..04d4082
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/MemoryOutStream.cpp
@@ -0,0 +1,143 @@
+#include "MemoryOutStream.h"
+
+#ifndef UNITTEST_USE_CUSTOM_STREAMS
+
+
+namespace UnitTest {
+
+char const* MemoryOutStream::GetText() const
+{
+    m_text = this->str();
+    return m_text.c_str();
+}
+
+
+}
+
+
+#else
+
+
+#include <cstring>
+#include <cstdio>
+
+namespace UnitTest {
+
+namespace {
+
+template<typename ValueType>
+void FormatToStream(MemoryOutStream& stream, char const* format, ValueType const& value)
+{
+    char txt[32];
+    std::sprintf(txt, format, value);
+    stream << txt;
+}
+
+int RoundUpToMultipleOfPow2Number (int n, int pow2Number)
+{
+    return (n + (pow2Number - 1)) & ~(pow2Number - 1);
+}
+
+}
+
+
+MemoryOutStream::MemoryOutStream(int const size)
+    : m_capacity (0)
+    , m_buffer (0)
+
+{
+    GrowBuffer(size);
+}
+
+MemoryOutStream::~MemoryOutStream()
+{
+    delete [] m_buffer;
+}
+
+char const* MemoryOutStream::GetText() const
+{
+    return m_buffer;
+}
+
+MemoryOutStream& MemoryOutStream::operator << (char const* txt)
+{
+    int const bytesLeft = m_capacity - (int)std::strlen(m_buffer);
+    int const bytesRequired = (int)std::strlen(txt) + 1;
+
+    if (bytesRequired > bytesLeft)
+    {
+        int const requiredCapacity = bytesRequired + m_capacity - bytesLeft;
+        GrowBuffer(requiredCapacity);
+    }
+
+    std::strcat(m_buffer, txt);
+    return *this;
+}
+
+MemoryOutStream& MemoryOutStream::operator << (int const n)
+{
+    FormatToStream(*this, "%i", n);
+    return *this;
+}
+
+MemoryOutStream& MemoryOutStream::operator << (long const n)
+{
+    FormatToStream(*this, "%li", n);
+    return *this;
+}
+
+MemoryOutStream& MemoryOutStream::operator << (unsigned long const n)
+{
+    FormatToStream(*this, "%lu", n);
+    return *this;
+}
+
+MemoryOutStream& MemoryOutStream::operator << (float const f)
+{
+    FormatToStream(*this, "%ff", f);
+    return *this;    
+}
+
+MemoryOutStream& MemoryOutStream::operator << (void const* p)
+{
+    FormatToStream(*this, "%p", p);
+    return *this;    
+}
+
+MemoryOutStream& MemoryOutStream::operator << (unsigned int const s)
+{
+    FormatToStream(*this, "%u", s);
+    return *this;    
+}
+
+MemoryOutStream& MemoryOutStream::operator <<(double const d)
+{
+	FormatToStream(*this, "%f", d);
+	return *this;
+}
+
+int MemoryOutStream::GetCapacity() const
+{
+    return m_capacity;
+}
+
+
+void MemoryOutStream::GrowBuffer(int const desiredCapacity)
+{
+    int const newCapacity = RoundUpToMultipleOfPow2Number(desiredCapacity, GROW_CHUNK_SIZE);
+
+    char* buffer = new char[newCapacity];
+    if (m_buffer)
+        std::strcpy(buffer, m_buffer);
+    else
+        std::strcpy(buffer, "");
+
+    delete [] m_buffer;
+    m_buffer = buffer;
+    m_capacity = newCapacity;
+}
+
+}
+
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/MemoryOutStream.h b/libs/ode-0.16.1/tests/UnitTest++/src/MemoryOutStream.h
new file mode 100644
index 0000000..e03227e
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/MemoryOutStream.h
@@ -0,0 +1,67 @@
+#ifndef UNITTEST_MEMORYOUTSTREAM_H
+#define UNITTEST_MEMORYOUTSTREAM_H
+
+#include "Config.h"
+
+#ifndef UNITTEST_USE_CUSTOM_STREAMS
+
+#include <sstream>
+
+namespace UnitTest
+{
+
+class MemoryOutStream : public std::ostringstream
+{
+public:
+    MemoryOutStream() {}
+    char const* GetText() const;
+
+private:
+    MemoryOutStream(MemoryOutStream const&);
+    void operator =(MemoryOutStream const&);
+
+    mutable std::string m_text;
+};
+
+}
+
+#else
+
+#include <cstddef>
+
+namespace UnitTest
+{
+
+class MemoryOutStream
+{
+public:
+    explicit MemoryOutStream(int const size = 256);
+    ~MemoryOutStream();
+
+    char const* GetText() const;
+
+    MemoryOutStream& operator << (char const* txt);
+    MemoryOutStream& operator << (int n);
+    MemoryOutStream& operator << (long n);
+    MemoryOutStream& operator << (unsigned long n);
+    MemoryOutStream& operator << (float f);
+    MemoryOutStream& operator << (double d);
+    MemoryOutStream& operator << (void const* p);
+    MemoryOutStream& operator << (unsigned int s);
+
+    enum { GROW_CHUNK_SIZE = 32 };
+    int GetCapacity() const;
+
+private:
+    void operator= (MemoryOutStream const&);
+    void GrowBuffer(int capacity);
+
+    int m_capacity;
+    char* m_buffer;
+};
+
+}
+
+#endif
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Posix/Makefile.am b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/Makefile.am
new file mode 100644
index 0000000..349b3c0
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/Makefile.am
@@ -0,0 +1,5 @@
+check_LTLIBRARIES = libhelper.la
+
+libhelper_la_SOURCES = SignalTranslator.cpp SignalTranslator.h \
+                        TimeHelpers.cpp TimeHelpers.h
+
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Posix/Makefile.in b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/Makefile.in
new file mode 100644
index 0000000..8f69c7f
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/Makefile.in
@@ -0,0 +1,627 @@
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+	  if test -f "$$i"; then \
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+	  else \
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diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Posix/SignalTranslator.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/SignalTranslator.cpp
new file mode 100644
index 0000000..a31cb25
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/SignalTranslator.cpp
@@ -0,0 +1,46 @@
+#include "SignalTranslator.h"
+
+namespace UnitTest {
+
+sigjmp_buf* SignalTranslator::s_jumpTarget = 0;
+
+namespace {
+
+void SignalHandler (int sig)
+{
+    siglongjmp(*SignalTranslator::s_jumpTarget, sig );
+}
+
+}
+
+
+SignalTranslator::SignalTranslator ()
+{
+    m_oldJumpTarget = s_jumpTarget;
+    s_jumpTarget = &m_currentJumpTarget;
+
+    struct sigaction action;
+    action.sa_flags = 0;
+    action.sa_handler = SignalHandler;
+    sigemptyset( &action.sa_mask );
+
+    sigaction( SIGSEGV, &action, &m_old_SIGSEGV_action );
+    sigaction( SIGFPE , &action, &m_old_SIGFPE_action  );
+    sigaction( SIGTRAP, &action, &m_old_SIGTRAP_action );
+    sigaction( SIGBUS , &action, &m_old_SIGBUS_action  );
+    sigaction( SIGILL , &action, &m_old_SIGBUS_action  );
+}
+
+SignalTranslator::~SignalTranslator()
+{
+    sigaction( SIGILL , &m_old_SIGBUS_action , 0 );
+    sigaction( SIGBUS , &m_old_SIGBUS_action , 0 );
+    sigaction( SIGTRAP, &m_old_SIGTRAP_action, 0 );
+    sigaction( SIGFPE , &m_old_SIGFPE_action , 0 );
+    sigaction( SIGSEGV, &m_old_SIGSEGV_action, 0 );
+
+    s_jumpTarget = m_oldJumpTarget;
+}
+
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Posix/SignalTranslator.h b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/SignalTranslator.h
new file mode 100644
index 0000000..dfa0d11
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/SignalTranslator.h
@@ -0,0 +1,42 @@
+#ifndef UNITTEST_SIGNALTRANSLATOR_H
+#define UNITTEST_SIGNALTRANSLATOR_H
+
+#include <setjmp.h>
+#include <signal.h>
+
+namespace UnitTest {
+
+class SignalTranslator
+{
+public:
+    SignalTranslator();
+    ~SignalTranslator();
+
+    static sigjmp_buf* s_jumpTarget;
+
+private:
+    sigjmp_buf m_currentJumpTarget;
+    sigjmp_buf* m_oldJumpTarget;
+
+    struct sigaction m_old_SIGFPE_action;
+    struct sigaction m_old_SIGTRAP_action;
+    struct sigaction m_old_SIGSEGV_action;
+    struct sigaction m_old_SIGBUS_action;
+    struct sigaction m_old_SIGABRT_action;
+    struct sigaction m_old_SIGALRM_action;
+};
+
+#ifdef SOLARIS
+    #define UNITTEST_EXTENSION
+#else
+    #define UNITTEST_EXTENSION __extension__
+#endif
+
+#define UNITTEST_THROW_SIGNALS \
+	UnitTest::SignalTranslator sig; \
+	if (UNITTEST_EXTENSION sigsetjmp(*UnitTest::SignalTranslator::s_jumpTarget, 1) != 0) \
+        throw ("Unhandled system exception"); 
+
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Posix/TimeHelpers.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/TimeHelpers.cpp
new file mode 100644
index 0000000..bfd23c0
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/TimeHelpers.cpp
@@ -0,0 +1,33 @@
+#include "TimeHelpers.h"
+#include <unistd.h>
+
+namespace UnitTest {
+
+Timer::Timer()
+{
+    m_startTime.tv_sec = 0;
+    m_startTime.tv_usec = 0;
+}
+
+void Timer::Start()
+{
+    gettimeofday(&m_startTime, 0);
+}
+
+
+int Timer::GetTimeInMs() const
+{
+    struct timeval currentTime;
+    gettimeofday(&currentTime, 0);
+    int const dsecs = currentTime.tv_sec - m_startTime.tv_sec;
+    int const dus = currentTime.tv_usec - m_startTime.tv_usec;
+    return dsecs*1000 + dus/1000;
+}
+
+
+void TimeHelpers::SleepMs (int ms)
+{
+    usleep(ms * 1000);
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Posix/TimeHelpers.h b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/TimeHelpers.h
new file mode 100644
index 0000000..fdc8428
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Posix/TimeHelpers.h
@@ -0,0 +1,28 @@
+#ifndef UNITTEST_TIMEHELPERS_H
+#define UNITTEST_TIMEHELPERS_H
+
+#include <sys/time.h>
+
+namespace UnitTest {
+
+class Timer
+{
+public:
+    Timer();
+    void Start();
+    int GetTimeInMs() const;    
+
+private:
+    struct timeval m_startTime;    
+};
+
+
+namespace TimeHelpers
+{
+void SleepMs (int ms);
+}
+
+
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/ReportAssert.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/ReportAssert.cpp
new file mode 100644
index 0000000..6c7db58
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/ReportAssert.cpp
@@ -0,0 +1,10 @@
+#include "AssertException.h"
+
+namespace UnitTest {
+
+void ReportAssert(char const* description, char const* filename, int const lineNumber)
+{
+    throw AssertException(description, filename, lineNumber);
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/ReportAssert.h b/libs/ode-0.16.1/tests/UnitTest++/src/ReportAssert.h
new file mode 100644
index 0000000..d4dd864
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/ReportAssert.h
@@ -0,0 +1,10 @@
+#ifndef UNITTEST_ASSERT_H
+#define UNITTEST_ASSERT_H
+
+namespace UnitTest {
+
+void ReportAssert(char const* description, char const* filename, int lineNumber);
+    
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Test.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/Test.cpp
new file mode 100644
index 0000000..943fced
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Test.cpp
@@ -0,0 +1,62 @@
+#include "Config.h"
+#include "Test.h"
+#include "TestList.h"
+#include "TestResults.h"
+#include "AssertException.h"
+#include "MemoryOutStream.h"
+
+#ifdef UNITTEST_POSIX
+    #include "Posix/SignalTranslator.h"
+#endif
+
+namespace UnitTest {
+
+TestList& Test::GetTestList()
+{
+    static TestList s_list;
+    return s_list;
+}
+
+Test::Test(char const* testName, char const* suiteName, char const* filename, int const lineNumber)
+    : m_details(testName, suiteName, filename, lineNumber)
+    , next(0)
+    , m_timeConstraintExempt(false)
+{
+}
+
+Test::~Test()
+{
+}
+
+void Test::Run(TestResults& testResults) const
+{
+    try
+    {
+#ifdef UNITTEST_POSIX
+        UNITTEST_THROW_SIGNALS
+#endif
+        RunImpl(testResults);
+    }
+    catch (AssertException const& e)
+    {
+        testResults.OnTestFailure( TestDetails(m_details.testName, m_details.suiteName, e.Filename(), e.LineNumber()), e.what());
+    }
+    catch (std::exception const& e)
+    {
+        MemoryOutStream stream;
+        stream << "Unhandled exception: " << e.what();
+        testResults.OnTestFailure(m_details, stream.GetText());
+    }
+    catch (...)
+    {
+        testResults.OnTestFailure(m_details, "Unhandled exception: Crash!");
+    }
+}
+
+
+void Test::RunImpl(TestResults&) const
+{
+}
+
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Test.h b/libs/ode-0.16.1/tests/UnitTest++/src/Test.h
new file mode 100644
index 0000000..458c75c
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Test.h
@@ -0,0 +1,34 @@
+#ifndef UNITTEST_TEST_H
+#define UNITTEST_TEST_H
+
+#include "TestDetails.h"
+
+namespace UnitTest {
+
+class TestResults;
+class TestList;
+
+class Test
+{
+public:
+    Test(char const* testName, char const* suiteName = "DefaultSuite", char const* filename = "", int lineNumber = 0);
+    virtual ~Test();
+    void Run(TestResults& testResults) const;
+
+    TestDetails const m_details;
+    Test* next;
+    mutable bool m_timeConstraintExempt;
+
+    static TestList& GetTestList();
+
+private:
+    virtual void RunImpl(TestResults& testResults_) const;
+
+    Test(Test const&);
+    Test& operator =(Test const&);
+};
+
+
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestDetails.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/TestDetails.cpp
new file mode 100644
index 0000000..a13a168
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestDetails.cpp
@@ -0,0 +1,22 @@
+#include "TestDetails.h"
+
+namespace UnitTest {
+
+TestDetails::TestDetails(char const* testName_, char const* suiteName_, char const* filename_, int lineNumber_)
+    : suiteName(suiteName_)
+    , testName(testName_)
+    , filename(filename_)
+    , lineNumber(lineNumber_)
+{
+}
+
+TestDetails::TestDetails(const TestDetails& details, int lineNumber_)
+    : suiteName(details.suiteName)
+    , testName(details.testName)
+    , filename(details.filename)
+    , lineNumber(lineNumber_)
+{
+}
+
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestDetails.h b/libs/ode-0.16.1/tests/UnitTest++/src/TestDetails.h
new file mode 100644
index 0000000..eae0e71
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestDetails.h
@@ -0,0 +1,24 @@
+#ifndef UNITTEST_TESTDETAILS_H
+#define UNITTEST_TESTDETAILS_H
+
+namespace UnitTest {
+
+class TestDetails
+{
+public:
+    TestDetails(char const* testName, char const* suiteName, char const* filename, int lineNumber);
+    TestDetails(const TestDetails& details, int lineNumber);
+
+    char const* const suiteName;
+    char const* const testName;
+    char const* const filename;
+    int const lineNumber;
+
+    TestDetails(TestDetails const&); // Why is it public? --> http://gcc.gnu.org/bugs.html#cxx_rvalbind
+private:
+    TestDetails& operator=(TestDetails const&);
+};
+
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestList.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/TestList.cpp
new file mode 100644
index 0000000..d11965c
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestList.cpp
@@ -0,0 +1,39 @@
+#include "TestList.h"
+#include "Test.h"
+
+#include <cassert>
+
+namespace UnitTest {
+
+TestList::TestList() 
+    : m_head(0)
+    , m_tail(0)
+{
+}
+
+void TestList::Add(Test* test)
+{
+    if (m_tail == 0)
+    {
+        assert(m_head == 0);
+        m_head = test;
+        m_tail = test;
+    }
+    else
+    {
+        m_tail->next = test;
+        m_tail = test;
+    }
+}
+
+const Test* TestList::GetHead() const
+{
+    return m_head;
+}
+
+ListAdder::ListAdder(TestList& list, Test* test)
+{
+    list.Add(test);
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestList.h b/libs/ode-0.16.1/tests/UnitTest++/src/TestList.h
new file mode 100644
index 0000000..14b978a
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestList.h
@@ -0,0 +1,32 @@
+#ifndef UNITTEST_TESTLIST_H
+#define UNITTEST_TESTLIST_H
+
+
+namespace UnitTest {
+
+class Test;
+
+class TestList
+{
+public:
+    TestList();
+    void Add (Test* test);
+
+    const Test* GetHead() const;
+
+private:
+    Test* m_head;
+    Test* m_tail;
+};
+
+
+class ListAdder
+{
+public:
+    ListAdder(TestList& list, Test* test);
+};
+
+}
+
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestMacros.h b/libs/ode-0.16.1/tests/UnitTest++/src/TestMacros.h
new file mode 100644
index 0000000..09ecc6b
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestMacros.h
@@ -0,0 +1,99 @@
+#ifndef UNITTEST_TESTMACROS_H
+#define UNITTEST_TESTMACROS_H
+
+#include "Config.h"
+
+#ifndef UNITTEST_POSIX
+	#define UNITTEST_THROW_SIGNALS
+#else
+	#include "Posix/SignalTranslator.h"
+#endif
+
+#ifdef TEST
+    #error UnitTest++ redefines TEST
+#endif
+
+#define SUITE(Name)                                                         \
+    namespace Name {                                                        \
+        namespace UnitTestSuite {                                           \
+            inline char const* GetSuiteName () {                            \
+                return #Name ;                                              \
+            }                                                               \
+        }                                                                   \
+    }                                                                       \
+    namespace Name
+
+#define TEST_EX(Name, List)                                                \
+    class Test##Name : public UnitTest::Test                               \
+    {                                                                      \
+    public:                                                                \
+		Test##Name() : Test(#Name, UnitTestSuite::GetSuiteName(), __FILE__, __LINE__) {}  \
+    private:                                                               \
+        virtual void RunImpl(UnitTest::TestResults& testResults_) const;   \
+    } test##Name##Instance;                                                \
+																		   \
+    UnitTest::ListAdder adder##Name (List, &test##Name##Instance);         \
+																		   \
+    void Test##Name::RunImpl(UnitTest::TestResults& testResults_) const
+
+
+#define TEST(Name) TEST_EX(Name, UnitTest::Test::GetTestList())
+
+
+#define TEST_FIXTURE_EX(Fixture, Name, List)                                         \
+    class Fixture##Name##Helper : public Fixture									 \
+	{																				 \
+	public:																			 \
+        Fixture##Name##Helper(UnitTest::TestDetails const& details) : m_details(details) {} \
+        void RunTest(UnitTest::TestResults& testResults_);                           \
+        UnitTest::TestDetails const& m_details;                                      \
+    private:                                                                         \
+        Fixture##Name##Helper(Fixture##Name##Helper const&);                         \
+        Fixture##Name##Helper& operator =(Fixture##Name##Helper const&);             \
+    };                                                                               \
+																					 \
+    class Test##Fixture##Name : public UnitTest::Test                                \
+    {                                                                                \
+    public:                                                                          \
+	    Test##Fixture##Name() : Test(#Name, UnitTestSuite::GetSuiteName(), __FILE__, __LINE__) {} \
+    private:                                                                         \
+        virtual void RunImpl(UnitTest::TestResults& testResults_) const;             \
+    } test##Fixture##Name##Instance;                                                 \
+																					 \
+    UnitTest::ListAdder adder##Fixture##Name (List, &test##Fixture##Name##Instance); \
+																					 \
+    void Test##Fixture##Name::RunImpl(UnitTest::TestResults& testResults_) const	 \
+	{																				 \
+		bool ctorOk = false;														 \
+		try {																		 \
+			Fixture##Name##Helper fixtureHelper(m_details);							 \
+			ctorOk = true;															 \
+			try {																	 \
+				UNITTEST_THROW_SIGNALS;												 \
+				fixtureHelper.RunTest(testResults_);								 \
+			} catch (UnitTest::AssertException const& e) {							 \
+				testResults_.OnTestFailure(UnitTest::TestDetails(m_details.testName, m_details.suiteName, e.Filename(), e.LineNumber()), e.what()); \
+			} catch (std::exception const& e) {										 \
+				UnitTest::MemoryOutStream stream;									 \
+				stream << "Unhandled exception: " << e.what();						 \
+				testResults_.OnTestFailure(m_details, stream.GetText());			 \
+			} catch (...) {	testResults_.OnTestFailure(m_details, "Unhandled exception: Crash!"); } \
+		}																			 \
+		catch (...) {																 \
+			if (ctorOk)																 \
+			{																		 \
+	            testResults_.OnTestFailure(UnitTest::TestDetails(m_details, __LINE__),	 \
+					"Unhandled exception while destroying fixture " #Fixture);		 \
+			}																		 \
+			else																	 \
+			{																		 \
+				testResults_.OnTestFailure(UnitTest::TestDetails(m_details, __LINE__),   \
+					"Unhandled exception while constructing fixture " #Fixture);         \
+			}																		 \
+		}																			 \
+    }                                                                                \
+    void Fixture##Name##Helper::RunTest(UnitTest::TestResults& testResults_)
+
+#define TEST_FIXTURE(Fixture,Name) TEST_FIXTURE_EX(Fixture, Name, UnitTest::Test::GetTestList())
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestReporter.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/TestReporter.cpp
new file mode 100644
index 0000000..608d3c6
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestReporter.cpp
@@ -0,0 +1,10 @@
+#include "TestReporter.h"
+
+namespace UnitTest {
+
+
+TestReporter::~TestReporter()
+{
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestReporter.h b/libs/ode-0.16.1/tests/UnitTest++/src/TestReporter.h
new file mode 100644
index 0000000..5a2f404
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestReporter.h
@@ -0,0 +1,20 @@
+#ifndef UNITTEST_TESTREPORTER_H
+#define UNITTEST_TESTREPORTER_H
+
+namespace UnitTest {
+
+class TestDetails;
+
+class TestReporter
+{
+public:
+    virtual ~TestReporter();
+
+    virtual void ReportTestStart(TestDetails const& test) = 0;
+    virtual void ReportFailure(TestDetails const& test, char const* failure) = 0;
+    virtual void ReportTestFinish(TestDetails const& test, float secondsElapsed) = 0;
+    virtual void ReportSummary(int totalTestCount, int failedTestCount, int failureCount, float secondsElapsed) = 0;
+};
+
+}
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestReporterStdout.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/TestReporterStdout.cpp
new file mode 100644
index 0000000..133e6fa
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestReporterStdout.cpp
@@ -0,0 +1,36 @@
+#include "TestReporterStdout.h"
+#include <cstdio>
+
+#include "TestDetails.h"
+
+namespace UnitTest {
+
+void TestReporterStdout::ReportFailure(TestDetails const& details, char const* failure)
+{
+#ifdef __APPLE__
+    char const* const errorFormat = "%s:%d: error: Failure in %s: %s\n";
+#else
+    char const* const errorFormat = "%s(%d): error: Failure in %s: %s\n";
+#endif
+    std::printf(errorFormat, details.filename, details.lineNumber, details.testName, failure);
+}
+
+void TestReporterStdout::ReportTestStart(TestDetails const& /*test*/)
+{
+}
+
+void TestReporterStdout::ReportTestFinish(TestDetails const& /*test*/, float)
+{
+}
+
+void TestReporterStdout::ReportSummary(int const totalTestCount, int const failedTestCount,
+                                       int const failureCount, float secondsElapsed)
+{
+    if (failureCount > 0)
+        std::printf("FAILURE: %d out of %d tests failed (%d failures).\n", failedTestCount, totalTestCount, failureCount);
+    else
+        std::printf("Success: %d tests passed.\n", totalTestCount);
+    std::printf("Test time: %.2f seconds.\n", secondsElapsed);
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestReporterStdout.h b/libs/ode-0.16.1/tests/UnitTest++/src/TestReporterStdout.h
new file mode 100644
index 0000000..eacbba3
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestReporterStdout.h
@@ -0,0 +1,19 @@
+#ifndef UNITTEST_TESTREPORTERSTDOUT_H
+#define UNITTEST_TESTREPORTERSTDOUT_H
+
+#include "TestReporter.h"
+
+namespace UnitTest {
+
+class TestReporterStdout : public TestReporter
+{
+private:
+    virtual void ReportTestStart(TestDetails const& test);
+    virtual void ReportFailure(TestDetails const& test, char const* failure);
+    virtual void ReportTestFinish(TestDetails const& test, float secondsElapsed);
+    virtual void ReportSummary(int totalTestCount, int failedTestCount, int failureCount, float secondsElapsed);
+};
+
+}
+
+#endif 
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestResults.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/TestResults.cpp
new file mode 100644
index 0000000..b3b67c0
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestResults.cpp
@@ -0,0 +1,60 @@
+#include "TestResults.h"
+#include "TestReporter.h"
+
+#include "TestDetails.h"
+
+namespace UnitTest {
+
+TestResults::TestResults(TestReporter* testReporter)
+    : m_testReporter(testReporter)
+    , m_totalTestCount(0)
+    , m_failedTestCount(0)
+    , m_failureCount(0)
+    , m_currentTestFailed(false)
+{
+}
+
+void TestResults::OnTestStart(TestDetails const& test)
+{
+    ++m_totalTestCount;
+    m_currentTestFailed = false;
+    if (m_testReporter)
+        m_testReporter->ReportTestStart(test);
+}
+
+void TestResults::OnTestFailure(TestDetails const& test, char const* failure)
+{
+    ++m_failureCount;
+    if (!m_currentTestFailed)
+    {
+        ++m_failedTestCount;
+        m_currentTestFailed = true;
+    }
+
+    if (m_testReporter)
+        m_testReporter->ReportFailure(test, failure);
+}
+
+void TestResults::OnTestFinish(TestDetails const& test, float secondsElapsed)
+{
+    if (m_testReporter)
+        m_testReporter->ReportTestFinish(test, secondsElapsed);
+}
+
+int TestResults::GetTotalTestCount() const
+{
+    return m_totalTestCount;
+}
+
+int TestResults::GetFailedTestCount() const
+{
+    return m_failedTestCount;
+}
+
+int TestResults::GetFailureCount() const
+{
+    return m_failureCount;
+}
+
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestResults.h b/libs/ode-0.16.1/tests/UnitTest++/src/TestResults.h
new file mode 100644
index 0000000..8ef7fda
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestResults.h
@@ -0,0 +1,36 @@
+#ifndef UNITTEST_TESTRESULTS_H
+#define UNITTEST_TESTRESULTS_H
+
+namespace UnitTest {
+
+class TestReporter;
+class TestDetails;
+
+class TestResults
+{
+public:
+    explicit TestResults(TestReporter* reporter = 0);
+
+    void OnTestStart(TestDetails const& test);
+    void OnTestFailure(TestDetails const& test, char const* failure);
+    void OnTestFinish(TestDetails const& test, float secondsElapsed);
+
+    int GetTotalTestCount() const;
+    int GetFailedTestCount() const;
+    int GetFailureCount() const;
+
+private:
+    TestReporter* m_testReporter;
+    int m_totalTestCount;
+    int m_failedTestCount;
+    int m_failureCount;
+
+    bool m_currentTestFailed;
+
+    TestResults(TestResults const&);
+    TestResults& operator =(TestResults const&);
+};
+
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestRunner.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/TestRunner.cpp
new file mode 100644
index 0000000..5780d91
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestRunner.cpp
@@ -0,0 +1,60 @@
+#include "TestRunner.h"
+#include "TestResults.h"
+#include "Test.h"
+#include "TestList.h"
+#include "TestReporter.h"
+#include "TestReporterStdout.h"
+#include "TimeHelpers.h"
+#include "MemoryOutStream.h"
+#include <cstring>
+
+
+namespace UnitTest {
+
+
+int RunAllTests(TestReporter& reporter, TestList const& list, char const* suiteName, int const maxTestTimeInMs )
+{
+    TestResults result(&reporter);
+
+    Timer overallTimer;
+    overallTimer.Start();
+
+    Test const* curTest = list.GetHead();
+    while (curTest != 0)
+    {
+        if (suiteName == 0 || !std::strcmp(curTest->m_details.suiteName, suiteName))
+        {
+            Timer testTimer;
+            testTimer.Start();
+            result.OnTestStart(curTest->m_details);
+
+            curTest->Run(result);
+
+            int const testTimeInMs = testTimer.GetTimeInMs();
+            if (maxTestTimeInMs > 0 && testTimeInMs > maxTestTimeInMs && !curTest->m_timeConstraintExempt)
+            {
+                MemoryOutStream stream;
+                stream << "Global time constraint failed. Expected under " << maxTestTimeInMs <<
+                        "ms but took " << testTimeInMs << "ms.";
+                result.OnTestFailure(curTest->m_details, stream.GetText());
+            }
+            result.OnTestFinish(curTest->m_details, testTimeInMs/1000.0f);
+        }
+
+        curTest = curTest->next;
+    }
+
+    float const secondsElapsed = overallTimer.GetTimeInMs() / 1000.0f;
+    reporter.ReportSummary(result.GetTotalTestCount(), result.GetFailedTestCount(), result.GetFailureCount(), secondsElapsed);
+
+    return result.GetFailureCount();
+}
+
+
+int RunAllTests()
+{
+    TestReporterStdout reporter;
+    return RunAllTests(reporter, Test::GetTestList(), 0);
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestRunner.h b/libs/ode-0.16.1/tests/UnitTest++/src/TestRunner.h
new file mode 100644
index 0000000..8b9934a
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestRunner.h
@@ -0,0 +1,17 @@
+#ifndef UNITTEST_TESTRUNNER_H
+#define UNITTEST_TESTRUNNER_H
+
+
+namespace UnitTest {
+
+class TestReporter;
+class TestList;
+
+
+int RunAllTests();
+int RunAllTests(TestReporter& reporter, TestList const& list, char const* suiteName, int maxTestTimeInMs = 0);
+
+}
+
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TestSuite.h b/libs/ode-0.16.1/tests/UnitTest++/src/TestSuite.h
new file mode 100644
index 0000000..dd3717e
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TestSuite.h
@@ -0,0 +1,14 @@
+#ifndef UNITTEST_TESTSUITE_H
+#define UNITTEST_TESTSUITE_H
+
+namespace UnitTestSuite {
+
+    inline char const* GetSuiteName ()
+    {
+        return "DefaultSuite";
+    }
+
+}
+
+#endif
+
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TimeConstraint.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/TimeConstraint.cpp
new file mode 100644
index 0000000..451c2b3
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TimeConstraint.cpp
@@ -0,0 +1,28 @@
+#include "TimeConstraint.h"
+#include "TestResults.h"
+#include "MemoryOutStream.h"
+
+namespace UnitTest {
+
+
+TimeConstraint::TimeConstraint(int ms, TestResults& result, TestDetails const& details)
+    : m_result(result)
+	, m_details(details)
+    , m_maxMs(ms)
+{
+    m_timer.Start();
+}
+
+TimeConstraint::~TimeConstraint()
+{
+    int const totalTimeInMs = m_timer.GetTimeInMs();
+    if (totalTimeInMs > m_maxMs)
+    {
+        MemoryOutStream stream;
+        stream << "Time constraint failed. Expected to run test under " << m_maxMs <<
+                  "ms but took " << totalTimeInMs << "ms.";
+        m_result.OnTestFailure(m_details, stream.GetText());
+    }
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TimeConstraint.h b/libs/ode-0.16.1/tests/UnitTest++/src/TimeConstraint.h
new file mode 100644
index 0000000..8451c66
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TimeConstraint.h
@@ -0,0 +1,34 @@
+#ifndef UNITTEST_TIMECONSTRAINT_H
+#define UNITTEST_TIMECONSTRAINT_H
+
+#include "TimeHelpers.h"
+
+namespace UnitTest {
+
+class TestResults;
+class TestDetails;
+
+class TimeConstraint
+{
+public:
+    TimeConstraint(int ms, TestResults& result, TestDetails const& details);
+    ~TimeConstraint();
+
+private:
+    void operator=(TimeConstraint const&); 
+	TimeConstraint(TimeConstraint const&);
+
+	Timer m_timer;
+    TestResults& m_result;
+    TestDetails const& m_details;
+	int const m_maxMs;
+};
+
+#define UNITTEST_TIME_CONSTRAINT(ms) \
+	UnitTest::TimeConstraint unitTest__timeConstraint__(ms, testResults_, UnitTest::TestDetails(m_details, __LINE__))
+
+#define UNITTEST_TIME_CONSTRAINT_EXEMPT() do { m_timeConstraintExempt = true; } while (0)
+
+}
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/TimeHelpers.h b/libs/ode-0.16.1/tests/UnitTest++/src/TimeHelpers.h
new file mode 100644
index 0000000..f34ed00
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/TimeHelpers.h
@@ -0,0 +1,7 @@
+#include "Config.h"
+
+#if defined UNITTEST_POSIX
+    #include "Posix/TimeHelpers.h"
+#else
+    #include "Win32/TimeHelpers.h"
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/UnitTest++.h b/libs/ode-0.16.1/tests/UnitTest++/src/UnitTest++.h
new file mode 100644
index 0000000..019f80a
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/UnitTest++.h
@@ -0,0 +1,17 @@
+#ifndef UNITTESTCPP_H
+#define UNITTESTCPP_H
+
+#include "Config.h"
+#include "Test.h"
+#include "TestList.h"
+#include "TestSuite.h"
+#include "TestResults.h"
+
+#include <new>
+#include "TestMacros.h"
+
+#include "CheckMacros.h"
+#include "TestRunner.h"
+#include "TimeConstraint.h"
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Win32/Makefile.am b/libs/ode-0.16.1/tests/UnitTest++/src/Win32/Makefile.am
new file mode 100644
index 0000000..faa35b8
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Win32/Makefile.am
@@ -0,0 +1,4 @@
+check_LTLIBRARIES = libhelper.la
+
+libhelper_la_SOURCES = TimeHelpers.cpp TimeHelpers.h
+
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Win32/Makefile.in b/libs/ode-0.16.1/tests/UnitTest++/src/Win32/Makefile.in
new file mode 100644
index 0000000..0595763
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Win32/Makefile.in
@@ -0,0 +1,624 @@
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+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      "$$@" $$unique; \
+	  else \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      $$unique; \
+	  fi; \
+	fi
+ctags: ctags-am
+
+CTAGS: ctags
+ctags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	$(am__define_uniq_tagged_files); \
+	test -z "$(CTAGS_ARGS)$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && $(am__cd) $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) "$$here"
+cscopelist: cscopelist-am
+
+cscopelist-am: $(am__tagged_files)
+	list='$(am__tagged_files)'; \
+	case "$(srcdir)" in \
+	  [\\/]* | ?:[\\/]*) sdir="$(srcdir)" ;; \
+	  *) sdir=$(subdir)/$(srcdir) ;; \
+	esac; \
+	for i in $$list; do \
+	  if test -f "$$i"; then \
+	    echo "$(subdir)/$$i"; \
+	  else \
+	    echo "$$sdir/$$i"; \
+	  fi; \
+	done >> $(top_builddir)/cscope.files
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+	$(MAKE) $(AM_MAKEFLAGS) $(check_LTLIBRARIES)
+check: check-am
+all-am: Makefile
+installdirs:
+install: install-am
+install-exec: install-exec-am
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+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-checkLTLIBRARIES clean-generic clean-libtool \
+	mostlyclean-am
+
+distclean: distclean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+	distclean-tags
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
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+info-am:
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+install-data-am:
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+install-dvi-am:
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+install-exec-am:
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+install-html: install-html-am
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+install-info: install-info-am
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+install-man:
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+install-pdf: install-pdf-am
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+install-pdf-am:
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+install-ps: install-ps-am
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+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic \
+	mostlyclean-libtool
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+pdf: pdf-am
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+ps: ps-am
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+ps-am:
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+uninstall-am:
+
+.MAKE: check-am install-am install-strip
+
+.PHONY: CTAGS GTAGS TAGS all all-am check check-am clean \
+	clean-checkLTLIBRARIES clean-generic clean-libtool \
+	cscopelist-am ctags ctags-am distclean distclean-compile \
+	distclean-generic distclean-libtool distclean-tags distdir dvi \
+	dvi-am html html-am info info-am install install-am \
+	install-data install-data-am install-dvi install-dvi-am \
+	install-exec install-exec-am install-html install-html-am \
+	install-info install-info-am install-man install-pdf \
+	install-pdf-am install-ps install-ps-am install-strip \
+	installcheck installcheck-am installdirs maintainer-clean \
+	maintainer-clean-generic mostlyclean mostlyclean-compile \
+	mostlyclean-generic mostlyclean-libtool pdf pdf-am ps ps-am \
+	tags tags-am uninstall uninstall-am
+
+.PRECIOUS: Makefile
+
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Win32/TimeHelpers.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/Win32/TimeHelpers.cpp
new file mode 100644
index 0000000..7c3dae8
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Win32/TimeHelpers.cpp
@@ -0,0 +1,46 @@
+#include "TimeHelpers.h"
+#include <windows.h>
+
+namespace UnitTest {
+
+Timer::Timer()
+    : m_startTime(0)
+{
+    m_threadId = ::GetCurrentThread();
+    DWORD_PTR systemMask;
+    ::GetProcessAffinityMask(GetCurrentProcess(), &m_processAffinityMask, &systemMask);
+    
+    ::SetThreadAffinityMask(m_threadId, 1);
+	::QueryPerformanceFrequency(reinterpret_cast< LARGE_INTEGER* >(&m_frequency));
+    ::SetThreadAffinityMask(m_threadId, m_processAffinityMask);
+}
+
+void Timer::Start()
+{
+    m_startTime = GetTime();
+}
+
+int Timer::GetTimeInMs() const
+{
+    __int64 const elapsedTime = GetTime() - m_startTime;
+	double const seconds = double(elapsedTime) / double(m_frequency);
+	return int(seconds * 1000.0f);
+}
+
+__int64 Timer::GetTime() const
+{
+    LARGE_INTEGER curTime;
+    ::SetThreadAffinityMask(m_threadId, 1);
+	::QueryPerformanceCounter(&curTime);
+    ::SetThreadAffinityMask(m_threadId, m_processAffinityMask);
+    return curTime.QuadPart;
+}
+
+
+
+void TimeHelpers::SleepMs(int const ms)
+{
+	::Sleep(ms);
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/Win32/TimeHelpers.h b/libs/ode-0.16.1/tests/UnitTest++/src/Win32/TimeHelpers.h
new file mode 100644
index 0000000..56e30d5
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/Win32/TimeHelpers.h
@@ -0,0 +1,48 @@
+#ifndef UNITTEST_TIMEHELPERS_H
+#define UNITTEST_TIMEHELPERS_H
+
+#include "../Config.h"
+
+
+#ifdef UNITTEST_MINGW
+    #ifndef __int64
+        #define __int64 long long
+    #endif
+#endif
+
+namespace UnitTest {
+
+class Timer
+{
+public:
+    Timer();
+	void Start();
+	int GetTimeInMs() const;    
+
+private:
+    __int64 GetTime() const;
+
+    void* m_threadId;
+
+#if defined(_WIN64)
+    unsigned __int64 m_processAffinityMask;
+#else
+    unsigned long m_processAffinityMask;
+#endif
+
+	__int64 m_startTime;
+	__int64 m_frequency;
+};
+
+
+namespace TimeHelpers
+{
+void SleepMs (int ms);
+}
+
+
+}
+
+
+
+#endif
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/XmlTestReporter.cpp b/libs/ode-0.16.1/tests/UnitTest++/src/XmlTestReporter.cpp
new file mode 100644
index 0000000..0895e37
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/XmlTestReporter.cpp
@@ -0,0 +1,126 @@
+#include "XmlTestReporter.h"
+
+#include <iostream>
+#include <sstream>
+#include <string>
+
+using std::string;
+using std::ostringstream;
+using std::ostream;
+
+namespace {
+
+void ReplaceChar(string& str, char const c, string const& replacement)
+{
+    for (size_t pos = str.find(c); pos != string::npos; pos = str.find(c, pos + 1))
+        str.replace(pos, 1, replacement);
+}
+
+string XmlEscape(string const& value)
+{
+    string escaped = value;
+
+    ReplaceChar(escaped, '&', "&amp;");
+    ReplaceChar(escaped, '<', "&lt;");
+    ReplaceChar(escaped, '>', "&gt;");
+    ReplaceChar(escaped, '\'', "&apos;");
+    ReplaceChar(escaped, '\"', "&quot;");
+ 
+    return escaped;
+}
+
+string BuildFailureMessage(string const& file, int const line, string const& message)
+{
+    ostringstream failureMessage;
+    failureMessage << file << "(" << line << ") : " << message;
+    return failureMessage.str();
+}
+
+}
+
+namespace UnitTest {
+
+XmlTestReporter::XmlTestReporter(ostream& ostream)
+    : m_ostream(ostream)
+{
+}
+
+void XmlTestReporter::ReportSummary(int const totalTestCount, int const failedTestCount,
+                                    int const failureCount, float const secondsElapsed)
+{
+    AddXmlElement(m_ostream, NULL);
+
+    BeginResults(m_ostream, totalTestCount, failedTestCount, failureCount, secondsElapsed);
+
+    DeferredTestResultList const& results = GetResults();
+    for (DeferredTestResultList::const_iterator i = results.begin(); i != results.end(); ++i)
+    {
+        BeginTest(m_ostream, *i);
+
+        if (i->failed)
+            AddFailure(m_ostream, *i);
+
+        EndTest(m_ostream, *i);
+    }
+
+    EndResults(m_ostream);
+}
+
+void XmlTestReporter::AddXmlElement(ostream& os, char const* encoding)
+{
+    os << "<?xml version=\"1.0\"";
+
+    if (encoding != NULL)
+        os << " encoding=\"" << encoding << "\"";
+
+    os << "?>";
+}
+
+void XmlTestReporter::BeginResults(std::ostream& os, int const totalTestCount, int const failedTestCount, 
+                                   int const failureCount, float const secondsElapsed)
+{
+   os << "<unittest-results"
+       << " tests=\"" << totalTestCount << "\"" 
+       << " failedtests=\"" << failedTestCount << "\"" 
+       << " failures=\"" << failureCount << "\"" 
+       << " time=\"" << secondsElapsed << "\""
+       << ">";
+}
+
+void XmlTestReporter::EndResults(std::ostream& os)
+{
+    os << "</unittest-results>";
+}
+
+void XmlTestReporter::BeginTest(std::ostream& os, DeferredTestResult const& result)
+{
+    os << "<test"
+        << " suite=\"" << result.suiteName << "\"" 
+        << " name=\"" << result.testName << "\""
+        << " time=\"" << result.timeElapsed << "\"";
+}
+
+void XmlTestReporter::EndTest(std::ostream& os, DeferredTestResult const& result)
+{
+    if (result.failed)
+        os << "</test>";
+    else
+        os << "/>";
+}
+
+void XmlTestReporter::AddFailure(std::ostream& os, DeferredTestResult const& result)
+{
+    os << ">"; // close <test> element
+
+    for (DeferredTestResult::FailureVec::const_iterator it = result.failures.begin(); 
+         it != result.failures.end(); 
+         ++it)
+    {
+        string const escapedMessage = XmlEscape(it->second);
+        string const message = BuildFailureMessage(result.failureFile, it->first, escapedMessage);
+
+        os << "<failure" << " message=\"" << message << "\"" << "/>";
+    }
+}
+
+}
diff --git a/libs/ode-0.16.1/tests/UnitTest++/src/XmlTestReporter.h b/libs/ode-0.16.1/tests/UnitTest++/src/XmlTestReporter.h
new file mode 100644
index 0000000..884123b
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/src/XmlTestReporter.h
@@ -0,0 +1,34 @@
+#ifndef UNITTEST_XMLTESTREPORTER_H
+#define UNITTEST_XMLTESTREPORTER_H
+
+#include "DeferredTestReporter.h"
+
+#include <iosfwd>
+
+namespace UnitTest
+{
+
+class XmlTestReporter : public DeferredTestReporter
+{
+public:
+    explicit XmlTestReporter(std::ostream& ostream);
+
+    virtual void ReportSummary(int totalTestCount, int failedTestCount, int failureCount, float secondsElapsed);
+
+private:
+    XmlTestReporter(XmlTestReporter const&);
+    XmlTestReporter& operator=(XmlTestReporter const&);
+
+    void AddXmlElement(std::ostream& os, char const* encoding);
+    void BeginResults(std::ostream& os, int totalTestCount, int failedTestCount, int failureCount, float secondsElapsed);
+    void EndResults(std::ostream& os);
+    void BeginTest(std::ostream& os, DeferredTestResult const& result);
+    void AddFailure(std::ostream& os, DeferredTestResult const& result);
+    void EndTest(std::ostream& os, DeferredTestResult const& result);
+
+    std::ostream& m_ostream;
+};
+
+}
+
+#endif