add ode

53 files changed, 4863 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/tests/UnitTest++/COPYING b/libs/ode-0.16.1/tests/UnitTest++/COPYING
new file mode 100644
index 0000000..9f96308
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/COPYING
@@ -0,0 +1,20 @@
+Copyright (c) 2006 Noel Llopis and Charles Nicholson
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be included
+in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
diff --git a/libs/ode-0.16.1/tests/UnitTest++/Makefile.am b/libs/ode-0.16.1/tests/UnitTest++/Makefile.am
new file mode 100644
index 0000000..000d8e4
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/Makefile.am
@@ -0,0 +1,6 @@
+# Makefile.am for UnitTest++
+
+SUBDIRS = src
+
+EXTRA_DIST = docs
+
diff --git a/libs/ode-0.16.1/tests/UnitTest++/Makefile.in b/libs/ode-0.16.1/tests/UnitTest++/Makefile.in
new file mode 100644
index 0000000..0bc32c9
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/Makefile.in
@@ -0,0 +1,643 @@
+# 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@
+
+# Makefile.am for UnitTest++
+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++
+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 $(am__DIST_COMMON)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/ode/src/config.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+AM_V_P = $(am__v_P_@AM_V@)
+am__v_P_ = $(am__v_P_@AM_DEFAULT_V@)
+am__v_P_0 = false
+am__v_P_1 = :
+AM_V_GEN = $(am__v_GEN_@AM_V@)
+am__v_GEN_ = $(am__v_GEN_@AM_DEFAULT_V@)
+am__v_GEN_0 = @echo "  GEN     " $@;
+am__v_GEN_1 = 
+AM_V_at = $(am__v_at_@AM_V@)
+am__v_at_ = $(am__v_at_@AM_DEFAULT_V@)
+am__v_at_0 = @
+am__v_at_1 = 
+SOURCES =
+DIST_SOURCES =
+RECURSIVE_TARGETS = all-recursive check-recursive cscopelist-recursive \
+	ctags-recursive dvi-recursive html-recursive info-recursive \
+	install-data-recursive install-dvi-recursive \
+	install-exec-recursive install-html-recursive \
+	install-info-recursive install-pdf-recursive \
+	install-ps-recursive install-recursive installcheck-recursive \
+	installdirs-recursive pdf-recursive ps-recursive \
+	tags-recursive uninstall-recursive
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+RECURSIVE_CLEAN_TARGETS = mostlyclean-recursive clean-recursive	\
+  distclean-recursive maintainer-clean-recursive
+am__recursive_targets = \
+  $(RECURSIVE_TARGETS) \
+  $(RECURSIVE_CLEAN_TARGETS) \
+  $(am__extra_recursive_targets)
+AM_RECURSIVE_TARGETS = $(am__recursive_targets:-recursive=) TAGS CTAGS \
+	distdir
+am__tagged_files = $(HEADERS) $(SOURCES) $(TAGS_FILES) $(LISP)
+# Read a list of newline-separated strings from the standard input,
+# and print each of them once, without duplicates.  Input order is
+# *not* preserved.
+am__uniquify_input = $(AWK) '\
+  BEGIN { nonempty = 0; } \
+  { items[$$0] = 1; nonempty = 1; } \
+  END { if (nonempty) { for (i in items) print i; }; } \
+'
+# Make sure the list of sources is unique.  This is necessary because,
+# e.g., the same source file might be shared among _SOURCES variables
+# for different programs/libraries.
+am__define_uniq_tagged_files = \
+  list='$(am__tagged_files)'; \
+  unique=`for i in $$list; do \
+    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+  done | $(am__uniquify_input)`
+ETAGS = etags
+CTAGS = ctags
+DIST_SUBDIRS = $(SUBDIRS)
+am__DIST_COMMON = $(srcdir)/Makefile.in COPYING README
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+am__relativize = \
+  dir0=`pwd`; \
+  sed_first='s,^\([^/]*\)/.*$$,\1,'; \
+  sed_rest='s,^[^/]*/*,,'; \
+  sed_last='s,^.*/\([^/]*\)$$,\1,'; \
+  sed_butlast='s,/*[^/]*$$,,'; \
+  while test -n "$$dir1"; do \
+    first=`echo "$$dir1" | sed -e "$$sed_first"`; \
+    if test "$$first" != "."; then \
+      if test "$$first" = ".."; then \
+        dir2=`echo "$$dir0" | sed -e "$$sed_last"`/"$$dir2"; \
+        dir0=`echo "$$dir0" | sed -e "$$sed_butlast"`; \
+      else \
+        first2=`echo "$$dir2" | sed -e "$$sed_first"`; \
+        if test "$$first2" = "$$first"; then \
+          dir2=`echo "$$dir2" | sed -e "$$sed_rest"`; \
+        else \
+          dir2="../$$dir2"; \
+        fi; \
+        dir0="$$dir0"/"$$first"; \
+      fi; \
+    fi; \
+    dir1=`echo "$$dir1" | sed -e "$$sed_rest"`; \
+  done; \
+  reldir="$$dir2"
+ACLOCAL = @ACLOCAL@
+ALLOCA = @ALLOCA@
+AMTAR = @AMTAR@
+AM_DEFAULT_VERBOSITY = @AM_DEFAULT_VERBOSITY@
+AR = @AR@
+AS = @AS@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CCD_CFLAGS = @CCD_CFLAGS@
+CCD_LIBS = @CCD_LIBS@
+CFLAGS = @CFLAGS@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+EXTRA_LIBTOOL_LDFLAGS = @EXTRA_LIBTOOL_LDFLAGS@
+FGREP = @FGREP@
+GL_LIBS = @GL_LIBS@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBSTDCXX = @LIBSTDCXX@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_SYS_LIBRARY_PATH = @LT_SYS_LIBRARY_PATH@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+ODE_PRECISION = @ODE_PRECISION@
+ODE_VERSION = @ODE_VERSION@
+ODE_VERSION_INFO = @ODE_VERSION_INFO@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+PKG_CONFIG = @PKG_CONFIG@
+PKG_CONFIG_LIBDIR = @PKG_CONFIG_LIBDIR@
+PKG_CONFIG_PATH = @PKG_CONFIG_PATH@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+WINDRES = @WINDRES@
+X11_CFLAGS = @X11_CFLAGS@
+X11_LIBS = @X11_LIBS@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+ac_ct_WINDRES = @ac_ct_WINDRES@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+runstatedir = @runstatedir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+subdirs = @subdirs@
+sysconfdir = @sysconfdir@
+target_alias = @target_alias@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+SUBDIRS = src
+EXTRA_DIST = docs
+all: all-recursive
+
+.SUFFIXES:
+$(srcdir)/Makefile.in:  $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+	        && { if test -f $@; then exit 0; else break; fi; }; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign tests/UnitTest++/Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --foreign tests/UnitTest++/Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure:  $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4):  $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+
+# This directory's subdirectories are mostly independent; you can cd
+# into them and run 'make' without going through this Makefile.
+# To change the values of 'make' variables: instead of editing Makefiles,
+# (1) if the variable is set in 'config.status', edit 'config.status'
+#     (which will cause the Makefiles to be regenerated when you run 'make');
+# (2) otherwise, pass the desired values on the 'make' command line.
+$(am__recursive_targets):
+	@fail=; \
+	if $(am__make_keepgoing); then \
+	  failcom='fail=yes'; \
+	else \
+	  failcom='exit 1'; \
+	fi; \
+	dot_seen=no; \
+	target=`echo $@ | sed s/-recursive//`; \
+	case "$@" in \
+	  distclean-* | maintainer-clean-*) list='$(DIST_SUBDIRS)' ;; \
+	  *) list='$(SUBDIRS)' ;; \
+	esac; \
+	for subdir in $$list; do \
+	  echo "Making $$target in $$subdir"; \
+	  if test "$$subdir" = "."; then \
+	    dot_seen=yes; \
+	    local_target="$$target-am"; \
+	  else \
+	    local_target="$$target"; \
+	  fi; \
+	  ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) $$local_target) \
+	  || eval $$failcom; \
+	done; \
+	if test "$$dot_seen" = "no"; then \
+	  $(MAKE) $(AM_MAKEFLAGS) "$$target-am" || exit 1; \
+	fi; test -z "$$fail"
+
+ID: $(am__tagged_files)
+	$(am__define_uniq_tagged_files); mkid -fID $$unique
+tags: tags-recursive
+TAGS: tags
+
+tags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	set x; \
+	here=`pwd`; \
+	if ($(ETAGS) --etags-include --version) >/dev/null 2>&1; then \
+	  include_option=--etags-include; \
+	  empty_fix=.; \
+	else \
+	  include_option=--include; \
+	  empty_fix=; \
+	fi; \
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  if test "$$subdir" = .; then :; else \
+	    test ! -f $$subdir/TAGS || \
+	      set "$$@" "$$include_option=$$here/$$subdir/TAGS"; \
+	  fi; \
+	done; \
+	$(am__define_uniq_tagged_files); \
+	shift; \
+	if test -z "$(ETAGS_ARGS)$$*$$unique"; then :; else \
+	  test -n "$$unique" || unique=$$empty_fix; \
+	  if test $$# -gt 0; then \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      "$$@" $$unique; \
+	  else \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      $$unique; \
+	  fi; \
+	fi
+ctags: ctags-recursive
+
+CTAGS: ctags
+ctags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	$(am__define_uniq_tagged_files); \
+	test -z "$(CTAGS_ARGS)$$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-recursive
+
+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)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+	@list='$(DIST_SUBDIRS)'; for subdir in $$list; do \
+	  if test "$$subdir" = .; then :; else \
+	    $(am__make_dryrun) \
+	      || test -d "$(distdir)/$$subdir" \
+	      || $(MKDIR_P) "$(distdir)/$$subdir" \
+	      || exit 1; \
+	    dir1=$$subdir; dir2="$(distdir)/$$subdir"; \
+	    $(am__relativize); \
+	    new_distdir=$$reldir; \
+	    dir1=$$subdir; dir2="$(top_distdir)"; \
+	    $(am__relativize); \
+	    new_top_distdir=$$reldir; \
+	    echo " (cd $$subdir && $(MAKE) $(AM_MAKEFLAGS) top_distdir="$$new_top_distdir" distdir="$$new_distdir" \\"; \
+	    echo "     am__remove_distdir=: am__skip_length_check=: am__skip_mode_fix=: distdir)"; \
+	    ($(am__cd) $$subdir && \
+	      $(MAKE) $(AM_MAKEFLAGS) \
+	        top_distdir="$$new_top_distdir" \
+	        distdir="$$new_distdir" \
+		am__remove_distdir=: \
+		am__skip_length_check=: \
+		am__skip_mode_fix=: \
+	        distdir) \
+	      || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+check: check-recursive
+all-am: Makefile
+installdirs: installdirs-recursive
+installdirs-am:
+install: install-recursive
+install-exec: install-exec-recursive
+install-data: install-data-recursive
+uninstall: uninstall-recursive
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-recursive
+install-strip:
+	if test -z '$(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-recursive
+
+clean-am: clean-generic clean-libtool mostlyclean-am
+
+distclean: distclean-recursive
+	-rm -f Makefile
+distclean-am: clean-am distclean-generic distclean-tags
+
+dvi: dvi-recursive
+
+dvi-am:
+
+html: html-recursive
+
+html-am:
+
+info: info-recursive
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-recursive
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-recursive
+
+install-html-am:
+
+install-info: install-info-recursive
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-recursive
+
+install-pdf-am:
+
+install-ps: install-ps-recursive
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-recursive
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-recursive
+
+mostlyclean-am: mostlyclean-generic mostlyclean-libtool
+
+pdf: pdf-recursive
+
+pdf-am:
+
+ps: ps-recursive
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: $(am__recursive_targets) install-am install-strip
+
+.PHONY: $(am__recursive_targets) CTAGS GTAGS TAGS all all-am check \
+	check-am clean clean-generic clean-libtool cscopelist-am ctags \
+	ctags-am distclean 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 \
+	installdirs-am maintainer-clean maintainer-clean-generic \
+	mostlyclean 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++/README b/libs/ode-0.16.1/tests/UnitTest++/README
new file mode 100644
index 0000000..b32ff5f
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/README
@@ -0,0 +1,62 @@
+UnitTest++ README
+Version: v1.3
+Last update: 2007-4-22
+
+
+UnitTest++ is free software. You may copy, distribute, and modify it under
+the terms of the License contained in the file COPYING distributed
+with this package. This license is the same as the MIT/X Consortium
+license.
+
+See src/tests/TestUnitTest++.cpp for usage.
+
+Authors:
+Noel Llopis (llopis@convexhull.com) 
+Charles Nicholson (cn@cnicholson.net)
+
+Contributors:
+Jim Tilander (jim.tilander@gmail.com)
+Kim Grasman (kim@mvps.org)
+Jonathan Jansson (lilliemarck@users.sourceforge.net)
+Dirck Blaskey (listtarget2@danbala.com)
+Rory Driscoll (rorydriscoll@gmail.com)
+Dan Lind (podcat@gmail.com)
+Matt Kimmel (mattkimmel@gmail.com) -- Submitted with permission from Blue Fang Games
+Anthony Moralez (anthony.moralez@gmail.com)
+Jeff Dixon <bodisafa@helixe.com>
+
+
+Release notes
+--------------
+Version 1.3 (2007-4-22)
+- Removed dynamic memory allocations (other than streams)
+- MinGW support
+- Consistent (native) line endings
+- Minor bug fixing
+
+Version 1.2 (2006-10-29)
+- First pass at documentation.
+- More detailed error crash catching in fixtures.
+- Standard streams used for printing objects under check. This should allow the
+  use of standard class types such as std::string or other custom classes with
+  stream operators to ostream.
+- Standard streams can be optionally compiled off by defining UNITTEST_USE_CUSTOM_STREAMS
+  in Config.h
+- Added named test suites
+- Added CHECK_ARRAY2D_CLOSE 
+- Posix library name is libUnitTest++.a now
+- Floating point numbers are postfixed with f in the failure reports
+
+Version 1.1 (2006-04-18)
+- CHECK macros do not have side effects even if one of the parameters changes state
+- Removed CHECK_ARRAY_EQUAL (too similar to CHECK_ARRAY_CLOSE)
+- Added local and global time constraints
+- Removed dependencies on strstream
+- Improved Posix signal to exception translator
+- Failing tests are added to Visual Studio's error list
+- Fixed Visual Studio projects to work with spaces in directories
+
+
+Version 1.0 (2006-03-15)
+- Initial release
+
diff --git a/libs/ode-0.16.1/tests/UnitTest++/docs/UnitTest++.html b/libs/ode-0.16.1/tests/UnitTest++/docs/UnitTest++.html
new file mode 100644
index 0000000..cd40400
--- /dev/null
+++ b/libs/ode-0.16.1/tests/UnitTest++/docs/UnitTest++.html
@@ -0,0 +1,260 @@
+<html>
+<head>
+	<title>UnitTest++ in brief</title>
+</head>
+<body>
+<h1>UnitTest++ in brief</h1>
+<h2>Introduction</h2>
+<p>This little document serves as bare-bones documentation for UnitTest++.</p>
+
+<p>For background, goals and license details, see:</p>
+
+<ul>
+  <li><a href="http://unittest-cpp.sourceforge.net/">The UnitTest++ home page</a></li>
+  <li><a href="http://www.gamesfromwithin.com/articles/0603/000108.html">Noel Llopis' announcement</a></li>
+</ul>
+
+<p>The documentation, while sparse, aims to be practical, so it should give you enough info to get started using UnitTest++ as fast as possible.</p>
+
+<h2>Building UnitTest++</h2>
+<p>Building UnitTest++ will be specific to each platform and build environment, but it should be straightforward.</p>
+
+<h3>Building with Visual Studio</h3>
+<p>If you are using Visual Studio, go for either of the provided .sln files, depending on version. There are no prefabricated solutions for versions earlier than VS.NET 2003, but we have had reports of people building UnitTest++ with at least VS.NET 2002.</p>
+
+<h3>Building with Make</h3>
+<p>The bundled makefile is written to build with g++. It also needs <code>sed</code> installed in the path, and to be able to use the <code>mv</code> and <code>rm</code> shell commands. The makefile should be usable on most Posix-like platforms.</p>
+
+<p>Do "make all" to generate a library and test executable. A final build step runs all unit tests to make sure that the result works as expected.</p>
+
+<h3>Packaging</h3>
+<p>You'll probably want to keep the generated library in a shared space in source control, so you can reuse it for multiple test projects. A redistributable package of UnitTest++ would consist of the generated library file, and all of the header files in <code>UnitTest++/src/</code> and its per-platform subfolders. The <code>tests</code> directory only contains the unit tests for the library, and need not be included.</p>
+
+<h2>Using UnitTest++</h2>
+<p>The source code for UnitTest++ comes with a full test suite written <em>using</em> UnitTest++. This is a great place to learn techniques for testing. There is one sample .cpp file: <code>UnitTest++/src/tests/TestUnitTest++.cpp</code>. It covers most of UnitTest++'s features in an easy-to-grasp context, so start there if you want a quick overview of typical usage.</p>
+
+<h3>Getting started</h3>
+<p>Listed below is a minimal C++ program to run a failing test through UnitTest++.</p>
+
+<pre>
+  // test.cpp
+  #include &lt;UnitTest++.h&gt;
+
+  TEST(FailSpectacularly)
+  {
+    CHECK(false);
+  }
+
+  int main()
+  {
+    return UnitTest::RunAllTests();
+  }
+</pre>
+
+<p><code>UnitTest++.h</code> is a facade header for UnitTest++, so including that should get you all features of the library. All classes and free functions are placed in namespace <code>UnitTest</code>, so you need to either qualify their full names (as with <code>RunAllTests()</code> in the example) or add a <code>using namespace UnitTest;</code> statement in your .cpp files. Note that any mention of UnitTest++ functions and classes in this document assume that the <code>UnitTest</code> namespace has been opened.</p>
+
+<p>Compiling and linking this program with UnitTest++'s static library into an executable, and running it, will produce the following output (details may vary):</p>
+
+<pre>
+  .\test.cpp(5): error: Failure in FailSpectacularly: false
+  FAILED: 1 out of 1 tests failed (1 failures).
+  Test time: 0.00 seconds.
+</pre>
+
+<p>UnitTest++ attempts to report every failure in an IDE-friendly format, depending on platform (e.g. you can double-click it in Visual Studio's error list.) The exit code will be the number of failed tests, so that a failed test run always returns a non-zero exit code.</p>
+
+<h3>Test macros</h3>
+<p>To add a test, simply put the following code in a .cpp file of your choice:</p>
+
+<pre>
+  TEST(YourTestName)
+  {
+  }
+</pre>
+
+<p>The <code>TEST</code> macro contains enough machinery to turn this slightly odd-looking syntax into legal C++, and automatically register the test in a global list. This test list forms the basis of what is executed by <code>RunAllTests()</code>.</p>
+
+<p>If you want to re-use a set of test data for more than one test, or provide setup/teardown for tests, you can use the <code>TEST_FIXTURE</code> macro instead. The macro requires that you pass it a class name that it will instantiate, so any setup and teardown code should be in its constructor and destructor.</p>
+
+<pre>
+  struct SomeFixture
+  {
+    SomeFixture() { /* some setup */ }
+    ~SomeFixture() { /* some teardown */ }
+
+    int testData;
+  };
+ 
+  TEST_FIXTURE(SomeFixture, YourTestName)
+  {
+    int temp = testData;
+  }
+</pre>
+
+<p>Note how members of the fixture are used as if they are a part of the test, since the macro-generated test class derives from the provided fixture class.</p>
+
+<h3>Suite macros</h3>
+<p>Tests can be grouped into suites, using the <code>SUITE</code> macro. A suite serves as a namespace for test names, so that the same test name can be used in two difference contexts.</p>
+
+<pre>
+  SUITE(YourSuiteName)
+  {
+    TEST(YourTestName)
+    {
+    }
+
+    TEST(YourOtherTestName)
+    {
+    }
+  }
+</pre>
+
+<p>This will place the tests into a C++ namespace called <code>YourSuiteName</code>, and make the suite name available to UnitTest++. <code>RunAllTests()</code> can be called for a specific suite name, so you can use this to build named groups of tests to be run together.</p>
+
+<h3>Simple check macros</h3>
+<p>In test cases, we want to check the results of our system under test. UnitTest++ provides a number of check macros that handle comparison and proper failure reporting.</p>
+
+<p>The most basic variety is the boolean <code>CHECK</code> macro:</p>
+
+<pre>
+  CHECK(false); // fails
+</pre>
+
+<p>It will fail if the boolean expression evaluates to false.</p>
+
+<p>For equality checks, it's generally better to use <code>CHECK_EQUAL</code>:</p>
+
+<pre>
+  CHECK_EQUAL(10, 20); // fails
+  CHECK_EQUAL("foo", "bar"); // fails
+</pre>
+
+<p>Note how <code>CHECK_EQUAL</code> is overloaded for C strings, so you don't have to resort to <code>strcmp</code> or similar. There is no facility for case-insensitive comparison or string searches, so you may have to drop down to a plain boolean <code>CHECK</code> with help from the CRT:</p>
+
+<pre>
+  CHECK(std::strstr("zaza", "az") != 0); // succeeds
+</pre>
+
+<p>For floating-point comparison, equality <a href="http://www.cygnus-software.com/papers/comparingfloats/comparingfloats.htm">isn't necessarily well-defined</a>, so you should prefer the <code>CHECK_CLOSE</code> macro:</p>
+
+<pre>
+  CHECK_CLOSE(3.14, 3.1415, 0.01); // succeeds
+</pre>
+
+<p>All of the macros are tailored to avoid unintended side-effects, for example:</p>
+
+<pre>
+  TEST(CheckMacrosHaveNoSideEffects)
+  {
+    int i = 4;
+    CHECK_EQUAL(5, ++i); // succeeds
+    CHECK_EQUAL(5, i); // succeeds
+  }
+</pre>
+
+<p>The check macros guarantee that the <code>++i</code> expression isn't repeated internally, as demonstrated above.</p>
+
+<h3>Array check macros</h3>
+<p>There is a set of check macros for array comparison as well:</p>
+
+<pre>
+  const float oned[2] = { 10, 20 };
+  CHECK_ARRAY_EQUAL(oned, oned, 2); // succeeds
+  CHECK_ARRAY_CLOSE(oned, oned, 2, 0.00); // succeeds
+
+  const float twod[2][3] = { {0, 1, 2}, {2, 3, 4} };
+  CHECK_ARRAY2D_CLOSE(twod, twod, 2, 3, 0.00); // succeeds
+</pre>
+
+<p>The array equal macro compares elements using <code>operator==</code>, so <code>CHECK_ARRAY_EQUAL</code> won't work for an array of C strings, for example.</p>
+
+<p>The array close macros are similar to the regular CHECK_CLOSE macro, and are really only useful for scalar types, that can be compared in terms of a difference between two array elements.</p>
+
+<p>Note that the one-dimensional array macros work for <code>std::vector</code> as well, as it can be indexed just as a C array.</p>
+
+<h3>Exception check macros</h3>
+<p>Finally, there's a <code>CHECK_THROW</code> macro, which asserts that its enclosed expression throws the specified type:</p>
+
+<pre>
+  struct TestException {};
+  CHECK_THROW(throw TestException(), TestException); // succeeds
+</pre>
+
+<p>UnitTest++ natively catches exceptions if your test code doesn't. So if your code under test throws any exception UnitTest++ will fail the test and report either using the <code>what()</code> method for <code>std::exception</code> derivatives or just a plain message for unknown exception types.</p>
+
+<p>Should your test or code raise an irrecoverable error (an Access Violation on Win32, for example, or a signal on Linux), UnitTest++ will attempt to map them to an exception and fail the test, just as for other unhandled exceptions.</p>
+
+<h3>Time constraints</h3>
+<p>UnitTest++ can fail a test if it takes too long to complete, using so-called time constraints.</p>
+
+<p>They come in two flavors; <em>local</em> and <em>global</em> time constraints.</p>
+
+<p>Local time constraints are limited to the current scope, like so:</p>
+
+<pre>
+  TEST(YourTimedTest)
+  {
+     // Lengthy setup...
+
+     {
+        UNITTEST_TIME_CONSTRAINT(50);
+
+        // Do time-critical stuff
+     }
+
+     // Lengthy teardown...
+  }
+</pre>
+
+<p>The test will fail if the "Do time-critical stuff" block takes longer than 50 ms to complete. The time-consuming setup and teardown are not measured, since the time constraint is scope-bound. It's perfectly valid to have multiple local time constraints in the same test, as long as there is only one per block.</p>
+
+<p>A global time constraint, on the other hand, requires that all of the tests in a test run are faster than a specified amount of time. This allows you, when you run a suite of tests, to ask UnitTest++ to fail it entirely if any test exceeds the global constraint. The max time is passed as a parameter to an overload of <code>RunAllTests()</code>.</p>
+
+<p>If you want to use a global time constraint, but have one test that is notoriously slow, you can exempt it from inspection by using the <code>UNITTEST_TIME_CONSTRAINT_EXEMPT</code> macro anywhere inside the test body.</p>
+
+<pre>
+  TEST(NotoriouslySlowTest)
+  {
+     UNITTEST_TIME_CONSTRAINT_EXEMPT();
+
+     // Oh boy, this is going to take a while
+     ...
+  }
+</pre>
+
+<h3>Test runners</h3>
+<p>The <code>RunAllTests()</code> function has an overload that lets you customize the behavior of the runner, such as global time constraints, custom reporters, which suite to run, etc.</p>
+
+<pre>
+  int RunAllTests(TestReporter& reporter, TestList const& list, char const* suiteName, int const maxTestTimeInMs);
+</pre>
+
+<p>If you attempt to pass custom parameters to <code>RunAllTests()</code>, note that the <code>list</code> parameter should have the value <code>Test::GetTestList()</code>.</p>
+
+<p>The parameterless <code>RunAllTests()</code> is a simple wrapper for this one, with sensible defaults.</p>
+
+<h3>Example setup</h3>
+<p>How to create a new test project varies depending on your environment, but here are some directions on common file structure and usage.</p>
+
+<p>The general idea is that you keep one <code>Main.cpp</code> file with the entry-point which calls <code>RunAllTests()</code>.</p>
+
+<p>Then you can simply compile and link new .cpp files at will, typically one per test suite.</p>
+
+<pre>
+   + ShaverTests/
+   |
+   +- Main.cpp
+   |
+   +- TestBrush.cpp   
+   +- TestEngine.cpp
+   +- TestRazor.cpp   
+</pre>
+
+<p>Each of the <code>Test*.cpp</code> files will contain one or more <code>TEST</code> macro incantations with the associated test code. There are no source-level dependencies between <code>Main.cpp</code> and <code>Test*.cpp</code>, as the <code>TEST</code> macro handles the registration and setup necessary for <code>RunAllTests()</code> to find all tests compiled into the same final executable.</p>
+
+<p>UnitTest++ does not require this structure, even if this is how the library itself does it. As long as your test project contains one or more <code>TESTs</code> and calls <code>RunAllTests()</code> at one point or another, it will be handled by UnitTest++.</p>
+
+<p>It's common to make the generated executable start as a post-build step, so that merely building your test project will run the tests as well. Since the exit code is the count of failures, a failed test will generally break the build, as most build engines will fail a build if any step returns a non-zero exit code.</p>
+
+</body>
+</html>
\ No newline at end of file
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 \
+	$(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 $(am__DIST_COMMON)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/ode/src/config.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+@WIN32_FALSE@libunittestpp_la_DEPENDENCIES =  \
+@WIN32_FALSE@	$(builddir)/Posix/libhelper.la
+@WIN32_TRUE@libunittestpp_la_DEPENDENCIES =  \
+@WIN32_TRUE@	$(builddir)/Win32/libhelper.la
+am_libunittestpp_la_OBJECTS = AssertException.lo Checks.lo \
+	DeferredTestReporter.lo DeferredTestResult.lo \
+	MemoryOutStream.lo ReportAssert.lo Test.lo TestDetails.lo \
+	TestList.lo TestReporter.lo TestReporterStdout.lo \
+	TestResults.lo TestRunner.lo TimeConstraint.lo \
+	XmlTestReporter.lo
+libunittestpp_la_OBJECTS = $(am_libunittestpp_la_OBJECTS)
+AM_V_lt = $(am__v_lt_@AM_V@)
+am__v_lt_ = $(am__v_lt_@AM_DEFAULT_V@)
+am__v_lt_0 = --silent
+am__v_lt_1 = 
+AM_V_P = $(am__v_P_@AM_V@)
+am__v_P_ = $(am__v_P_@AM_DEFAULT_V@)
+am__v_P_0 = false
+am__v_P_1 = :
+AM_V_GEN = $(am__v_GEN_@AM_V@)
+am__v_GEN_ = $(am__v_GEN_@AM_DEFAULT_V@)
+am__v_GEN_0 = @echo "  GEN     " $@;
+am__v_GEN_1 = 
+AM_V_at = $(am__v_at_@AM_V@)
+am__v_at_ = $(am__v_at_@AM_DEFAULT_V@)
+am__v_at_0 = @
+am__v_at_1 = 
+DEFAULT_INCLUDES = -I.@am__isrc@ -I$(top_builddir)/ode/src
+depcomp = $(SHELL) $(top_srcdir)/depcomp
+am__depfiles_maybe = depfiles
+am__mv = mv -f
+CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
+	$(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
+LTCXXCOMPILE = $(LIBTOOL) $(AM_V_lt) --tag=CXX $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=compile $(CXX) $(DEFS) \
+	$(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
+	$(AM_CXXFLAGS) $(CXXFLAGS)
+AM_V_CXX = $(am__v_CXX_@AM_V@)
+am__v_CXX_ = $(am__v_CXX_@AM_DEFAULT_V@)
+am__v_CXX_0 = @echo "  CXX     " $@;
+am__v_CXX_1 = 
+CXXLD = $(CXX)
+CXXLINK = $(LIBTOOL) $(AM_V_lt) --tag=CXX $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=link $(CXXLD) $(AM_CXXFLAGS) \
+	$(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) -o $@
+AM_V_CXXLD = $(am__v_CXXLD_@AM_V@)
+am__v_CXXLD_ = $(am__v_CXXLD_@AM_DEFAULT_V@)
+am__v_CXXLD_0 = @echo "  CXXLD   " $@;
+am__v_CXXLD_1 = 
+COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
+	$(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
+LTCOMPILE = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) \
+	$(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
+	$(AM_CFLAGS) $(CFLAGS)
+AM_V_CC = $(am__v_CC_@AM_V@)
+am__v_CC_ = $(am__v_CC_@AM_DEFAULT_V@)
+am__v_CC_0 = @echo "  CC      " $@;
+am__v_CC_1 = 
+CCLD = $(CC)
+LINK = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
+	$(AM_LDFLAGS) $(LDFLAGS) -o $@
+AM_V_CCLD = $(am__v_CCLD_@AM_V@)
+am__v_CCLD_ = $(am__v_CCLD_@AM_DEFAULT_V@)
+am__v_CCLD_0 = @echo "  CCLD    " $@;
+am__v_CCLD_1 = 
+SOURCES = $(libunittestpp_la_SOURCES)
+DIST_SOURCES = $(libunittestpp_la_SOURCES)
+RECURSIVE_TARGETS = all-recursive check-recursive cscopelist-recursive \
+	ctags-recursive dvi-recursive html-recursive info-recursive \
+	install-data-recursive install-dvi-recursive \
+	install-exec-recursive install-html-recursive \
+	install-info-recursive install-pdf-recursive \
+	install-ps-recursive install-recursive installcheck-recursive \
+	installdirs-recursive pdf-recursive ps-recursive \
+	tags-recursive uninstall-recursive
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+RECURSIVE_CLEAN_TARGETS = mostlyclean-recursive clean-recursive	\
+  distclean-recursive maintainer-clean-recursive
+am__recursive_targets = \
+  $(RECURSIVE_TARGETS) \
+  $(RECURSIVE_CLEAN_TARGETS) \
+  $(am__extra_recursive_targets)
+AM_RECURSIVE_TARGETS = $(am__recursive_targets:-recursive=) TAGS CTAGS \
+	distdir
+am__tagged_files = $(HEADERS) $(SOURCES) $(TAGS_FILES) $(LISP)
+# Read a list of newline-separated strings from the standard input,
+# and print each of them once, without duplicates.  Input order is
+# *not* preserved.
+am__uniquify_input = $(AWK) '\
+  BEGIN { nonempty = 0; } \
+  { items[$$0] = 1; nonempty = 1; } \
+  END { if (nonempty) { for (i in items) print i; }; } \
+'
+# Make sure the list of sources is unique.  This is necessary because,
+# e.g., the same source file might be shared among _SOURCES variables
+# for different programs/libraries.
+am__define_uniq_tagged_files = \
+  list='$(am__tagged_files)'; \
+  unique=`for i in $$list; do \
+    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+  done | $(am__uniquify_input)`
+ETAGS = etags
+CTAGS = ctags
+DIST_SUBDIRS = Posix Win32
+am__DIST_COMMON = $(srcdir)/Makefile.in $(top_srcdir)/depcomp
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+am__relativize = \
+  dir0=`pwd`; \
+  sed_first='s,^\([^/]*\)/.*$$,\1,'; \
+  sed_rest='s,^[^/]*/*,,'; \
+  sed_last='s,^.*/\([^/]*\)$$,\1,'; \
+  sed_butlast='s,/*[^/]*$$,,'; \
+  while test -n "$$dir1"; do \
+    first=`echo "$$dir1" | sed -e "$$sed_first"`; \
+    if test "$$first" != "."; then \
+      if test "$$first" = ".."; then \
+        dir2=`echo "$$dir0" | sed -e "$$sed_last"`/"$$dir2"; \
+        dir0=`echo "$$dir0" | sed -e "$$sed_butlast"`; \
+      else \
+        first2=`echo "$$dir2" | sed -e "$$sed_first"`; \
+        if test "$$first2" = "$$first"; then \
+          dir2=`echo "$$dir2" | sed -e "$$sed_rest"`; \
+        else \
+          dir2="../$$dir2"; \
+        fi; \
+        dir0="$$dir0"/"$$first"; \
+      fi; \
+    fi; \
+    dir1=`echo "$$dir1" | sed -e "$$sed_rest"`; \
+  done; \
+  reldir="$$dir2"
+ACLOCAL = @ACLOCAL@
+ALLOCA = @ALLOCA@
+AMTAR = @AMTAR@
+AM_DEFAULT_VERBOSITY = @AM_DEFAULT_VERBOSITY@
+AR = @AR@
+AS = @AS@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CCD_CFLAGS = @CCD_CFLAGS@
+CCD_LIBS = @CCD_LIBS@
+CFLAGS = @CFLAGS@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+EXTRA_LIBTOOL_LDFLAGS = @EXTRA_LIBTOOL_LDFLAGS@
+FGREP = @FGREP@
+GL_LIBS = @GL_LIBS@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBSTDCXX = @LIBSTDCXX@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_SYS_LIBRARY_PATH = @LT_SYS_LIBRARY_PATH@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+ODE_PRECISION = @ODE_PRECISION@
+ODE_VERSION = @ODE_VERSION@
+ODE_VERSION_INFO = @ODE_VERSION_INFO@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+PKG_CONFIG = @PKG_CONFIG@
+PKG_CONFIG_LIBDIR = @PKG_CONFIG_LIBDIR@
+PKG_CONFIG_PATH = @PKG_CONFIG_PATH@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+WINDRES = @WINDRES@
+X11_CFLAGS = @X11_CFLAGS@
+X11_LIBS = @X11_LIBS@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+ac_ct_WINDRES = @ac_ct_WINDRES@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+runstatedir = @runstatedir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+subdirs = @subdirs@
+sysconfdir = @sysconfdir@
+target_alias = @target_alias@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+@WIN32_FALSE@SUBDIRS = Posix
+@WIN32_TRUE@SUBDIRS = Win32
+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
+
+@WIN32_FALSE@libunittestpp_la_LIBADD = $(builddir)/Posix/libhelper.la
+@WIN32_TRUE@libunittestpp_la_LIBADD = $(builddir)/Win32/libhelper.la
+all: all-recursive
+
+.SUFFIXES:
+.SUFFIXES: .cpp .lo .o .obj
+$(srcdir)/Makefile.in:  $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+	        && { if test -f $@; then exit 0; else break; fi; }; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign tests/UnitTest++/src/Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --foreign tests/UnitTest++/src/Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure:  $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4):  $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+clean-checkLTLIBRARIES:
+	-test -z "$(check_LTLIBRARIES)" || rm -f $(check_LTLIBRARIES)
+	@list='$(check_LTLIBRARIES)'; \
+	locs=`for p in $$list; do echo $$p; done | \
+	      sed 's|^[^/]*$$|.|; s|/[^/]*$$||; s|$$|/so_locations|' | \
+	      sort -u`; \
+	test -z "$$locs" || { \
+	  echo rm -f $${locs}; \
+	  rm -f $${locs}; \
+	}
+
+libunittestpp.la: $(libunittestpp_la_OBJECTS) $(libunittestpp_la_DEPENDENCIES) $(EXTRA_libunittestpp_la_DEPENDENCIES) 
+	$(AM_V_CXXLD)$(CXXLINK)  $(libunittestpp_la_OBJECTS) $(libunittestpp_la_LIBADD) $(LIBS)
+
+mostlyclean-compile:
+	-rm -f *.$(OBJEXT)
+
+distclean-compile:
+	-rm -f *.tab.c
+
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/AssertException.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Checks.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/DeferredTestReporter.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/DeferredTestResult.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/MemoryOutStream.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/ReportAssert.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Test.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/TestDetails.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/TestList.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/TestReporter.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/TestReporterStdout.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/TestResults.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/TestRunner.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/TimeConstraint.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/XmlTestReporter.Plo@am__quote@
+
+.cpp.o:
+@am__fastdepCXX_TRUE@	$(AM_V_CXX)$(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCXX_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	$(AM_V_CXX)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(AM_V_CXX@am__nodep@)$(CXXCOMPILE) -c -o $@ $<
+
+.cpp.obj:
+@am__fastdepCXX_TRUE@	$(AM_V_CXX)$(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ `$(CYGPATH_W) '$<'`
+@am__fastdepCXX_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	$(AM_V_CXX)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(AM_V_CXX@am__nodep@)$(CXXCOMPILE) -c -o $@ `$(CYGPATH_W) '$<'`
+
+.cpp.lo:
+@am__fastdepCXX_TRUE@	$(AM_V_CXX)$(LTCXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCXX_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Plo
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	$(AM_V_CXX)source='$<' object='$@' libtool=yes @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(AM_V_CXX@am__nodep@)$(LTCXXCOMPILE) -c -o $@ $<
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+
+# This directory's subdirectories are mostly independent; you can cd
+# into them and run 'make' without going through this Makefile.
+# To change the values of 'make' variables: instead of editing Makefiles,
+# (1) if the variable is set in 'config.status', edit 'config.status'
+#     (which will cause the Makefiles to be regenerated when you run 'make');
+# (2) otherwise, pass the desired values on the 'make' command line.
+$(am__recursive_targets):
+	@fail=; \
+	if $(am__make_keepgoing); then \
+	  failcom='fail=yes'; \
+	else \
+	  failcom='exit 1'; \
+	fi; \
+	dot_seen=no; \
+	target=`echo $@ | sed s/-recursive//`; \
+	case "$@" in \
+	  distclean-* | maintainer-clean-*) list='$(DIST_SUBDIRS)' ;; \
+	  *) list='$(SUBDIRS)' ;; \
+	esac; \
+	for subdir in $$list; do \
+	  echo "Making $$target in $$subdir"; \
+	  if test "$$subdir" = "."; then \
+	    dot_seen=yes; \
+	    local_target="$$target-am"; \
+	  else \
+	    local_target="$$target"; \
+	  fi; \
+	  ($(am__cd) $$subdir && $(MAKE) $(AM_MAKEFLAGS) $$local_target) \
+	  || eval $$failcom; \
+	done; \
+	if test "$$dot_seen" = "no"; then \
+	  $(MAKE) $(AM_MAKEFLAGS) "$$target-am" || exit 1; \
+	fi; test -z "$$fail"
+
+ID: $(am__tagged_files)
+	$(am__define_uniq_tagged_files); mkid -fID $$unique
+tags: tags-recursive
+TAGS: tags
+
+tags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	set x; \
+	here=`pwd`; \
+	if ($(ETAGS) --etags-include --version) >/dev/null 2>&1; then \
+	  include_option=--etags-include; \
+	  empty_fix=.; \
+	else \
+	  include_option=--include; \
+	  empty_fix=; \
+	fi; \
+	list='$(SUBDIRS)'; for subdir in $$list; do \
+	  if test "$$subdir" = .; then :; else \
+	    test ! -f $$subdir/TAGS || \
+	      set "$$@" "$$include_option=$$here/$$subdir/TAGS"; \
+	  fi; \
+	done; \
+	$(am__define_uniq_tagged_files); \
+	shift; \
+	if test -z "$(ETAGS_ARGS)$$*$$unique"; then :; else \
+	  test -n "$$unique" || unique=$$empty_fix; \
+	  if test $$# -gt 0; then \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      "$$@" $$unique; \
+	  else \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      $$unique; \
+	  fi; \
+	fi
+ctags: ctags-recursive
+
+CTAGS: ctags
+ctags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	$(am__define_uniq_tagged_files); \
+	test -z "$(CTAGS_ARGS)$$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-recursive
+
+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)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+	@list='$(DIST_SUBDIRS)'; for subdir in $$list; do \
+	  if test "$$subdir" = .; then :; else \
+	    $(am__make_dryrun) \
+	      || test -d "$(distdir)/$$subdir" \
+	      || $(MKDIR_P) "$(distdir)/$$subdir" \
+	      || exit 1; \
+	    dir1=$$subdir; dir2="$(distdir)/$$subdir"; \
+	    $(am__relativize); \
+	    new_distdir=$$reldir; \
+	    dir1=$$subdir; dir2="$(top_distdir)"; \
+	    $(am__relativize); \
+	    new_top_distdir=$$reldir; \
+	    echo " (cd $$subdir && $(MAKE) $(AM_MAKEFLAGS) top_distdir="$$new_top_distdir" distdir="$$new_distdir" \\"; \
+	    echo "     am__remove_distdir=: am__skip_length_check=: am__skip_mode_fix=: distdir)"; \
+	    ($(am__cd) $$subdir && \
+	      $(MAKE) $(AM_MAKEFLAGS) \
+	        top_distdir="$$new_top_distdir" \
+	        distdir="$$new_distdir" \
+		am__remove_distdir=: \
+		am__skip_length_check=: \
+		am__skip_mode_fix=: \
+	        distdir) \
+	      || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+	$(MAKE) $(AM_MAKEFLAGS) $(check_LTLIBRARIES)
+check: check-recursive
+all-am: Makefile
+installdirs: installdirs-recursive
+installdirs-am:
+install: install-recursive
+install-exec: install-exec-recursive
+install-data: install-data-recursive
+uninstall: uninstall-recursive
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-recursive
+install-strip:
+	if test -z '$(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 $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-recursive
+
+clean-am: clean-checkLTLIBRARIES clean-generic clean-libtool \
+	mostlyclean-am
+
+distclean: distclean-recursive
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+	distclean-tags
+
+dvi: dvi-recursive
+
+dvi-am:
+
+html: html-recursive
+
+html-am:
+
+info: info-recursive
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-recursive
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-recursive
+
+install-html-am:
+
+install-info: install-info-recursive
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-recursive
+
+install-pdf-am:
+
+install-ps: install-ps-recursive
+
+install-ps-am:
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-recursive
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-recursive
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic \
+	mostlyclean-libtool
+
+pdf: pdf-recursive
+
+pdf-am:
+
+ps: ps-recursive
+
+ps-am:
+
+uninstall-am:
+
+.MAKE: $(am__recursive_targets) check-am install-am install-strip
+
+.PHONY: $(am__recursive_targets) 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 \
+	installdirs-am 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/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 @@
+# 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/Posix
+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 $(am__DIST_COMMON)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/ode/src/config.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+libhelper_la_LIBADD =
+am_libhelper_la_OBJECTS = SignalTranslator.lo TimeHelpers.lo
+libhelper_la_OBJECTS = $(am_libhelper_la_OBJECTS)
+AM_V_lt = $(am__v_lt_@AM_V@)
+am__v_lt_ = $(am__v_lt_@AM_DEFAULT_V@)
+am__v_lt_0 = --silent
+am__v_lt_1 = 
+AM_V_P = $(am__v_P_@AM_V@)
+am__v_P_ = $(am__v_P_@AM_DEFAULT_V@)
+am__v_P_0 = false
+am__v_P_1 = :
+AM_V_GEN = $(am__v_GEN_@AM_V@)
+am__v_GEN_ = $(am__v_GEN_@AM_DEFAULT_V@)
+am__v_GEN_0 = @echo "  GEN     " $@;
+am__v_GEN_1 = 
+AM_V_at = $(am__v_at_@AM_V@)
+am__v_at_ = $(am__v_at_@AM_DEFAULT_V@)
+am__v_at_0 = @
+am__v_at_1 = 
+DEFAULT_INCLUDES = -I.@am__isrc@ -I$(top_builddir)/ode/src
+depcomp = $(SHELL) $(top_srcdir)/depcomp
+am__depfiles_maybe = depfiles
+am__mv = mv -f
+CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
+	$(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
+LTCXXCOMPILE = $(LIBTOOL) $(AM_V_lt) --tag=CXX $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=compile $(CXX) $(DEFS) \
+	$(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
+	$(AM_CXXFLAGS) $(CXXFLAGS)
+AM_V_CXX = $(am__v_CXX_@AM_V@)
+am__v_CXX_ = $(am__v_CXX_@AM_DEFAULT_V@)
+am__v_CXX_0 = @echo "  CXX     " $@;
+am__v_CXX_1 = 
+CXXLD = $(CXX)
+CXXLINK = $(LIBTOOL) $(AM_V_lt) --tag=CXX $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=link $(CXXLD) $(AM_CXXFLAGS) \
+	$(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) -o $@
+AM_V_CXXLD = $(am__v_CXXLD_@AM_V@)
+am__v_CXXLD_ = $(am__v_CXXLD_@AM_DEFAULT_V@)
+am__v_CXXLD_0 = @echo "  CXXLD   " $@;
+am__v_CXXLD_1 = 
+COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
+	$(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
+LTCOMPILE = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) \
+	$(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
+	$(AM_CFLAGS) $(CFLAGS)
+AM_V_CC = $(am__v_CC_@AM_V@)
+am__v_CC_ = $(am__v_CC_@AM_DEFAULT_V@)
+am__v_CC_0 = @echo "  CC      " $@;
+am__v_CC_1 = 
+CCLD = $(CC)
+LINK = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
+	$(AM_LDFLAGS) $(LDFLAGS) -o $@
+AM_V_CCLD = $(am__v_CCLD_@AM_V@)
+am__v_CCLD_ = $(am__v_CCLD_@AM_DEFAULT_V@)
+am__v_CCLD_0 = @echo "  CCLD    " $@;
+am__v_CCLD_1 = 
+SOURCES = $(libhelper_la_SOURCES)
+DIST_SOURCES = $(libhelper_la_SOURCES)
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+am__tagged_files = $(HEADERS) $(SOURCES) $(TAGS_FILES) $(LISP)
+# Read a list of newline-separated strings from the standard input,
+# and print each of them once, without duplicates.  Input order is
+# *not* preserved.
+am__uniquify_input = $(AWK) '\
+  BEGIN { nonempty = 0; } \
+  { items[$$0] = 1; nonempty = 1; } \
+  END { if (nonempty) { for (i in items) print i; }; } \
+'
+# Make sure the list of sources is unique.  This is necessary because,
+# e.g., the same source file might be shared among _SOURCES variables
+# for different programs/libraries.
+am__define_uniq_tagged_files = \
+  list='$(am__tagged_files)'; \
+  unique=`for i in $$list; do \
+    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+  done | $(am__uniquify_input)`
+ETAGS = etags
+CTAGS = ctags
+am__DIST_COMMON = $(srcdir)/Makefile.in $(top_srcdir)/depcomp
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+ACLOCAL = @ACLOCAL@
+ALLOCA = @ALLOCA@
+AMTAR = @AMTAR@
+AM_DEFAULT_VERBOSITY = @AM_DEFAULT_VERBOSITY@
+AR = @AR@
+AS = @AS@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CCD_CFLAGS = @CCD_CFLAGS@
+CCD_LIBS = @CCD_LIBS@
+CFLAGS = @CFLAGS@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+EXTRA_LIBTOOL_LDFLAGS = @EXTRA_LIBTOOL_LDFLAGS@
+FGREP = @FGREP@
+GL_LIBS = @GL_LIBS@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBSTDCXX = @LIBSTDCXX@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_SYS_LIBRARY_PATH = @LT_SYS_LIBRARY_PATH@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+ODE_PRECISION = @ODE_PRECISION@
+ODE_VERSION = @ODE_VERSION@
+ODE_VERSION_INFO = @ODE_VERSION_INFO@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+PKG_CONFIG = @PKG_CONFIG@
+PKG_CONFIG_LIBDIR = @PKG_CONFIG_LIBDIR@
+PKG_CONFIG_PATH = @PKG_CONFIG_PATH@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+WINDRES = @WINDRES@
+X11_CFLAGS = @X11_CFLAGS@
+X11_LIBS = @X11_LIBS@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+ac_ct_WINDRES = @ac_ct_WINDRES@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+runstatedir = @runstatedir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+subdirs = @subdirs@
+sysconfdir = @sysconfdir@
+target_alias = @target_alias@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+check_LTLIBRARIES = libhelper.la
+libhelper_la_SOURCES = SignalTranslator.cpp SignalTranslator.h \
+                        TimeHelpers.cpp TimeHelpers.h
+
+all: all-am
+
+.SUFFIXES:
+.SUFFIXES: .cpp .lo .o .obj
+$(srcdir)/Makefile.in:  $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+	        && { if test -f $@; then exit 0; else break; fi; }; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign tests/UnitTest++/src/Posix/Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --foreign tests/UnitTest++/src/Posix/Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure:  $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4):  $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+clean-checkLTLIBRARIES:
+	-test -z "$(check_LTLIBRARIES)" || rm -f $(check_LTLIBRARIES)
+	@list='$(check_LTLIBRARIES)'; \
+	locs=`for p in $$list; do echo $$p; done | \
+	      sed 's|^[^/]*$$|.|; s|/[^/]*$$||; s|$$|/so_locations|' | \
+	      sort -u`; \
+	test -z "$$locs" || { \
+	  echo rm -f $${locs}; \
+	  rm -f $${locs}; \
+	}
+
+libhelper.la: $(libhelper_la_OBJECTS) $(libhelper_la_DEPENDENCIES) $(EXTRA_libhelper_la_DEPENDENCIES) 
+	$(AM_V_CXXLD)$(CXXLINK)  $(libhelper_la_OBJECTS) $(libhelper_la_LIBADD) $(LIBS)
+
+mostlyclean-compile:
+	-rm -f *.$(OBJEXT)
+
+distclean-compile:
+	-rm -f *.tab.c
+
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/SignalTranslator.Plo@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/TimeHelpers.Plo@am__quote@
+
+.cpp.o:
+@am__fastdepCXX_TRUE@	$(AM_V_CXX)$(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCXX_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	$(AM_V_CXX)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(AM_V_CXX@am__nodep@)$(CXXCOMPILE) -c -o $@ $<
+
+.cpp.obj:
+@am__fastdepCXX_TRUE@	$(AM_V_CXX)$(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ `$(CYGPATH_W) '$<'`
+@am__fastdepCXX_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	$(AM_V_CXX)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(AM_V_CXX@am__nodep@)$(CXXCOMPILE) -c -o $@ `$(CYGPATH_W) '$<'`
+
+.cpp.lo:
+@am__fastdepCXX_TRUE@	$(AM_V_CXX)$(LTCXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCXX_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Plo
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	$(AM_V_CXX)source='$<' object='$@' libtool=yes @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(AM_V_CXX@am__nodep@)$(LTCXXCOMPILE) -c -o $@ $<
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+
+ID: $(am__tagged_files)
+	$(am__define_uniq_tagged_files); mkid -fID $$unique
+tags: tags-am
+TAGS: tags
+
+tags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	set x; \
+	here=`pwd`; \
+	$(am__define_uniq_tagged_files); \
+	shift; \
+	if test -z "$(ETAGS_ARGS)$$*$$unique"; then :; else \
+	  test -n "$$unique" || unique=$$empty_fix; \
+	  if test $$# -gt 0; then \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      "$$@" $$unique; \
+	  else \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      $$unique; \
+	  fi; \
+	fi
+ctags: ctags-am
+
+CTAGS: ctags
+ctags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	$(am__define_uniq_tagged_files); \
+	test -z "$(CTAGS_ARGS)$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && $(am__cd) $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) "$$here"
+cscopelist: cscopelist-am
+
+cscopelist-am: $(am__tagged_files)
+	list='$(am__tagged_files)'; \
+	case "$(srcdir)" in \
+	  [\\/]* | ?:[\\/]*) sdir="$(srcdir)" ;; \
+	  *) sdir=$(subdir)/$(srcdir) ;; \
+	esac; \
+	for i in $$list; do \
+	  if test -f "$$i"; then \
+	    echo "$(subdir)/$$i"; \
+	  else \
+	    echo "$$sdir/$$i"; \
+	  fi; \
+	done >> $(top_builddir)/cscope.files
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+	$(MAKE) $(AM_MAKEFLAGS) $(check_LTLIBRARIES)
+check: check-am
+all-am: Makefile
+installdirs:
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-checkLTLIBRARIES clean-generic clean-libtool \
+	mostlyclean-am
+
+distclean: distclean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+	distclean-tags
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-am
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-am
+
+install-html-am:
+
+install-info: install-info-am
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-pdf-am:
+
+install-ps: install-ps-am
+
+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
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+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/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 @@
+# 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/Win32
+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 $(am__DIST_COMMON)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/ode/src/config.h
+CONFIG_CLEAN_FILES =
+CONFIG_CLEAN_VPATH_FILES =
+libhelper_la_LIBADD =
+am_libhelper_la_OBJECTS = TimeHelpers.lo
+libhelper_la_OBJECTS = $(am_libhelper_la_OBJECTS)
+AM_V_lt = $(am__v_lt_@AM_V@)
+am__v_lt_ = $(am__v_lt_@AM_DEFAULT_V@)
+am__v_lt_0 = --silent
+am__v_lt_1 = 
+AM_V_P = $(am__v_P_@AM_V@)
+am__v_P_ = $(am__v_P_@AM_DEFAULT_V@)
+am__v_P_0 = false
+am__v_P_1 = :
+AM_V_GEN = $(am__v_GEN_@AM_V@)
+am__v_GEN_ = $(am__v_GEN_@AM_DEFAULT_V@)
+am__v_GEN_0 = @echo "  GEN     " $@;
+am__v_GEN_1 = 
+AM_V_at = $(am__v_at_@AM_V@)
+am__v_at_ = $(am__v_at_@AM_DEFAULT_V@)
+am__v_at_0 = @
+am__v_at_1 = 
+DEFAULT_INCLUDES = -I.@am__isrc@ -I$(top_builddir)/ode/src
+depcomp = $(SHELL) $(top_srcdir)/depcomp
+am__depfiles_maybe = depfiles
+am__mv = mv -f
+CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
+	$(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
+LTCXXCOMPILE = $(LIBTOOL) $(AM_V_lt) --tag=CXX $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=compile $(CXX) $(DEFS) \
+	$(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
+	$(AM_CXXFLAGS) $(CXXFLAGS)
+AM_V_CXX = $(am__v_CXX_@AM_V@)
+am__v_CXX_ = $(am__v_CXX_@AM_DEFAULT_V@)
+am__v_CXX_0 = @echo "  CXX     " $@;
+am__v_CXX_1 = 
+CXXLD = $(CXX)
+CXXLINK = $(LIBTOOL) $(AM_V_lt) --tag=CXX $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=link $(CXXLD) $(AM_CXXFLAGS) \
+	$(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) -o $@
+AM_V_CXXLD = $(am__v_CXXLD_@AM_V@)
+am__v_CXXLD_ = $(am__v_CXXLD_@AM_DEFAULT_V@)
+am__v_CXXLD_0 = @echo "  CXXLD   " $@;
+am__v_CXXLD_1 = 
+COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
+	$(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
+LTCOMPILE = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=compile $(CC) $(DEFS) \
+	$(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) \
+	$(AM_CFLAGS) $(CFLAGS)
+AM_V_CC = $(am__v_CC_@AM_V@)
+am__v_CC_ = $(am__v_CC_@AM_DEFAULT_V@)
+am__v_CC_0 = @echo "  CC      " $@;
+am__v_CC_1 = 
+CCLD = $(CC)
+LINK = $(LIBTOOL) $(AM_V_lt) --tag=CC $(AM_LIBTOOLFLAGS) \
+	$(LIBTOOLFLAGS) --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
+	$(AM_LDFLAGS) $(LDFLAGS) -o $@
+AM_V_CCLD = $(am__v_CCLD_@AM_V@)
+am__v_CCLD_ = $(am__v_CCLD_@AM_DEFAULT_V@)
+am__v_CCLD_0 = @echo "  CCLD    " $@;
+am__v_CCLD_1 = 
+SOURCES = $(libhelper_la_SOURCES)
+DIST_SOURCES = $(libhelper_la_SOURCES)
+am__can_run_installinfo = \
+  case $$AM_UPDATE_INFO_DIR in \
+    n|no|NO) false;; \
+    *) (install-info --version) >/dev/null 2>&1;; \
+  esac
+am__tagged_files = $(HEADERS) $(SOURCES) $(TAGS_FILES) $(LISP)
+# Read a list of newline-separated strings from the standard input,
+# and print each of them once, without duplicates.  Input order is
+# *not* preserved.
+am__uniquify_input = $(AWK) '\
+  BEGIN { nonempty = 0; } \
+  { items[$$0] = 1; nonempty = 1; } \
+  END { if (nonempty) { for (i in items) print i; }; } \
+'
+# Make sure the list of sources is unique.  This is necessary because,
+# e.g., the same source file might be shared among _SOURCES variables
+# for different programs/libraries.
+am__define_uniq_tagged_files = \
+  list='$(am__tagged_files)'; \
+  unique=`for i in $$list; do \
+    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+  done | $(am__uniquify_input)`
+ETAGS = etags
+CTAGS = ctags
+am__DIST_COMMON = $(srcdir)/Makefile.in $(top_srcdir)/depcomp
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+ACLOCAL = @ACLOCAL@
+ALLOCA = @ALLOCA@
+AMTAR = @AMTAR@
+AM_DEFAULT_VERBOSITY = @AM_DEFAULT_VERBOSITY@
+AR = @AR@
+AS = @AS@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CCD_CFLAGS = @CCD_CFLAGS@
+CCD_LIBS = @CCD_LIBS@
+CFLAGS = @CFLAGS@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CXX = @CXX@
+CXXCPP = @CXXCPP@
+CXXDEPMODE = @CXXDEPMODE@
+CXXFLAGS = @CXXFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+DLLTOOL = @DLLTOOL@
+DOXYGEN = @DOXYGEN@
+DSYMUTIL = @DSYMUTIL@
+DUMPBIN = @DUMPBIN@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+EXTRA_LIBTOOL_LDFLAGS = @EXTRA_LIBTOOL_LDFLAGS@
+FGREP = @FGREP@
+GL_LIBS = @GL_LIBS@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LD = @LD@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LIBSTDCXX = @LIBSTDCXX@
+LIBTOOL = @LIBTOOL@
+LIPO = @LIPO@
+LN_S = @LN_S@
+LTLIBOBJS = @LTLIBOBJS@
+LT_SYS_LIBRARY_PATH = @LT_SYS_LIBRARY_PATH@
+MAKEINFO = @MAKEINFO@
+MANIFEST_TOOL = @MANIFEST_TOOL@
+MKDIR_P = @MKDIR_P@
+NM = @NM@
+NMEDIT = @NMEDIT@
+OBJDUMP = @OBJDUMP@
+OBJEXT = @OBJEXT@
+ODE_PRECISION = @ODE_PRECISION@
+ODE_VERSION = @ODE_VERSION@
+ODE_VERSION_INFO = @ODE_VERSION_INFO@
+OTOOL = @OTOOL@
+OTOOL64 = @OTOOL64@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_URL = @PACKAGE_URL@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+PKG_CONFIG = @PKG_CONFIG@
+PKG_CONFIG_LIBDIR = @PKG_CONFIG_LIBDIR@
+PKG_CONFIG_PATH = @PKG_CONFIG_PATH@
+RANLIB = @RANLIB@
+SED = @SED@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+WINDRES = @WINDRES@
+X11_CFLAGS = @X11_CFLAGS@
+X11_LIBS = @X11_LIBS@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_AR = @ac_ct_AR@
+ac_ct_CC = @ac_ct_CC@
+ac_ct_CXX = @ac_ct_CXX@
+ac_ct_DUMPBIN = @ac_ct_DUMPBIN@
+ac_ct_WINDRES = @ac_ct_WINDRES@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
+bindir = @bindir@
+build = @build@
+build_alias = @build_alias@
+build_cpu = @build_cpu@
+build_os = @build_os@
+build_vendor = @build_vendor@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host = @host@
+host_alias = @host_alias@
+host_cpu = @host_cpu@
+host_os = @host_os@
+host_vendor = @host_vendor@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+runstatedir = @runstatedir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+subdirs = @subdirs@
+sysconfdir = @sysconfdir@
+target_alias = @target_alias@
+top_build_prefix = @top_build_prefix@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+check_LTLIBRARIES = libhelper.la
+libhelper_la_SOURCES = TimeHelpers.cpp TimeHelpers.h
+all: all-am
+
+.SUFFIXES:
+.SUFFIXES: .cpp .lo .o .obj
+$(srcdir)/Makefile.in:  $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      ( cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh ) \
+	        && { if test -f $@; then exit 0; else break; fi; }; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --foreign tests/UnitTest++/src/Win32/Makefile'; \
+	$(am__cd) $(top_srcdir) && \
+	  $(AUTOMAKE) --foreign tests/UnitTest++/src/Win32/Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure:  $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4):  $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(am__aclocal_m4_deps):
+
+clean-checkLTLIBRARIES:
+	-test -z "$(check_LTLIBRARIES)" || rm -f $(check_LTLIBRARIES)
+	@list='$(check_LTLIBRARIES)'; \
+	locs=`for p in $$list; do echo $$p; done | \
+	      sed 's|^[^/]*$$|.|; s|/[^/]*$$||; s|$$|/so_locations|' | \
+	      sort -u`; \
+	test -z "$$locs" || { \
+	  echo rm -f $${locs}; \
+	  rm -f $${locs}; \
+	}
+
+libhelper.la: $(libhelper_la_OBJECTS) $(libhelper_la_DEPENDENCIES) $(EXTRA_libhelper_la_DEPENDENCIES) 
+	$(AM_V_CXXLD)$(CXXLINK)  $(libhelper_la_OBJECTS) $(libhelper_la_LIBADD) $(LIBS)
+
+mostlyclean-compile:
+	-rm -f *.$(OBJEXT)
+
+distclean-compile:
+	-rm -f *.tab.c
+
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/TimeHelpers.Plo@am__quote@
+
+.cpp.o:
+@am__fastdepCXX_TRUE@	$(AM_V_CXX)$(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCXX_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	$(AM_V_CXX)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(AM_V_CXX@am__nodep@)$(CXXCOMPILE) -c -o $@ $<
+
+.cpp.obj:
+@am__fastdepCXX_TRUE@	$(AM_V_CXX)$(CXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ `$(CYGPATH_W) '$<'`
+@am__fastdepCXX_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	$(AM_V_CXX)source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(AM_V_CXX@am__nodep@)$(CXXCOMPILE) -c -o $@ `$(CYGPATH_W) '$<'`
+
+.cpp.lo:
+@am__fastdepCXX_TRUE@	$(AM_V_CXX)$(LTCXXCOMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCXX_TRUE@	$(AM_V_at)$(am__mv) $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Plo
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	$(AM_V_CXX)source='$<' object='$@' libtool=yes @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCXX_FALSE@	DEPDIR=$(DEPDIR) $(CXXDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCXX_FALSE@	$(AM_V_CXX@am__nodep@)$(LTCXXCOMPILE) -c -o $@ $<
+
+mostlyclean-libtool:
+	-rm -f *.lo
+
+clean-libtool:
+	-rm -rf .libs _libs
+
+ID: $(am__tagged_files)
+	$(am__define_uniq_tagged_files); mkid -fID $$unique
+tags: tags-am
+TAGS: tags
+
+tags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	set x; \
+	here=`pwd`; \
+	$(am__define_uniq_tagged_files); \
+	shift; \
+	if test -z "$(ETAGS_ARGS)$$*$$unique"; then :; else \
+	  test -n "$$unique" || unique=$$empty_fix; \
+	  if test $$# -gt 0; then \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      "$$@" $$unique; \
+	  else \
+	    $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	      $$unique; \
+	  fi; \
+	fi
+ctags: ctags-am
+
+CTAGS: ctags
+ctags-am: $(TAGS_DEPENDENCIES) $(am__tagged_files)
+	$(am__define_uniq_tagged_files); \
+	test -z "$(CTAGS_ARGS)$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && $(am__cd) $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) "$$here"
+cscopelist: cscopelist-am
+
+cscopelist-am: $(am__tagged_files)
+	list='$(am__tagged_files)'; \
+	case "$(srcdir)" in \
+	  [\\/]* | ?:[\\/]*) sdir="$(srcdir)" ;; \
+	  *) sdir=$(subdir)/$(srcdir) ;; \
+	esac; \
+	for i in $$list; do \
+	  if test -f "$$i"; then \
+	    echo "$(subdir)/$$i"; \
+	  else \
+	    echo "$$sdir/$$i"; \
+	  fi; \
+	done >> $(top_builddir)/cscope.files
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d "$(distdir)/$$file"; then \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -fpR $(srcdir)/$$file "$(distdir)$$dir" || exit 1; \
+	      find "$(distdir)/$$file" -type d ! -perm -700 -exec chmod u+rwx {} \;; \
+	    fi; \
+	    cp -fpR $$d/$$file "$(distdir)$$dir" || exit 1; \
+	  else \
+	    test -f "$(distdir)/$$file" \
+	    || cp -p $$d/$$file "$(distdir)/$$file" \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+	$(MAKE) $(AM_MAKEFLAGS) $(check_LTLIBRARIES)
+check: check-am
+all-am: Makefile
+installdirs:
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	if test -z '$(STRIP)'; then \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	      install; \
+	else \
+	  $(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	    install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	    "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'" install; \
+	fi
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+	-test . = "$(srcdir)" || test -z "$(CONFIG_CLEAN_VPATH_FILES)" || rm -f $(CONFIG_CLEAN_VPATH_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-checkLTLIBRARIES clean-generic clean-libtool \
+	mostlyclean-am
+
+distclean: distclean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+	distclean-tags
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+html-am:
+
+info: info-am
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-am
+
+install-dvi-am:
+
+install-exec-am:
+
+install-html: install-html-am
+
+install-html-am:
+
+install-info: install-info-am
+
+install-info-am:
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-pdf-am:
+
+install-ps: install-ps-am
+
+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
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+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