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diff --git a/libs/ode-0.16.1/libccd/src/ccd/polytope.h b/libs/ode-0.16.1/libccd/src/ccd/polytope.h
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+++ b/libs/ode-0.16.1/libccd/src/ccd/polytope.h
@@ -0,0 +1,322 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ * This file is part of libccd.
+ *
+ * Distributed under the OSI-approved BSD License (the "License");
+ * see accompanying file BDS-LICENSE for details or see
+ * <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ * This software is distributed WITHOUT ANY WARRANTY; without even the
+ * implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the License for more information.
+ */
+
+#ifndef __CCD_POLYTOPE_H__
+#define __CCD_POLYTOPE_H__
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <ccd/support.h>
+#include <ccd/list.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+#define CCD_PT_VERTEX 1
+#define CCD_PT_EDGE 2
+#define CCD_PT_FACE 3
+
+
+#define __CCD_PT_EL \
+ int type; /*! type of element */ \
+ ccd_real_t dist; /*! distance from origin */ \
+ ccd_vec3_t witness; /*! witness point of projection of origin */ \
+ ccd_list_t list; /*! list of elements of same type */
+
+/**
+ * General polytope element.
+ * Could be vertex, edge or triangle.
+ */
+struct _ccd_pt_el_t {
+ __CCD_PT_EL
+};
+typedef struct _ccd_pt_el_t ccd_pt_el_t;
+
+struct _ccd_pt_edge_t;
+struct _ccd_pt_face_t;
+
+/**
+ * Polytope's vertex.
+ */
+struct _ccd_pt_vertex_t {
+ __CCD_PT_EL
+
+ int id;
+ ccd_support_t v;
+ ccd_list_t edges; //!< List of edges
+};
+typedef struct _ccd_pt_vertex_t ccd_pt_vertex_t;
+
+/**
+ * Polytope's edge.
+ */
+struct _ccd_pt_edge_t {
+ __CCD_PT_EL
+
+ ccd_pt_vertex_t *vertex[2]; //!< Reference to vertices
+ struct _ccd_pt_face_t *faces[2]; //!< Reference to faces
+
+ ccd_list_t vertex_list[2]; //!< List items in vertices' lists
+};
+typedef struct _ccd_pt_edge_t ccd_pt_edge_t;
+
+/**
+ * Polytope's triangle faces.
+ */
+struct _ccd_pt_face_t {
+ __CCD_PT_EL
+
+ ccd_pt_edge_t *edge[3]; //!< Reference to surrounding edges
+};
+typedef struct _ccd_pt_face_t ccd_pt_face_t;
+
+
+/**
+ * Struct containing polytope.
+ */
+struct _ccd_pt_t {
+ ccd_list_t vertices; //!< List of vertices
+ ccd_list_t edges; //!< List of edges
+ ccd_list_t faces; //!< List of faces
+
+ ccd_pt_el_t *nearest;
+ ccd_real_t nearest_dist;
+ int nearest_type;
+};
+typedef struct _ccd_pt_t ccd_pt_t;
+
+
+void ccdPtInit(ccd_pt_t *pt);
+void ccdPtDestroy(ccd_pt_t *pt);
+
+/**
+ * Returns vertices surrounding given triangle face.
+ */
+_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face,
+ ccd_vec3_t **a,
+ ccd_vec3_t **b,
+ ccd_vec3_t **c);
+_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face,
+ ccd_pt_vertex_t **a,
+ ccd_pt_vertex_t **b,
+ ccd_pt_vertex_t **c);
+_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f,
+ ccd_pt_edge_t **a,
+ ccd_pt_edge_t **b,
+ ccd_pt_edge_t **c);
+
+_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e,
+ ccd_vec3_t **a,
+ ccd_vec3_t **b);
+_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e,
+ ccd_pt_vertex_t **a,
+ ccd_pt_vertex_t **b);
+_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e,
+ ccd_pt_face_t **f1,
+ ccd_pt_face_t **f2);
+
+
+/**
+ * Adds vertex to polytope and returns pointer to newly created vertex.
+ */
+ccd_pt_vertex_t *ccdPtAddVertex(ccd_pt_t *pt, const ccd_support_t *v);
+_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt,
+ ccd_real_t x, ccd_real_t y, ccd_real_t z);
+
+/**
+ * Adds edge to polytope.
+ */
+ccd_pt_edge_t *ccdPtAddEdge(ccd_pt_t *pt, ccd_pt_vertex_t *v1,
+ ccd_pt_vertex_t *v2);
+
+/**
+ * Adds face to polytope.
+ */
+ccd_pt_face_t *ccdPtAddFace(ccd_pt_t *pt, ccd_pt_edge_t *e1,
+ ccd_pt_edge_t *e2,
+ ccd_pt_edge_t *e3);
+
+/**
+ * Deletes vertex from polytope.
+ * Returns 0 on success, -1 otherwise.
+ */
+_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *);
+_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *);
+_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *);
+
+
+/**
+ * Recompute distances from origin for all elements in pt.
+ */
+void ccdPtRecomputeDistances(ccd_pt_t *pt);
+
+/**
+ * Returns nearest element to origin.
+ */
+ccd_pt_el_t *ccdPtNearest(ccd_pt_t *pt);
+
+
+void ccdPtDumpSVT(ccd_pt_t *pt, const char *fn);
+void ccdPtDumpSVT2(ccd_pt_t *pt, FILE *);
+
+
+/**** INLINES ****/
+_ccd_inline ccd_pt_vertex_t *ccdPtAddVertexCoords(ccd_pt_t *pt,
+ ccd_real_t x, ccd_real_t y, ccd_real_t z)
+{
+ ccd_support_t s;
+ ccdVec3Set(&s.v, x, y, z);
+ return ccdPtAddVertex(pt, &s);
+}
+
+_ccd_inline int ccdPtDelVertex(ccd_pt_t *pt, ccd_pt_vertex_t *v)
+{
+ // test if any edge is connected to this vertex
+ if (!ccdListEmpty(&v->edges))
+ return -1;
+
+ // delete vertex from main list
+ ccdListDel(&v->list);
+
+ if ((void *)pt->nearest == (void *)v){
+ pt->nearest = NULL;
+ }
+
+ free(v);
+ return 0;
+}
+
+_ccd_inline int ccdPtDelEdge(ccd_pt_t *pt, ccd_pt_edge_t *e)
+{
+ // text if any face is connected to this edge (faces[] is always
+ // aligned to lower indices)
+ if (e->faces[0] != NULL)
+ return -1;
+
+ // disconnect edge from lists of edges in vertex struct
+ ccdListDel(&e->vertex_list[0]);
+ ccdListDel(&e->vertex_list[1]);
+
+ // disconnect edge from main list
+ ccdListDel(&e->list);
+
+ if ((void *)pt->nearest == (void *)e){
+ pt->nearest = NULL;
+ }
+
+ free(e);
+ return 0;
+}
+
+_ccd_inline int ccdPtDelFace(ccd_pt_t *pt, ccd_pt_face_t *f)
+{
+ ccd_pt_edge_t *e;
+ size_t i;
+
+ // remove face from edges' recerence lists
+ for (i = 0; i < 3; i++){
+ e = f->edge[i];
+ if (e->faces[0] == f){
+ e->faces[0] = e->faces[1];
+ }
+ e->faces[1] = NULL;
+ }
+
+ // remove face from list of all faces
+ ccdListDel(&f->list);
+
+ if ((void *)pt->nearest == (void *)f){
+ pt->nearest = NULL;
+ }
+
+ free(f);
+ return 0;
+}
+
+_ccd_inline void ccdPtFaceVec3(const ccd_pt_face_t *face,
+ ccd_vec3_t **a,
+ ccd_vec3_t **b,
+ ccd_vec3_t **c)
+{
+ *a = &face->edge[0]->vertex[0]->v.v;
+ *b = &face->edge[0]->vertex[1]->v.v;
+
+ if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0]
+ && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){
+ *c = &face->edge[1]->vertex[0]->v.v;
+ }else{
+ *c = &face->edge[1]->vertex[1]->v.v;
+ }
+}
+
+_ccd_inline void ccdPtFaceVertices(const ccd_pt_face_t *face,
+ ccd_pt_vertex_t **a,
+ ccd_pt_vertex_t **b,
+ ccd_pt_vertex_t **c)
+{
+ *a = face->edge[0]->vertex[0];
+ *b = face->edge[0]->vertex[1];
+
+ if (face->edge[1]->vertex[0] != face->edge[0]->vertex[0]
+ && face->edge[1]->vertex[0] != face->edge[0]->vertex[1]){
+ *c = face->edge[1]->vertex[0];
+ }else{
+ *c = face->edge[1]->vertex[1];
+ }
+}
+
+_ccd_inline void ccdPtFaceEdges(const ccd_pt_face_t *f,
+ ccd_pt_edge_t **a,
+ ccd_pt_edge_t **b,
+ ccd_pt_edge_t **c)
+{
+ *a = f->edge[0];
+ *b = f->edge[1];
+ *c = f->edge[2];
+}
+
+_ccd_inline void ccdPtEdgeVec3(const ccd_pt_edge_t *e,
+ ccd_vec3_t **a,
+ ccd_vec3_t **b)
+{
+ *a = &e->vertex[0]->v.v;
+ *b = &e->vertex[1]->v.v;
+}
+
+_ccd_inline void ccdPtEdgeVertices(const ccd_pt_edge_t *e,
+ ccd_pt_vertex_t **a,
+ ccd_pt_vertex_t **b)
+{
+ *a = e->vertex[0];
+ *b = e->vertex[1];
+}
+
+_ccd_inline void ccdPtEdgeFaces(const ccd_pt_edge_t *e,
+ ccd_pt_face_t **f1,
+ ccd_pt_face_t **f2)
+{
+ *f1 = e->faces[0];
+ *f2 = e->faces[1];
+}
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_POLYTOPE_H__ */
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