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diff --git a/libs/ode-0.16.1/ode/src/rotation.cpp b/libs/ode-0.16.1/ode/src/rotation.cpp
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+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+/*
+
+quaternions have the format: (s,vx,vy,vz) where (vx,vy,vz) is the
+"rotation axis" and s is the "rotation angle".
+
+*/
+
+#include <ode/rotation.h>
+#include "config.h"
+#include "odemath.h"
+
+
+#define _R(i,j) R[(i)*4+(j)]
+
+#define SET_3x3_IDENTITY \
+ _R(0,0) = REAL(1.0); \
+ _R(0,1) = REAL(0.0); \
+ _R(0,2) = REAL(0.0); \
+ _R(0,3) = REAL(0.0); \
+ _R(1,0) = REAL(0.0); \
+ _R(1,1) = REAL(1.0); \
+ _R(1,2) = REAL(0.0); \
+ _R(1,3) = REAL(0.0); \
+ _R(2,0) = REAL(0.0); \
+ _R(2,1) = REAL(0.0); \
+ _R(2,2) = REAL(1.0); \
+ _R(2,3) = REAL(0.0);
+
+
+void dRSetIdentity (dMatrix3 R)
+{
+ dAASSERT (R);
+ SET_3x3_IDENTITY;
+}
+
+
+void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
+ dReal angle)
+{
+ dAASSERT (R);
+ dQuaternion q;
+ dQFromAxisAndAngle (q,ax,ay,az,angle);
+ dQtoR (q,R);
+}
+
+
+void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi)
+{
+ dReal sphi,cphi,stheta,ctheta,spsi,cpsi;
+ dAASSERT (R);
+ sphi = dSin(phi);
+ cphi = dCos(phi);
+ stheta = dSin(theta);
+ ctheta = dCos(theta);
+ spsi = dSin(psi);
+ cpsi = dCos(psi);
+ _R(0,0) = cpsi*ctheta;
+ _R(0,1) = spsi*ctheta;
+ _R(0,2) =-stheta;
+ _R(0,3) = REAL(0.0);
+ _R(1,0) = cpsi*stheta*sphi - spsi*cphi;
+ _R(1,1) = spsi*stheta*sphi + cpsi*cphi;
+ _R(1,2) = ctheta*sphi;
+ _R(1,3) = REAL(0.0);
+ _R(2,0) = cpsi*stheta*cphi + spsi*sphi;
+ _R(2,1) = spsi*stheta*cphi - cpsi*sphi;
+ _R(2,2) = ctheta*cphi;
+ _R(2,3) = REAL(0.0);
+}
+
+
+void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
+ dReal bx, dReal by, dReal bz)
+{
+ dReal l,k;
+ dAASSERT (R);
+ l = dSqrt (ax*ax + ay*ay + az*az);
+ if (l <= REAL(0.0)) {
+ dDEBUGMSG ("zero length vector");
+ return;
+ }
+ l = dRecip(l);
+ ax *= l;
+ ay *= l;
+ az *= l;
+ k = ax*bx + ay*by + az*bz;
+ bx -= k*ax;
+ by -= k*ay;
+ bz -= k*az;
+ l = dSqrt (bx*bx + by*by + bz*bz);
+ if (l <= REAL(0.0)) {
+ dDEBUGMSG ("zero length vector");
+ return;
+ }
+ l = dRecip(l);
+ bx *= l;
+ by *= l;
+ bz *= l;
+ _R(0,0) = ax;
+ _R(1,0) = ay;
+ _R(2,0) = az;
+ _R(0,1) = bx;
+ _R(1,1) = by;
+ _R(2,1) = bz;
+ _R(0,2) = - by*az + ay*bz;
+ _R(1,2) = - bz*ax + az*bx;
+ _R(2,2) = - bx*ay + ax*by;
+ _R(0,3) = REAL(0.0);
+ _R(1,3) = REAL(0.0);
+ _R(2,3) = REAL(0.0);
+}
+
+
+void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az)
+{
+ dVector3 n,p,q;
+ n[0] = ax;
+ n[1] = ay;
+ n[2] = az;
+ dNormalize3 (n);
+ dPlaneSpace (n,p,q);
+ _R(0,0) = p[0];
+ _R(1,0) = p[1];
+ _R(2,0) = p[2];
+ _R(0,1) = q[0];
+ _R(1,1) = q[1];
+ _R(2,1) = q[2];
+ _R(0,2) = n[0];
+ _R(1,2) = n[1];
+ _R(2,2) = n[2];
+ _R(0,3) = REAL(0.0);
+ _R(1,3) = REAL(0.0);
+ _R(2,3) = REAL(0.0);
+}
+
+
+void dQSetIdentity (dQuaternion q)
+{
+ dAASSERT (q);
+ q[0] = 1;
+ q[1] = 0;
+ q[2] = 0;
+ q[3] = 0;
+}
+
+
+void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
+ dReal angle)
+{
+ dAASSERT (q);
+ dReal l = ax*ax + ay*ay + az*az;
+ if (l > REAL(0.0)) {
+ angle *= REAL(0.5);
+ q[0] = dCos (angle);
+ l = dSin(angle) * dRecipSqrt(l);
+ q[1] = ax*l;
+ q[2] = ay*l;
+ q[3] = az*l;
+ }
+ else {
+ q[0] = 1;
+ q[1] = 0;
+ q[2] = 0;
+ q[3] = 0;
+ }
+}
+
+
+void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
+{
+ dAASSERT (qa && qb && qc);
+ qa[0] = qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
+ qa[1] = qb[0]*qc[1] + qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
+ qa[2] = qb[0]*qc[2] + qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
+ qa[3] = qb[0]*qc[3] + qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
+}
+
+
+void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
+{
+ dAASSERT (qa && qb && qc);
+ qa[0] = qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3];
+ qa[1] = qb[0]*qc[1] - qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2];
+ qa[2] = qb[0]*qc[2] - qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3];
+ qa[3] = qb[0]*qc[3] - qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1];
+}
+
+
+void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
+{
+ dAASSERT (qa && qb && qc);
+ qa[0] = qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3];
+ qa[1] = -qb[0]*qc[1] + qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2];
+ qa[2] = -qb[0]*qc[2] + qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3];
+ qa[3] = -qb[0]*qc[3] + qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1];
+}
+
+
+void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
+{
+ dAASSERT (qa && qb && qc);
+ qa[0] = qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
+ qa[1] = -qb[0]*qc[1] - qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
+ qa[2] = -qb[0]*qc[2] - qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
+ qa[3] = -qb[0]*qc[3] - qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
+}
+
+
+// dRfromQ(), dQfromR() and dDQfromW() are derived from equations in "An Introduction
+// to Physically Based Modeling: Rigid Body Simulation - 1: Unconstrained
+// Rigid Body Dynamics" by David Baraff, Robotics Institute, Carnegie Mellon
+// University, 1997.
+
+void dRfromQ (dMatrix3 R, const dQuaternion q)
+{
+ dAASSERT (q && R);
+ // q = (s,vx,vy,vz)
+ dReal qq1 = 2*q[1]*q[1];
+ dReal qq2 = 2*q[2]*q[2];
+ dReal qq3 = 2*q[3]*q[3];
+ _R(0,0) = 1 - qq2 - qq3;
+ _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
+ _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
+ _R(0,3) = REAL(0.0);
+ _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
+ _R(1,1) = 1 - qq1 - qq3;
+ _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
+ _R(1,3) = REAL(0.0);
+ _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
+ _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
+ _R(2,2) = 1 - qq1 - qq2;
+ _R(2,3) = REAL(0.0);
+}
+
+
+void dQfromR (dQuaternion q, const dMatrix3 R)
+{
+ dAASSERT (q && R);
+ dReal tr,s;
+ tr = _R(0,0) + _R(1,1) + _R(2,2);
+ if (tr >= 0) {
+ s = dSqrt (tr + 1);
+ q[0] = REAL(0.5) * s;
+ s = REAL(0.5) * dRecip(s);
+ q[1] = (_R(2,1) - _R(1,2)) * s;
+ q[2] = (_R(0,2) - _R(2,0)) * s;
+ q[3] = (_R(1,0) - _R(0,1)) * s;
+ }
+ else {
+ // find the largest diagonal element and jump to the appropriate case
+ if (_R(1,1) > _R(0,0)) {
+ if (_R(2,2) > _R(1,1)) goto case_2;
+ goto case_1;
+ }
+ if (_R(2,2) > _R(0,0)) goto case_2;
+ goto case_0;
+
+case_0:
+ s = dSqrt((_R(0,0) - (_R(1,1) + _R(2,2))) + 1);
+ q[1] = REAL(0.5) * s;
+ s = REAL(0.5) * dRecip(s);
+ q[2] = (_R(0,1) + _R(1,0)) * s;
+ q[3] = (_R(2,0) + _R(0,2)) * s;
+ q[0] = (_R(2,1) - _R(1,2)) * s;
+ return;
+
+case_1:
+ s = dSqrt((_R(1,1) - (_R(2,2) + _R(0,0))) + 1);
+ q[2] = REAL(0.5) * s;
+ s = REAL(0.5) * dRecip(s);
+ q[3] = (_R(1,2) + _R(2,1)) * s;
+ q[1] = (_R(0,1) + _R(1,0)) * s;
+ q[0] = (_R(0,2) - _R(2,0)) * s;
+ return;
+
+case_2:
+ s = dSqrt((_R(2,2) - (_R(0,0) + _R(1,1))) + 1);
+ q[3] = REAL(0.5) * s;
+ s = REAL(0.5) * dRecip(s);
+ q[1] = (_R(2,0) + _R(0,2)) * s;
+ q[2] = (_R(1,2) + _R(2,1)) * s;
+ q[0] = (_R(1,0) - _R(0,1)) * s;
+ return;
+ }
+}
+
+
+void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q)
+{
+ dAASSERT (w && q && dq);
+ dq[0] = REAL(0.5)*(- w[0]*q[1] - w[1]*q[2] - w[2]*q[3]);
+ dq[1] = REAL(0.5)*( w[0]*q[0] + w[1]*q[3] - w[2]*q[2]);
+ dq[2] = REAL(0.5)*(- w[0]*q[3] + w[1]*q[0] + w[2]*q[1]);
+ dq[3] = REAL(0.5)*( w[0]*q[2] - w[1]*q[1] + w[2]*q[0]);
+}
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