checkin of ODE library. Do not modify the ODE source code; instead, follow the

development of ode at http://q12.org and periodically copy the q12.org ODE
sourcecode into this tree to update the Blender ODE.

This ODE has not been changed from q12.org and is provided here merely as a
convenience to Blender developers.

11 files changed, 522 insertions, 0 deletions

diff --git a/extern/ode/dist/config/README b/extern/ode/dist/config/README
new file mode 100644
index 00000000000..0fa18062a4e
--- /dev/null
+++ b/extern/ode/dist/config/README
@@ -0,0 +1,41 @@
+
+variable names used in the per-platform makefile configuration files:
+
+platform stuff
+--------------
+
+WINDOWS			set to 1 if this is a microsoft windows based platform
+
+filesystem stuff and commands
+-----------------------------
+
+THIS_DIR		prefix to run a command from the current directory
+DEL_CMD			the name of the delete command
+
+compiler stuff
+--------------
+
+CC			the C/C++ compiler to use
+OBJ			the object file extension
+C_FLAGS			the standard set of compiler flags
+C_INC			flag to add an include path
+C_OUT			flag to specify the object file output
+C_EXEOUT		flag to specify the executable file output
+C_DEF			flag to add a define
+C_OPT			flag to set the optimization level
+OPT			the optimization level to use
+
+library archiver
+----------------
+
+AR			library archiver command
+RANLIB			ranlib command, if necessary
+LIB_PREFIX		library file prefix
+LIB_SUFFIX		library file suffix
+LINK_OPENGL		link flags to link in windowing stuff and opengl
+LINK_MATH		link flags to link in the system math library
+
+windows specific stuff
+----------------------
+
+RC_RULE			makefile rule to use for the resource compiler
diff --git a/extern/ode/dist/config/makefile.cygwin b/extern/ode/dist/config/makefile.cygwin
new file mode 100644
index 00000000000..de23b71a29f
--- /dev/null
+++ b/extern/ode/dist/config/makefile.cygwin
@@ -0,0 +1,28 @@
+WINDOWS=1
+THIS_DIR=./
+DEL_CMD=rm -f
+CC=gcc
+OBJ=.o
+C_FLAGS=-c -Wall -fno-exceptions -fno-rtti -DWIN32 -DCYGWIN
+C_INC=-I
+C_OUT=-o 
+C_EXEOUT=-o 
+C_DEF=-D
+C_OPT=-O
+AR=ar rc 
+RANLIB=
+LIB_PREFIX=lib
+LIB_SUFFIX=.a
+LINK_OPENGL=-lComctl32 -lkernel32 -luser32 -lgdi32 -lOpenGL32 -lGlu32
+LINK_MATH=-lm
+RC_RULE=windres -I rc -O coff $< $@
+
+ifeq ($(BUILD),release)
+OPT=2
+C_FLAGS+=-fomit-frame-pointer -ffast-math
+endif
+
+ifeq ($(BUILD),debug)
+OPT=0
+C_FLAGS+=-g
+endif
diff --git a/extern/ode/dist/config/makefile.mingw b/extern/ode/dist/config/makefile.mingw
new file mode 100644
index 00000000000..4b18fb6bcdc
--- /dev/null
+++ b/extern/ode/dist/config/makefile.mingw
@@ -0,0 +1,28 @@
+WINDOWS=1
+THIS_DIR=
+DEL_CMD=tools\rm
+CC=gcc
+OBJ=.o
+C_FLAGS=-c -Wall -fno-exceptions -fno-rtti -DWIN32
+C_INC=-I
+C_OUT=-o 
+C_EXEOUT=-o 
+C_DEF=-D
+C_OPT=-O
+AR=ar rc 
+RANLIB=
+LIB_PREFIX=lib
+LIB_SUFFIX=.a
+LINK_OPENGL=-lComctl32 -lkernel32 -luser32 -lgdi32 -lOpenGL32 -lGlu32
+LINK_MATH=-lm
+RC_RULE=windres -I rc -O coff $< $@
+
+ifeq ($(BUILD),release)
+OPT=2
+C_FLAGS+=-fomit-frame-pointer -ffast-math
+endif
+
+ifeq ($(BUILD),debug)
+OPT=0
+C_FLAGS+=-g
+endif
diff --git a/extern/ode/dist/config/makefile.msvc b/extern/ode/dist/config/makefile.msvc
new file mode 100644
index 00000000000..9d4da0bf912
--- /dev/null
+++ b/extern/ode/dist/config/makefile.msvc
@@ -0,0 +1,27 @@
+WINDOWS=1
+THIS_DIR=
+DEL_CMD=tools\rm
+CC=cl /nologo /DWIN32 /DMSVC /DSHAREDLIBEXPORT= /DSHAREDLIBIMPORT=
+OBJ=.obj
+C_FLAGS=/c /GR- /GX- /W3 /GF
+C_INC=/I
+C_OUT=/Fo
+C_EXEOUT=/Fe
+C_DEF=/D
+C_OPT=/O
+AR=lib /nologo /OUT:
+RANLIB=
+LIB_PREFIX=
+LIB_SUFFIX=.lib
+LINK_OPENGL=Comctl32.lib kernel32.lib user32.lib gdi32.lib OpenGL32.lib Glu32.lib
+LINK_MATH=
+RC_RULE=rc /r /fo$@ $<
+
+ifeq ($(BUILD),release)
+OPT=2
+C_FLAGS+=/Oy
+endif
+
+ifeq ($(BUILD),debug)
+OPT=d
+endif
diff --git a/extern/ode/dist/config/makefile.msvc-dll b/extern/ode/dist/config/makefile.msvc-dll
new file mode 100644
index 00000000000..fe495893616
--- /dev/null
+++ b/extern/ode/dist/config/makefile.msvc-dll
@@ -0,0 +1,29 @@
+WINDOWS=1
+THIS_DIR=
+DEL_CMD=tools\rm
+CC=cl /nologo /DWIN32 /DMSVC /DSHAREDLIBIMPORT=__declspec(dllimport) /DSHAREDLIBEXPORT=__declspec(dllexport)
+OBJ=.obj
+C_FLAGS=/c /GR- /GX- /W3 /GF
+C_INC=/I
+C_OUT=/Fo
+C_EXEOUT=/Fe
+C_DEF=/D
+C_OPT=/O
+AR=lib /nologo /OUT:
+RANLIB=
+LIB_PREFIX=
+LIB_SUFFIX=.lib
+LINK_OPENGL=Comctl32.lib kernel32.lib user32.lib gdi32.lib OpenGL32.lib Glu32.lib
+LINK_MATH=
+RC_RULE=rc /r /fo$@ $<
+
+ifeq ($(BUILD),release)
+OPT=2
+C_FLAGS+=/Oy
+endif
+
+ifeq ($(BUILD),debug)
+OPT=d
+endif
+
+ODE_LIB_AR_RULE=link /dll /nologo /SUBSYSTEM:WINDOWS /LIBPATH:"C:\Programme\Micros~2\VC98\Lib" /def:config/msvcdefs.def $(LINK_OPENGL) /OUT:$(patsubst %.lib,%.dll,$@)
diff --git a/extern/ode/dist/config/makefile.osx b/extern/ode/dist/config/makefile.osx
new file mode 100644
index 00000000000..cb883e3895c
--- /dev/null
+++ b/extern/ode/dist/config/makefile.osx
@@ -0,0 +1,26 @@
+THIS_DIR=./
+DEL_CMD=rm -f
+CC=cc
+OBJ=.o
+C_FLAGS=-c -Wall -fno-rtti -fno-exceptions -Wall
+C_INC=-I
+C_OUT=-o 
+C_EXEOUT=-o 
+C_DEF=-D
+C_OPT=-O
+AR=ar rc 
+RANLIB=
+LIB_PREFIX=lib
+LIB_SUFFIX=.a
+LINK_OPENGL=-L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU
+LINK_MATH=-lm
+
+ifeq ($(BUILD),release)
+OPT=2
+C_FLAGS+=-fomit-frame-pointer -ffast-math
+endif
+
+ifeq ($(BUILD),debug)
+OPT=0
+C_FLAGS+=-g
+endif
diff --git a/extern/ode/dist/config/makefile.unix-gcc b/extern/ode/dist/config/makefile.unix-gcc
new file mode 100644
index 00000000000..b9d07632353
--- /dev/null
+++ b/extern/ode/dist/config/makefile.unix-gcc
@@ -0,0 +1,29 @@
+THIS_DIR=./
+DEL_CMD=rm -f
+CC=gcc
+OBJ=.o
+C_FLAGS=-c -Wall -fno-rtti -fno-exceptions -Wall
+C_INC=-I
+C_OUT=-o 
+C_EXEOUT=-o 
+C_DEF=-D
+C_OPT=-O
+AR=ar rc 
+RANLIB=
+LIB_PREFIX=lib
+LIB_SUFFIX=.a
+LINK_OPENGL=-L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU
+LINK_MATH=-lm
+
+ifeq ($(BUILD),release)
+OPT=2
+C_FLAGS+=-fomit-frame-pointer -ffast-math
+endif
+
+ifeq ($(BUILD),debug)
+OPT=0
+C_FLAGS+=-g
+endif
+
+# some other possible flags:
+#   -malign-double -mpentiumpro -march=pentiumpro
diff --git a/extern/ode/dist/config/makefile.unix-generic b/extern/ode/dist/config/makefile.unix-generic
new file mode 100644
index 00000000000..f435e1a0db8
--- /dev/null
+++ b/extern/ode/dist/config/makefile.unix-generic
@@ -0,0 +1,24 @@
+THIS_DIR=./
+DEL_CMD=rm -f
+CC=CC
+OBJ=.o
+C_FLAGS=-c
+C_INC=-I
+C_OUT=-o 
+C_EXEOUT=-o 
+C_DEF=-D
+C_OPT=-O
+AR=ar rc 
+RANLIB=
+LIB_PREFIX=lib
+LIB_SUFFIX=.a
+LINK_OPENGL=-L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU
+LINK_MATH=-lm
+
+ifeq ($(BUILD),release)
+OPT=2
+endif
+
+ifeq ($(BUILD),debug)
+OPT=0
+endif
diff --git a/extern/ode/dist/config/msvcdefs.def b/extern/ode/dist/config/msvcdefs.def
new file mode 100644
index 00000000000..11258ab9aa8
--- /dev/null
+++ b/extern/ode/dist/config/msvcdefs.def
@@ -0,0 +1,228 @@
+LIBRARY ODE
+EXPORTS
+dAreConnected
+dBodyAddForce
+dBodyAddForceAtPos
+dBodyAddForceAtRelPos
+dBodyAddRelForce
+dBodyAddRelForceAtPos
+dBodyAddRelForceAtRelPos
+dBodyAddRelTorque
+dBodyAddTorque
+dBodyCreate
+dBodyDestroy
+dBodyDisable
+dBodyEnable
+dBodyGetAngularVel
+dBodyGetData
+dBodyGetFiniteRotationAxis
+dBodyGetFiniteRotationMode
+dBodyGetForce
+dBodyGetGravityMode
+dBodyGetJoint
+dBodyGetLinearVel
+dBodyGetMass
+dBodyGetNumJoints
+dBodyGetPointVel
+dBodyGetPosRelPoint
+dBodyGetPosition
+dBodyGetQuaternion
+dBodyGetRelPointPos
+dBodyGetRelPointVel
+dBodyGetRotation
+dBodyGetTorque
+dBodyIsEnabled
+dBodySetAngularVel
+dBodySetData
+dBodySetFiniteRotationAxis
+dBodySetFiniteRotationMode
+dBodySetForce
+dBodySetGravityMode
+dBodySetLinearVel
+dBodySetMass
+dBodySetPosition
+dBodySetQuaternion
+dBodySetRotation
+dBodySetTorque
+dBodyVectorFromWorld
+dBodyVectorToWorld
+dBoxBox
+dBoxClass
+dBoxTouchesBox
+dCCylinderClass
+dClearUpperTriangle
+dCloseODE
+dClosestLineSegmentPoints
+dCollide
+dCreateBox
+dCreateCCylinder
+dCreateGeom
+dCreateGeomClass
+dCreateGeomGroup
+dCreateGeomTransform
+dCreatePlane
+dCreateSphere
+dError
+dFactorCholesky
+dFactorLDLT
+dGeomBoxGetLengths
+dGeomBoxSetLengths
+dGeomCCylinderGetParams
+dGeomCCylinderSetParams
+dGeomDestroy
+dGeomGetAABB
+dGeomGetBody
+dGeomGetClass
+dGeomGetClassData
+dGeomGetData
+dGeomGetPosition
+dGeomGetRotation
+dGeomGetSpaceAABB
+dGeomGroupAdd
+dGeomGroupGetGeom
+dGeomGroupGetNumGeoms
+dGeomGroupRemove
+dGeomPlaneGetParams
+dGeomPlaneSetParams
+dGeomSetBody
+dGeomSetData
+dGeomSetPosition
+dGeomSetRotation
+dGeomSphereGetRadius
+dGeomSphereSetRadius
+dGeomTransformClass
+dGeomTransformGetCleanup
+dGeomTransformGetGeom
+dGeomTransformSetCleanup
+dGeomTransformSetGeom
+dHashSpaceCreate
+dHashSpaceSetLevels
+dInfiniteAABB
+dInfinityValue
+dInvertPDMatrix
+dIsPositiveDefinite
+dJointAttach
+dJointCreateAMotor
+dJointCreateBall
+dJointCreateContact
+dJointCreateFixed
+dJointCreateHinge
+dJointCreateHinge2
+dJointCreateSlider
+dJointCreateUniversal
+dJointDestroy
+dJointGetAMotorAngle
+dJointGetAMotorAngleRate
+dJointGetAMotorAxis
+dJointGetAMotorAxisRel
+dJointGetAMotorMode
+dJointGetAMotorNumAxes
+dJointGetAMotorParam
+dJointGetBallAnchor
+dJointGetBody
+dJointGetData
+dJointGetHinge2Anchor
+dJointGetHinge2Angle1
+dJointGetHinge2Angle1Rate
+dJointGetHinge2Angle2Rate
+dJointGetHinge2Axis1
+dJointGetHinge2Axis2
+dJointGetHinge2Param
+dJointGetHingeAnchor
+dJointGetHingeAngle
+dJointGetHingeAngleRate
+dJointGetHingeAxis
+dJointGetHingeParam
+dJointGetSliderAxis
+dJointGetSliderParam
+dJointGetSliderPosition
+dJointGetSliderPositionRate
+dJointGetType
+dJointGetUniversalAnchor
+dJointGetUniversalAxis1
+dJointGetUniversalAxis2
+dJointGroupCreate
+dJointGroupDestroy
+dJointGroupEmpty
+dJointSetAMotorAngle
+dJointSetAMotorAxis
+dJointSetAMotorMode
+dJointSetAMotorNumAxes
+dJointSetAMotorParam
+dJointSetBallAnchor
+dJointSetData
+dJointSetFixed
+dJointSetHinge2Anchor
+dJointSetHinge2Axis1
+dJointSetHinge2Axis2
+dJointSetHinge2Param
+dJointSetHingeAnchor
+dJointSetHingeAxis
+dJointSetHingeParam
+dJointSetSliderAxis
+dJointSetSliderParam
+dJointSetUniversalAnchor
+dJointSetUniversalAxis1
+dJointSetUniversalAxis2
+dLDLTAddTL
+dLDLTRemove
+dMakeRandomMatrix
+dMakeRandomVector
+dMassAdd
+dMassAdjust
+dMassRotate
+dMassSetBox
+dMassSetCappedCylinder
+dMassSetParameters
+dMassSetSphere
+dMassSetZero
+dMassTranslate
+dMaxDifference
+dMultiply0
+dMultiply1
+dMultiply2
+dNormalize3
+dNormalize4
+dPlaneSpace
+dQFromAxisAndAngle
+dQMultiply0
+dQMultiply1
+dQMultiply2
+dQMultiply3
+dQSetIdentity
+dQtoR
+dRFrom2Axes
+dRFromAxisAndAngle
+dRFromEulerAngles
+dRSetIdentity
+dRandInt
+dRandReal
+dRandSetSeed
+dRemoveRowCol
+dRtoQ
+dSetMessageHandler
+dSetZero
+dSimpleSpaceCreate
+dSolveCholesky
+dSolveLDLT
+dSpaceAdd
+dSpaceCollide
+dSpaceDestroy
+dSpaceQuery
+dSpaceRemove
+dSphereClass
+dTestMatrixComparison
+dTestRand
+dTestSolveLCP
+dWorldCreate
+dWorldDestroy
+dWorldGetCFM
+dWorldGetERP
+dWorldGetGravity
+dWorldImpulseToForce
+dWorldSetCFM
+dWorldSetERP
+dWorldSetGravity
+dWorldStep
+dWorldStep 
+dWtoDQ
diff --git a/extern/ode/dist/config/user-settings b/extern/ode/dist/config/user-settings
new file mode 100644
index 00000000000..d632eba9678
--- /dev/null
+++ b/extern/ode/dist/config/user-settings
@@ -0,0 +1,31 @@
+# ODE user settings: the following variables must be set by the user
+
+# (1) the platform to use. this name should have a corresponding
+#     makefile.PLATFORM file. currently supported platforms are:
+#       msvc		microsoft visual C/C++
+#       msvc-dll	microsoft visual C/C++, create a DLL
+#       mingw		minimalist GNU for windows
+#       cygwin		cygnus GNU for windows
+#       unix-gcc	GNU gcc on unix
+#       unix-generic	generic unix compiler. you may need to edit the CC
+#			variable in makefile.unix-generic
+#	osx		Mac OS-X, with the gnu compiler.
+
+PLATFORM=unix-gcc
+
+# (2) the floating point precision to use (either "SINGLE" or "DOUBLE")
+
+PRECISION=SINGLE
+#PRECISION=DOUBLE
+
+# (3) the library type to build (either "debug" if you are doing development,
+#     or "release" for the optimized library)
+
+#BUILD=debug
+BUILD=release
+
+# (4) if you are using an old version of MS-Windows that has command line
+#     length limitations then you will need to set this to "1". otherwise,
+#     leave it at "0".
+
+WINDOWS16=0
diff --git a/extern/ode/dist/config/user-settings.example b/extern/ode/dist/config/user-settings.example
new file mode 100644
index 00000000000..0b0d480a25a
--- /dev/null
+++ b/extern/ode/dist/config/user-settings.example
@@ -0,0 +1,31 @@
+# ODE user settings: the following variables must be set by the user
+
+# (1) the platform to use. this name should have a corresponding
+#     makefile.PLATFORM file. currently supported platforms are:
+#       msvc		microsoft visual C/C++
+#       msvc-dll	microsoft visual C/C++, create a DLL
+#       mingw		minimalist GNU for windows
+#       cygwin		cygnus GNU for windows
+#       unix-gcc	GNU gcc on unix
+#       unix-generic	generic unix compiler. you may need to edit the CC
+#			variable in makefile.unix-generic
+#	osx		Mac OS-X, with the gnu compiler.
+
+PLATFORM=unix-gcc
+
+# (2) the floating point precision to use (either "SINGLE" or "DOUBLE")
+
+#PRECISION=SINGLE
+PRECISION=DOUBLE
+
+# (3) the library type to build (either "debug" if you are doing development,
+#     or "release" for the optimized library)
+
+#BUILD=debug
+BUILD=release
+
+# (4) if you are using an old version of MS-Windows that has command line
+#     length limitations then you will need to set this to "1". otherwise,
+#     leave it at "0".
+
+WINDOWS16=0