first pass at integrating ODE v0.7

panda/metalibs/pandaode/Sources.pp

@@ -0,0 +1,26 @@
+// DIR_TYPE "metalib" indicates we are building a shared library that
+// consists mostly of references to other shared libraries.  Under
+// Windows, this directly produces a DLL (as opposed to the regular
+// src libraries, which don't produce anything but a pile of OBJ files
+// under Windows).
+
+#define DIR_TYPE metalib
+#define BUILD_DIRECTORY $[HAVE_ODE]
+#define BUILDING_DLL BUILDING_PANDAODE
+ 
+#define COMPONENT_LIBS \
+    pode
+
+#define LOCAL_LIBS pgraph
+#define OTHER_LIBS interrogatedb:c dconfig:c dtoolconfig:m \
+	           dtoolutil:c dtoolbase:c dtool:m prc:c
+
+
+#begin metalib_target
+#define TARGET pandaode
+
+  #define SOURCES pandaode.cxx pandaode.h
+  #define INSTALL_HEADERS pandaode.h
+
+#end metalib_target
+

panda/metalibs/pandaode/pandaode.cxx

@@ -0,0 +1,26 @@
+// Filename: pandaode.cxx
+// Created by:  drose (16May00)
+// 
+////////////////////////////////////////////////////////////////////
+
+#include "pandaode.h"
+#include "config_ode.h"
+
+// By including checkPandaVersion.h, we guarantee that runtime
+// attempts to load libpandaode.so/.dll will fail if they
+// inadvertently link with the wrong version of libdtool.so/.dll.
+
+#include "checkPandaVersion.h"
+
+////////////////////////////////////////////////////////////////////
+//     Function: init_libpandaode
+//  Description: Initializes the library.  This must be called at
+//               least once before any of the functions or classes in
+//               this library can be used.  Normally it will be
+//               called by the static initializers and need not be
+//               called explicitly, but special cases exist.
+////////////////////////////////////////////////////////////////////
+void
+init_libpandaode() {
+  init_libode();
+}

panda/metalibs/pandaode/pandaode.h

@@ -0,0 +1,13 @@
+// Filename: pandaode.h
+// Created by:  drose (2Jan01)
+// 
+////////////////////////////////////////////////////////////////////
+
+#ifndef PANDAODE_H
+#define PANDAODE_H
+
+#include "pandabase.h"
+
+EXPCL_PANDAODE void init_libpandaode();
+
+#endif

panda/src/ode/Sources.pp

@@ -0,0 +1,115 @@
+#define BUILD_DIRECTORY $[HAVE_ODE]
+#define BUILDING_DLL BUILDING_PANDAODE
+
+#define OTHER_LIBS interrogatedb:c dconfig:c dtoolconfig:m \
+                   dtoolutil:c dtoolbase:c dtool:m prc:c
+
+#begin lib_target
+  #define TARGET pode
+  #define LOCAL_LIBS \
+    pgraph physics
+
+  #define USE_PACKAGES ode
+    
+  #define COMBINED_SOURCES $[TARGET]_composite1.cxx \
+    $[TARGET]_composite2.cxx $[TARGET]_composite3.cxx
+
+  #define SOURCES \
+    config_ode.h \
+    odeWorld.I odeWorld.h \
+    odeMass.I odeMass.h \
+    odeBody.I odeBody.h \
+    odeJointGroup.I odeJointGroup.h \
+    odeJoint.I odeJoint.h \
+    odeUtil.h \
+    odeSpace.I odeSpace.h \
+    odeGeom.I odeGeom.h \
+    odeSurfaceParameters.I odeSurfaceParameters.h \
+    odeContactGeom.I odeContactGeom.h \
+    odeContact.I odeContact.h \
+    odeAMotorJoint.I odeAMotorJoint.h \
+    odeBallJoint.I odeBallJoint.h \
+    odeContactJoint.I odeContactJoint.h \
+    odeFixedJoint.I odeFixedJoint.h \
+    odeHingeJoint.I odeHingeJoint.h \
+    odeHinge2Joint.I odeHinge2Joint.h \
+    odeLMotorJoint.I odeLMotorJoint.h \
+    odeNullJoint.I odeNullJoint.h \
+    odePlane2dJoint.I odePlane2dJoint.h \
+    odeSliderJoint.I odeSliderJoint.h \
+    odeUniversalJoint.I odeUniversalJoint.h \
+    odeSimpleSpace.I odeSimpleSpace.h \
+    odeHashSpace.I odeHashSpace.h \
+    odeQuadTreeSpace.I odeQuadTreeSpace.h \
+    odeSphereGeom.I odeSphereGeom.h \
+    odeBoxGeom.I odeBoxGeom.h \
+    odePlaneGeom.I odePlaneGeom.h \
+    odeCappedCylinderGeom.I odeCappedCylinderGeom.h \
+    odeCylinderGeom.I odeCylinderGeom.h \
+    odeRayGeom.I odeRayGeom.h \
+    odeTriMeshData.I odeTriMeshData.h \
+    odeTriMeshGeom.I odeTriMeshGeom.h 
+
+  #define INCLUDED_SOURCES \
+    config_ode.cxx \
+    odeWorld.cxx odeMass.cxx odeBody.cxx \
+    odeJointGroup.cxx odeJoint.cxx \
+    odeUtil.cxx \
+    odeSpace.cxx \
+    odeGeom.cxx \
+    odeSurfaceParameters.cxx \
+    odeContactGeom.cxx odeContact.cxx \
+    odeAMotorJoint.cxx odeBallJoint.cxx \
+    odeContactJoint.cxx odeFixedJoint.cxx \
+    odeHingeJoint.cxx odeHinge2Joint.cxx \
+    odeLMotorJoint.cxx odeNullJoint.cxx \
+    odePlane2dJoint.cxx odeSliderJoint.cxx \
+    odeUniversalJoint.cxx \
+    odeSimpleSpace.cxx \
+    odeHashSpace.cxx odeQuadTreeSpace.cxx \
+    odeSphereGeom.cxx odeBoxGeom.cxx \
+    odePlaneGeom.cxx odeCappedCylinderGeom.cxx \
+    odeCylinderGeom.cxx odeRayGeom.cxx \
+    odeTriMeshData.cxx  odeTriMeshGeom.cxx
+
+
+  #define INSTALL_HEADERS \
+    config_ode.h \
+    odeWorld.I odeWorld.h \
+    odeMass.I odeMass.h \
+    odeBody.I odeBody.h \
+    odeJointGroup.I odeJointGroup.h \
+    odeJoint.I odeJoint.h \
+    odeUtil.h \
+    odeSpace.I odeSpace.h \
+    odeGeom.I odeGeom.h \
+    odeSurfaceParameters.I odeSurfaceParameters.h \
+    odeContactGeom.I odeContactGeom.h \
+    odeContact.I odeContact.h \
+    odeAMotorJoint.I odeAMotorJoint.h \
+    odeBallJoint.I odeBallJoint.h \
+    odeContactJoint.I odeContactJoint.h \
+    odeFixedJoint.I odeFixedJoint.h \
+    odeHingeJoint.I odeHingeJoint.h \
+    odeHinge2Joint.I odeHinge2Joint.h \
+    odeLMotorJoint.I odeLMotorJoint.h \
+    odeNullJoint.I odeNullJoint.h \
+    odePlane2dJoint.I odePlane2dJoint.h \
+    odeSliderJoint.I odeSliderJoint.h \
+    odeUniversalJoint.I odeUniversalJoint.h \
+    odeSimpleSpace.I odeSimpleSpace.h \
+    odeHashSpace.I odeHashSpace.h \
+    odeQuadTreeSpace.I odeQuadTreeSpace.h \
+    odeSphereGeom.I odeSphereGeom.h \
+    odeBoxGeom.I odeBoxGeom.h \
+    odePlaneGeom.I odePlaneGeom.h \
+    odeCappedCylinderGeom.I odeCappedCylinderGeom.h \
+    odeCylinderGeom.I odeCylinderGeom.h \
+    odeRayGeom.I odeRayGeom.h \
+    odeTriMeshData.I odeTriMeshData.h \
+    odeTriMeshGeom.I odeTriMeshGeom.h 
+
+  #define IGATESCAN all
+
+#end lib_target
+

panda/src/ode/config_ode.cxx

@@ -0,0 +1,115 @@
+// Filename: config_effects.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeWorld.h"
+#include "odeMass.h"
+#include "odeBody.h"
+#include "odeJointGroup.h"
+#include "odeJoint.h"
+#include "odeSpace.h"
+#include "odeGeom.h"
+#include "odeSurfaceParameters.h"
+#include "odeContactGeom.h"
+#include "odeContact.h"
+#include "odeAMotorJoint.h"
+#include "odeBallJoint.h"
+#include "odeContactJoint.h"
+#include "odeFixedJoint.h"
+#include "odeHingeJoint.h"
+#include "odeHinge2Joint.h"
+#include "odeLMotorJoint.h"
+#include "odeNullJoint.h"
+#include "odePlane2dJoint.h"
+#include "odeSliderJoint.h"
+#include "odeUniversalJoint.h"
+#include "odeSimpleSpace.h"
+#include "odeHashSpace.h"
+#include "odeQuadTreeSpace.h"
+#include "odeSphereGeom.h"
+#include "odeBoxGeom.h"
+#include "odePlaneGeom.h"
+#include "odeCappedCylinderGeom.h"
+#include "odeCylinderGeom.h"
+#include "odeRayGeom.h"
+#include "odeTriMeshData.h"
+#include "odeTriMeshGeom.h"
+#include "dconfig.h"
+
+Configure(config_ode);
+NotifyCategoryDef(ode, "");
+NotifyCategoryDef(odeworld, "");
+NotifyCategoryDef(odebody, "");
+NotifyCategoryDef(odejoint, "");
+NotifyCategoryDef(odespace, "");
+NotifyCategoryDef(odegeom, "");
+NotifyCategoryDef(odetrimeshdata, "");
+
+ConfigureFn(config_ode) {
+  init_libode();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: init_libode
+//  Description: Initializes the library.  This must be called at
+//               least once before any of the functions or classes in
+//               this library can be used.  Normally it will be
+//               called by the static initializers and need not be
+//               called explicitly, but special cases exist.
+////////////////////////////////////////////////////////////////////
+void
+init_libode() {
+  static bool initialized = false;
+  if (initialized) {
+    return;
+  }
+  initialized = true;
+  
+  OdeWorld::init_type();
+  OdeMass::init_type();
+  OdeBody::init_type();
+  OdeJointGroup::init_type();
+  OdeJoint::init_type();
+  OdeSpace::init_type();
+  OdeGeom::init_type();
+  OdeSurfaceParameters::init_type();
+  OdeContactGeom::init_type();
+  OdeContact::init_type();
+  OdeAMotorJoint::init_type();
+  OdeBallJoint::init_type();
+  OdeContactJoint::init_type();
+  OdeFixedJoint::init_type();
+  OdeHingeJoint::init_type();
+  OdeHinge2Joint::init_type();
+  OdeLMotorJoint::init_type();
+  OdeNullJoint::init_type();
+  OdePlane2dJoint::init_type();
+  OdeSliderJoint::init_type();
+  OdeUniversalJoint::init_type();
+  OdeSimpleSpace::init_type();
+  OdeHashSpace::init_type();
+  OdeQuadTreeSpace::init_type();
+  OdeSphereGeom::init_type();
+  OdeBoxGeom::init_type();
+  OdePlaneGeom::init_type();
+  OdeCappedCylinderGeom::init_type();
+  OdeCylinderGeom::init_type();
+  OdeRayGeom::init_type();
+  OdeTriMeshData::init_type();
+  OdeTriMeshGeom::init_type();
+}

panda/src/ode/config_ode.h

@@ -0,0 +1,37 @@
+// Filename: config_effects.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef CONFIG_ODE_H
+#define CONFIG_ODE_H
+
+#include "pandabase.h"
+#include "notifyCategoryProxy.h"
+
+#include "dconfig.h"
+
+NotifyCategoryDecl(ode, EXPCL_PANDAODE, EXPTP_PANDAODE);
+NotifyCategoryDecl(odeworld, EXPCL_PANDAODE, EXPTP_PANDAODE);
+NotifyCategoryDecl(odebody, EXPCL_PANDAODE, EXPTP_PANDAODE);
+NotifyCategoryDecl(odejoint, EXPCL_PANDAODE, EXPTP_PANDAODE);
+NotifyCategoryDecl(odespace, EXPCL_PANDAODE, EXPTP_PANDAODE);
+NotifyCategoryDecl(odegeom, EXPCL_PANDAODE, EXPTP_PANDAODE);
+NotifyCategoryDecl(odetrimeshdata, EXPCL_PANDAODE, EXPTP_PANDAODE);
+
+extern EXPCL_PANDAODE void init_libode();
+
+#endif /* CONFIG_ODE_H */

panda/src/ode/odeAMotorJoint.I

@@ -0,0 +1,82 @@
+// Filename: odeAMotorJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeAMotorJoint::
+set_a_motor_num_axes(int num) {
+  dJointSetAMotorNumAxes(_id, num);
+}
+
+INLINE void OdeAMotorJoint::
+set_a_motor_axis(int anum, int rel, dReal x, dReal y, dReal z) {
+  dJointSetAMotorAxis(_id, anum, rel, x, y, z);
+}
+
+INLINE void OdeAMotorJoint::
+set_a_motor_angle(int anum, dReal angle) {
+  dJointSetAMotorAngle(_id, anum, angle);
+}
+
+INLINE void OdeAMotorJoint::
+set_a_motor_param(int parameter, dReal value) {
+  dJointSetAMotorParam(_id, parameter, value);
+}
+
+INLINE void OdeAMotorJoint::
+set_a_motor_mode(int mode) {
+  dJointSetAMotorMode(_id, mode);
+}
+
+INLINE void OdeAMotorJoint::
+add_a_motor_torques(dReal torque1, dReal torque2, dReal torque3) {
+  dJointAddAMotorTorques(_id, torque1, torque2, torque3);
+}
+
+INLINE int OdeAMotorJoint::
+get_a_motor_num_axes() const {
+  return dJointGetAMotorNumAxes(_id);
+}
+
+INLINE void OdeAMotorJoint::
+get_a_motor_axis(int anum, dVector3 result) const {
+  return dJointGetAMotorAxis(_id, anum, result);
+}
+
+INLINE int OdeAMotorJoint::
+get_a_motor_axis_rel(int anum) const {
+  return dJointGetAMotorAxisRel(_id, anum);
+}
+
+INLINE dReal OdeAMotorJoint::
+get_a_motor_angle(int anum) const {
+  return dJointGetAMotorAngle(_id, anum);
+}
+
+INLINE dReal OdeAMotorJoint::
+get_a_motor_angle_rate(int anum) const {
+  return dJointGetAMotorAngleRate(_id, anum);
+}
+
+INLINE dReal OdeAMotorJoint::
+get_a_motor_param(int parameter) const {
+  return dJointGetAMotorParam(_id, parameter);
+}
+
+INLINE int OdeAMotorJoint::
+get_a_motor_mode() const {
+  return dJointGetAMotorMode(_id);
+}

panda/src/ode/odeAMotorJoint.cxx

@@ -0,0 +1,36 @@
+// Filename: odeAMotorJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeAMotorJoint.h"
+
+TypeHandle OdeAMotorJoint::_type_handle;
+
+OdeAMotorJoint::
+OdeAMotorJoint(OdeWorld &world) : 
+  OdeJoint(dJointCreateAMotor(world.get_id(), 0)) {
+}
+
+OdeAMotorJoint::
+OdeAMotorJoint(OdeWorld &world, OdeJointGroup &joint_group) : 
+  OdeJoint(dJointCreateAMotor(world.get_id(), joint_group.get_id())) {
+}
+
+OdeAMotorJoint::
+~OdeAMotorJoint() {
+}

panda/src/ode/odeAMotorJoint.h

@@ -0,0 +1,57 @@
+#ifndef ODEAMOTORJOINT_H
+#define ODEAMOTORJOINT_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeAMotorJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeAMotorJoint : public OdeJoint {
+PUBLISHED:
+  OdeAMotorJoint(OdeWorld &world);
+  OdeAMotorJoint(OdeWorld &world, OdeJointGroup &joint_group);
+  virtual ~OdeAMotorJoint();
+
+  INLINE void set_a_motor_num_axes(int num);
+  INLINE void set_a_motor_axis(int anum, int rel, dReal x, dReal y, dReal z);
+  INLINE void set_a_motor_angle(int anum, dReal angle);
+  INLINE void set_a_motor_param(int parameter, dReal value);
+  INLINE void set_a_motor_mode(int mode);
+  INLINE void add_a_motor_torques(dReal torque1, dReal torque2, dReal torque3);
+
+  INLINE int get_a_motor_num_axes() const;
+  INLINE void get_a_motor_axis(int anum, dVector3 result) const;
+  INLINE int get_a_motor_axis_rel(int anum) const;
+  INLINE dReal get_a_motor_angle(int anum) const;
+  INLINE dReal get_a_motor_angle_rate(int anum) const;
+  INLINE dReal get_a_motor_param(int parameter) const;
+  INLINE int get_a_motor_mode() const;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdeAMotorJoint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeAMotorJoint.I"
+
+#endif

panda/src/ode/odeBallJoint.I

@@ -0,0 +1,37 @@
+// Filename: odeBallJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeBallJoint::
+set_ball_anchor(dReal x, dReal y, dReal z) {
+  dJointSetBallAnchor(_id, x, y, z);
+}
+
+INLINE void OdeBallJoint::
+set_ball_anchor2(dReal x, dReal y, dReal z) {
+  dJointSetBallAnchor2(_id, x, y, z);
+}
+
+INLINE void OdeBallJoint::
+get_ball_anchor(dVector3 result) const {
+  return dJointGetBallAnchor(_id, result);
+}
+
+INLINE void OdeBallJoint::
+get_ball_anchor2(dVector3 result) const {
+  return dJointGetBallAnchor2(_id, result);
+}

panda/src/ode/odeBallJoint.cxx

@@ -0,0 +1,36 @@
+// Filename: odeBallJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeBallJoint.h"
+
+TypeHandle OdeBallJoint::_type_handle;
+
+OdeBallJoint::
+OdeBallJoint(OdeWorld &world) : 
+  OdeJoint(dJointCreateBall(world.get_id(), 0)) {
+}
+
+OdeBallJoint::
+OdeBallJoint(OdeWorld &world, OdeJointGroup &joint_group) : 
+  OdeJoint(dJointCreateBall(world.get_id(), joint_group.get_id())) {
+}
+
+OdeBallJoint::
+~OdeBallJoint() {
+}

panda/src/ode/odeBallJoint.h

@@ -0,0 +1,48 @@
+#ifndef ODEBALLJOINT_H
+#define ODEBALLJOINT_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeBallJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeBallJoint : public OdeJoint {
+PUBLISHED:
+  OdeBallJoint(OdeWorld &world);
+  OdeBallJoint(OdeWorld &world, OdeJointGroup &joint_group);
+  virtual ~OdeBallJoint();
+
+  INLINE void set_ball_anchor(dReal x, dReal y, dReal z);
+  INLINE void set_ball_anchor2(dReal x, dReal y, dReal z);
+
+  INLINE void get_ball_anchor(dVector3 result) const;
+  INLINE void get_ball_anchor2(dVector3 result) const;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdeBallJoint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeBallJoint.I"
+
+#endif

panda/src/ode/odeBody.I

@@ -0,0 +1,306 @@
+// Filename: odeBody.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE dBodyID OdeBody::
+get_id() const {
+  return _id;
+}
+
+INLINE dReal OdeBody::
+get_auto_disable_linear_threshold() const {
+  return dBodyGetAutoDisableLinearThreshold(_id);
+}
+
+INLINE void OdeBody::
+set_auto_disable_linear_threshold(dReal linear_threshold) {
+  dBodySetAutoDisableLinearThreshold(_id, linear_threshold);
+}
+
+INLINE dReal OdeBody::
+get_auto_disable_angular_threshold() const {
+  return dBodyGetAutoDisableAngularThreshold(_id);
+}
+
+INLINE void OdeBody::
+set_auto_disable_angular_threshold(dReal angular_threshold) {
+  dBodySetAutoDisableAngularThreshold(_id, angular_threshold);
+}
+
+INLINE int OdeBody::
+get_auto_disable_steps() const {
+  return dBodyGetAutoDisableSteps(_id);
+}
+
+INLINE void OdeBody::
+set_auto_disable_steps(int steps) {
+  dBodySetAutoDisableSteps(_id, steps);
+}
+
+INLINE dReal OdeBody::
+get_auto_disable_time() const {
+  return dBodyGetAutoDisableTime(_id);
+}
+
+INLINE void OdeBody::
+set_auto_disable_time(dReal time) {
+  dBodySetAutoDisableTime(_id, time);
+}
+
+INLINE int OdeBody::
+get_auto_disable_flag() const {
+  return dBodyGetAutoDisableFlag(_id);
+}
+
+INLINE void OdeBody::
+set_auto_disable_flag(int do_auto_disable) {
+  dBodySetAutoDisableFlag(_id, do_auto_disable);
+}
+
+INLINE void OdeBody::
+set_auto_disable_defaults() {
+  dBodySetAutoDisableDefaults(_id);
+}
+
+INLINE void OdeBody::
+set_data(void *data) {
+  dBodySetData(_id, data);
+}
+
+INLINE void* OdeBody::
+get_data() const {
+  return dBodyGetData(_id);
+}
+
+INLINE void OdeBody::
+set_position(dReal x, dReal y, dReal z) {
+  dBodySetPosition(_id, x, y, z);
+}
+
+INLINE void OdeBody::
+set_rotation(const LMatrix3f r) {
+  dMatrix3 mat3 = {r._m.data[0], r._m.data[1], r._m.data[2], 0,
+                   r._m.data[3], r._m.data[4], r._m.data[5], 0,
+                   r._m.data[6], r._m.data[7], r._m.data[8], 0};
+  
+  dBodySetRotation(_id, mat3);
+}
+
+INLINE void OdeBody::
+set_quaternion(const LQuaternionf q) {
+  dQuaternion quat = {q._v.data[0], 
+                      q._v.data[1], 
+                      q._v.data[2], 
+                      q._v.data[3]};
+  dBodySetQuaternion(_id, quat);
+}
+
+INLINE void OdeBody::
+set_linear_vel(dReal x, dReal y, dReal z) {
+  dBodySetLinearVel(_id, x, y, z);
+}
+
+INLINE void OdeBody::
+set_angular_vel(dReal x, dReal y, dReal z) {
+  dBodySetAngularVel(_id, x, y, z);
+}
+
+INLINE LVecBase3f OdeBody::
+get_position() const {
+  const dReal *res = dBodyGetPosition(_id);
+  return LVecBase3f(res[0], res[1], res[2]);
+}
+
+INLINE LVecBase3f OdeBody::
+get_rotation() const {
+  const dReal *res = dBodyGetRotation(_id);
+  return LVecBase3f(res[0], res[1], res[2]);
+}
+
+INLINE LVecBase4f OdeBody::
+get_quaternion() const {
+  const dReal *res = dBodyGetQuaternion(_id);
+  return LVecBase4f(res[0], res[1], res[2], res[3]);
+}
+
+INLINE LVecBase3f OdeBody::
+get_linear_vel() const {
+  const dReal *res = dBodyGetLinearVel(_id);
+  return LVecBase3f(res[0], res[1], res[2]);
+}
+
+INLINE LVecBase3f OdeBody::
+get_angular_vel() const {
+  const dReal *res = dBodyGetAngularVel(_id);
+  return LVecBase3f(res[0], res[1], res[2]);
+}
+
+INLINE void OdeBody::
+set_mass(OdeMass &mass) {
+  dBodySetMass(_id, mass.get_mass_ptr());
+}
+
+INLINE OdeMass OdeBody::
+get_mass() const {
+  OdeMass mass;
+  dBodyGetMass(_id, mass.get_mass_ptr());
+  return mass;
+}
+
+INLINE void OdeBody::
+add_force(dReal fx, dReal fy, dReal fz) {
+  dBodyAddForce(_id, fx, fy, fz);
+}
+
+INLINE void OdeBody::
+add_torque(dReal fx, dReal fy, dReal fz) {
+  dBodyAddTorque(_id, fx, fy, fz);
+}
+
+INLINE void OdeBody::
+add_rel_force(dReal fx, dReal fy, dReal fz) {
+  dBodyAddRelForce(_id, fx, fy, fz);
+}
+
+INLINE void OdeBody::
+add_rel_torque(dReal fx, dReal fy, dReal fz) {
+  dBodyAddRelTorque(_id, fx, fy, fz);
+}
+
+INLINE void OdeBody::
+add_force_at_pos(dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) {
+  dBodyAddForceAtPos(_id, fx, fy, fz, px, py, pz);
+}
+
+INLINE void OdeBody::
+add_force_at_rel_pos(dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) {
+  dBodyAddForceAtRelPos(_id, fx, fy, fz, px, py, pz);
+}
+
+INLINE void OdeBody::
+add_rel_force_at_pos(dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) {
+  dBodyAddRelForceAtPos(_id, fx, fy, fz, px, py, pz);
+}
+
+INLINE void OdeBody::
+add_rel_force_at_rel_pos(dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) {
+  dBodyAddRelForceAtRelPos(_id, fx, fy, fz, px, py, pz);
+}
+
+INLINE void OdeBody::
+set_force(dReal x, dReal y, dReal z) {
+  dBodySetForce(_id, x, y, z);
+}
+
+INLINE void OdeBody::
+set_torque(dReal x, dReal y, dReal z) {
+  dBodySetTorque(_id, x, y, z);
+}
+
+INLINE LPoint3f OdeBody::
+get_rel_point_pos(dReal px, dReal py, dReal pz) const {
+  dVector3 result;
+  dBodyGetRelPointPos(_id, px, py, pz, result);
+  return LPoint3f(result[0], result[1], result[2]);
+}
+
+INLINE LPoint3f OdeBody::
+get_rel_point_vel(dReal px, dReal py, dReal pz) const {
+  dVector3 result;
+  dBodyGetRelPointVel(_id, px, py, pz, result);
+  return LPoint3f(result[0], result[1], result[2]);
+}
+
+INLINE LPoint3f OdeBody::
+get_point_vel(dReal px, dReal py, dReal pz) const {
+  dVector3 result;
+  dBodyGetPointVel(_id, px, py, pz, result);
+  return LPoint3f(result[0], result[1], result[2]);
+}
+
+INLINE LPoint3f OdeBody::
+get_pos_rel_point(dReal px, dReal py, dReal pz) const {
+  dVector3 result;
+  dBodyGetPosRelPoint(_id, px, py, pz, result);
+  return LPoint3f(result[0], result[1], result[2]);
+}
+
+INLINE LVecBase3f OdeBody::
+vector_to_world(dReal px, dReal py, dReal pz) const {
+  dVector3 result;
+  dBodyVectorToWorld(_id, px, py, pz, result);
+  return LVecBase3f(result[0], result[1], result[2]);
+}
+
+INLINE LVecBase3f OdeBody::
+vector_from_world(dReal px, dReal py, dReal pz) const {
+  dVector3 result;
+  dBodyVectorFromWorld(_id, px, py, pz, result);
+  return LVecBase3f(result[0], result[1], result[2]);
+}
+
+INLINE void OdeBody::
+set_finite_rotation_mode(int mode) {
+  dBodySetFiniteRotationMode(_id, mode);
+}
+
+INLINE void OdeBody::
+set_finite_rotation_axis(dReal x, dReal y, dReal z) {
+  dBodySetFiniteRotationAxis(_id, x, y, z);
+}
+
+INLINE int OdeBody::
+get_finite_rotation_mode() const {
+  return dBodyGetFiniteRotationMode(_id);
+}
+
+INLINE LVecBase3f OdeBody::
+get_finite_rotation_axis() const {
+  dVector3 result;
+  dBodyGetFiniteRotationAxis(_id, result);
+  return LVecBase3f(result[0], result[1], result[2]);
+}
+
+INLINE int OdeBody::
+get_num_joints() const {
+  return dBodyGetNumJoints(_id);
+}
+
+INLINE void OdeBody::
+enable() {
+  dBodyEnable(_id);
+}
+
+INLINE void OdeBody::
+disable() {
+  dBodyDisable(_id);
+}
+
+INLINE int OdeBody::
+is_enabled() const {
+  return dBodyIsEnabled(_id);
+}
+
+INLINE void OdeBody::
+set_gravity_mode(int mode) {
+  dBodySetGravityMode(_id, mode);
+}
+
+INLINE int OdeBody::
+get_gravity_mode() const {
+  return dBodyGetGravityMode(_id);
+}

panda/src/ode/odeBody.cxx

@@ -0,0 +1,60 @@
+// Filename: odeBody.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeBody.h"
+
+TypeHandle OdeBody::_type_handle;
+
+OdeBody::
+OdeBody() :
+  _id(0) {
+}
+
+OdeBody::
+OdeBody(dBodyID id) :
+  _id(id) {
+}
+
+OdeBody::
+OdeBody(OdeWorld &world) :
+  _id(dBodyCreate(world.get_id())) {
+}
+
+OdeBody::
+~OdeBody() {
+}
+
+void OdeBody::
+destroy() {
+  dBodyDestroy(_id);
+}
+
+void OdeBody::
+get_joint(int index, OdeJoint &joint) const {
+  joint._id = dBodyGetJoint(_id, index);
+}
+
+void OdeBody::
+write(ostream &out, unsigned int indent) const {
+  #ifndef NDEBUG //[
+  out.width(indent); out << "" << get_type() \
+			 << "(id = " << _id \
+			 << ")";
+  #endif //] NDEBUG
+}

panda/src/ode/odeBody.h

@@ -0,0 +1,142 @@
+// Filename: odeBody.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEBODY_H
+#define ODEBODY_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeWorld.h"
+#include "odeMass.h"
+
+class OdeJoint;
+class OdeGeom;
+////////////////////////////////////////////////////////////////////
+//       Class : OdeBody
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeBody : public TypedObject {
+  friend class OdeJoint;
+  friend class OdeGeom;
+
+protected:
+  OdeBody(dBodyID id);
+
+PUBLISHED:
+  OdeBody();
+  OdeBody(OdeWorld &world);
+  virtual ~OdeBody();
+  void destroy();
+
+  INLINE void set_auto_disable_linear_threshold(dReal linear_threshold);
+  INLINE void set_auto_disable_angular_threshold(dReal angular_threshold);
+  INLINE void set_auto_disable_steps(int steps);
+  INLINE void set_auto_disable_time(dReal time);
+  INLINE void set_auto_disable_flag(int do_auto_disable);
+  INLINE void set_auto_disable_defaults();
+  INLINE void set_data(void *data);
+
+  INLINE void set_position(dReal x, dReal y, dReal z);
+  INLINE void set_rotation(const LMatrix3f r);
+  INLINE void set_quaternion(const LQuaternionf q);
+  INLINE void set_linear_vel(dReal x, dReal y, dReal z);
+  INLINE void set_angular_vel(dReal x, dReal y, dReal z);
+  INLINE void set_mass(OdeMass &mass);
+
+
+  INLINE dReal get_auto_disable_linear_threshold() const;
+  INLINE dReal get_auto_disable_angular_threshold() const;
+  INLINE int   get_auto_disable_steps() const;
+  INLINE dReal get_auto_disable_time() const;
+  INLINE int   get_auto_disable_flag() const;
+  INLINE void* get_data() const;
+
+  INLINE LVecBase3f  get_position() const;
+  INLINE LVecBase3f  get_rotation() const;
+  INLINE LVecBase4f  get_quaternion() const;
+  INLINE LVecBase3f  get_linear_vel() const;
+  INLINE LVecBase3f  get_angular_vel() const;
+  INLINE OdeMass     get_mass() const;
+
+  INLINE void add_force(dReal fx, dReal fy, dReal fz);
+  INLINE void add_torque(dReal fx, dReal fy, dReal fz);
+  INLINE void add_rel_force(dReal fx, dReal fy, dReal fz);
+  INLINE void add_rel_torque(dReal fx, dReal fy, dReal fz);
+  INLINE void add_force_at_pos(dReal fx, dReal fy, dReal fz, 
+			       dReal px, dReal py, dReal pz);
+  INLINE void add_force_at_rel_pos(dReal fx, dReal fy, dReal fz, 
+				   dReal px, dReal py, dReal pz);
+  INLINE void add_rel_force_at_pos(dReal fx, dReal fy, dReal fz, 
+				   dReal px, dReal py, dReal pz);
+  INLINE void add_rel_force_at_rel_pos(dReal fx, dReal fy, dReal fz, 
+				       dReal px, dReal py, dReal pz);
+  INLINE void set_force(dReal x, dReal y, dReal z);
+  INLINE void set_torque(dReal x, dReal y, dReal z);
+
+  INLINE LPoint3f get_rel_point_pos(dReal px, dReal py, dReal pz) const;
+  INLINE LPoint3f get_rel_point_vel(dReal px, dReal py, dReal pz) const;
+  INLINE LPoint3f get_point_vel(dReal px, dReal py, dReal pz) const;
+  INLINE LPoint3f get_pos_rel_point(dReal px, dReal py, dReal pz) const;
+  INLINE LVecBase3f vector_to_world(dReal px, dReal py, dReal pz) const;
+  INLINE LVecBase3f vector_from_world(dReal px, dReal py, dReal pz) const;
+
+  INLINE void set_finite_rotation_mode(int mode);
+  INLINE void set_finite_rotation_axis(dReal x, dReal y, dReal z);
+  INLINE int get_finite_rotation_mode() const;
+  INLINE LVecBase3f get_finite_rotation_axis() const;
+
+  INLINE int get_num_joints() const;
+  void get_joint(int index, OdeJoint &joint) const;
+  INLINE void enable();
+  INLINE void disable();
+  INLINE int is_enabled() const;
+  INLINE void set_gravity_mode(int mode);
+  INLINE int get_gravity_mode() const;
+
+  virtual void write(ostream &out = cout, unsigned int indent=0) const;
+
+public:
+  INLINE dBodyID get_id() const;
+
+private:
+  dBodyID _id;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedObject::init_type();
+    register_type(_type_handle, "OdeBody",
+		  TypedObject::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeBody.I"
+
+#endif

panda/src/ode/odeBoxGeom.I

@@ -0,0 +1,35 @@
+// Filename: odeBoxGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeBoxGeom::
+set_lengths(dReal lx, dReal ly, dReal lz) {
+  dGeomBoxSetLengths(_id, lx, ly, lz);
+}
+
+INLINE LVecBase3f OdeBoxGeom::
+get_lengths() {
+  dVector3 res;
+  dGeomBoxGetLengths(_id, res);
+  return LVecBase3f(res[0], res[1], res[2]);
+}
+
+INLINE dReal OdeBoxGeom::
+get_point_depth(dReal x, dReal y, dReal z) {
+  return dGeomBoxPointDepth(_id, x, y, z);
+}
+

panda/src/ode/odeBoxGeom.cxx

@@ -0,0 +1,36 @@
+// Filename: odeBoxGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeBoxGeom.h"
+
+TypeHandle OdeBoxGeom::_type_handle;
+
+OdeBoxGeom::
+OdeBoxGeom(dReal lx, dReal ly, dReal lz) :
+  OdeGeom(dCreateBox(0, lx, ly, lz)) {
+}
+
+OdeBoxGeom::
+OdeBoxGeom(OdeSpace &space, dReal lx, dReal ly, dReal lz) :
+  OdeGeom(dCreateBox(space.get_id(), lx, ly, lz)) {
+}
+
+OdeBoxGeom::
+~OdeBoxGeom() {
+}

panda/src/ode/odeBoxGeom.h

@@ -0,0 +1,66 @@
+// Filename: odeBoxGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEBOXGEOM_H
+#define ODEBOXGEOM_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeGeom.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeBoxGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeBoxGeom : public OdeGeom {
+PUBLISHED:
+  OdeBoxGeom(dReal lx, dReal ly, dReal lz);
+  OdeBoxGeom(OdeSpace &space, dReal lx, dReal ly, dReal lz);
+  virtual ~OdeBoxGeom();
+
+  INLINE void set_lengths(dReal lx, dReal ly, dReal lz);
+  INLINE LVecBase3f get_lengths();
+  INLINE dReal get_point_depth(dReal x, dReal y, dReal z);
+
+public:
+  INLINE static int get_geom_class() { return dBoxClass; };
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeGeom::init_type();
+    register_type(_type_handle, "OdeBoxGeom",
+		  OdeGeom::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeBoxGeom.I"
+
+#endif

panda/src/ode/odeCappedCylinderGeom.I

@@ -0,0 +1,46 @@
+// Filename: odeCappedCylinderGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeCappedCylinderGeom::
+set_params(dReal radius, dReal length) {
+  dGeomCapsuleSetParams(_id, radius, length);
+}
+
+INLINE void OdeCappedCylinderGeom::
+get_params(dReal *radius, dReal *length) const {
+  dGeomCapsuleGetParams(_id, radius, length);
+}
+
+INLINE dReal OdeCappedCylinderGeom::
+get_radius() const {
+  dReal radius, length;
+  dGeomCapsuleGetParams(_id, &radius, &length);
+  return radius;
+}
+
+INLINE dReal OdeCappedCylinderGeom::
+get_length() const {
+  dReal radius, length;
+  dGeomCapsuleGetParams(_id, &radius, &length);
+  return length;
+}
+
+INLINE dReal OdeCappedCylinderGeom::
+get_point_depth(dReal x, dReal y, dReal z) const {
+  return dGeomCapsulePointDepth(_id, x, y, z);
+}

panda/src/ode/odeCappedCylinderGeom.cxx

@@ -0,0 +1,36 @@
+// Filename: odeCappedCylinderGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeCappedCylinderGeom.h"
+
+TypeHandle OdeCappedCylinderGeom::_type_handle;
+
+OdeCappedCylinderGeom::
+OdeCappedCylinderGeom(dReal radius, dReal length) :
+  OdeGeom(dCreateCapsule(0, radius, length)) {
+}
+
+OdeCappedCylinderGeom::
+OdeCappedCylinderGeom(OdeSpace &space, dReal radius, dReal length) :
+  OdeGeom(dCreateCapsule(space.get_id(), radius, length)) {
+}
+
+OdeCappedCylinderGeom::
+~OdeCappedCylinderGeom() {
+}

panda/src/ode/odeCappedCylinderGeom.h

@@ -0,0 +1,68 @@
+// Filename: odeCappedCylinderGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODECAPPEDCYLINDERGEOM_H
+#define ODECAPPEDCYLINDERGEOM_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeGeom.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeCappedCylinderGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeCappedCylinderGeom : public OdeGeom {
+PUBLISHED:
+  OdeCappedCylinderGeom(dReal radius, dReal length);
+  OdeCappedCylinderGeom(OdeSpace &space, dReal radius, dReal length);
+  virtual ~OdeCappedCylinderGeom();
+
+  INLINE void set_params(dReal radius, dReal length);
+  INLINE void get_params(dReal *radius, dReal *length) const;
+  INLINE dReal get_radius() const;
+  INLINE dReal get_length() const;
+  INLINE dReal get_point_depth(dReal x, dReal y, dReal z) const;
+
+public:
+  INLINE static int get_geom_class() { return dCapsuleClass; };
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeGeom::init_type();
+    register_type(_type_handle, "OdeCappedCylinderGeom",
+		  OdeGeom::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeCappedCylinderGeom.I"
+
+#endif

panda/src/ode/odeContact.I

@@ -0,0 +1,54 @@
+// Filename: odeContact.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE OdeSurfaceParameters OdeContact::
+get_surface() const {
+  return OdeSurfaceParameters(_contact.surface);
+}
+
+INLINE OdeContactGeom OdeContact::
+get_geom() {
+  return OdeContactGeom(_contact.geom);
+}
+
+INLINE LVecBase3f OdeContact::
+get_fdir1() const {
+  return LVecBase3f(_contact.fdir1[0],
+                    _contact.fdir1[1],
+                    _contact.fdir1[2]);
+}
+
+
+INLINE void OdeContact::
+set_surface(const OdeSurfaceParameters &surface_parameters) {
+  _contact.surface = *(surface_parameters.get_surface_parameters_ptr());
+}
+
+INLINE void OdeContact::
+set_geom(const OdeContactGeom &contact_geom) {
+  _contact.geom = *(contact_geom.get_contact_geom_ptr());
+}
+
+INLINE void OdeContact::
+set_fdir1(const LVecBase3f &fdir1) {
+  _contact.fdir1[0] = fdir1[0];
+  _contact.fdir1[1] = fdir1[1];
+  _contact.fdir1[2] = fdir1[2];
+}
+
+

panda/src/ode/odeContact.cxx

@@ -0,0 +1,41 @@
+// Filename: odeContact.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeContact.h"
+
+TypeHandle OdeContact::_type_handle;
+
+OdeContact::
+OdeContact() : 
+  _contact() {
+}
+
+OdeContact::
+OdeContact(const dContact &contact) : 
+  _contact(contact) {
+}
+
+OdeContact::
+~OdeContact() {
+}
+
+const dContact* OdeContact::
+get_contact_ptr() const {
+  return &_contact;
+}

panda/src/ode/odeContact.h

@@ -0,0 +1,77 @@
+// Filename: odeContact.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODECONTACT_H
+#define ODECONTACT_H
+
+#include "pandabase.h"
+#include "typedReferenceCount.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeSurfaceParameters.h"
+#include "odeContactGeom.h"
+
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeContact
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeContact : public TypedReferenceCount {
+PUBLISHED:
+  OdeContact();
+  // OdeContact(const OdeContact &copy);
+  OdeContact(const dContact &contact);
+  virtual ~OdeContact();
+
+  INLINE OdeSurfaceParameters get_surface() const;
+  INLINE OdeContactGeom get_geom();
+  INLINE LVecBase3f get_fdir1() const;
+
+  INLINE void set_surface(const OdeSurfaceParameters &surface_parameters);
+  INLINE void set_geom(const OdeContactGeom &contact_geom);
+  INLINE void set_fdir1(const LVecBase3f &fdir1);
+
+public:
+  const dContact* get_contact_ptr() const;
+
+private:
+  void operator = (const OdeContact &copy);
+  dContact _contact;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedReferenceCount::init_type();
+    register_type(_type_handle, "OdeContact",
+		  TypedReferenceCount::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeContact.I"
+
+#endif

panda/src/ode/odeContactGeom.I

@@ -0,0 +1,87 @@
+// Filename: odeContactGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE LVecBase3f OdeContactGeom::
+get_pos() const {
+  return LVecBase3f(_contact_geom.pos[0],
+                    _contact_geom.pos[1],
+                    _contact_geom.pos[2]);
+}
+
+INLINE LVecBase3f OdeContactGeom::
+get_normal() const {
+  return LVecBase3f(_contact_geom.normal[0],
+                    _contact_geom.normal[1],
+                    _contact_geom.normal[2]);
+}
+
+INLINE dReal OdeContactGeom::
+get_depth() const {
+  return _contact_geom.depth;
+}
+
+INLINE OdeGeom OdeContactGeom::
+get_g1() const {
+  return OdeGeom(_contact_geom.g1);
+}
+
+INLINE OdeGeom OdeContactGeom::
+get_g2() const {
+  return OdeGeom(_contact_geom.g2);
+}
+
+INLINE int OdeContactGeom::
+get_side1() const {
+  return _contact_geom.side1;
+}
+
+INLINE int OdeContactGeom::
+get_side2() const {
+  return _contact_geom.side2;
+}
+
+INLINE void OdeContactGeom::
+set_pos(const LVecBase3f &pos){
+  _contact_geom.pos[0] = pos[0];
+  _contact_geom.pos[1] = pos[1];
+  _contact_geom.pos[2] = pos[2];
+}
+
+INLINE void OdeContactGeom::
+set_normal(const LVecBase3f &normal){
+  _contact_geom.normal[0] = normal[0];
+  _contact_geom.normal[1] = normal[1];
+  _contact_geom.normal[2] = normal[2];
+}
+
+INLINE void OdeContactGeom::
+set_depth(const dReal depth){
+  _contact_geom.depth = depth;
+}
+
+INLINE void OdeContactGeom::
+set_g1(const OdeGeom &geom){
+  _contact_geom.g1 = geom._id;
+}
+
+INLINE void OdeContactGeom::
+set_g2(const OdeGeom &geom){
+  _contact_geom.g2 = geom._id;
+}
+
+

panda/src/ode/odeContactGeom.cxx

@@ -0,0 +1,84 @@
+// Filename: odeContactGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeContactGeom.h"
+
+TypeHandle OdeContactGeom::_type_handle;
+
+OdeContactGeom::
+OdeContactGeom() : 
+  _contact_geom() {
+}
+
+OdeContactGeom::
+OdeContactGeom(const OdeContactGeom &copy) : 
+  _contact_geom() {
+  _contact_geom.pos[0] = copy._contact_geom.pos[0];
+  _contact_geom.pos[1] = copy._contact_geom.pos[1];
+  _contact_geom.pos[2] = copy._contact_geom.pos[2];
+  _contact_geom.normal[0] = copy._contact_geom.normal[0];
+  _contact_geom.normal[1] = copy._contact_geom.normal[1];
+  _contact_geom.normal[2] = copy._contact_geom.normal[2];
+  _contact_geom.depth = copy._contact_geom.depth;
+  _contact_geom.g1 = copy._contact_geom.g1;
+  _contact_geom.g2 = copy._contact_geom.g2;
+  _contact_geom.side1 = copy._contact_geom.side1;
+  _contact_geom.side2 = copy._contact_geom.side2;
+}
+
+OdeContactGeom::
+OdeContactGeom(const dContactGeom &contact_geom) : 
+  _contact_geom() {
+  _contact_geom.pos[0] = contact_geom.pos[0];
+  _contact_geom.pos[1] = contact_geom.pos[1];
+  _contact_geom.pos[2] = contact_geom.pos[2];
+  _contact_geom.normal[0] = contact_geom.normal[0];
+  _contact_geom.normal[1] = contact_geom.normal[1];
+  _contact_geom.normal[2] = contact_geom.normal[2];
+  _contact_geom.depth = contact_geom.depth;
+  _contact_geom.g1 = contact_geom.g1;
+  _contact_geom.g2 = contact_geom.g2;
+  _contact_geom.side1 = contact_geom.side1;
+  _contact_geom.side2 = contact_geom.side2;
+}
+
+OdeContactGeom::
+~OdeContactGeom() {
+}
+
+const dContactGeom* OdeContactGeom::
+get_contact_geom_ptr() const {
+  return &_contact_geom;
+}
+
+void OdeContactGeom::
+operator = (const OdeContactGeom &copy) {
+  _contact_geom.pos[0] = copy._contact_geom.pos[0];
+  _contact_geom.pos[1] = copy._contact_geom.pos[1];
+  _contact_geom.pos[2] = copy._contact_geom.pos[2];
+  _contact_geom.normal[0] = copy._contact_geom.normal[0];
+  _contact_geom.normal[1] = copy._contact_geom.normal[1];
+  _contact_geom.normal[2] = copy._contact_geom.normal[2];
+  _contact_geom.depth = copy._contact_geom.depth;
+  _contact_geom.g1 = copy._contact_geom.g1;
+  _contact_geom.g2 = copy._contact_geom.g2;
+  _contact_geom.side1 = copy._contact_geom.side1;
+  _contact_geom.side2 = copy._contact_geom.side2;
+}
+

panda/src/ode/odeContactGeom.h

@@ -0,0 +1,85 @@
+// Filename: odeContactGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODECONTACTGEOM_H
+#define ODECONTACTGEOM_H
+
+#include "pandabase.h"
+#include "typedReferenceCount.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "OdeGeom.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeContactGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeContactGeom : public TypedReferenceCount {
+  friend class OdeContact;
+
+protected:
+  OdeContactGeom(const dContactGeom &contact_geom);
+
+PUBLISHED:
+  OdeContactGeom();
+  OdeContactGeom(const OdeContactGeom &copy);
+  virtual ~OdeContactGeom();
+
+  INLINE LVecBase3f get_pos() const; 
+  INLINE LVecBase3f get_normal() const;
+  INLINE dReal get_depth() const;          
+  INLINE OdeGeom get_g1() const;
+  INLINE OdeGeom get_g2() const;
+  INLINE int get_side1() const;
+  INLINE int get_side2() const;
+
+  INLINE void set_pos(const LVecBase3f &pos); 
+  INLINE void set_normal(const LVecBase3f &normal);
+  INLINE void set_depth(const dReal depth);          
+  INLINE void set_g1(const OdeGeom &geom);
+  INLINE void set_g2(const OdeGeom &geom);
+
+public:
+  const dContactGeom* get_contact_geom_ptr() const;
+
+private:
+  void operator = (const OdeContactGeom &copy);
+  dContactGeom _contact_geom;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedReferenceCount::init_type();
+    register_type(_type_handle, "OdeContactGeom",
+		  TypedReferenceCount::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeContactGeom.I"
+
+#endif

panda/src/ode/odeContactJoint.I

@@ -0,0 +1,17 @@
+// Filename: odeContactJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////

panda/src/ode/odeContactJoint.cxx

@@ -0,0 +1,36 @@
+// Filename: odeContactJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeContactJoint.h"
+
+TypeHandle OdeContactJoint::_type_handle;
+
+OdeContactJoint::
+OdeContactJoint(OdeWorld &world, const OdeContact &contact) : 
+  OdeJoint(dJointCreateContact(world.get_id(), 0, contact.get_contact_ptr())) {
+}
+
+OdeContactJoint::
+OdeContactJoint(OdeWorld &world, OdeJointGroup &joint_group, const OdeContact &contact) : 
+  OdeJoint(dJointCreateContact(world.get_id(), joint_group.get_id(), contact.get_contact_ptr())) {
+}
+
+OdeContactJoint::
+~OdeContactJoint() {
+}

panda/src/ode/odeContactJoint.h

@@ -0,0 +1,43 @@
+#ifndef ODECONTACTJOINT_H
+#define ODECONTACTJOINT_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+#include "odeContact.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeContactJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeContactJoint : public OdeJoint {
+PUBLISHED:
+  OdeContactJoint(OdeWorld &world, const OdeContact &contact);
+  OdeContactJoint(OdeWorld &world, OdeJointGroup &joint_group, const OdeContact &contact);
+  virtual ~OdeContactJoint();
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdeContactJoint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeContactJoint.I"
+
+#endif

panda/src/ode/odeConvexGeom.I

@@ -0,0 +1,23 @@
+// Filename: odeBoxGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeGeom::
+set_convex(dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount, unsigned int *_polygons) {
+  dGeomSetConvex(_id, *_planes, _count, *_points, _pointcount, *_polygons);
+}
+

panda/src/ode/odeConvexGeom.cxx

@@ -0,0 +1,36 @@
+// Filename: odeConvexGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeConvexGeom.h"
+
+TypeHandle OdeConvexGeom::_type_handle;
+
+OdeConvexGeom::
+OdeConvexGeom(dReal radius, dReal length) :
+  OdeGeom(dCreateConvex(0, radius, length)) {
+}
+
+OdeConvexGeom::
+OdeConvexGeom(OdeSpace &space, dReal radius, dReal length) :
+  OdeGeom(dCreateConvex(space.get_id(), radius, length)) {
+}
+
+OdeConvexGeom::
+~OdeConvexGeom() {
+}

panda/src/ode/odeConvexGeom.h

@@ -0,0 +1,63 @@
+// Filename: odeConvexGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODECONVEXGEOM_H
+#define ODECONVEXGEOM_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeGeom.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeConvexGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeConvexGeom : public OdeGeom {
+PUBLISHED:
+  OdeConvexGeom();
+  virtual ~OdeConvexGeom();
+
+  INLINE void set_convex(dReal *_planes, unsigned int _count, dReal *_points, unsigned int _pointcount, unsigned int *_polygons);
+
+public:
+  INLINE static int get_geom_class() { return dConvexClass; };
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeGeom::init_type();
+    register_type(_type_handle, "OdeConvexGeom",
+		  OdeGeom::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeConvexGeom.I"
+
+#endif

panda/src/ode/odeCylinderGeom.I

@@ -0,0 +1,41 @@
+// Filename: odeCylinderGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeCylinderGeom::
+set_params(dReal radius, dReal length) {
+  dGeomCylinderSetParams(_id, radius, length);
+}
+
+INLINE void OdeCylinderGeom::
+get_params(dReal *radius, dReal *length) const {
+  dGeomCapsuleGetParams(_id, radius, length);
+}
+
+INLINE dReal OdeCylinderGeom::
+get_radius() const {
+  dReal radius, length;
+  dGeomCylinderGetParams(_id, &radius, &length);
+  return radius;
+}
+
+INLINE dReal OdeCylinderGeom::
+get_length() const {
+  dReal radius, length;
+  dGeomCylinderGetParams(_id, &radius, &length);
+  return length;
+}

panda/src/ode/odeCylinderGeom.cxx

@@ -0,0 +1,36 @@
+// Filename: odeCylinderGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeCylinderGeom.h"
+
+TypeHandle OdeCylinderGeom::_type_handle;
+
+OdeCylinderGeom::
+OdeCylinderGeom(dReal radius, dReal length) :
+  OdeGeom(dCreateCylinder(0, radius, length)) {
+}
+
+OdeCylinderGeom::
+OdeCylinderGeom(OdeSpace &space, dReal radius, dReal length) :
+  OdeGeom(dCreateCylinder(space.get_id(), radius, length)) {
+}
+
+OdeCylinderGeom::
+~OdeCylinderGeom() {
+}

panda/src/ode/odeCylinderGeom.h

@@ -0,0 +1,67 @@
+// Filename: odeCylinderGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODECYLINDERGEOM_H
+#define ODECYLINDERGEOM_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeGeom.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeCylinderGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeCylinderGeom : public OdeGeom {
+PUBLISHED:
+  OdeCylinderGeom(dReal radius, dReal length);
+  OdeCylinderGeom(OdeSpace &space, dReal radius, dReal length);
+  virtual ~OdeCylinderGeom();
+
+  INLINE void set_params(dReal radius, dReal length);
+  INLINE void get_params(dReal *radius, dReal *length) const;
+  INLINE dReal get_radius() const;
+  INLINE dReal get_length() const;
+
+public:
+  INLINE static int get_geom_class() { return dCylinderClass; };
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeGeom::init_type();
+    register_type(_type_handle, "OdeCylinderGeom",
+		  OdeGeom::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeCylinderGeom.I"
+
+#endif

panda/src/ode/odeFixedJoint.I

@@ -0,0 +1,22 @@
+// Filename: odeFixedJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeFixedJoint::
+set_fixed() {
+  dJointSetFixed(_id);
+}

panda/src/ode/odeFixedJoint.cxx

@@ -0,0 +1,36 @@
+// Filename: odeFixedJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeFixedJoint.h"
+
+TypeHandle OdeFixedJoint::_type_handle;
+
+OdeFixedJoint::
+OdeFixedJoint(OdeWorld &world) : 
+  OdeJoint(dJointCreateFixed(world.get_id(), 0)) {
+}
+
+OdeFixedJoint::
+OdeFixedJoint(OdeWorld &world, OdeJointGroup &joint_group) : 
+  OdeJoint(dJointCreateFixed(world.get_id(), joint_group.get_id())) {
+}
+
+OdeFixedJoint::
+~OdeFixedJoint() {
+}

panda/src/ode/odeFixedJoint.h

@@ -0,0 +1,44 @@
+#ifndef ODEFIXEDJOINT_H
+#define ODEFIXEDJOINT_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeFixedJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeFixedJoint : public OdeJoint {
+PUBLISHED:
+  OdeFixedJoint(OdeWorld &world);
+  OdeFixedJoint(OdeWorld &world, OdeJointGroup &joint_group);
+  virtual ~OdeFixedJoint();
+
+  INLINE void set_fixed();
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdeFixedJoint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeFixedJoint.I"
+
+#endif

panda/src/ode/odeGeom.I

@@ -0,0 +1,190 @@
+// Filename: odeGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE dGeomID OdeGeom::
+get_id() const {
+  return _id;
+}
+
+INLINE OdeBody OdeGeom::
+get_body() const {
+  return OdeBody(dGeomGetBody(_id));
+}
+
+INLINE void OdeGeom::
+set_body(OdeBody &body) {
+  dGeomSetBody(_id, body.get_id());
+}
+
+/*
+INLINE void OdeGeom::
+set_data(void* data) {
+  dGeomSetData(_id, data);
+}
+*/
+
+INLINE void OdeGeom::
+set_position(dReal x, dReal y, dReal z) {
+  dGeomSetPosition(_id, x, y, z);
+}
+
+INLINE void OdeGeom::
+set_rotation(const LMatrix3f &r) {
+  dMatrix3 rot = { r._m.data[0], r._m.data[1], r._m.data[2], 0,
+                   r._m.data[3], r._m.data[4], r._m.data[5], 0,
+                   r._m.data[6], r._m.data[7], r._m.data[8], 0 };
+  dGeomSetRotation(_id, rot);
+}
+
+INLINE void OdeGeom::
+set_quaternion(const LQuaternionf &q) {
+  dQuaternion quat = { q[0], q[1], q[2], q[3] };
+  dGeomSetQuaternion(_id, quat);
+}
+
+INLINE LPoint3f OdeGeom::
+get_position() const {
+  const dReal *pos = dGeomGetPosition(_id);
+  return LPoint3f(pos[0], pos[1], pos[2]);
+}
+
+INLINE LMatrix3f OdeGeom::
+get_rotation() const {
+  const dReal *rot = dGeomGetRotation(_id);
+  return LMatrix3f(rot[0], rot[1], rot[2],
+                   rot[4], rot[5], rot[6],
+                   rot[8], rot[9], rot[10]);
+}
+
+INLINE LQuaternionf OdeGeom::
+get_quaternion() const {
+  dQuaternion res;
+  dGeomGetQuaternion(_id, res);
+  return LQuaternionf(res[0], res[1], res[2], res[3]);
+}
+
+/*
+INLINE void OdeGeom::
+get_aabb(dReal aabb[6]) const {
+  return dGeomGetAABB(_id, aabb[6]);
+}
+*/
+
+INLINE int OdeGeom::
+is_space() {
+  return dGeomIsSpace(_id);
+}
+
+INLINE int OdeGeom::
+get_class() const {
+  return dGeomGetClass(_id);
+}
+
+INLINE void OdeGeom::
+set_category_bits(unsigned long bits) {
+  dGeomSetCategoryBits(_id, bits);
+}
+
+INLINE void OdeGeom::
+set_collide_bits(unsigned long bits) {
+  dGeomSetCollideBits(_id, bits);
+}
+
+INLINE void OdeGeom::
+enable() {
+  dGeomEnable(_id);
+}
+
+INLINE void OdeGeom::
+disable() {
+  dGeomDisable(_id);
+}
+
+INLINE int OdeGeom::
+is_enabled() {
+  return dGeomIsEnabled(_id);
+}
+
+INLINE void OdeGeom::
+set_offset_position(dReal x, dReal y, dReal z) {
+  dGeomSetOffsetPosition(_id, x, y, z);
+}
+
+INLINE void OdeGeom::
+set_offset_rotation(const LMatrix3f &r) {
+  dMatrix3 rot = { r._m.data[0], r._m.data[1], r._m.data[2], 0,
+                   r._m.data[3], r._m.data[4], r._m.data[5], 0,
+                   r._m.data[6], r._m.data[7], r._m.data[8], 0 };
+  dGeomSetOffsetRotation(_id, rot);
+}
+
+INLINE void OdeGeom::
+set_offset_quaternion(const LQuaternionf &q) {
+  dQuaternion quat = { q[0], q[1], q[2], q[3] };
+  dGeomSetOffsetQuaternion(_id, quat);
+}
+
+INLINE void OdeGeom::
+set_offset_world_position(dReal x, dReal y, dReal z) {
+  dGeomSetOffsetWorldPosition(_id, x, y, z);
+}
+
+INLINE void OdeGeom::
+set_offset_world_rotation(const LMatrix3f &r) {
+  dMatrix3 rot = { r._m.data[0], r._m.data[1], r._m.data[2], 0,
+                   r._m.data[3], r._m.data[4], r._m.data[5], 0,
+                   r._m.data[6], r._m.data[7], r._m.data[8], 0 };
+  dGeomSetOffsetWorldRotation(_id, rot);
+}
+
+INLINE void OdeGeom::
+set_offset_world_quaternion(const LQuaternionf &q) {
+  dQuaternion quat = { q[0], q[1], q[2], q[3] };
+  dGeomSetOffsetWorldQuaternion(_id, quat);
+}
+
+INLINE void OdeGeom::
+clear_offset() {
+  dGeomClearOffset(_id);
+}
+
+INLINE int OdeGeom::
+is_offset() {
+  return dGeomIsOffset(_id);
+}
+
+INLINE LPoint3f OdeGeom::
+get_offset_position() const {
+  const dReal *pos = dGeomGetOffsetPosition(_id);
+  return LPoint3f(pos[0], pos[1], pos[2]);
+}
+
+INLINE LMatrix3f OdeGeom::
+get_offset_rotation() const {
+  const dReal *rot = dGeomGetOffsetRotation(_id);
+  return LMatrix3f(rot[0], rot[1], rot[2],
+                   rot[4], rot[5], rot[6],
+                   rot[8], rot[9], rot[10]);
+}
+
+INLINE LQuaternionf OdeGeom::
+get_offset_quaternion() const {
+  dQuaternion res;
+  dGeomGetOffsetQuaternion(_id, res);
+  return LQuaternionf(res[0], res[1], res[2], res[3]);
+}

panda/src/ode/odeGeom.cxx

@@ -0,0 +1,60 @@
+// Filename: odeGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeGeom.h"
+
+TypeHandle OdeGeom::_type_handle;
+
+OdeGeom::
+OdeGeom() :
+  _id(0) {
+  odegeom_cat.debug() << get_type() << "(" << _id << ")\n";
+}
+
+OdeGeom::
+OdeGeom(dGeomID id) :
+  _id(id) {
+  odegeom_cat.debug() << get_type() << "(" << _id << ")\n";
+}
+
+OdeGeom::
+~OdeGeom() {
+}
+
+void OdeGeom::
+destroy() {
+  if (get_class() == OdeTriMeshGeom::get_geom_class()) {
+    OdeTriMeshGeom::unlink_data(_id);
+  }
+}
+
+void OdeGeom::
+get_space(OdeSpace &space) const {
+  space._id = dGeomGetSpace(_id);  
+}
+
+
+void OdeGeom::
+write(ostream &out, unsigned int indent) const {
+  #ifndef NDEBUG //[
+  out.width(indent); 
+  out << get_type() << "(id = " << _id << ")";
+  #endif //] NDEBUG
+}
+

panda/src/ode/odeGeom.h

@@ -0,0 +1,107 @@
+// Filename: odeGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEGEOM_H
+#define ODEGEOM_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeSpace.h" // Needed for derived classes
+#include "odeBody.h"
+
+class OdeTriMeshGeom;
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeGeom : public TypedObject {
+  friend class OdeContactGeom;
+  friend class OdeSpace;
+
+protected:
+  OdeGeom(dGeomID id);
+
+PUBLISHED:
+  OdeGeom();
+  virtual ~OdeGeom();
+  void destroy();
+
+  //INLINE void set_data(void* data);
+  INLINE void set_body(OdeBody &body);
+  INLINE OdeBody get_body() const;
+  INLINE void set_position(dReal x, dReal y, dReal z);
+  INLINE void set_rotation(const LMatrix3f &r);
+  INLINE void set_quaternion(const LQuaternionf &q);
+  INLINE LPoint3f get_position() const;
+  INLINE LMatrix3f get_rotation() const;
+  INLINE LQuaternionf get_quaternion() const;
+  //INLINE void get_aabb(dReal aabb[6]) const;
+  INLINE int is_space();
+  INLINE int get_class() const;
+  INLINE void set_category_bits(unsigned long bits);
+  INLINE void set_collide_bits(unsigned long bits);
+  INLINE void enable();
+  INLINE void disable();
+  INLINE int is_enabled();
+  INLINE void set_offset_position(dReal x, dReal y, dReal z);
+  INLINE void set_offset_rotation(const LMatrix3f &r);
+  INLINE void set_offset_quaternion(const LQuaternionf &q);
+  INLINE void set_offset_world_position(dReal x, dReal y, dReal z);
+  INLINE void set_offset_world_rotation(const LMatrix3f &r);
+  INLINE void set_offset_world_quaternion(const LQuaternionf &q);
+  INLINE void clear_offset();
+  INLINE int is_offset();
+  INLINE LPoint3f get_offset_position() const;
+  INLINE LMatrix3f get_offset_rotation() const;
+  INLINE LQuaternionf get_offset_quaternion() const;
+
+  void get_space(OdeSpace &space) const;
+  virtual void write(ostream &out = cout, unsigned int indent=0) const;
+public:
+  INLINE dGeomID get_id() const;
+
+  INLINE static int get_geom_class() { return -1; };
+
+protected:
+  dGeomID _id;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedObject::init_type();
+    register_type(_type_handle, "OdeGeom",
+		  TypedObject::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeGeom.I"
+
+#endif

panda/src/ode/odeHashSpace.I

@@ -0,0 +1,36 @@
+// Filename: odeHashSpace.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeHashSpace::
+set_levels(int minlevel, int maxlevel) {
+  dHashSpaceSetLevels(_id, minlevel, maxlevel);
+}
+
+INLINE int OdeHashSpace::
+get_min_level() const {
+  int min, max;
+  dHashSpaceGetLevels(_id, &min, &max);
+  return min;
+}
+
+INLINE int OdeHashSpace::
+get_max_level() const {
+  int min, max;
+  dHashSpaceGetLevels(_id, &min, &max);
+  return max;
+}

panda/src/ode/odeHashSpace.cxx

@@ -0,0 +1,37 @@
+// Filename: odeHashSpace.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeHashSpace.h"
+
+TypeHandle OdeHashSpace::_type_handle;
+
+OdeHashSpace::
+OdeHashSpace() :
+  OdeSpace(dHashSpaceCreate(0)) {
+}
+
+OdeHashSpace::
+OdeHashSpace(OdeSpace &space) :
+  OdeSpace(dHashSpaceCreate(space.get_id())) {
+}
+
+OdeHashSpace::
+~OdeHashSpace() {
+}
+

panda/src/ode/odeHashSpace.h

@@ -0,0 +1,65 @@
+// Filename: odeHashSpace.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEHASHSPACE_H
+#define ODEHASHSPACE_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeSpace.h"
+
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeHashSpace
+// Description : 
+////////////////////////////////////////////////////////////////////c
+class EXPCL_PANDAODE OdeHashSpace : public OdeSpace {
+PUBLISHED:
+  OdeHashSpace();
+  OdeHashSpace(OdeSpace &space);
+  virtual ~OdeHashSpace();
+
+  INLINE void set_levels(int minlevel, int maxlevel);
+  INLINE int get_min_level() const;
+  INLINE int get_max_level() const;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeSpace::init_type();
+    register_type(_type_handle, "OdeHashSpace",
+		  OdeSpace::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeHashSpace.I"
+
+#endif
+

panda/src/ode/odeHeightFieldGeom.h

@@ -0,0 +1,68 @@
+// Filename: odeBoxGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEBOXGEOM_H
+#define ODEBOXGEOM_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeGeom.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeBoxGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeBoxGeom : public OdeGeom {
+PUBLISHED:
+  OdeBoxGeom();
+  virtual ~OdeBoxGeom();
+
+  INLINE dHeightfieldDataID heightfield_data_create();
+  INLINE void heightfield_data_destroy(dHeightfieldDataID d);
+  INLINE void heightfield_data_build_callback(dHeightfieldDataID d, void* p_user_data, dHeightfieldGetHeight* p_callback, dReal width, dReal depth, int width_samples, int depth_samples, dReal scale, dReal offset, dReal thickness, int b_wrap);
+  INLINE void heightfield_data_build_byte(dHeightfieldDataID d, const unsigned char* p_height_data, int b_copy_height_data, dReal width, dReal depth, int width_samples, int depth_samples, dReal scale, dReal offset, dReal thickness, int b_wrap);
+  INLINE void heightfield_data_build_short(dHeightfieldDataID d, const short* p_height_data, int b_copy_height_data, dReal width, dReal depth, int width_samples, int depth_samples, dReal scale, dReal offset, dReal thickness, int b_wrap);
+  INLINE void heightfield_data_build_single(dHeightfieldDataID d, const float* p_height_data, int b_copy_height_data, dReal width, dReal depth, int width_samples, int depth_samples, dReal scale, dReal offset, dReal thickness, int b_wrap);
+  INLINE void heightfield_data_build_double(dHeightfieldDataID d, const double* p_height_data, int b_copy_height_data, dReal width, dReal depth, int width_samples, int depth_samples, dReal scale, dReal offset, dReal thickness, int b_wrap);
+  INLINE void heightfield_data_set_bounds(dHeightfieldDataID d, dReal min_height, dReal max_height);
+  INLINE void heightfield_set_heightfield_data(dHeightfieldDataID d);
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeGeom::init_type();
+    register_type(_type_handle, "OdeBoxGeom",
+		  OdeGeom::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeBoxGeom.I"
+
+#endif

panda/src/ode/odeHinge2Joint.I

@@ -0,0 +1,83 @@
+// Filename: odeHinge2Joint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+
+INLINE void OdeHinge2Joint::
+set_hinge2_anchor(dReal x, dReal y, dReal z) {
+  dJointSetHinge2Anchor(_id, x, y, z);
+}
+
+INLINE void OdeHinge2Joint::
+set_hinge2_axis1(dReal x, dReal y, dReal z) {
+  dJointSetHinge2Axis1(_id, x, y, z);
+}
+
+INLINE void OdeHinge2Joint::
+set_hinge2_axis2(dReal x, dReal y, dReal z) {
+  dJointSetHinge2Axis2(_id, x, y, z);
+}
+
+INLINE void OdeHinge2Joint::
+set_hinge2_param(int parameter, dReal value) {
+  dJointSetHinge2Param(_id, parameter, value);
+}
+
+INLINE void OdeHinge2Joint::
+add_hinge2_torques(dReal torque1, dReal torque2) {
+  dJointAddHinge2Torques(_id, torque1, torque2);
+}
+
+INLINE void OdeHinge2Joint::
+get_hinge2_anchor(dVector3 result) const {
+  return dJointGetHinge2Anchor(_id, result);
+}
+
+INLINE void OdeHinge2Joint::
+get_hinge2_anchor2(dVector3 result) const {
+  return dJointGetHinge2Anchor2(_id, result);
+}
+
+INLINE void OdeHinge2Joint::
+get_hinge2_axis1(dVector3 result) const {
+  return dJointGetHinge2Axis1(_id, result);
+}
+
+INLINE void OdeHinge2Joint::
+get_hinge2_axis2(dVector3 result) const {
+  return dJointGetHinge2Axis2(_id, result);
+}
+
+INLINE dReal OdeHinge2Joint::
+get_hinge2_param(int parameter) const {
+  return dJointGetHinge2Param(_id, parameter);
+}
+
+INLINE dReal OdeHinge2Joint::
+get_hinge2_angle1() const {
+  return dJointGetHinge2Angle1(_id);
+}
+
+INLINE dReal OdeHinge2Joint::
+get_hinge2_angle1_rate() const {
+  return dJointGetHinge2Angle1Rate(_id);
+}
+
+INLINE dReal OdeHinge2Joint::
+get_hinge2_angle2_rate() const {
+  return dJointGetHinge2Angle2Rate(_id);
+}

panda/src/ode/odeHinge2Joint.cxx

@@ -0,0 +1,36 @@
+// Filename: odeHinge2Joint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeHinge2Joint.h"
+
+TypeHandle OdeHinge2Joint::_type_handle;
+
+OdeHinge2Joint::
+OdeHinge2Joint(OdeWorld &world) : 
+  OdeJoint(dJointCreateHinge2(world.get_id(), 0)) {
+}
+
+OdeHinge2Joint::
+OdeHinge2Joint(OdeWorld &world, OdeJointGroup &joint_group) : 
+  OdeJoint(dJointCreateHinge2(world.get_id(), joint_group.get_id())) {
+}
+
+OdeHinge2Joint::
+~OdeHinge2Joint() {
+}

panda/src/ode/odeHinge2Joint.h

@@ -0,0 +1,57 @@
+#ifndef ODEHINGE2JOINT_H
+#define ODEHINGE2JOINT_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeHinge2Joint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeHinge2Joint : public OdeJoint {
+PUBLISHED:
+  OdeHinge2Joint(OdeWorld &world, OdeJointGroup &joint_group);
+  OdeHinge2Joint(OdeWorld &world);
+  virtual ~OdeHinge2Joint();
+
+  INLINE void set_hinge2_anchor(dReal x, dReal y, dReal z);
+  INLINE void set_hinge2_axis1(dReal x, dReal y, dReal z);
+  INLINE void set_hinge2_axis2(dReal x, dReal y, dReal z);
+  INLINE void set_hinge2_param(int parameter, dReal value);
+  INLINE void add_hinge2_torques(dReal torque1, dReal torque2);
+
+  INLINE void get_hinge2_anchor(dVector3 result) const;
+  INLINE void get_hinge2_anchor2(dVector3 result) const;
+  INLINE void get_hinge2_axis1(dVector3 result) const;
+  INLINE void get_hinge2_axis2(dVector3 result) const;
+  INLINE dReal get_hinge2_param(int parameter) const;
+  INLINE dReal get_hinge2_angle1() const;
+  INLINE dReal get_hinge2_angle1_rate() const;
+  INLINE dReal get_hinge2_angle2_rate() const;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdeHinge2Joint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeHinge2Joint.I"
+
+#endif

panda/src/ode/odeHingeJoint.I

@@ -0,0 +1,73 @@
+// Filename: odeHingeJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeHingeJoint::
+set_hinge_anchor(dReal x, dReal y, dReal z) {
+  dJointSetHingeAnchor(_id, x, y, z);
+}
+
+INLINE void OdeHingeJoint::
+set_hinge_anchor_delta(dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az) {
+  dJointSetHingeAnchorDelta(_id, x, y, z, ax, ay, az);
+}
+
+INLINE void OdeHingeJoint::
+set_hinge_axis(dReal x, dReal y, dReal z) {
+  dJointSetHingeAxis(_id, x, y, z);
+}
+
+INLINE void OdeHingeJoint::
+set_hinge_param(int parameter, dReal value) {
+  dJointSetHingeParam(_id, parameter, value);
+}
+
+INLINE void OdeHingeJoint::
+add_hinge_torque(dReal torque) {
+  dJointAddHingeTorque(_id, torque);
+}
+
+INLINE void OdeHingeJoint::
+get_hinge_anchor(dVector3 result) const {
+  return dJointGetHingeAnchor(_id, result);
+}
+
+INLINE void OdeHingeJoint::
+get_hinge_anchor2(dVector3 result) const {
+  return dJointGetHingeAnchor2(_id, result);
+}
+
+INLINE void OdeHingeJoint::
+get_hinge_axis(dVector3 result) const {
+  return dJointGetHingeAxis(_id, result);
+}
+
+INLINE dReal OdeHingeJoint::
+get_hinge_param(int parameter) const {
+  return dJointGetHingeParam(_id, parameter);
+}
+
+INLINE dReal OdeHingeJoint::
+get_hinge_angle() const {
+  return dJointGetHingeAngle(_id);
+}
+
+INLINE dReal OdeHingeJoint::
+get_hinge_angle_rate() const {
+  return dJointGetHingeAngleRate(_id);
+}
+

panda/src/ode/odeHingeJoint.cxx

@@ -0,0 +1,36 @@
+// Filename: odeHingeJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeHingeJoint.h"
+
+TypeHandle OdeHingeJoint::_type_handle;
+
+OdeHingeJoint::
+OdeHingeJoint(OdeWorld &world) : 
+  OdeJoint(dJointCreateHinge(world.get_id(), 0)) {
+}
+
+OdeHingeJoint::
+OdeHingeJoint(OdeWorld &world, OdeJointGroup &joint_group) : 
+  OdeJoint(dJointCreateHinge(world.get_id(), joint_group.get_id())) {
+}
+
+OdeHingeJoint::
+~OdeHingeJoint() {
+}

panda/src/ode/odeHingeJoint.h

@@ -0,0 +1,54 @@
+#ifndef ODEHINGEJOINT_H
+#define ODEHINGEJOINT_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeHingeJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeHingeJoint : public OdeJoint {
+PUBLISHED:
+  OdeHingeJoint(OdeWorld &world);
+  OdeHingeJoint(OdeWorld &world, OdeJointGroup &joint_group);
+  virtual ~OdeHingeJoint();
+
+  INLINE void set_hinge_anchor(dReal x, dReal y, dReal z);
+  INLINE void set_hinge_anchor_delta(dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+  INLINE void set_hinge_axis(dReal x, dReal y, dReal z);
+  INLINE void set_hinge_param(int parameter, dReal value);
+  INLINE void add_hinge_torque(dReal torque);
+
+  INLINE void get_hinge_anchor(dVector3 result) const;
+  INLINE void get_hinge_anchor2(dVector3 result) const;
+  INLINE void get_hinge_axis(dVector3 result) const;
+  INLINE dReal get_hinge_param(int parameter) const;
+  INLINE dReal get_hinge_angle() const;
+  INLINE dReal get_hinge_angle_rate() const;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdeHingeJoint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeHingeJoint.I"
+
+#endif

panda/src/ode/odeJoint.I

@@ -0,0 +1,47 @@
+// Filename: odeJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE dJointID OdeJoint::
+get_id() const {
+  return _id;
+}
+
+INLINE void OdeJoint::
+set_data(void *data) {
+  dJointSetData(_id, data);
+}
+
+INLINE void *OdeJoint::
+get_data() {
+  return dJointGetData(_id);
+}
+
+INLINE int OdeJoint::
+get_joint_type() const {
+  return dJointGetType(_id);
+}
+
+INLINE void OdeJoint::
+set_feedback(dJointFeedback *feedback) {
+  dJointSetFeedback(_id, feedback);
+}
+
+INLINE dJointFeedback *OdeJoint::
+get_feedback() {
+  return dJointGetFeedback(_id);
+}

panda/src/ode/odeJoint.cxx

@@ -0,0 +1,89 @@
+// Filename: odeJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeJoint.h"
+
+TypeHandle OdeJoint::_type_handle;
+
+OdeJoint::
+OdeJoint(dJointID id) : 
+  _id(id) {
+  ostream &out = odejoint_cat.debug();
+  out << get_type() << "(" << _id  << ")\n";
+}
+
+OdeJoint::
+~OdeJoint() {
+}
+
+void OdeJoint::
+destroy() {
+  dJointDestroy(_id);
+}
+
+void OdeJoint::
+attach(const OdeBody &body1, const OdeBody &body2) {
+  dJointAttach(_id, body1.get_id(), body2.get_id());
+}
+
+void OdeJoint::
+attach(const OdeBody &body, int index) {
+  if (index == 0) {
+    dJointAttach(_id, body.get_id(), 0);
+  } else {
+    dJointAttach(_id, 0, body.get_id());
+  }
+}
+
+void OdeJoint::
+detach() {
+  dJointAttach(_id, 0, 0);
+}
+
+void OdeJoint::
+get_body(int index, OdeBody &body) const {
+  body._id = dJointGetBody(_id, index);
+}
+
+void OdeJoint::
+write(ostream &out, unsigned int indent) const {
+  #ifndef NDEBUG //[
+  out.width(indent); out << "" << get_type() \
+			 << "(id = " << _id \
+			 << ", body1 = ";
+  OdeBody body;
+  get_body(0, body);
+  if (body.get_id() != 0) {
+    body.write(out);
+  }
+  else {
+    out << "0";
+  }
+  out << ", body2 = ";
+  get_body(1, body);
+  if (body.get_id() != 0) {
+    body.write(out);
+  }
+  else {
+    out << "0";
+  }
+  out << ")";
+
+  #endif //] NDEBUG
+}

panda/src/ode/odeJoint.h

@@ -0,0 +1,88 @@
+// Filename: odeJoint.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEJOINT_H
+#define ODEJOINT_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeWorld.h" // Needed for derived classes
+#include "odeJointGroup.h"
+
+
+class OdeBody;
+
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeJoint : public TypedObject {
+  friend class OdeBody;
+  friend class OdeUtil;
+
+protected:
+  OdeJoint(dJointID id);
+
+PUBLISHED:
+  virtual ~OdeJoint();
+  void destroy();
+
+  INLINE void set_data(void *data);
+  INLINE void *get_data();
+  INLINE int get_joint_type() const;
+  void get_body(int index, OdeBody &body) const;
+  INLINE void set_feedback(dJointFeedback *);
+  INLINE dJointFeedback *get_feedback();
+   
+  void attach(const OdeBody &body1, const OdeBody &body2);
+  void attach(const OdeBody &body, int index);
+  void detach();
+
+  virtual void write(ostream &out = cout, unsigned int indent=0) const;
+
+public: 
+  INLINE dJointID get_id() const;
+
+protected:
+  dJointID _id;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedObject::init_type();
+    register_type(_type_handle, "OdeJoint",
+		  TypedObject::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeJoint.I"
+
+#endif

panda/src/ode/odeJointGroup.I

@@ -0,0 +1,28 @@
+// Filename: odeJointGroup.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE dJointGroupID OdeJointGroup::
+get_id() const {
+  return _id;
+}
+
+INLINE void OdeJointGroup::
+empty() const {
+  dJointGroupEmpty(_id);
+}
+

panda/src/ode/odeJointGroup.cxx

@@ -0,0 +1,36 @@
+// Filename: odeJointGroup.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeJointGroup.h"
+
+TypeHandle OdeJointGroup::_type_handle;
+
+OdeJointGroup::
+OdeJointGroup() :
+  _id(dJointGroupCreate(0)) {
+}
+
+OdeJointGroup::
+~OdeJointGroup() {
+}
+
+void OdeJointGroup::
+destroy() {
+  dJointGroupDestroy(_id);
+}

panda/src/ode/odeJointGroup.h

@@ -0,0 +1,67 @@
+// Filename: odeJointGroup.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEJOINTGROUP_H
+#define ODEJOINTGROUP_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeJointGroup
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeJointGroup : public TypedObject {
+PUBLISHED:
+  OdeJointGroup();
+  virtual ~OdeJointGroup();
+  void destroy();
+
+  INLINE void empty() const;
+
+public: 
+  INLINE dJointGroupID get_id() const;
+
+private:
+  dJointGroupID _id;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedObject::init_type();
+    register_type(_type_handle, "OdeJointGroup",
+		  TypedObject::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeJointGroup.I"
+
+#endif
+

panda/src/ode/odeLMotorJoint.I

@@ -0,0 +1,49 @@
+// Filename: odeLMotorJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+
+INLINE void OdeLMotorJoint::
+set_l_motor_num_axes(int num) {
+  dJointSetLMotorNumAxes(_id, num);
+}
+
+INLINE void OdeLMotorJoint::
+set_l_motor_axis(int anum, int rel, dReal x, dReal y, dReal z) {
+  dJointSetLMotorAxis(_id, anum, rel, x, y, z);
+}
+
+INLINE void OdeLMotorJoint::
+set_l_motor_param(int parameter, dReal value) {
+  dJointSetLMotorParam(_id, parameter, value);
+}
+
+INLINE int OdeLMotorJoint::
+get_l_motor_num_axes() const {
+  return dJointGetLMotorNumAxes(_id);
+}
+
+INLINE void OdeLMotorJoint::
+get_l_motor_axis(int anum, dVector3 result) const {
+  return dJointGetLMotorAxis(_id, anum, result);
+}
+
+INLINE dReal OdeLMotorJoint::
+get_l_motor_param(int parameter) const {
+  return dJointGetLMotorParam(_id, parameter);
+}
+

panda/src/ode/odeLMotorJoint.cxx

@@ -0,0 +1,36 @@
+// Filename: odeLMotorJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeLMotorJoint.h"
+
+TypeHandle OdeLMotorJoint::_type_handle;
+
+OdeLMotorJoint::
+OdeLMotorJoint(OdeWorld &world  ) : 
+  OdeJoint(dJointCreateLMotor(world.get_id(), 0)) {
+}
+
+OdeLMotorJoint::
+OdeLMotorJoint(OdeWorld &world, OdeJointGroup &joint_group) : 
+  OdeJoint(dJointCreateLMotor(world.get_id(), joint_group.get_id())) {
+}
+
+OdeLMotorJoint::
+~OdeLMotorJoint() {
+}

panda/src/ode/odeLMotorJoint.h

@@ -0,0 +1,49 @@
+#ifndef ODELMOTORJOINT_H
+#define ODELMOTORJOINT_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeLMotorJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeLMotorJoint : public OdeJoint {
+PUBLISHED:
+  OdeLMotorJoint(OdeWorld &world);
+  OdeLMotorJoint(OdeWorld &world, OdeJointGroup &joint_group);
+  virtual ~OdeLMotorJoint();
+
+  INLINE void set_l_motor_num_axes(int num);
+  INLINE void set_l_motor_axis(int anum, int rel, dReal x, dReal y, dReal z);
+  INLINE void set_l_motor_param(int parameter, dReal value);
+
+  INLINE int get_l_motor_num_axes() const;
+  INLINE void get_l_motor_axis(int anum, dVector3 result) const;
+  INLINE dReal get_l_motor_param(int parameter) const;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdeLMotorJoint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeLMotorJoint.I"
+
+#endif

panda/src/ode/odeMass.I

@@ -0,0 +1,130 @@
+// Filename: odeMass.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE int OdeMass::
+check() {
+  return dMassCheck(&_mass);
+}
+
+INLINE void OdeMass::
+set_zero() {
+  _mass.setZero();
+}
+
+INLINE void OdeMass::
+set_parameters(dReal themass,
+               dReal cgx, dReal cgy, dReal cgz,
+               dReal I11, dReal I22, dReal I33,
+               dReal I12, dReal I13, dReal I23) {
+  _mass.setParameters(themass,
+                      cgx, cgy, cgz,
+                      I11, I22, I33,
+                      I12, I13, I23);
+}
+
+INLINE void OdeMass::
+set_sphere(dReal density, dReal radius) {
+  _mass.setSphere(density, radius);
+}
+
+INLINE void OdeMass::
+set_sphere_total(dReal total_mass, dReal radius) {
+  dMassSetSphereTotal(&_mass, total_mass, radius);
+}
+
+INLINE void OdeMass::
+set_capsule(dReal density, int direction,
+            dReal radius, dReal length) {
+  _mass.setCapsule(density, direction,
+                    radius, length);
+}
+
+INLINE void OdeMass::
+set_capsule_total(dReal total_mass, int direction,
+                  dReal radius, dReal length) {
+  dMassSetCapsuleTotal(&_mass, 
+                       total_mass, direction,
+                       radius, length);
+}
+
+INLINE void OdeMass::
+set_cylinder(dReal density, int direction,
+             dReal radius, dReal length) {
+  dMassSetCylinder(&_mass, 
+                   density,direction,
+                   radius,length);
+}
+
+INLINE void OdeMass::
+set_cylinder_total(dReal total_mass, int direction,
+                   dReal radius, dReal length) {
+  dMassSetCylinderTotal(&_mass, total_mass, direction,
+                        radius, length);
+}
+
+INLINE void OdeMass::
+set_box(dReal density,
+        dReal lx, dReal ly, dReal lz) {
+  _mass.setBox(density,
+		lx, ly, lz);
+}
+
+INLINE void OdeMass::
+set_box_total(dReal total_mass,
+              dReal lx, dReal ly, dReal lz) {
+  dMassSetBoxTotal(&_mass,
+                   total_mass,
+                   lx, ly, lz);
+}
+
+INLINE void OdeMass::
+adjust(dReal newmass) {
+  _mass.adjust(newmass);
+}
+
+INLINE void OdeMass::
+translate(dReal x, dReal y, dReal z) {
+  _mass.translate(x, y, z);
+}
+
+INLINE void OdeMass::
+rotate(const dMatrix3 R) {
+  _mass.rotate(R);
+}
+
+INLINE void OdeMass::
+add(OdeMass &other) {
+  _mass.add(other.get_mass_ptr());
+}
+
+INLINE dReal OdeMass::
+get_magnitude() const {
+  return _mass.mass;
+}
+
+INLINE LPoint3f OdeMass::
+get_center() const {
+  return LPoint3f(_mass.c[0], _mass.c[1], _mass.c[2]);
+}
+
+INLINE LMatrix3f OdeMass::
+get_inertia() const {
+  return LMatrix3f(_mass.I[0], _mass.I[1], _mass.I[2] ,
+                   _mass.I[4], _mass.I[5], _mass.I[6] ,
+                   _mass.I[8], _mass.I[9], _mass.I[10]);
+}

panda/src/ode/odeMass.cxx

@@ -0,0 +1,67 @@
+// Filename: odeMass.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeMass.h"
+
+TypeHandle OdeMass::_type_handle;
+
+OdeMass::
+OdeMass() : 
+  _mass() {
+}
+
+OdeMass::
+OdeMass(const OdeMass &copy) : 
+  _mass() {
+  _mass.setParameters(copy._mass.mass, 
+		      copy._mass.c[0], copy._mass.c[1], copy._mass.c[2],
+		      copy._mass.I[0], copy._mass.I[5], copy._mass.I[10],
+		      copy._mass.I[1], copy._mass.I[2], copy._mass.I[4]);
+}
+
+OdeMass::
+~OdeMass() {
+}
+
+dMass* OdeMass::
+get_mass_ptr() {
+  return &_mass;
+}
+
+void OdeMass::
+operator = (const OdeMass &copy) {
+  _mass.setParameters(copy._mass.mass, 
+		      copy._mass.c[0], copy._mass.c[1], copy._mass.c[2],
+		      copy._mass.I[0], copy._mass.I[5], copy._mass.I[10],
+		      copy._mass.I[1], copy._mass.I[2], copy._mass.I[4]);
+		      
+}
+
+
+void OdeMass::
+write(ostream &out, unsigned int indent) const {
+  #ifndef NDEBUG //[
+  out.width(indent); 
+  out << get_type() \
+      << "(mag = " << get_magnitude() \
+      << ", center = " << get_center() \
+      << ", inertia = " << get_inertia() \
+      << ")";
+  #endif //] NDEBUG
+}

panda/src/ode/odeMass.h

@@ -0,0 +1,96 @@
+// Filename: odeMass.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEMASS_H
+#define ODEMASS_H
+
+#include "pandabase.h"
+#include "typedReferenceCount.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeMass
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeMass : public TypedReferenceCount {
+PUBLISHED:
+  OdeMass();
+  OdeMass(const OdeMass &copy);
+  virtual ~OdeMass();
+  
+  INLINE int check();
+  INLINE void set_zero();
+  INLINE void set_parameters(dReal themass,
+                             dReal cgx, dReal cgy, dReal cgz,
+                             dReal I11, dReal I22, dReal I33,
+                             dReal I12, dReal I13, dReal I23);
+  INLINE void set_sphere(dReal density, dReal radius);
+  INLINE void set_sphere_total(dReal total_mass, dReal radius);
+  INLINE void set_capsule(dReal density, int direction,
+                          dReal radius, dReal length);
+  INLINE void set_capsule_total(dReal total_mass, int direction,
+                                dReal radius, dReal length);
+  INLINE void set_cylinder(dReal density, int direction,
+                           dReal radius, dReal length);
+  INLINE void set_cylinder_total(dReal total_mass, int direction,
+                                 dReal radius, dReal length);
+  INLINE void set_box(dReal density,
+                      dReal lx, dReal ly, dReal lz);
+  INLINE void set_box_total(dReal total_mass,
+                            dReal lx, dReal ly, dReal lz);
+  INLINE void adjust(dReal newmass);
+  INLINE void translate(dReal x, dReal y, dReal z);
+  INLINE void rotate(const dMatrix3 R);
+  INLINE void add(OdeMass &other);
+
+  INLINE dReal get_magnitude() const;
+  INLINE LPoint3f get_center() const;
+  INLINE LMatrix3f get_inertia() const;
+
+  virtual void write(ostream &out = cout, unsigned int indent=0) const;
+
+public:
+  dMass* get_mass_ptr();
+
+private:
+  void operator = (const OdeMass &copy);
+  dMass _mass;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedReferenceCount::init_type();
+    register_type(_type_handle, "OdeMass",
+		  TypedReferenceCount::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeMass.I"
+
+#endif

panda/src/ode/odeNullJoint.I

@@ -0,0 +1,17 @@
+// Filename: odeNullJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////

panda/src/ode/odeNullJoint.cxx

@@ -0,0 +1,36 @@
+// Filename: odeNullJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeNullJoint.h"
+
+TypeHandle OdeNullJoint::_type_handle;
+
+OdeNullJoint::
+OdeNullJoint(OdeWorld &world) : 
+  OdeJoint(dJointCreateNull(world.get_id(), 0)) {
+}
+
+OdeNullJoint::
+OdeNullJoint(OdeWorld &world, OdeJointGroup &joint_group) : 
+  OdeJoint(dJointCreateNull(world.get_id(), joint_group.get_id())) {
+}
+
+OdeNullJoint::
+~OdeNullJoint() {
+}

panda/src/ode/odeNullJoint.h

@@ -0,0 +1,41 @@
+#ifndef ODENULLJOINT_H
+#define ODENULLJOINT_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeNullJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeNullJoint : public OdeJoint {
+PUBLISHED:
+  OdeNullJoint(OdeWorld &world);
+  OdeNullJoint(OdeWorld &world, OdeJointGroup &joint_group);
+  virtual ~OdeNullJoint();
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdeNullJoint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeNullJoint.I"
+
+#endif

panda/src/ode/odePlane2dJoint.I

@@ -0,0 +1,32 @@
+// Filename: odePlane2dJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdePlane2dJoint::
+set_plane2_dxparam(int parameter, dReal value) {
+  dJointSetPlane2DXParam(_id, parameter, value);
+}
+
+INLINE void OdePlane2dJoint::
+set_plane2_dyparam(int parameter, dReal value) {
+  dJointSetPlane2DYParam(_id, parameter, value);
+}
+
+INLINE void OdePlane2dJoint::
+set_plane2_dangle_param(int parameter, dReal value) {
+  dJointSetPlane2DAngleParam(_id, parameter, value);
+}

panda/src/ode/odePlane2dJoint.cxx

@@ -0,0 +1,36 @@
+// Filename: odePlane2dJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odePlane2dJoint.h"
+
+TypeHandle OdePlane2dJoint::_type_handle;
+
+OdePlane2dJoint::
+OdePlane2dJoint(OdeWorld &world) : 
+  OdeJoint(dJointCreatePlane2D(world.get_id(), 0)) {
+}
+
+OdePlane2dJoint::
+OdePlane2dJoint(OdeWorld &world, OdeJointGroup &joint_group) : 
+  OdeJoint(dJointCreatePlane2D(world.get_id(), joint_group.get_id())) {
+}
+
+OdePlane2dJoint::
+~OdePlane2dJoint() {
+}

panda/src/ode/odePlane2dJoint.h

@@ -0,0 +1,45 @@
+#ifndef ODEPLANE2DJOINT_H
+#define ODEPLANE2DJOINT_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdePlane2dJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdePlane2dJoint : public OdeJoint {
+PUBLISHED:
+  OdePlane2dJoint(OdeWorld &world);
+  OdePlane2dJoint(OdeWorld &world, OdeJointGroup &joint_group);
+  virtual ~OdePlane2dJoint();
+
+  INLINE void set_plane2_dxparam(int parameter, dReal value);
+  INLINE void set_plane2_dyparam(int parameter, dReal value);
+  INLINE void set_plane2_dangle_param(int parameter, dReal value);
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdePlane2dJoint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odePlane2dJoint.I"
+
+#endif

panda/src/ode/odePlaneGeom.I

@@ -0,0 +1,34 @@
+// Filename: odePlaneGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdePlaneGeom::
+set_params(dReal a, dReal b, dReal c, dReal d) {
+  dGeomPlaneSetParams(_id, a, b, c, d);
+}
+
+INLINE LVecBase4f OdePlaneGeom::
+get_params() const {
+  dVector4 res;
+  dGeomPlaneGetParams(_id, res);
+  return LVecBase4f(res[0], res[1], res[2], res[3]);
+}
+
+INLINE dReal OdePlaneGeom::
+get_point_depth(dReal x, dReal y, dReal z) const {
+  return dGeomPlanePointDepth(_id, x, y, z);
+}

panda/src/ode/odePlaneGeom.cxx

@@ -0,0 +1,36 @@
+// Filename: odePlaneGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odePlaneGeom.h"
+
+TypeHandle OdePlaneGeom::_type_handle;
+
+OdePlaneGeom::
+OdePlaneGeom(dReal a, dReal b, dReal c, dReal d) :
+  OdeGeom(dCreatePlane(0, a, b, c, d)) {
+}
+
+OdePlaneGeom::
+OdePlaneGeom(OdeSpace &space, dReal a, dReal b, dReal c, dReal d) :
+  OdeGeom(dCreatePlane(space.get_id(), a, b, c, d)) {
+}
+
+OdePlaneGeom::
+~OdePlaneGeom() {
+}

panda/src/ode/odePlaneGeom.h

@@ -0,0 +1,65 @@
+// Filename: odePlaneGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEPLANEGEOM_H
+#define ODEPLANEGEOM_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeGeom.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdePlaneGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdePlaneGeom : public OdeGeom {
+PUBLISHED:
+  OdePlaneGeom(dReal a, dReal b, dReal c, dReal d);
+  OdePlaneGeom(OdeSpace &space, dReal a, dReal b, dReal c, dReal d);
+  virtual ~OdePlaneGeom();
+
+  INLINE void set_params(dReal a, dReal b, dReal c, dReal d);
+  INLINE LVecBase4f get_params() const;
+  INLINE dReal get_point_depth(dReal x, dReal y, dReal z) const;
+
+public:
+  INLINE static int get_geom_class() { return dPlaneClass; };
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeGeom::init_type();
+    register_type(_type_handle, "OdePlaneGeom",
+		  OdeGeom::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odePlaneGeom.I"
+
+#endif

panda/src/ode/odeQuadTreeSpace.I

@@ -0,0 +1,18 @@
+// Filename: odeQuadTreeSpace.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+

panda/src/ode/odeQuadTreeSpace.cxx

@@ -0,0 +1,61 @@
+// Filename: odeQuadTreeSpace.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeQuadTreeSpace.h"
+
+TypeHandle OdeQuadTreeSpace::_type_handle;
+
+typedef struct { dVector4 vec; } sdVector4;
+
+sdVector4 LVec3TodVector4(const LVecBase3f& vec) {
+  sdVector4 sdVec4;
+
+  sdVec4.vec[0] = vec[0];
+  sdVec4.vec[1] = vec[1];
+  sdVec4.vec[2] = vec[2];
+  sdVec4.vec[3] = 0;
+
+  return sdVec4;
+}
+
+OdeQuadTreeSpace::
+OdeQuadTreeSpace(const LPoint3f &center,
+		 const LVecBase3f &extents,
+		 const int depth) :
+  OdeSpace(dQuadTreeSpaceCreate(0,
+				LVec3TodVector4(center).vec,
+				LVec3TodVector4(extents).vec,
+				depth)) {
+}
+
+OdeQuadTreeSpace::
+OdeQuadTreeSpace(OdeSpace &space,
+                 const LPoint3f &center,
+		 const LVecBase3f &extents,
+		 const int depth) :
+  OdeSpace(dQuadTreeSpaceCreate(space.get_id(),
+                                LVec3TodVector4(center).vec,
+				LVec3TodVector4(extents).vec,
+                                depth)) {
+}
+
+OdeQuadTreeSpace::
+~OdeQuadTreeSpace() {
+}
+

panda/src/ode/odeQuadTreeSpace.h

@@ -0,0 +1,65 @@
+// Filename: odeQuadTreeSpace.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODEQUADTREESPACE_H
+#define ODEQUADTREESPACE_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeSpace.h"
+
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeQuadTreeSpace
+// Description : 
+////////////////////////////////////////////////////////////////////c
+class EXPCL_PANDAODE OdeQuadTreeSpace : public OdeSpace {
+PUBLISHED:
+  OdeQuadTreeSpace(const LPoint3f &center,
+                   const LVecBase3f &extents,
+                   const int depth);
+  OdeQuadTreeSpace(OdeSpace &space,
+                   const LPoint3f &center,
+                   const LVecBase3f &extents,
+                   const int depth);
+  virtual ~OdeQuadTreeSpace();
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeSpace::init_type();
+    register_type(_type_handle, "OdeQuadTreeSpace",
+		  OdeSpace::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeQuadTreeSpace.I"
+
+#endif
+

panda/src/ode/odeRayGeom.I

@@ -0,0 +1,88 @@
+// Filename: odeRayGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+INLINE void OdeRayGeom::
+set_length(dReal length) {
+  dGeomRaySetLength(_id, length);
+}
+
+INLINE dReal OdeRayGeom::
+get_length() {
+  return dGeomRayGetLength(_id);
+}
+
+INLINE void OdeRayGeom::
+set(dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz) {
+  dGeomRaySet(_id, px, py, pz, dx, dy, dz);
+}
+
+
+INLINE void OdeRayGeom::
+get(LVecBase3f &start, LVecBase3f &dir) const {
+  dVector3 s, d;
+  dGeomRayGet(_id, s, d);
+  start.set(s[0], s[1], s[2]);
+  dir.set(d[0], d[1], d[2]);
+}
+
+INLINE LVecBase3f OdeRayGeom::
+get_start() const {
+  dVector3 start, dir;
+  dGeomRayGet(_id, start, dir);
+  return LVecBase3f(start[0], start[1], start[2]);
+}
+
+INLINE LVecBase3f OdeRayGeom::
+get_direction() const {
+  dVector3 start, dir;
+  dGeomRayGet(_id, start, dir);
+  return LVecBase3f(dir[0], dir[1], dir[2]);
+}
+
+INLINE void OdeRayGeom::
+set_params(int first_contact, int backface_cull) {
+  dGeomRaySetParams(_id, first_contact, backface_cull);
+}
+
+INLINE void OdeRayGeom::
+get_params(int &first_contact, int &backface_cull) const {
+  dGeomRayGetParams(_id, &first_contact, &backface_cull);
+}
+
+INLINE int OdeRayGeom::
+get_first_contact() const {
+  int fc, bc;
+  dGeomRayGetParams(_id, &fc, &bc);
+  return fc;
+}
+
+INLINE int OdeRayGeom::
+get_backface_cull() const {
+  int fc, bc;
+  dGeomRayGetParams(_id, &fc, &bc);
+  return bc;
+}
+
+INLINE void OdeRayGeom::
+set_closest_hit(int closest_hit) {
+  dGeomRaySetClosestHit(_id, closest_hit);
+}
+
+INLINE int OdeRayGeom::
+get_closest_hit() {
+  return dGeomRayGetClosestHit(_id);
+}

panda/src/ode/odeRayGeom.cxx

@@ -0,0 +1,36 @@
+// Filename: odeRayGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeRayGeom.h"
+
+TypeHandle OdeRayGeom::_type_handle;
+
+OdeRayGeom::
+OdeRayGeom(dReal length) :
+  OdeGeom(dCreateRay(0, length)) {
+}
+
+OdeRayGeom::
+OdeRayGeom(OdeSpace &space, dReal length) :
+  OdeGeom(dCreateRay(space.get_id(), length)) {
+}
+
+OdeRayGeom::
+~OdeRayGeom() {
+}

panda/src/ode/odeRayGeom.h

@@ -0,0 +1,74 @@
+// Filename: odeRayGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODERAYGEOM_H
+#define ODERAYGEOM_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeGeom.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeRayGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeRayGeom : public OdeGeom {
+PUBLISHED:
+  OdeRayGeom(dReal length);
+  OdeRayGeom(OdeSpace &space, dReal length);
+  virtual ~OdeRayGeom();
+
+  INLINE void set_length(dReal length);
+  INLINE dReal get_length();
+  INLINE void set(dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
+  INLINE void get(LVecBase3f &start, LVecBase3f &dir) const;
+  INLINE LVecBase3f get_start() const;
+  INLINE LVecBase3f get_direction() const;
+  INLINE void set_params(int first_contact, int backface_cull);
+  INLINE void get_params(int &first_contact, int &backface_cull) const;
+  INLINE int get_first_contact() const;
+  INLINE int get_backface_cull() const;
+  INLINE void set_closest_hit(int closest_hit);
+  INLINE int get_closest_hit();
+
+public:
+  INLINE static int get_geom_class() { return dRayClass; };
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeGeom::init_type();
+    register_type(_type_handle, "OdeRayGeom",
+		  OdeGeom::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeRayGeom.I"
+
+#endif

panda/src/ode/odeSimpleSpace.I

@@ -0,0 +1,17 @@
+// Filename: odeSimpleSpace.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////

panda/src/ode/odeSimpleSpace.cxx

@@ -0,0 +1,37 @@
+// Filename: odeSimpleSpace.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeSimpleSpace.h"
+
+TypeHandle OdeSimpleSpace::_type_handle;
+
+OdeSimpleSpace::
+OdeSimpleSpace() :
+  OdeSpace(dSimpleSpaceCreate(0)) {
+}
+
+OdeSimpleSpace::
+OdeSimpleSpace(OdeSpace &space) :
+  OdeSpace(dSimpleSpaceCreate(space.get_id())) {
+}
+
+OdeSimpleSpace::
+~OdeSimpleSpace() {
+}
+

panda/src/ode/odeSimpleSpace.h

@@ -0,0 +1,60 @@
+// Filename: odeSimpleSpace.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODESIMPLESPACE_H
+#define ODESIMPLESPACE_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeSpace.h"
+
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeSimpleSpace
+// Description : 
+////////////////////////////////////////////////////////////////////c
+class EXPCL_PANDAODE OdeSimpleSpace : public OdeSpace {
+PUBLISHED:
+  OdeSimpleSpace();
+  OdeSimpleSpace(OdeSpace &space);
+  virtual ~OdeSimpleSpace();
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeSpace::init_type();
+    register_type(_type_handle, "OdeSimpleSpace",
+		  OdeSpace::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeSimpleSpace.I"
+
+#endif
+

panda/src/ode/odeSliderJoint.I

@@ -0,0 +1,57 @@
+// Filename: odeSliderJoint.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeSliderJoint::
+set_slider_axis(dReal x, dReal y, dReal z) {
+  dJointSetSliderAxis(_id, x, y, z);
+}
+
+INLINE void OdeSliderJoint::
+set_slider_axis_delta(dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az) {
+  dJointSetSliderAxisDelta(_id, x, y, z, ax, ay, az);
+}
+
+INLINE void OdeSliderJoint::
+set_slider_param(int parameter, dReal value) {
+  dJointSetSliderParam(_id, parameter, value);
+}
+
+INLINE void OdeSliderJoint::
+add_slider_force(dReal force) {
+  dJointAddSliderForce(_id, force);
+}
+
+INLINE dReal OdeSliderJoint::
+get_slider_position() const {
+  return dJointGetSliderPosition(_id);
+}
+
+INLINE dReal OdeSliderJoint::
+get_slider_position_rate() const {
+  return dJointGetSliderPositionRate(_id);
+}
+
+INLINE void OdeSliderJoint::
+get_slider_axis(dVector3 result) const {
+  return dJointGetSliderAxis(_id, result);
+}
+
+INLINE dReal OdeSliderJoint::
+get_slider_param(int parameter) const {
+  return dJointGetSliderParam(_id, parameter);
+}

panda/src/ode/odeSliderJoint.cxx

@@ -0,0 +1,36 @@
+// Filename: odeSliderJoint.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeSliderJoint.h"
+
+TypeHandle OdeSliderJoint::_type_handle;
+
+OdeSliderJoint::
+OdeSliderJoint(OdeWorld &world) : 
+  OdeJoint(dJointCreateSlider(world.get_id(), 0)) {
+}
+
+OdeSliderJoint::
+OdeSliderJoint(OdeWorld &world, OdeJointGroup &joint_group) : 
+  OdeJoint(dJointCreateSlider(world.get_id(), joint_group.get_id())) {
+}
+
+OdeSliderJoint::
+~OdeSliderJoint() {
+}

panda/src/ode/odeSliderJoint.h

@@ -0,0 +1,51 @@
+#ifndef ODESLIDERJOINT_H
+#define ODESLIDERJOINT_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "odeJoint.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeSliderJoint
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeSliderJoint : public OdeJoint {
+PUBLISHED:
+  OdeSliderJoint(OdeWorld &world);
+  OdeSliderJoint(OdeWorld &world, OdeJointGroup &joint_group);
+  virtual ~OdeSliderJoint();
+
+  INLINE void set_slider_axis(dReal x, dReal y, dReal z);
+  INLINE void set_slider_axis_delta(dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
+  INLINE void set_slider_param(int parameter, dReal value);
+  INLINE void add_slider_force(dReal force);
+
+  INLINE dReal get_slider_position() const;
+  INLINE dReal get_slider_position_rate() const;
+  INLINE void get_slider_axis(dVector3 result) const;
+  INLINE dReal get_slider_param(int parameter) const;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeJoint::init_type();
+    register_type(_type_handle, "OdeSliderJoint",
+		  OdeJoint::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeSliderJoint.I"
+
+#endif

panda/src/ode/odeSpace.I

@@ -0,0 +1,86 @@
+// Filename: odeSpace.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+
+INLINE dSpaceID OdeSpace::
+get_id() const {
+  return _id;
+}
+
+INLINE void OdeSpace::
+set_cleanup(int mode) {
+  dSpaceSetCleanup(_id, mode);
+}
+
+INLINE int OdeSpace::
+get_cleanup() const {
+  return dSpaceGetCleanup(_id);
+}
+
+INLINE int OdeSpace::
+get_num_geoms() const {
+  return dSpaceGetNumGeoms(_id);
+}
+
+INLINE OdeSpace OdeSpace::
+get_space() const {
+  return OdeSpace(dGeomGetSpace((dGeomID)_id));
+}
+
+/*
+INLINE void OdeSpace::
+get_aabb(dReal aabb[6]) const {
+  return dGeomGetAABB((dGeomID)_id, aabb[6]);
+}
+*/
+
+INLINE int OdeSpace::
+is_space() {
+  return dGeomIsSpace((dGeomID)_id);
+}
+
+INLINE int OdeSpace::
+get_class() const {
+  return dGeomGetClass((dGeomID)_id);
+}
+
+INLINE void OdeSpace::
+set_category_bits(unsigned long bits) {
+  dGeomSetCategoryBits((dGeomID)_id, bits);
+}
+
+INLINE void OdeSpace::
+set_collide_bits(unsigned long bits) {
+  dGeomSetCollideBits((dGeomID)_id, bits);
+}
+
+INLINE void OdeSpace::
+enable() {
+  dGeomEnable((dGeomID)_id);
+}
+
+INLINE void OdeSpace::
+disable() {
+  dGeomDisable((dGeomID)_id);
+}
+
+INLINE int OdeSpace::
+is_enabled() {
+  return dGeomIsEnabled((dGeomID)_id);
+}
+

panda/src/ode/odeSpace.cxx

@@ -0,0 +1,93 @@
+// Filename: odeSpace.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeSpace.h"
+
+TypeHandle OdeSpace::_type_handle;
+
+OdeSpace::
+OdeSpace(dSpaceID id) : 
+  _id(id) {
+}
+
+OdeSpace::
+~OdeSpace() {
+}
+
+void OdeSpace::
+destroy() {
+  if (get_cleanup()) {
+    OdeGeom geom;    
+    for (int i = 0; i < get_num_geoms(); ++i) {
+      get_geom(i, geom);
+      if (geom.get_class() == OdeTriMeshGeom::get_geom_class()) {
+        OdeTriMeshGeom::unlink_data(geom.get_id());
+      }
+    }
+  }
+  dSpaceDestroy(_id);
+}
+
+int OdeSpace::
+query(const OdeGeom& geom) const {
+  return dSpaceQuery(_id, geom.get_id());
+}
+
+int OdeSpace::
+query(const OdeSpace& space) const {
+  return dSpaceQuery(_id, (dGeomID)space.get_id());
+}
+
+void OdeSpace::
+add(OdeSpace& space) {
+  dSpaceAdd(_id, (dGeomID)space.get_id());
+}
+
+void OdeSpace::
+remove(OdeSpace& space) {
+  dSpaceRemove(_id, (dGeomID)space.get_id());
+}
+
+void OdeSpace::
+add(OdeGeom& geom) {
+  dSpaceAdd(_id, geom.get_id());
+}
+
+void OdeSpace::
+remove(OdeGeom& geom) {
+  dSpaceRemove(_id, geom.get_id());
+}
+
+void OdeSpace::
+clean() {
+  dSpaceClean(_id);
+}
+
+void OdeSpace::
+get_geom(int i, OdeGeom &geom) {
+  geom._id = dSpaceGetGeom(_id, i);
+}
+
+void OdeSpace::
+write(ostream &out, unsigned int indent) const {
+  #ifndef NDEBUG //[
+  out.width(indent); out << "" << get_type() << "(id = " << _id << ")";
+  #endif //] NDEBUG
+}
+

panda/src/ode/odeSpace.h

@@ -0,0 +1,97 @@
+// Filename: odeSpace.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODESPACE_H
+#define ODESPACE_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+class OdeGeom;
+class OdeTriMeshGeom;
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeSpace
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeSpace : public TypedObject {
+  friend class OdeGeom;
+
+protected:
+  OdeSpace(dSpaceID id);
+  
+PUBLISHED:
+  virtual ~OdeSpace();
+  void destroy();
+
+  INLINE void set_cleanup(int mode);
+  INLINE int get_cleanup() const;
+  INLINE int query(const OdeGeom& geom) const;
+  INLINE int query(const OdeSpace& space) const;
+  INLINE int get_num_geoms() const;
+  // INLINE void get_aabb() const;  
+  INLINE int is_space();
+  INLINE int get_class() const;
+  INLINE void set_category_bits(unsigned long bits);
+  INLINE void set_collide_bits(unsigned long bits);
+  INLINE void enable();
+  INLINE void disable();
+  INLINE int is_enabled();
+
+  void add(OdeGeom& geom);
+  void add(OdeSpace& space);
+  void remove(OdeGeom& geom);
+  void remove(OdeSpace& space);
+  void clean();
+  void get_geom(int i, OdeGeom &geom);
+
+  INLINE OdeSpace get_space() const;
+
+  virtual void write(ostream &out = cout, unsigned int indent=0) const;
+
+public: 
+  INLINE dSpaceID get_id() const;
+
+protected:
+  dSpaceID _id;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedObject::init_type();
+    register_type(_type_handle, "OdeSpace",
+		  TypedObject::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeSpace.I"
+
+#endif
+

panda/src/ode/odeSphereGeom.I

@@ -0,0 +1,33 @@
+// Filename: odeSphereGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeSphereGeom::
+set_radius(dReal radius) {
+  dGeomSphereSetRadius(_id, radius);
+}
+
+INLINE dReal OdeSphereGeom::
+get_radius() const {
+  return dGeomSphereGetRadius(_id);
+}
+
+INLINE dReal OdeSphereGeom::
+get_point_depth(dReal x, dReal y, dReal z) const {
+  return dGeomSpherePointDepth(_id, x, y, z);
+}
+

panda/src/ode/odeSphereGeom.cxx

@@ -0,0 +1,42 @@
+// Filename: odeSphereGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeSphereGeom.h"
+
+TypeHandle OdeSphereGeom::_type_handle;
+
+OdeSphereGeom::
+OdeSphereGeom(dReal radius) :
+  OdeGeom(dCreateSphere(0, radius)) {
+}
+
+OdeSphereGeom::
+OdeSphereGeom(OdeGeom &geom) :
+  OdeGeom(geom.get_id()) {
+  nassertv(dGeomGetClass(_id) == dSphereClass);
+}
+
+OdeSphereGeom::
+OdeSphereGeom(OdeSpace &space, dReal radius) :
+  OdeGeom(dCreateSphere(space.get_id(), radius)) {
+}
+
+OdeSphereGeom::
+~OdeSphereGeom() {
+}

panda/src/ode/odeSphereGeom.h

@@ -0,0 +1,66 @@
+// Filename: odeSphereGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODESPHEREGEOM_H
+#define ODESPHEREGEOM_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeGeom.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeSphereGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeSphereGeom : public OdeGeom {
+PUBLISHED:
+  OdeSphereGeom(dReal radius);
+  OdeSphereGeom(OdeSpace &space, dReal radius);
+  OdeSphereGeom(OdeGeom &geom);
+  virtual ~OdeSphereGeom();
+
+  INLINE void set_radius(dReal radius);
+  INLINE dReal get_radius() const;
+  INLINE dReal get_point_depth(dReal x, dReal y, dReal z) const;
+
+public:
+  INLINE static int get_geom_class() { return dSphereClass; };
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeGeom::init_type();
+    register_type(_type_handle, "OdeSphereGeom",
+		  OdeGeom::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeSphereGeom.I"
+
+#endif

panda/src/ode/odeSurfaceParameters.I

@@ -0,0 +1,130 @@
+// Filename: odeSurfaceParameters.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeSurfaceParameters::
+set_mode(int mode) {
+  _surface_parameters.mode = mode;
+}
+
+INLINE void OdeSurfaceParameters::
+set_mu(dReal mu) {
+  _surface_parameters.mu = mu;
+}
+
+INLINE void OdeSurfaceParameters::
+set_mu2(dReal mu2) {
+  _surface_parameters.mu2 = mu2;
+}
+
+INLINE void OdeSurfaceParameters::
+set_bounce(dReal bounce) {
+  _surface_parameters.bounce = bounce;
+}
+
+INLINE void OdeSurfaceParameters::
+set_bounce_vel(dReal bounce_vel) {
+  _surface_parameters.bounce_vel = bounce_vel;
+}
+
+INLINE void OdeSurfaceParameters::
+set_soft_erp(dReal soft_erp) {
+  _surface_parameters.soft_erp = soft_erp;
+}
+
+INLINE void OdeSurfaceParameters::
+set_soft_cfm(dReal soft_cfm) {
+  _surface_parameters.soft_cfm = soft_cfm;
+}
+
+INLINE void OdeSurfaceParameters::
+set_motion1(dReal motion) {
+  _surface_parameters.motion1 = motion;
+}
+
+INLINE void OdeSurfaceParameters::
+set_motion2(dReal motion) {
+  _surface_parameters.motion2 = motion;
+}
+
+INLINE void OdeSurfaceParameters::
+set_slip1(dReal slip) {
+  _surface_parameters.slip1 = slip;
+}
+
+INLINE void OdeSurfaceParameters::
+set_slip2(dReal slip) {
+  _surface_parameters.slip2 = slip;
+}
+
+
+INLINE int OdeSurfaceParameters::
+get_mode() const {
+  return _surface_parameters.mode;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_mu() const {
+  return _surface_parameters.mu;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_mu2() const {
+  return _surface_parameters.mu2;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_bounce() const {
+  return _surface_parameters.bounce;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_bounce_vel() const {
+  return _surface_parameters.bounce_vel;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_soft_erp() const {
+  return _surface_parameters.soft_erp;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_soft_cfm() const {
+  return _surface_parameters.soft_cfm;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_motion1() const {
+  return _surface_parameters.motion1;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_motion2() const {
+  return _surface_parameters.motion2;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_slip1() const {
+  return _surface_parameters.slip1;
+}
+
+INLINE dReal OdeSurfaceParameters::
+get_slip2() const {
+  return _surface_parameters.slip2;
+}
+
+

panda/src/ode/odeSurfaceParameters.cxx

@@ -0,0 +1,84 @@
+// Filename: odeSurfaceParameters.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeSurfaceParameters.h"
+
+TypeHandle OdeSurfaceParameters::_type_handle;
+
+OdeSurfaceParameters::
+OdeSurfaceParameters(int mode, dReal mu) : 
+  _surface_parameters() {
+  if (mu < 0) {
+    mu = 0;
+  } else if (mu > dInfinity) {
+    mu = dInfinity;
+  }
+  _surface_parameters.mode = mode;
+  _surface_parameters.mu = mu;
+
+  _surface_parameters.mu2 = 0;
+  _surface_parameters.bounce = 0;
+  _surface_parameters.bounce = 0;
+  _surface_parameters.soft_erp = 0;
+  _surface_parameters.soft_cfm = 0;
+  _surface_parameters.motion1 = 0;
+  _surface_parameters.motion2 = 0;
+  _surface_parameters.slip1 = 0;
+  _surface_parameters.slip2 = 0;
+}
+
+OdeSurfaceParameters::
+OdeSurfaceParameters(const dSurfaceParameters &surface_parameters) : 
+  _surface_parameters() {
+  _surface_parameters.mode = surface_parameters.mode;
+  _surface_parameters.mu = surface_parameters.mu;
+  _surface_parameters.mu2 = surface_parameters.mu2;
+  _surface_parameters.bounce = surface_parameters.bounce;
+  _surface_parameters.bounce = surface_parameters.bounce_vel;
+  _surface_parameters.soft_erp = surface_parameters.soft_erp;
+  _surface_parameters.soft_cfm = surface_parameters.soft_cfm;
+  _surface_parameters.motion1 = surface_parameters.motion1;
+  _surface_parameters.motion2 = surface_parameters.motion2;
+  _surface_parameters.slip1 = surface_parameters.slip1;
+  _surface_parameters.slip2 = surface_parameters.slip2;
+}
+
+OdeSurfaceParameters::
+~OdeSurfaceParameters() {
+}
+
+const dSurfaceParameters *OdeSurfaceParameters::
+get_surface_parameters_ptr() const {
+  return &_surface_parameters;
+}
+
+void OdeSurfaceParameters::
+operator = (const OdeSurfaceParameters &copy) {
+  _surface_parameters.mode = copy._surface_parameters.mode;
+  _surface_parameters.mu = copy._surface_parameters.mu;
+  _surface_parameters.mu2 = copy._surface_parameters.mu2;
+  _surface_parameters.bounce = copy._surface_parameters.bounce;
+  _surface_parameters.bounce = copy._surface_parameters.bounce_vel;
+  _surface_parameters.soft_erp = copy._surface_parameters.soft_erp;
+  _surface_parameters.soft_cfm = copy._surface_parameters.soft_cfm;
+  _surface_parameters.motion1 = copy._surface_parameters.motion1;
+  _surface_parameters.motion2 = copy._surface_parameters.motion2;
+  _surface_parameters.slip1 = copy._surface_parameters.slip1;
+  _surface_parameters.slip2 = copy._surface_parameters.slip2;
+}

panda/src/ode/odeSurfaceParameters.h

@@ -0,0 +1,127 @@
+// Filename: odeSurfaceParameters.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODESURFACEPARAMETERS_H
+#define ODESURFACEPARAMETERS_H
+
+#include "pandabase.h"
+#include "typedObject.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+class OdeContact;
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeSurfaceParameters
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeSurfaceParameters : public TypedObject {
+  friend class OdeContact;
+
+protected:
+  OdeSurfaceParameters(const dSurfaceParameters &surface_parameters);
+
+PUBLISHED:
+  enum ModeFlags { MF_contact_mu2      = 0x001,
+		   MF_contactFDir1     = 0x002,
+		   MF_contactBounce    = 0x004,
+		   MF_contactSoftERP   = 0x008,
+		   MF_contactSoftCFM   = 0x010,
+		   MF_contactMotion1   = 0x020,
+		   MF_contactMotion2   = 0x040,
+		   MF_contactSlip1     = 0x080,
+		   MF_contactSlip2     = 0x100,
+
+		   MF_contactApprox0   = 0x0000,
+		   MF_contactApprox1_1 = 0x1000,
+		   MF_contactApprox1_2 = 0x2000,
+		   MF_contactApprox1   = 0x3000 };
+  
+  /*
+  // Interrogate doesn't seem to handle this so well
+  enum ModeFlags { MF_contact_mu2      = dContactMu2,
+		   MF_contactFDir1     = dContactFDir1,
+		   MF_contactBounce    = dContactBounce,
+		   MF_contactSoftERP   = dContactSoftERP,
+		   MF_contactSoftCFM   = dContactSoftCFM,
+		   MF_contactMotion1   = dContactMotion1,
+		   MF_contactMotion2   = dContactMotion2,
+		   MF_contactSlip1     = dContactSlip1,
+		   MF_contactSlip2     = dContactSlip2,
+		   // MF_contactApprox0   = dContactApprox0,
+		   MF_contactApprox1_1 = dContactApprox1_1,
+		   MF_contactApprox1_2 = dContactApprox1_2,
+		   MF_contactApprox1   = dContactApprox1 };
+  */
+
+  OdeSurfaceParameters(int mode = 0, dReal mu = 0);
+  virtual ~OdeSurfaceParameters();
+
+  INLINE void set_mode(int mode);
+  INLINE void set_mu(dReal mu);
+  INLINE void set_mu2(dReal mu2);
+  INLINE void set_bounce(dReal bounce);
+  INLINE void set_bounce_vel(dReal bounce_vel);
+  INLINE void set_soft_erp(dReal soft_erp);
+  INLINE void set_soft_cfm(dReal soft_cfm);
+  INLINE void set_motion1(dReal motion);
+  INLINE void set_motion2(dReal motion);
+  INLINE void set_slip1(dReal slip);
+  INLINE void set_slip2(dReal slip);
+
+  INLINE int get_mode() const;
+  INLINE dReal get_mu() const;
+  INLINE dReal get_mu2() const;
+  INLINE dReal get_bounce() const;
+  INLINE dReal get_bounce_vel() const;
+  INLINE dReal get_soft_erp() const;
+  INLINE dReal get_soft_cfm() const;
+  INLINE dReal get_motion1() const;
+  INLINE dReal get_motion2() const;
+  INLINE dReal get_slip1() const;
+  INLINE dReal get_slip2() const;
+
+public:
+  const dSurfaceParameters *get_surface_parameters_ptr() const;
+
+private:
+  void operator = (const OdeSurfaceParameters &copy);
+  dSurfaceParameters _surface_parameters;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedObject::init_type();
+    register_type(_type_handle, "OdeSurfaceParameters",
+		  TypedObject::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeSurfaceParameters.I"
+
+#endif

panda/src/ode/odeTriMeshData.I

@@ -0,0 +1,88 @@
+// Filename: odeTriMeshData.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE dTriMeshDataID OdeTriMeshData::
+get_id() const {
+  return _id;
+}
+
+/*
+INLINE void OdeTriMeshData::
+set(int data_id, void* in_data) {
+  dGeomTriMeshDataSet(_id, data_id, in_data);
+}
+
+INLINE void* OdeTriMeshData::
+get(int data_id) {
+  dGeomTriMeshDataGet(_id,data_id);
+}
+*/
+
+INLINE void OdeTriMeshData::
+build_single(const void* vertices, int vertex_stride, int vertex_count, const void* indices, int index_count, int tri_stride) {
+  odetrimeshdata_cat.debug() << "build_single(" << vertices << ", " << vertex_stride << ", " << vertex_count << ", " << indices << ", " << index_count << ", " << tri_stride << ")\n";
+  dGeomTriMeshDataBuildSingle(_id, vertices, vertex_stride, vertex_count, indices, index_count, tri_stride);
+}
+
+INLINE void OdeTriMeshData::
+build_single1(const void* vertices, int vertex_stride, int vertex_count, const void* indices, int index_count, int tri_stride, const void* normals) {
+  dGeomTriMeshDataBuildSingle1(_id, vertices, vertex_stride, vertex_count, indices, index_count, tri_stride, normals);
+}
+
+INLINE void OdeTriMeshData::
+build_double(const void* vertices, int vertex_stride, int vertex_count, const void* indices, int index_count, int tri_stride) {
+  dGeomTriMeshDataBuildDouble(_id, vertices, vertex_stride, vertex_count, indices, index_count, tri_stride);
+}
+
+INLINE void OdeTriMeshData::
+build_double1(const void* vertices, int vertex_stride, int vertex_count, const void* indices, int index_count, int tri_stride, const void* normals) {
+  dGeomTriMeshDataBuildDouble1(_id, vertices, vertex_stride, vertex_count, indices, index_count, tri_stride, normals);
+}
+
+INLINE void OdeTriMeshData::
+build_simple(const dReal* vertices, int vertex_count, const int* indices, int index_count) {
+  dGeomTriMeshDataBuildSimple(_id, vertices, vertex_count, indices, index_count);
+}
+
+INLINE void OdeTriMeshData::
+build_simple1(const dReal* vertices, int vertex_count, const int* indices, int index_count, const int* normals) {
+  dGeomTriMeshDataBuildSimple1(_id, vertices, vertex_count, indices, index_count, normals);
+}
+
+INLINE void OdeTriMeshData::
+preprocess() {
+  dGeomTriMeshDataPreprocess(_id);
+}
+
+/*
+INLINE void OdeTriMeshData::
+get_buffer(unsigned char** buf, int* buf_len) const {
+  return dGeomTriMeshDataGetBuffer(_id, buf, buf_len);
+}
+
+INLINE void OdeTriMeshData::
+set_buffer(unsigned char* buf) {
+  dGeomTriMeshDataSetBuffer(_id, buf);
+}
+
+INLINE void OdeTriMeshData::
+update() {
+  dGeomTriMeshDataUpdate(_id);
+}
+
+*/

panda/src/ode/odeTriMeshData.cxx

@@ -0,0 +1,236 @@
+// Filename: odeTriMeshData.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+#include "config_ode.h"
+#include "odeTriMeshData.h"
+
+TypeHandle OdeTriMeshData::_type_handle;
+
+OdeTriMeshData::
+OdeTriMeshData(const NodePath& model, bool use_normals) :
+  _id(dGeomTriMeshDataCreate()),
+  _vertices(0),
+  _faces(0),
+  _num_vertices(0),
+  _num_faces(0),
+  _normals(false) {
+  odetrimeshdata_cat.debug() << get_type() << "(" << _id << ")" << "\n";
+  
+  process_model(model, use_normals);
+
+  write_faces(odetrimeshdata_cat.debug());
+
+  if (!use_normals) {
+    build_single(_vertices, sizeof(StridedVertex), _num_vertices,
+		 _faces, _num_faces * 3, sizeof(StridedTri));
+  } else {
+    build_single1(_vertices, sizeof(StridedVertex), _num_vertices,
+		  _faces, _num_faces * 3, sizeof(StridedTri),
+		  _normals);
+  }    
+  preprocess();
+}
+
+OdeTriMeshData::
+~OdeTriMeshData() {
+  odetrimeshdata_cat.debug() << "~" << get_type() << "(" << _id << ")" << "\n";
+  dGeomTriMeshDataDestroy(_id);
+  if (_vertices != 0) {
+    delete[] _vertices;
+    _vertices = 0;
+  }
+  if (_faces != 0) {
+    delete[] _faces;
+    _faces = 0;
+  }
+  if (_normals != 0) {
+    delete[] _normals;
+    _normals = 0;
+  }
+}
+
+void OdeTriMeshData::
+process_model(const NodePath& model, bool &use_normals) {
+  // TODO: assert if _vertices is something other than 0.
+  ostream &out = odetrimeshdata_cat.debug();
+  out << "process_model(" << model << ")" << "\n";
+
+  NodePathCollection geomNodePaths = model.find_all_matches("**/+GeomNode");
+  if (model.node()->get_type() == GeomNode::get_class_type()) {
+    geomNodePaths.add_path(model);
+  }
+
+  for (int i = 0; i < geomNodePaths.get_num_paths(); ++i) {
+    analyze((GeomNode*)geomNodePaths[i].node());
+  }
+
+  odetrimeshdata_cat.debug() << "Found " << _num_vertices << " vertices.\n";
+  odetrimeshdata_cat.debug() << "Found " << _num_faces << " faces.\n";
+  
+  _vertices = new StridedVertex[_num_vertices];
+  _faces = new StridedTri[_num_faces];
+  
+  _num_vertices = 0, _num_faces = 0;
+
+  for (int i = 0; i < geomNodePaths.get_num_paths(); ++i) {
+    process_geom_node((GeomNode*)geomNodePaths[i].node());
+    odetrimeshdata_cat.debug() << "_num_vertices now at " << _num_vertices << "\n";
+  }
+
+  odetrimeshdata_cat.debug() << "Filled " << _num_faces << " triangles(" \
+		      << _num_vertices << " vertices)\n";
+}
+
+void OdeTriMeshData::
+process_geom_node(const GeomNode *geomNode) {
+  ostream &out = odetrimeshdata_cat.debug();
+  out.width(2); out << "" << "process_geom_node(" << *geomNode << ")" << "\n";
+  for (int i = 0; i < geomNode->get_num_geoms(); ++i) {
+    process_geom(geomNode->get_geom(i));
+  }
+}
+
+void OdeTriMeshData::
+process_geom(const Geom *geom) {
+  ostream &out = odetrimeshdata_cat.debug();
+  out.width(4); out << "" << "process_geom(" << *geom << ")" << "\n";
+  if (geom->get_primitive_type() != Geom::PT_polygons) {
+    return;
+  } 
+
+  CPT(GeomVertexData) vData = geom->get_vertex_data();
+
+  for (int i = 0; i < geom->get_num_primitives(); ++i) {
+    process_primitive(geom->get_primitive(i), vData);
+  }
+}
+
+void OdeTriMeshData::
+process_primitive(const GeomPrimitive *primitive, 
+		   CPT(GeomVertexData) vData) {
+  GeomVertexReader vReader(vData, "vertex");
+  GeomVertexReader nReader(vData, "normal");
+  LVecBase3f vertex, normal;
+  //CPT(GeomPrimitive) dPrimitive = primitive->decompose();
+  CPT(GeomPrimitive) dPrimitive = primitive;
+  ostream &out = odetrimeshdata_cat.debug();
+  out.width(6); out << "" << "process_primitive(" << *dPrimitive << ")" << "\n";
+  
+
+  if (dPrimitive->get_type() == GeomTriangles::get_class_type()) {
+    for (int i = 0; i < dPrimitive->get_num_primitives(); i++, _num_faces++) {
+      int s = dPrimitive->get_primitive_start(i);
+      int e = dPrimitive->get_primitive_end(i);
+      out.width(8); out << "" << "primitive " << i << ":" << "\n";
+      for (int j = s, m = 0; j < e; j++, m++, _num_vertices++) {
+	int vRowIndex = dPrimitive->get_vertex(j);
+	vReader.set_row(vRowIndex);
+	nReader.set_row(vRowIndex);
+	vertex = vReader.get_data3f();
+	normal = nReader.get_data3f();
+	_faces[_num_faces].Indices[m] = _num_vertices;
+	
+	_vertices[_num_vertices].Vertex[0] = vertex[0];
+	_vertices[_num_vertices].Vertex[1] = vertex[1];
+	_vertices[_num_vertices].Vertex[2] = vertex[2];
+	
+	out.width(10); out << "" << "vertex " << j << " has: pos(" \
+			   << vertex << ") normal(" << normal << ")" << "\n";
+      }
+    }
+  } else if (dPrimitive->get_type() == GeomTristrips::get_class_type()){
+    for (int i = 0; i < dPrimitive->get_num_primitives(); i++, _num_faces++) {
+      int s = dPrimitive->get_primitive_start(i);
+      int e = dPrimitive->get_primitive_end(i);
+      out.width(8); out << "" << "primitive " << i << ":" << "\n";
+      for (int j = s, m = 0; j < e; j++, m++, _num_vertices++) {
+	int vRowIndex = dPrimitive->get_vertex(j);
+	vReader.set_row(vRowIndex);
+	nReader.set_row(vRowIndex);
+	vertex = vReader.get_data3f();
+	normal = nReader.get_data3f();
+	
+	_vertices[_num_vertices].Vertex[0] = vertex[0];
+	_vertices[_num_vertices].Vertex[1] = vertex[1];
+	_vertices[_num_vertices].Vertex[2] = vertex[2];
+	out.width(10); out << "" << "vertex " << j << " has: pos(" \
+			   << vertex << ") normal(" << normal << ")" << "\n";
+	if (m < 3) {
+	  _faces[_num_faces].Indices[m] = _num_vertices;
+	} else {
+	  _num_faces++;
+	  if ( m & 1) {
+	    _faces[_num_faces].Indices[0] = _num_vertices-1;
+	    _faces[_num_faces].Indices[1] = _num_vertices-2;
+	    _faces[_num_faces].Indices[2] = _num_vertices;
+	  } else {
+	    _faces[_num_faces].Indices[0] = _num_vertices-2;
+	    _faces[_num_faces].Indices[1] = _num_vertices-1;
+	    _faces[_num_faces].Indices[2] = _num_vertices;
+	  }
+	}      
+      }
+      out << "\n";
+    }
+  }
+}
+void OdeTriMeshData::
+analyze(const GeomNode *geomNode) {
+  for (int i = 0; i < geomNode->get_num_geoms(); ++i) {
+    analyze(geomNode->get_geom(i));
+  }
+}
+
+void OdeTriMeshData::
+analyze(const Geom *geom) {
+  if (geom->get_primitive_type() != Geom::PT_polygons) {
+    return;
+  } 
+
+  for (int i = 0; i < geom->get_num_primitives(); ++i) {
+    analyze(geom->get_primitive(i));
+  }
+}
+
+void OdeTriMeshData::
+analyze(const GeomPrimitive *primitive) {
+  for (int i = 0; i < primitive->get_num_primitives(); ++i) {
+    _num_vertices += primitive->get_primitive_num_vertices(i);
+    _num_faces += primitive->get_primitive_num_faces(i);
+  }
+}
+
+void OdeTriMeshData::
+write_faces(ostream &out) const {
+  out<<"\n";
+  for (unsigned int i = 0; i < _num_faces; ++i) {
+    out.width(2); out << "Face " << i << ":\n";
+    for (int j = 0; j < 3; ++j) {
+      out.width(4); 
+      out << "(" << _vertices[_faces[i].Indices[j]].Vertex[0] \
+	  << ", " << _vertices[_faces[i].Indices[j]].Vertex[1] \
+	  << ", " << _vertices[_faces[i].Indices[j]].Vertex[2] << ")\n" ;
+    }
+  }
+}
+
+void OdeTriMeshData::
+write(ostream &out, unsigned int indent) const {
+  out.width(indent); out << "" << get_type() << "(id = " << _id << ") : " \
+			 << "" << "Vertices: " << _num_vertices << ", " \
+			 << "" << "Triangles: " << _num_faces << "\n";
+}

panda/src/ode/odeTriMeshData.h

@@ -0,0 +1,123 @@
+// Filename: odeTriMeshData.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODETRIMESHDATA_H
+#define ODETRIMESHDATA_H
+
+#include "pandabase.h"
+#include "typedReferenceCount.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+
+#include "nodePathCollection.h"
+#include "geomNode.h"
+#include "geomVertexData.h"
+#include "geomVertexReader.h"
+#include "geomTriangles.h"
+#include "geomTristrips.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeTriMeshData
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAODE OdeTriMeshData : public TypedReferenceCount {
+PUBLISHED:
+  OdeTriMeshData(const NodePath& model, bool use_normals = false);
+  virtual ~OdeTriMeshData();
+
+  enum DataType { DT_face_normals,
+		  DT_last_transformation };
+  // INLINE void set(int data_id, void* in_data);
+  // INLINE void* get(int data_id);
+  // INLINE void get_buffer(unsigned char** buf, int* buf_len) const;
+  // INLINE void set_buffer(unsigned char* buf);
+  // INLINE void update();
+  virtual void write(ostream &out = cout, unsigned int indent=0) const;
+  void write_faces(ostream &out) const;
+
+public: 
+  INLINE void build_single(const void* vertices, int vertex_stride, int vertex_count, \
+			   const void* indices, int index_count, int tri_stride);
+  INLINE void build_single1(const void* vertices, int vertex_stride, int vertex_count, \
+			    const void* indices, int index_count, int tri_stride, \
+			    const void* normals);
+  INLINE void build_double(const void* vertices, int vertex_stride, int vertex_count, \
+			   const void* indices, int index_count, int tri_stride);
+  INLINE void build_double1(const void* vertices, int vertex_stride, int vertex_count, \
+			    const void* indices, int index_count, int tri_stride, \
+			    const void* normals);
+  INLINE void build_simple(const dReal* vertices, int vertex_count, \
+			   const int* indices, int index_count);
+  INLINE void build_simple1(const dReal* vertices, int vertex_count, \
+			    const int* indices, int index_count, \
+			    const int* normals);
+  INLINE void preprocess();
+
+  INLINE dTriMeshDataID get_id() const;
+
+private:
+  void process_model(const NodePath& model, bool &use_normals);
+  void process_geom_node(const GeomNode *geomNode);
+  void process_geom(const Geom *geom);
+  void process_primitive(const GeomPrimitive *primitive, 
+			 CPT(GeomVertexData) vData);
+  void analyze(const GeomNode *geomNode);
+  void analyze(const Geom *geom);
+  void analyze(const GeomPrimitive *geom);
+
+protected:
+  struct StridedVertex{
+    dReal Vertex[3];
+  };  
+  struct StridedTri{
+    int Indices[3];
+  };
+  struct FaceNormal{
+    dVector3 Normal;
+  };
+
+  dTriMeshDataID _id;
+  StridedVertex *_vertices;
+  StridedTri *_faces;
+  FaceNormal *_normals;
+
+  unsigned int _num_vertices;
+  unsigned int _num_faces;
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    TypedReferenceCount::init_type();
+    register_type(_type_handle, "OdeTriMeshData",
+		  TypedReferenceCount::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeTriMeshData.I"
+
+#endif

panda/src/ode/odeTriMeshGeom.I

@@ -0,0 +1,71 @@
+// Filename: odeTriMeshGeom.I
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+INLINE void OdeTriMeshGeom::
+set_data(OdeTriMeshData &data) {
+  unlink_data(_id);
+  dGeomTriMeshSetData(_id, data.get_id());
+  link_data(_id, data);
+}
+
+INLINE PT(OdeTriMeshData) OdeTriMeshGeom::
+get_data() const {
+  return MeshData[_id];
+}
+
+INLINE void OdeTriMeshGeom::
+enable_TC(int geom_class, int enable){
+  dGeomTriMeshEnableTC(_id, geom_class, enable);
+}
+
+INLINE int OdeTriMeshGeom::
+is_TC_enabled(int geom_class) const {
+  return dGeomTriMeshIsTCEnabled(_id, geom_class);
+}
+
+INLINE void OdeTriMeshGeom::
+clear_TC_cache(const OdeGeom &geom){
+  dGeomTriMeshClearTCCache(_id);
+}
+
+INLINE void OdeTriMeshGeom::
+get_triangle(int face_index, LPoint3f &v0, LPoint3f &v1, LPoint3f &v2) const {
+  dVector3 dv0, dv1, dv2;
+  dGeomTriMeshGetTriangle(_id, face_index, &dv0, &dv1, &dv2);
+  
+  v0.set(dv0[0], dv0[1], dv0[2]);
+  v1.set(dv1[0], dv1[1], dv1[2]);
+  v2.set(dv2[0], dv2[1], dv2[2]);
+}
+
+INLINE LPoint3f OdeTriMeshGeom::
+get_point(int face_index, dReal u, dReal v) const {
+  dVector3 out;
+  dGeomTriMeshGetPoint(_id, face_index, u, v, out);
+  return LPoint3f(out[0], out[1], out[2]);
+}
+
+INLINE int OdeTriMeshGeom::
+get_num_triangles() const {
+  return dGeomTriMeshGetTriangleCount(_id);
+}
+
+INLINE dTriMeshDataID OdeTriMeshGeom::
+get_data_id() const {
+  return dGeomTriMeshGetTriMeshDataID(_id);
+}

panda/src/ode/odeTriMeshGeom.cxx

@@ -0,0 +1,63 @@
+// Filename: odeTriMeshGeom.cxx
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#include "config_ode.h"
+#include "odeTriMeshGeom.h"
+
+TypeHandle OdeTriMeshGeom::_type_handle;
+TriMeshDataMap OdeTriMeshGeom::MeshData;
+
+OdeTriMeshGeom::
+OdeTriMeshGeom(OdeTriMeshData &data) :
+  OdeGeom(dCreateTriMesh(0, data.get_id(), 0, 0, 0)) {
+  link_data(_id, data);
+}
+
+OdeTriMeshGeom::
+OdeTriMeshGeom(OdeSpace &space, OdeTriMeshData &data) :
+  OdeGeom(dCreateTriMesh(space.get_id(), data.get_id(), 0, 0, 0)) {
+  link_data(_id, data);
+}
+
+OdeTriMeshGeom::
+OdeTriMeshGeom(OdeTriMeshGeom &copy) :
+  OdeGeom(dCreateTriMesh(0, copy.get_data_id(), 0, 0, 0)) {
+}
+
+OdeTriMeshGeom::
+~OdeTriMeshGeom() {
+}
+
+void OdeTriMeshGeom::
+link_data(dGeomID id, OdeTriMeshData &data) {
+  odegeom_cat.debug() << get_class_type() << "(" << id << ") linking to data: " << data.get_id() << "\n";
+  MeshData[id] = &data;
+}
+
+void OdeTriMeshGeom::
+unlink_data(dGeomID id) {
+  TriMeshDataMap::iterator iter = MeshData.find(id);
+  
+  if (iter != MeshData.end()) {
+    odegeom_cat.debug() << get_class_type() << "(" << id << ") unlinking from data: " << iter->second->get_id() << "\n";
+  } else {
+    odegeom_cat.warning() << get_class_type() << "(" << id << ") Unlinking from absent data!\n";
+  }
+
+  MeshData.erase(id);
+}

panda/src/ode/odeTriMeshGeom.h

@@ -0,0 +1,85 @@
+// Filename: odeTriMeshGeom.h
+// Created by:  joswilso (27Dec06)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
+//
+// All use of this software is subject to the terms of the Panda 3d
+// Software license.  You should have received a copy of this license
+// along with this source code; you will also find a current copy of
+// the license at http://etc.cmu.edu/panda3d/docs/license/ .
+//
+// To contact the maintainers of this program write to
+// [email protected] .
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef ODETRIMESHGEOM_H
+#define ODETRIMESHGEOM_H
+
+#include "pandabase.h"
+#include "luse.h"
+
+#include "ode/ode.h"
+#include "odeGeom.h"
+#include "odeTriMeshData.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : OdeTriMeshGeom
+// Description : 
+////////////////////////////////////////////////////////////////////
+
+typedef pmap<dGeomID, PT(OdeTriMeshData)> TriMeshDataMap;
+
+class EXPCL_PANDAODE OdeTriMeshGeom : public OdeGeom {
+protected:
+  static TriMeshDataMap MeshData;
+
+PUBLISHED:
+  //ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+  OdeTriMeshGeom(OdeTriMeshData &data);
+  OdeTriMeshGeom(OdeSpace &space, OdeTriMeshData &data);
+  OdeTriMeshGeom(OdeTriMeshGeom &copy);
+  virtual ~OdeTriMeshGeom();
+
+  INLINE void set_data(OdeTriMeshData &data);
+  INLINE PT(OdeTriMeshData) get_data() const;
+  INLINE void enable_TC(int geom_class, int enable);
+  INLINE int is_TC_enabled(int geom_class) const;
+  INLINE void clear_TC_cache(const OdeGeom &geom);
+  INLINE void get_triangle(int face_index, LPoint3f &v0, LPoint3f &v1, LPoint3f &v2) const;
+  INLINE LPoint3f get_point(int face_index, dReal u, dReal v) const;
+  INLINE int get_num_triangles() const;
+
+public:
+  INLINE static int get_geom_class() { return dTriMeshClass; };
+  INLINE dTriMeshDataID get_data_id() const;
+  static void link_data(dGeomID, OdeTriMeshData &data);
+  static void unlink_data(dGeomID);
+
+private:
+  void operator = (const OdeTriMeshGeom &copy);
+
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    OdeGeom::init_type();
+    register_type(_type_handle, "OdeTriMeshGeom",
+		  OdeGeom::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "odeTriMeshGeom.I"
+
+#endif