--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ode/inc/object.h	Tue Feb 02 01:00:49 2010 +0200
@@ -0,0 +1,138 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// object, body, and world structs.
+
+
+#ifndef _ODE_OBJECT_H_
+#define _ODE_OBJECT_H_
+
+#include <ode/common.h>
+#include <ode/memory.h>
+#include <ode/mass.h>
+#include "array.h"
+
+
+// some body flags
+
+enum {
+  dxBodyFlagFiniteRotation = 1,		// use finite rotations
+  dxBodyFlagFiniteRotationAxis = 2,	// use finite rotations only along axis
+  dxBodyDisabled = 4,			// body is disabled
+  dxBodyNoGravity = 8,			// body is not influenced by gravity
+  dxBodyAutoDisable = 16		// enable auto-disable on body
+};
+
+
+// base class that does correct object allocation / deallocation
+
+struct dBase {
+  void *operator new (size_t size) { return dAlloc (size); }
+  void operator delete (void *ptr, size_t size) { dFree (ptr,size); }
+  void *operator new[] (size_t size) { return dAlloc (size); }
+  void operator delete[] (void *ptr, size_t size) { dFree (ptr,size); }
+};
+
+
+// base class for bodies and joints
+
+struct dObject : public dBase {
+  dxWorld *world;		// world this object is in
+  dObject *next;		// next object of this type in list
+  dObject **tome;		// pointer to previous object's next ptr
+  void *userdata;		// user settable data
+  int tag;			// used by dynamics algorithms
+};
+
+
+// auto disable parameters
+struct dxAutoDisable {
+  dReal idle_time;		// time the body needs to be idle to auto-disable it
+  int idle_steps;		// steps the body needs to be idle to auto-disable it
+  dReal linear_average_threshold;   // linear (squared) average velocity threshold
+  dReal angular_average_threshold;  // angular (squared) average velocity threshold
+  unsigned int average_samples;     // size of the average_lvel and average_avel buffers
+};
+
+
+// quick-step parameters
+struct dxQuickStepParameters {
+  int num_iterations;		// number of SOR iterations to perform
+  dReal w;			// the SOR over-relaxation parameter
+};
+
+
+// contact generation parameters
+struct dxContactParameters {
+  dReal max_vel;		// maximum correcting velocity
+  dReal min_depth;		// thickness of 'surface layer'
+};
+
+
+
+// position vector and rotation matrix for geometry objects that are not
+// connected to bodies.
+
+struct dxPosR {
+  dVector3 pos;
+  dMatrix3 R;
+};
+
+struct dxBody : public dObject {
+  dxJointNode *firstjoint;	// list of attached joints
+  int flags;			// some dxBodyFlagXXX flags
+  dGeomID geom;			// first collision geom associated with body
+  dMass mass;			// mass parameters about POR
+  dMatrix3 invI;		// inverse of mass.I
+  dReal invMass;		// 1 / mass.mass
+  dxPosR posr;			// position and orientation of point of reference
+  dQuaternion q;		// orientation quaternion
+  dVector3 lvel,avel;		// linear and angular velocity of POR
+  dVector3 facc,tacc;		// force and torque accumulators
+  dVector3 finite_rot_axis;	// finite rotation axis, unit length or 0=none
+
+  // auto-disable information
+  dxAutoDisable adis;		// auto-disable parameters
+  dReal adis_timeleft;		// time left to be idle
+  int adis_stepsleft;		// steps left to be idle
+  dVector3* average_lvel_buffer;      // buffer for the linear average velocity calculation
+  dVector3* average_avel_buffer;      // buffer for the angular average velocity calculation
+  unsigned int average_counter;      // counter/index to fill the average-buffers
+  int average_ready;        // indicates ( with = 1 ), if the Body's buffers are ready for average-calculations
+};
+
+
+struct dxWorld : public dBase {
+  dxBody *firstbody;		// body linked list
+  dxJoint *firstjoint;		// joint linked list
+  int nb,nj;			// number of bodies and joints in lists
+  dVector3 gravity;		// gravity vector (m/s/s)
+  dReal global_erp;		// global error reduction parameter
+  dReal global_cfm;		// global costraint force mixing parameter
+  dxAutoDisable adis;		// auto-disable parameters
+  int adis_flag;		// auto-disable flag for new bodies
+  dxQuickStepParameters qs;
+  dxContactParameters contactp;
+};
+
+
+#endif