ODE CHANGELOG
-------------

the rules for this file:
  * entries are sorted newest-first.
  * summarize sets of changes - dont reproduce every CVS log comment here.
  * don't ever delete anything.
  * keep the format consistent (79 char width, M/D/Y date format).

------------------------------------------------------------------------------
07/28/2020 Oleh Derevenko
        * A threaded job data race fixed on job release (issue #70). 
          The bug could cause writes to functions's stack area after 
          the function returned and World simulation errors not being reported
          with the function result if the simulation failed.

11/12/2018 Oleh Derevenko
        * The commentary from 11/05/2018 was wrong. The constraints were not
          reset to their natural order and remained randomized.
          The other thing that was missing was full contraint reorder without 
          separation into independent and dependent ones. The algorithm doesn't
          converge without it well.

11/10/2018 Oleh Derevenko
        * An incorrect optimization to Jacobian Copy building code from #1938
          that resulted in corrupt data in multi-threaded execution mode was 
          fixed.

11/05/2018 Oleh Derevenko
        * An unintended change from commit #1898 has been reverted.
          The QuickStep used to solve with randomized constraint order 
          each 8th iteration. The other iterations, the constraints 
          were reset to their natural order, as generated, with the dependent
          constraints gathered in reverse order at end (the reverse order is 
          somehow important). With the commit #1898 the constraints were
          randomly reordered each 8th iteration but then remained 
          in that randomized order and only were re-randomized on subsequent
          multiples of 8.

10/09/2017 Markus Rickert
        * CMake support for project file generation has been added.

06/14/2017 Oleh Derevenko
        * dxHashSpace::collide() has been changed to fault host program 
          if scene gets too large and causes integer overflow.

06/06/2017 Oleh Derevenko
        * Memory and pointer size integer type use has been changed so that 
          internal typedefs are used instead of "_t" suffixed types.

05/09/2017 Oleh Derevenko
        * Introduction of cooperative algorithms API. 
          L*D*LT cooperative factorization and linear equation system 
          cooperative solving have been implemented.
        * AtomicReadReorderBarrier, AtomicStore, AtomicStorePointer functions 
          have been added and some atomic function implementations have been 
          improved in OU.

02/20/2017 Oleh Derevenko
        * Project generation options have been changed to have built-in
          multithreaded threading implementation enabled by default.

02/19/2017 Oleh Derevenko
        * dWorldStep threaded implementation has been extended to the final 
          steps of constraint force applications and body position updates
          after the LCP solving. Note that body callbacks (if set) may be
          called from multiple threads if threaded execution is enabled.
        * OU atomicord32 type has been fixed to be unsigned on all supported
          platforms.

01/09/2017 Oleh Derevenko
        * dGeomTriMeshDataPreprocess2() public function has been added to 
          replace dGeomTriMeshDataPreprocess(). Face angles pre-computation
          for triangle meshes has been implemented.

11/13/2016 Oleh Derevenko
        * dGeomTriMeshDataGetBuff and dGeomTriMeshDataSetBuff have been marked 
          deprecated and their functionality implemented via 
          dGeomTriMeshDataGet and dGeomTriMeshDataSet. Extra function variant
          dGeomTriMeshDataGet2() has been added to allow returning data size.

11/07/2016 Oleh Derevenko
        * The implementation of OPCODE TriMesh data pre-processing 
          (dGeomTriMeshDataPreprocess()) has been optimized to only contain
          a sort and a single pass over edges (used to be a sort and O(N^2)).

10/29/2016 Oleh Derevenko
        * dGeomTriMeshDataPreprocess() public function has been changed to 
          return a boolean status (it can fail in low memory conditions).

07/10/2016 Oleh Derevenko
        * The correct handling of dJOINT_REVERSE mode for AngularMotor Joint 
          implemented (issue #37).

06/29/2016 Oleh Derevenko
        * A bug fixed with HashSpace calling big boxes collision twice 
          (both straight and reverse geometries order) since revision #1831.

06/03/2016 Oleh Derevenko
        * dJointSetHinge2Axes public function has been added and 
          dJointSetHinge2Axis1/2 have been marked deprecated due to being 
          unsafe.

05/13/2016 Oleh Derevenko
        * ICE Container class allocation strategy fixed to avoid reserving 
          excess memory with large collections.

05/10/2016 Oleh Derevenko
        * dSafeNormalize3 and dSafeNormalize4 functions changed to leave the
          parameter intact instead of replacing it with the X-axis unit in case 
          of fault.

04/12/2016 Oleh Derevenko
        * A function to create a self-threaded threading implementation object
          has been moved back to public headers as there could be a use for it
          while running several worlds in parallel threads.

01/09/2016 Oleh Derevenko
        * Hinge2 joint corected to avoid faulting asserts when the axes get 
          temporarily invalid during assignments (suggested by David Mansolino)

01/03/2016 Oleh Derevenko
        * An invalid memory access fixed in dxSAPSpace::BoxPruning() in case
          if there were NaN values in AABBs to be sorted.

12/25/2015 Oleh Derevenko
        * Unexpected joint mode assignment (instead of comparison) fixed within
          an dUASSERT in dJointSetTransmissionAxis2() of transmission joint

11/28/2015 Oleh Derevenko
        * Convex-Trimesh collider added (libccd+GIMPACT only)(by Piotr Piastucki)
        * dCreateConvex() and dGeomSetConvex() public APIs changed to expect 
          their parameter arrays as const pointers

11/01/2015 Oleh Derevenko
        * OPCODE mesh colliders' input coordinates have been offset to  
          mesh-relative frames to decrease potential computational errors
          (suggested by luckytrashsc2@g***l.com)

08/05/2015 Oleh Derevenko
        * Implemented change to return highest depth contacts subset for GIMPACT 
          in cases if contacts count exceeds requested maximum (as suggested in 
          the issue #36 by Piotr Piastucki)

11/17/2014 Daniel K. O.
        * Added support for using libccd from the system (if found via
          pkg-config)

11/10/2014 Oleh Derevenko
        * Floating point division by zero in capsule-ray collision routine 
          in case if the ray axis was parallel the cylinder and the ray started
          from within it fixed (issue #26)

11/08/2014 Oleh Derevenko
        * Threading support has been extended to complete implementation 
          of QuickStep

10/29/2014 Daniel K. O.
        * Added dJointSetDBallDistance

10/19/2014 Oleh Derevenko
        * Built-in threading implementation compilation fixed for OSX
          (clock_gettime() is missing from the system - reported by Bram)

08/10/2014 Oleh Derevenko
        * Declarations of dWorld[Get/Set]AutoDisableLinearAverageThreshold and
          dWorld[Get/Set]AutoDisableAngularAverageThreshold have been removed 
          from public headers (were orphaned since rev.1052)

07/16/2014 Oleh Derevenko
        * Two fixes by Francesco Cat applied (fixes for mistakes made during
          code style improvements in the past)
		 
02/27/14 Daniel K. O.
        * Added dODE_VERSION macro to public headers (issue #24).

02/11/14 Daniel K. O.
        * Added dJointGetHinge2Angle2 (issue #12).

02/07/14 Daniel K. O.
        * Added dWorldSetData/dWorldGetData (issue #21).

01/31/14 Daniel K. O.
        * Applied patch #185: Stable, implicit gyroscopic forces.

01/27/14 Daniel K. O.
        * Fixed cylinder AABB computation.

01/25/14 Daniel K. O.
        * Removed ALLOCA calls from dHashSpace; it should not depend
          on stack size limits anymore.

12/06/13 Daniel K. O.
        * Applied patch #181: fix some bugs in AMotor joint.
        * Applied patch #186: fix some bugs in PU joint.
        * Applied patch #182: Transmission joint.
        * Applied patch #184: implement rolling friction for contacts.

08/08/13 Oleh Derevenko
        * Joint feedback forces application fixed in QuickStep implementation
          (was broken since revision #1919 in old repository (#1927 in new one))

08/04/13 Oleh Derevenko
        * Bugfix #89 by Luc applied (dJointAddSliderForce() adds a zero force
          when the parent body is NULL) 

05/18/13 Oleh Derevenko
        * OU library has been included in ODE at revision #46 instead of  
          being used as an external link due to difficulties using external 
          references with new protocol used for storage at SF.

03/03/13 Oleh Derevenko
        * Fixed issue with "findex==-1" constraints being intermixed with 
          "findex!=-1" ones during constraints random reordering in QuickStep.

02/03/13 Oleh Derevenko
        * [u]int[8/16/32] renamed to contain "d" prefix so that global namespace
          was not polluted with these names unconditionally. 
          If your project depended on these types other than just for passing 
          parameters to ODE calls, add similar typedefs for yourself in some 
          of your project's global headers.

01/02/13 Oleh Derevenko
        * Applied patch #183 by Joseph Cooper (complementary matrix 
          calculation fix).

12/28/12 Oleh Derevenko
        * A bug with heightfield data assigned to a wrong field in 
          dGeomHeightfieldSetHeightfieldData fixed (bug report #88 by Luc).

12/18/12 Oleh Derevenko
        * Fixed issue with some kinds of joints (Ball, DBall, DHinge, Fixed)
          might overwrite world ERP value with their custom ERP during 
          getInfo2() call and that inappropriate value would then be passed 
          to subsequent joints in solver instead of world ERP.

12/01/12 Oleh Derevenko
        * Fixed issues reported in patches #151 and #22 (collisions with
          SAPSpace and QuadTreeSpace might not work because geometries list
          was misused in them).
        * Applied patch #160 "IsPointInPolygon in convex.cpp returns wrong 
          results" (by Janis Rucis)

11/25/12 Oleh Derevenko
        * Configuration option --disable-threading-intf added 
          (--no-threading-intf for Windows/Premake). This allows disabling
          threading interface support (external implementations may not be 
          assigned) but eliminates dependency on OU and use of atomics in 
          steppers.

11/05/12 Oleh Derevenko
        * Fixed zero comparisons in OPCODE to use relative error instead of
          absolute epsilon value (found by Bill Sellers)

06/08/12 Daniel K. O.
        * Removed the need for defining dSINGLE/dDOUBLE; this is stored now in
          the generated ode/precision.h header.
        * Some code cleanup to get rid of GCC warnings.

05/30/12 Daniel K. O.
        * Made drawstuff draw shadows for lines.
        * Fixed dhinge's last constraint to properly handle rotations.

05/03/12 Daniel K. O.
        * Added two new joints: Double Ball and Double Hinge.

04/22/12 Daniel K. O.
        * Fixed plane2d joint: uninitialized variables (reported by Dimitris
          Papavasiliou)

04/14/12 Oleh Derevenko
        * Assertion checking macros moved into library private headers.

04/13/12 Daniel K. O.
        * Applied patch from bug  #3431829 - better handling of capsule-box with
          deep penetrations.
        * Fixed zero-mu issues: now either mu or mu2 can be set to zero.

03/17/12 Oleh Derevenko
        * Threaded execution support interface added. Optional built-in threading
          implementation added.
          Internal threading implementation is excluded by default and to be used, 
          it must be enabled with configure/premake.
          At present, if threading interface is assigned to a world, island 
          selection and stepping is performed in multiple threads (one thread per 
          island).

03/12/12 Oleh Derevenko
        * PURE_INLINE macro renamed to ODE_PURE_INLINE and definition of 
          dNextAfter()/dCopySign() corrected to avoid creating conflicts with 
          other libraries.

02/03/12 Oleh Derevenko
        * Assertion checking macros moved from common.h to error.h

12/18/11 Oleh Derevenko
        * dIVERIFY macro added (same as dIASSERT in debug mode but evaluates its
          expression in release mode) to be used to assert variable value 
          which is not used further in text while avoiding compiler warning.
        * dICHECK macro added (same as dIASSERT but evaluates its expression and 
          raises assertion fault regardless of compilation mode) to be used to
          generate a fault in cases when error is very unlikely but must be 
          handled and handling is very troublesome (e.g. failure to lock a mutex
          due to lack of resources).

12/07/11 Oleh Derevenko
        * Partially fixed size_t to integer conversion warnings
        * Fixed type signedness and added casts to size_t wherever necessary 
          in Step/QuickStep

11/04/11 Daniel K. O.
        * Applied patch #3429454 - fix compilation on some platforms.

10/28/11 Daniel K. O.
        * Fixed a box-capsule bug: more reasonable normal for deep penetrations
          (contributed by Georg Martius.)

10/27/11 Daniel K. O.
        * Disabled merging of contacts for trimesh-sphere by default.
        * Added new demo: demo_tracks.

10/17/11 Daniel K. O.
        * Added python bindings, contributed by Gideon Klompje.
        * Updated some build scripts.
        * Changed spheres distribution in demo_space_stress.

05/17/11 Oleh Derevenko
        * A typo in step.cpp fixed (assignment operator in a conditional 
          instead of comparison) (reported by Bram Stolk)

01/29/11 Oleh Derevenko
        * Heightfield zone boundaries calculation code fixed to also consider
          whole next cell after the AABB if the AABB ends exactly at the cell
          boundary.

01/23/11 Daniel K. O.
        * Applied patch from Daniel Fiser, add libccd collider for
          box-cylinder.

01/20/11 Daniel K. O.
        * Applied patch from Daniel Fiser, fix infinite loop in libccd caused
          by numerical problems.

01/06/11 Daniel K. O.
        * Applied patch from Daniel Fiser, efficient libccd tests when using
          CONTACTS_UNIMPORTANT.

12/17/10 Daniel K. O.
        * Applied patches from Daniel Fiser for new colliders based on libccd.

11/08/10 Daniel K. O.
        * Applied patches from Daniel Fiser to incorporate libccd for
          Cylinder-Cylinder collision tests.

08/21/10 Oleh Derevenko
        * Fix applied to dxReallocateTemporayWorldProcessContext() to remove typo 
          which caused segmentation fault (by Kyle McKay).
          dTestSolveLCP() fixed to avoid exceeding allocated memory pool 
          (by Kyle McKay).

07/19/10 Oleh Derevenko
        * Patch applied (#3030783) to fix drawstuff dimensions being ignored
          in OSX GLUT port (by Danny Price).

         Daniel K. O.
        * Applied patch #2991622: dGeomGetRelPointPos, dGeomGetPosRelPoint,
          dGeomVectorToWorld, and dGeomVectorFromWorld.

07/16/10 Daniel K. O.
        * Fixed bug #2937076: don't try to build demos if drawstuff is disabled.

05/02/10 Oleh Derevenko
        * Missing extern "C" wrapper has been added to include/ode/export-dif.h
          (reported by Danny Price). The change affects dWorldExportDIF() public 
          function.

05/02/10 Oleh Derevenko
        * Patch applied (#2995450) to generate up to four contacts for box-
          plane collision test (by alexdu) and fix contact depths.

05/02/10 Oleh Derevenko
        * dGeomLowLevelControl function added with ability to change/query OPCODE 
          trimesh-sphere contact merging behavior at runtime.

02/18/10 Daniel K. O.
        * Fixed bug affecting disabled joints and dWorldStep.

01/16/10 Oleh Derevenko
        * Patch applied (#2931174) to make demos work for recent MacOS.
        * Patch applied (#2931177) to fix the demos' framerate on X11.

12/20/09 Oleh Derevenko
        * QuadTreeSpace implementation corrected to avoid object-block relation 
          ambiguity due to numeric errors.

12/04/09 Oleh Derevenko
        * odecpp classes changed to be inheritable and easily expandable

11/29/09 Oleh Derevenko
        * Improvement for trimesh-plane collision (also used in trimesh-heightfield)
          to exclude mesh vertices that have already generated contacts from further
          examination and contact generation in other triangles (suggested by LR).

10/25/09 Oleh Derevenko
        * Macros changed to static inline functions in odemath.h and related files.
          Some code duplication has been eliminated across the files.

        * Fixed handling of --disable-asserts and --enable-double-precision 
          (absence of --enable-double-precision) in configure script. The script
          was not appending compiler defines correctly.

        * dWorldStep implementation changed to remove allocation on stack. 
          dUSE_MALLOC_FOR_ALLOCA define has been removed as well as corresponding
          configuration parameter. Also dMemoryFlag public variable has been removed.
          (look for presence of ODE_EXT_malloc_not_alloca configuration string if
          your application is dependent on that variable).

09/05/09 Oleh Derevenko
        * dWorldStepFast1 API removed along with dWorld[Get/Set]AutoEnableDepthSF1

08/29/09 Oleh Derevenko
        * Fixed uninitialized floating point array used in computations.

08/12/09 Oleh Derevenko
        * A typo fixed in dGeomCopyOffsetRotation() (final_posr was used instead 
          of offset_posr). Reported by Tilmann.

08/11/09 Daniel K. O.
        * Made sure neither dSINGLE or dDOUBLE is defined by default; the user
          should always explicitly specify the precision.

06/27/09 Oleh Derevenko
        * New functions have been added:
           - dWorldUseSharedWorkingMemory
           - dWorldCleanupWorkingMemory
           - dWorldSetStepMemoryReservationPolicy
           - dWorldSetStepMemoryManager
		
06/25/09 Remi Ricard (papaDoc)
        * Add limit to the to the second axis of the universal joint
         for the pu joint.

06/14/09 Oleh Derevenko
		* dWorldQuickStep re-implemented to avoid memory allocation on stack.
		  Also several optimizations have been made to decrease memory 
		  requirements and optimize algorithm implementation of dWorldQuickStep.
		  dWorldStep still remains with old memory allocation however new APIs
		  mentioned below are fully functional for it.
		  Both dWorldStep and dWorldQuickStep have been changed to return boolean
		  success status.

		* dInitODE2() changed to automatically call 
		  AllocateODEDataForThread(dAllocateFlagBasicData) after library 
		  initialization as this is a required initialization minimum that
		  must always be performed anyway.

06/05/09 Daniel K. O.
         * Removed aliasing issues from OPCODE/Ice, plus some other warnings.
           Now it builds on gcc 4.3.2 with '-Wall -Werror -O3".

05/30/09 Oleh Derevenko
         * A minor memory usage optimization for QuickStep.

05/24/09 Daniel K. O.
         * Made the new trimesh collider the default.
         * Added a "-texturepath" option to drawstuff.

05/18/09 Oleh Derevenko
        * Heightfield rotation fixed to avoid NaNs while rotating infinite
          MIN/MAX heights.

05/03/09 Oleh Derevenko
        * Incorrect parameter order fixed on contact merging in Sphere-Trimesh
          collisions. The bug resulted in merged contact remaining with normal
          of first contact found. Thanks to Dimitris Papavasiliou for reporting.

04/23/09 Daniel K. O.
        * Fixed bug #2685170: use the C99 __func__ instead of __FUNCTION__ when
          a C99 implementation is available.

04/07/09 Remi Ricard (papaDoc)
        * Remove unused code in demo_joints.cpp, reported by Tilmann.

04/07/09 Remi Ricard (papaDoc)
        * Fix bug in collision categories in demo_jointPU, reported by Tilmann

03/14/09 Oleh Derevenko
        * A possibility to initialize/close ODE multiple times recursively has 
          been added.
          Also, now a call to dSpaceSetManualCleanup() is required for each 
          space right after creation if ODE has been initialized in thread data
          manual cleanup mode.
           
03/07/09 Oleh Derevenko
        * Thread local data has been cleaned up from OPCODE and OdeTls as it is
          not used (OPC_SweepAndPrune.* and OPC_BoxPruning.* have been removed
          - rebuilding project files is necessary).

02/07/09 Daniel K. O.
        * New house of cards demo, which stresses the friction handling stability.

01/29/09 Remi Ricard (papaDoc)
        * Fix bug: Fix problem when attaching no body to a joint. Before calling
          setRelativeValues a check is made for bodies.
        * Add unittest

01/28/09 Daniel K. O.
        * Applied patch #2538046: Heightfield AABB bounds patch.

01/23/09 Remi Ricard (papaDoc)
         * Add new function dJointSetUniversalAxis1Offset and dJointSetUniversalAxis2Offset
         * Add unittest for those funcitons.

01/23/09 Remi Ricard (papaDoc)
         * Fix problem with dJointGetUniversalAngle2 when the joint is attached to
           only a body 2. The sign was inverted.
         * Add unit test to verify for this problem

01/21/09 Remi Ricard (papaDoc)
         * Fix bug reported by Tilman: dxJointPU::getInfo1 was setting twice the
           limit of limot1 to zero and not limot2

01/17/09 Daniel K. O.
        * Fixed a bug in dSpaceCollide2: if both geoms are not in spaces they would
          not have valid AABBs.

12/20/08 Daniel K. O.
        * New functions: dJointEnable, dJointDisable, dJointIsEnabled
          (patch #2454764).

12/19/08 Daniel K. O.
        * Removed inline asm statements that break builds on 64-bit VC++.

12/09/08 Daniel K. O.
        * Applied patch #2381592, which adds support for Kinematic Bodies.

12/06/08 Oleh Derevenko

       * Applied a patch by Martijn Buijs to make GIMPACT trimesh-ray collisions to
         be consistent with those in OPCODE.
       * Swapped geometries returned in contacts for OPCODE Trimesh-Plane collisions
         as they were returned in unnatural order being different from that in GIMPACT
       * Applied a patch by Martijn Buijs to make side1, side2 fields of contact 
         structure be always initialized, either with -1 for non-trmesh geometries
         or with triangle index for trimeshes. These fields were only assigned for
         trimesh-trimesh collisions before.
       * dGeomTriMeshSetTriMergeCallback/dGeomTriMeshGetTriMergeCallback API added
         to set/get user defined callback procedure for trimeshes that would be 
         invoked when contacts are merged to let user code accumulate attributes of
         original contact triangles and generate a fake index by which it would 
         later be able to determine those attributes. If the callback is not 
         assigned (the default) -1 is generated as triangle index for merged 
         contacts (there was an index of first of merged triangles before!!!).
         The callback is currently used within OPCODE trimesh-sphere and OPCODE
         new trimesh-trimesh collisions.

11/20/08 Remi Ricard (papaDoc)
       * Fix problem with dJointGetPUPosition and
         dJointGetPUPositionRate when the joint is attached to only
         a body 2. The sign was inverted.
       * Fix bug: When a pu joint had only one body attached to position 2,
         dJointAttach(jId, 0, bId). The body was not push in the right direction to
         move back between the limits.
       * Add unit test to check the above problem
       * Add the function void dJointSetPUAnchorOffset
       * Make the function void dJointSetPUAnchorDelta deprecated

11/19/08 Remi Ricard (papaDoc)
       * Fix bug: When a pr joint had only one body attached to position 2,
         dJointAttach(jId, 0, bId). The body was not push in the right direction to
         move back between the limits.
       * Add unit test to check the above problem

11/19/08 Remi Ricard (papaDoc)
        * Fix problem with dJointGetPRPosition and
          dJointGetPRPositionRate when the joint is attached to only
          a body 2. The sign was inverted.
        * Add unit test to check the above problem
        * Increase the tolerance to remove failure in unit test
        * Remove compilation warning in unit test with the use of REAL()

11/18/08 Remi Ricard (papaDoc)
       * Fix bug: When a piston joint had only one body attached to position 2,
         dJointAttach(jId, 0, bId). The body was not push in the right direction to
         move back between the limits.
       * Add more functionality to demo_piston.cpp
       * Run astyle on modified files.

11/18/08 Remi Ricard (papaDoc)
        * Fix bug: When a slider joint had only one body attached to position 2,
         dJointAttach(jId, 0, bId). The body was not push in the right direction to
         move back between the limits.

10/29/08 Oleh Derevenko

        * Premake scripts changed to only include chosen collision library
          sources in project on Windows. --all-collis-libs premake option 
          added to allow inclusion of all collision library sources into the 
          project

10/15/08 Remi Ricard (papaDoc)
        * Applying patch #2158425 64-bit GIMPACT provided by Mark
          William. This patch enable GIMPACT to works on 64-bit machine.

10/15/08 Remi Ricard (papaDoc)
        * Add function dJointGetPRAngle and dJointGetPRAngleRate

10/15/08 Remi Ricard (papaDoc)
        * Enable the motor on the rotoide part of the PR joint

10/15/08 Remi Ricard (papaDoc)
        * Add unit test to check if using directly a joint
          or using after setting with default values is the same.
        * Add function setRelativeValues called in dJointAttach for
          all joints.

10/10/08 Remi Ricard (papaDoc)
        * Fix bug in dJointGetPUAxis2. The axis was not multiplied with the
          the rotation matrix of the good body.
        * Fix bug if there is only one body on the PU joint the axis returned
          was not the right one.
        * Add unit test to verify previous bug.

10/03/08 Rodrigo Hernandez (Kwizatz)
	* Added Blender script to create ODE convex geoms under tools.

10/01/08 Rodrigo Hernandez (Kwizatz)
	* Convex-Convex collision detection code is finally stable.

08/31/08 Daniel K. O.
        * Applied patch 2080674: Improved dBodySetRotation; now exact rotation
          matrices are preserved until the next simulation step.

08/07/08 Daniel K. O.
        * Fixed strict aliasing issue that was breaking the new trimesh collider.

07/24/08 Daniel K. O.
        * New functions: dBodyGetGyroscopicMode and dBodySetGyroscopicMode
          (patch #2019242).

07/15/08  Remi Ricard (papaDoc)
        * Add a new define ODE_API_DEPRECATED to mark function as deprecated
          when necessary.

07/14/08 Remi Ricard (papaDoc)
        * Finish adding patch 1336066: Joint feedback in quickstep by jsinecky
        * demo_boxstack.cpp can now print joint feedback

07/11/08 Daniel K. O.
        * Bumped version for 0.10.1
        * Added proper usage of libtool's version info.

07/10/08 Remi Ricard (papaDoc)
        * Add new function dJointSetPistonAnchorOffset
        * Add unittest for the piston joint
        * Fix problem with dJointGetPistonPosition and 
          dJointGetPistonPositionRate when the joint is attached to only
          a body 2. The sign was inverted.

07/09/08 Remi Ricard (papaDoc)
        * Optimize function Multiply1_12q1 in quickstep
          Patch proposed by Riemer v.d. Zee and modified by Patrick Baggett

07/08/08 Remi Ricard (papaDoc)
        * Update the slider joint to have the same behavior as the other joint
          when there is only a body2 attached to it.
        * Update documentation for the slider joint.
        * Remove warning by using REAL()
        * Add new unittest for dJointGetSliderPositionRate

07/08/08 Remi Ricard (papaDoc)
        * Update unittest for the slider.
        * Rename the new function dJointSetHingeAxisDelta to 
          dJointSetHingeAxisOffset. This remove will remove confusion with 
          the old function dJointSetHingeAnchorDelta
        * Update documentation for the Hinge unittest
        * Remove warning by using REAL()

07/07/08 Daniel K. O.
        * Max Correcting Vel doesn't affect bounciness, as before.

07/03/08 Remi Ricard (papaDoc)
        * Add new function dJointSetHingeAxisDelta
        * Add unittest for this new function

06/17/08 Remi Ricard (papaDoc)

        *  Move the computation of the Relative Rotation for the slider joint
           into a function.
        * Add unittest for to check qrel 

06/17/08 Remi Ricard (papaDoc)

       * Remove unused variables. 
       * Remove a conversion warning between unsigned int and int
        
06/17/08 Remi Ricard (papaDoc)

        * Move the function hingeComputeRelativeRotation as a member of 
          the hinge structure/class.

06/17/08 Remi Ricard (papaDoc)

        *  Move the computation of the Relative Rotation for the fixed joint
           into a function.

06/16/08 Remi Ricard (papaDoc)

        * Add testunit for the dxJointFixed

06/04/08 Daniel K. O.

        * Moved joints to ode/src/joints, converted them to true virtual
          methods.

06/02/08 Daniel K. O.

        * Added an Auto<T> template to step.cpp to handle memory deallocation.

05/09/08 Daniel K. O.

        * Applied patch #1335202: Contact Joint Motion (with some corrections),
          and added demo_motion.

05/01/08 Oleh Derevenko

        * Memory leak in GIMPACT fixed (reported by Derek)

04/28/08 Oleh Derevenko

        * Added possibility to collide a space of lower sublevel as a geometry
          against another space of a higher level with dSpaceCollide2.
          dSpaceSetSublevel/dSpaceGetSublevel are used for sublevel assignment/
          retrieval.

04/27/08 Oleh Derevenko

        * Fixed incorrect memory copying which could lead to memory corruption
          in GIMPACT (luckily, in unused code)
        * Fixed possible memory read beyond the end of allocated buffer along
          with unnecessary extra memory copying in GIMPACT.
        * Fixed buffer reserve being incorrectly reset to zero for bitsets 
          what resulted in unnecessary memory reallocations in GIMPACT.
        * Implemented support for ability to run collision detection from
          multiple threads for separate spaces.
           
04/14/08 Oleh Derevenko

        * Fixed possible memory corruption in new trimesh-trimesh collider
          in case if two degenerated triangles are checked against each other.

04/12/08 Oleh Derevenko

        * Fixed sporadic assertion failure on vector normalization caused
          by small triangles degenerating into segments during space 
          transformations.

03/28/08 Remi

        * Fix a bug in dJointXXXGetInfo. The value in limot.limit was not
          always updated. (Ex: If hi and lo limit were changed). 

03/27/08 Remi

        * Added a new Joint: Prismatic Universal (patch #1828454).

         Daniel K. O.

        * Fixed bug #1841309: collide2() method buggy.

03/18/08 Rodrigo

        * New function: dVector4Copy.

03/14/08 david

        * Added stub calls for trimesh functions.
        * Applied patch #1914232: dGetConfiguration.
        * Applied patch #1655333: Optimize the function dNormalize3.
        * New function: dSetColliderOverride.
        * New function: dCheckConfiguration.
        
         Daniel K. O.

        * Disabled building shared library by default with autotools.

03/13/08 david

        * New function: dJointGetNumBodies (patch #1901550).
        * New function: dSpaceGetClass (patch #1901637).
        * Applied patch #1901649: Add missing function in the export

03/12/08 Rodrigo

        * Fixed drawstuff build issues on OSX.

01/12/08 Daniel K. O.

	* Fixed a typedef bug in configure.in.
	* Added dCylinder to the C++ wrappers.
	* Applied patch 1851394: support for GIMPACT with double precision,
	  dCollide fix.
	* Moved bunny geometry to bunny_geom.h.

12/11/07 Daniel K. O.

	* Added damping and MaxAngularVel() functions.
	* Const-correctness: added const qualifier to some dWorldGet and dBodyGet
	  functions.
	* Updated the odecpp.h header.

12/07/07 Daniel K. O.

	* Removed most of the compiler warnings from Drawstuff, ODE and
	  OPCODE
	* Upgraded automake requirement to 1.10, and change some Makefile.am

12/06/07 Rodrigo

	* Modified autotools to use libtool for
	  library generation and administration
	* Removed release and debug flags for configure.in
	  CPPFLAGS, CFLAGS, CXXFLAGS should be set by the
	  user to their liking, respecting autotools policies.

11/30/07 Daniel K. O.
	* Applied patch 1813079 (moved callback)
	* Replaced moveAndRotateBody by dxStepBody in stepfast.cpp

11/10/07 david

	* Added 'Sweep and Prune' collision space.
	* New Piston joint type with demo, by Remi Ricard
	* Added build option to use 16-bit indices for OPCODE trimesh

11/03/06 david

	* Integrated Christoph Beyer's average based sampling system for body
	  disabling.

10/26/06 Francisco Leon

	* Totally refactored trimesh collision system.
	  Using GIMPACT instead of OPCODE. Now works correctly, and faster.
	  Visit http://gimpact.sourceforge.net.
	  
	* Finally, test_moving_trimesh.exe works nicely.   
	  
	* Fixed autodisable system. Now is possible to set bigger sleeping 
	  threshold values and objects won't be sleeping on the air. They will
	  rest on the floor properly.
	  	  
	* dInitODE function added.
	
	* Is Obligatory to call dInitODE() at the beginning for initialize ODE,
	  and calling dCloseODE() when the program ends.

09/20/06 bram

	* Fixed two bugs in cyl/plane collision test.

09/13/06 Remi

	* New Rotoide - Prismatic joint type
	* dJointGetUniversalAngles for efficient angle retrieval.

08/09/06 david

	* Integrated plane2d joint type which constrains bodies to z == 0.

07/06/06 david

	* Added heightfield primitive collision code. Simple test available in
	  ode/test/test_heightfield

04/03/06 rodrigo

	* Added Convex primitive collision code,
	  currently only convex-sphere and convex-plane work

04/01/06 bram

	* Added program to test trimesh vs sphere: ode/test/test_basket

03/20/06 jason379

	* Added new autogenerated Visual Studio projects, with Premake scripts

03/17/06 bram

	* Added plane/cyl intersection test
	* Renamed CCylinder to Capsule
	
02/04/06 gcarlton

	* Added support for geom offsets.

10/26/05 rodrigo

	* Removed LIBTOOL from autotools since it was not really required.
	* Added a target to build ODE as a shared library, this shared
	  library gets build alongside the static one, no flags required.

10/24/05 tfautre

	(Backported patches from STABLE branch, applied by Adam)
	
	* dRandInt changed for a non-double all-int version.
	* mics minor fixes and improvements.

04/05/05 tfautre

	* Fixed segmentation fault with OPCODE on 64 bits systems.

03/31/05 tfautre

	* Fixed timer.cpp compiler error on x86-64 using GCC.

03/29/05 colin

	* Added trimesh preprocessing to mark unneeded edges and verts.  Also
	  added support for preprocessed info to the ccylinder-trimesh
	  collider.

12/07/04 adam

        * Important AMotors bugfix

09/22/04 jeff

	* Assorted small bugfixes and tweaks for
	  trimesh_{box,ccylinder,trimesh} collisions

09/21/04 jeff

	* added functions to joint.cpp to allow joint attachment to moving
	  geoms.

	* added malloc-based memory allocation in step.cpp & lcp.cpp (turned
	  on with a #define switch in common.h)
	
05/29/04 russ

	* added joint feedback to the QuickStep solver

05/18/04 russ

	* added warm starting to the QuickStep solver

05/18/04 russ

	* added the QuickStep solver
	
	* added contact parameter functions.

05/05/04 adam

        * use dRandInt instead of rand() in stepfast.

04/21/04 russ

	* added auto-disable support from Aras Pranckevicius (with
	  modifications by russ). this useful feature can speed up
	  simulation significantly in some cases.
	
	* various internal tidyups.

04/20/04 russ

	* changed the meaning of the 'index' argument to dJointGetBody():
	  it was the only remaining API function that does not respect
	  dJOINT_REVERSE (spotted by Matthew D. Hancher).
	
	* updated the C++ headers: fixed two minor bugs and added
	  support for dQuadTreeSpace, dRay, and the dGeom::getSpace() method
	  (from Matthew D. Hancher).

04/18/04 russ

	* changed the way that the dInfinity constant is implemented: now it
	  is #defined to be one of: FLT_MAX, DBL_MAX, HUGE_VAL, HUGE_VALF, or
	  a large numeric constant. previously it was a variable that was
	  exported from the library. this simplifies the configuration and
	  build process quite a bit, especially in the case of DLLs.
	
	* removed the old, deprecated collision system (geom.cpp,space.cpp,
	  geom.h,space.h,odecpp_old_collision.h). the ODE_OLD_COLLISION
	  configuration setting no longer has any meaning.
	
	* removed support for dGeomGroups, which have been deprecated for
	  a while and are equivalent to 'spaces' anyway.

04/13/04 russ

	* bug fix in dMassSetCappedCylinder(), from Matthew D. Hancher.

04/08/04 russ

	* added trimesh-CCylinder capability, from Vadim Macagon
	  <vadim_mcagon@hotmail.com>.

04/04/04 adam

        * yet another rewrite of triangle-box collision code, this
        time based on code donated by Croteam, ported by asko@jetti.org
        and tweaked by Erwin.

04/04/04 adam

        * merged trimesh-trimesh collision code by
        Jeffrey Smith <jeffreys@Softimage.com>.

        * changed it to not break the trimesh interface, fix
        some GCC compilation problems, bring it up to date with
        ODE changes from 2003-11-15 -> 2004-04-04.

        * add ability to drop meshes on meshes in test_moving_trimesh,
        not as good as it could be but it's illustrative.

01/16/04 adam

	* implement a bunch of ultra-simple TriMesh functions that were
	in the headers but not in the code -- patch by
	Vadim Macagon <vadim_mcagon@hotmail.com>

	* disable temporal coherence on trimeshes by default, since
	it has scaleability issues that don't make it a general clear win.

12/01/03 adam

	* implement dxHashSpace::collide2(), not particularly efficiently.

11/14/03 adam

	* applied several Trimesh fixes and improvements from
	Aras Pranckevicius <nearaz@interamotion.com>

10/22/03 adam

	* apply Nguyen Binh's work for removing many dSetZero() calls
	and some other extraneous initializations.

07/29/03 martin

	* added dJointAdd*Torque/Force().

07/10/03 russ

	* added the StepFast code, by David Whittaker.

07/02/03 martin

	* added dMassSet*Total().

07/01/03 martin

	* added joint limits and motors to universal joints.

	* reversed the polarity of the dJOINT_REVERSE flag.

06/30/03 russ

	* added the TriMesh geom class and the quad tree space to the ODE
	  core. both of these were developed by Erwin de Vries. added OPCODE
	  to the ODE distribution, this is required by TriMesh.

06/23/03 martin

	* added dGeomSetQuaternion() and dGeomGetQuaternion()
	
	* added dJointGet*Anchor2()

05/07/03 russ

	* added dGeomGetSpace().

02/05/03 russ

	* added dMassSetCylinder().

12/07/02 russ

	* added dAreConnectedExcluding().

11/30/02 russ

	* added the ray geom class.

	* added the dGeomXXXPointDepth() functions.

	* added a collision test infrastructure, and some more tests.

11/24/02 russ

	* added support for multiple box-box contacts.

11/10/02 russ

	* added new collision system. select between the old/new system by
	  setting the ODE_OLD_COLLISION variable in config/user-settings.

10/28/02 russ

	* fixed two problems in the LCP code to improve the reliability of
	  the dContactApprox1 contact mode.

	* added a FAQ question about rolling bodies getting stuck when they
	  hit multiple geoms.

09/08/02 russ

	* added dClosestLineSegmentPoints().
	* implemented dCollideCB().

08/28/02 russ

	* added dJointSetFeedback() and dJointGetFeedback().

08/05/02 russ

	* added dGeomTransformSetInfo() and dGeomTransformGetInfo().

07/13/02 russ

	* added dBodySetForce(), dBodySetTorque(), dWorldImpulseToForce(),
	  dBodyGetPosRelPoint(), dBodyGetPosRelPoint(), dBodyVectorToWorld(),
	  dBodyVectorFromWorld().

	* added dBodyGetPointVel() (thanks to Colin Reed).

	* added a new C++ interface (from Martin C. Martin, with modifications
	  by russ). the old C++ interface is now in odecpp_old.h.

06/25/02 russ

	* added an additional BSD-style licensing option for ODE.

06/23/02 russ

	* added dCloseODE(), contributed by Nate Waddoups and David McClurg.

05/16/02 russ

	* added dSpaceQuery(), contributed by Nate Waddoups.

04/07/02 russ

	* added a section to the documentation for universal joints.
	  this includes a picture of the joint.

04/05/02 russ

	* added a universal joint class (generously contributed by
	  Martin C. Martin). it doesn't (yet) have a motor or joint limits,
	  but it does come with tests.

03/11/02 russ

	* makefile changes to accomodate OSs with command line length
	  limitations (thanks to Norman Lin).

01/06/02 russ

	* added the dBodySetGravityMode() and dBodyGetGravityMode()
	  functions, which change the dxBodyNoGravity body flag.

	* added support for building a DLL with MSVC - there is now a
	  msvc-dll target. thanks to Norman Lin for doing this.

12/28/01 russ

	* added the dParamCFM joint parameter.

12/24/01 russ

	* reworked the build system to make it more cross-platform.
	  there is now a single top-level makefile and a configurator.c
	  program. see the INSTALL file for details.

12/04/01 russ

	* the "angular motor" joint has been completed, and a new section
	  has been added to the documentation.

11/26/01 russ

	* added a new joint type: "angular motor". using this joint is a good
	  way to get ball-joint motors and limits. this is work in progress -
	  it has not been fully implemented or tested yet.

11/22/01 russ

	* replaced the mmap()-based joint group stack (stack.cpp) with a
	  malloc()-based arena stack (obstack.cpp). this will be more
	  portable and should not impact performance.

11/12/01 russ

	* changed the meaning of the 'flags' parameter to dCollide() and
	  related functions: now the size of the contact buffer is kept in
	  the lower 16 bits. this change will be backward compatible.

	* added dBodyGetFiniteRotationMode() and dBodyGetFiniteRotationAxis().

	* added dBodyAddForceAtRelPos() function.

11/11/01 russ

	* added the ability to manually enable and disable bodies.
	  see dBodyEnable(), dBodyDisable(), dBodyIsEnabled().

	* fixed a potential bug: when a world is destroyed that contains
	  joints in joint groups, those joints are marked as "deactivated" in
	  the joint group, so when the joint group is destroyed they can be
	  ignored.

	* the test_boxstack demo has new options to enable and disable bodies.

	* new configuration parameter in config.h: dEFFICIENT_SIZE.

11/11/01 russ

	* started the change log for ODE. changes older than today were added
	  to this file by inspecting the CVS logs.

11/05/01 russ

	* added REAL() constructions for floating point numbers, to prevent
	  many warnings when compiling under VC++.

11/03/01 russ

	* added geometry transform class, documented composite objects.

	* added collision rule: no contacts if both geoms on the same body.
	  this is not the best rule, may have to remove this in the future.

	* new dMassAdd() function.

	* capped cylinder to capped cylinder collision function.

10/31/01 russ

	* increase CFM in some demos to make them more robust.

10/29/01 russ

	* added new accessor functions.

10/19/01 russ

	* added the dJOINT_TWOBODIES flag to the joint, that says it can not
	  be attached to just one body.

10/12/01 russ

	* fixed a collision bug in dCollide() that was causing memory
	  corruption when multiple contacts were being returned.

10/11/01 russ

	* joints can now return m=0 to be "inactive". added a "null" joint
	  to test this.

10/09/01 russ

	* in the LCP solver, try to fail gracefully when s <= 0.

	* dAABBTestFn() API change.

10/08/01 russ

	* fixed a contact swapping bug in dCollide().

10/07/01 russ

	* added capped cylinder geometry object.

09/30/01 russ

	* the test_buggy demo now uses geometry groups.

	* added a dAABBTestFn field in the geometry classes.

09/29/01 russ

	* added geometry groups.

09/20/01 russ

	* added finite rotation stuff.
