[ODE] Bjarne Stroustrup sings Snoop Dogg

[Martin C. Martin]

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Here are the new C++ rappers for the ODE.  These ones use inheritance,
so that e.g. dBallAndSocketJoint is derived from dJoint.

This breaks test_chain2, so I've included a fixed version.

odecpp.h won't quite compile out of the box: you need to get rid of
dUniversalJoint::getAnchor2().  I've also included wrappers for the
Transform/Rotate functions I posted earlier, as well as equivalent ones
for dGeoms.  In other words, anyone should be able to use odecpp.h, just
delete wrappers for functions/classes you don't have.

Cheers,
Martin
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--------------BF5B97BC2C62B1B2038366B8
Content-Type: application/x-unknown-content-type-cppfile;
 name="test_chain2.cpp"
Content-Transfer-Encoding: base64
Content-Disposition: inline;
 filename="test_chain2.cpp"

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