[ODE] New stuff

[Thomas Harte]

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> The dRay class now returns reflection normals, and penetation depths. The
> penetration depth of a line is the distance between the contactpoint and the
> endpoint of the line.

I'm sorry, I have not tried your code, but is this not incorrect? My reading of the various 
documentation was that penetration depth was distance along the normal vector, so that 
ODE can discreetly apply a penalty method. i.e. the amount you'd want would be

(endpoint - contactpoint).(plane normal)

not, what you seem to be saying :

| endpoint - contactpoint |

I bring this up mostly because I am new to ODE and am wondering - have I 
misunderstood what the penetration depth information is for?

-Thomas
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