[ODE] dRay, c++ interface, khepera model?

[Thomas Buehmann]

hi,
is it possible to get the c++ interface by martin c. martin and the dRay 
contribution without having to use cvs or copy and paste? 
apart from that, is anyone aware of a good khepera-style two-wheeled 
differential-steering model? if i use two wheels in front of my vehicle to drive 
and steer and an additional supporting wheel in the back, the latter tends to 
bend if the distance between front-wheels and supporting wheel is small (all use 
hinge2). is that model too simple or is it just a matter of tweaking cfm etc...?

thanks,
thomas.

sorry if this mail got posted twice. i send it earlier from an unlisted address.
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