[ODE] TriMesh support and OPCODE added to ODE core

[Erwin de Vries]

> erwin - i have made a number of (mostly minor) changes to the source
> files you sent me. can you verify that everything builds and runs for
> you from a freshly checked out copy of ODE?

I will. I've also found some minor problems with the quadtree space, which i
will post an update for soon. But i wanted to wait until you checked
everything in.

> pierre - in OPCODE i notice that "SetIceError" is defined to be "false",
> which makes no sense to me and prevents OPCODE from compiling. what is
> SetIceError() for?

This was also bugging me when trying to compile it on the Intel compiler.

> also, there is no documentation for any of this yet. erwin? hint hint?

I can write some text which describes everything. Is it easy for you to
format it afterwards so it fits in the documentation?

Erwin