[ODE] added trimesh-CCylinder capability

[Russ Smith]

i've added the trimesh-CCylinder capability, from vadim macagon.

vadim, to get this to compile i replaced the lines:

     // construct opcode capsule
     Segment capSeg( Point( capOrigin[0], capOrigin[1], capOrigin[2] ), 
                     Point( capEnd[0], capEnd[1], capEnd[2] ) );

with

     // construct opcode capsule
     Point p1 ( capOrigin[0], capOrigin[1], capOrigin[2] );
     Point p2 ( capEnd[0], capEnd[1], capEnd[2] );
     Segment capSeg(p1,p2);

the first one should have worked, but didn't, with gcc 3.2.2. i have
been noticing a lot of this kind of wierdness with gcc 3.2 lately.

also, i had to rework the patch slightly because some of it went on top
of adam's recent checkin - so you should make sure it works as expected!

russ.


-- 
Russell Smith
http://www.q12.org