[ODE] added trimesh-CCylinder capability

[Vadim Macagon]

> Cool.  Thanks, Vadim.  It mostly seems to work, though I see a
> fair amount of minor glitchiness in test_moving_trimesh, where the
> ccylinders get embedded in the bunny-ears and squirm there,
> or nestle between the bunnies and wiggle the 'wrong' way.

Yep it's certainly far from perfect, back when I wrote this moving trimeshes
weren't of concern to me.

> Note that Nguyen Binh is (as of a couple of days ago) currently
> porting the Croteam version of trimesh-vs-capsule.  When that's done
> and assuming that neither is clearly superior then I'll add the
> Croteam one as a 'contrib' and let them battle it out.

Well I hope Croteam's is a bit more sophisticated :), having 2
implementations in CVS is bound to create some confusion.


Vadim.