[ODE] C++ wrapper updates

[Matthew D. Hancher]

Heyo,

I have modified the C++ wrappers to fix a few things.  I fixed two minor bugs and I added 
support for dQuadTreeSpace, dRay, and the dGeom::getSpace() method.  I have not yet 
added trimesh support; that got back-burnered and I thought I'd send along these patches 
in the mean time.

To avoid cluttering the list I put modified copies of odecpp.h and odecpp_collision.h on 
the web along with an annotated diff for the curious.  These files are based on the 
current cvs head.

http://www.media.mit.edu/~mdh/odecpp/

Cheers,
Matt

Matt Hancher
NASA Ames Research Center
Official: mdh at email.arc.nasa.gov
Personal: mdh at media.mit.edu