[ODE] where are the dxWorld, etc.. structs defined?

[brett hartshorn]

struct dxWorld;		/* dynamics world */
struct dxSpace;		/* collision space */
struct dxBody;		/* rigid body (dynamics object) */
struct dxGeom;		/* geometry (collision object) */
struct dxJoint;
struct dxJointNode;
struct dxJointGroup;

where are the contents of these structs defined?
I can only find their declaration in common.h

thanks,
-brett

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