[ODE] Ray-trimesh bugfix

[Joe Ante]

>> This pair of ray fixes looks good to me, but since I don't use
>> rays I'll wait for feedback from the list before committing.
>> (In the meantime it'd be nice if you could resubmit the patches
>> as attachments so that they don't get damaged by line-wrapping etc.)
>> Thanks,
>> --Adam
I noticed the ray optimization and bugfixes I posted a week ago aren't in
cvs yet. Seems that no one objected to it so can someone check it in now?

Joe Ante