[ODE] Box/Trimesh contact filtering and oblong geoms

[Darío Mariani]

Just downloaded the UNSTABLE branch, it does not compile:

...

ode/src/collision_trimesh_box.cpp: In function `void GenerateContact(int,
   dContactGeom*, int, dxGeom*, dxGeom*, const dReal*, const dReal*, double,
   int&)':
ode/src/collision_trimesh_box.cpp:1270: error: `dEpsilon' undeclared (first use
   this function)
ode/src/collision_trimesh_box.cpp:1270: error: (Each undeclared identifier is
   reported only once for each function it appears in.)
make: *** [ode/src/collision_trimesh_box.o] Error 1