[ODE] non-capped cylinder support (dcyl2) now available in UNSTABLE

[Rodrigo Hernandez]

I checked to see if it works on MSYS/MinGW, and there was an issue 
compiling OPCODE, I fixed it and now works fine on MinGW.
Weird, because I remember OPCODE used to compile fine, oh well, it wasnt 
a big issue.

Cheers!

Bram Stolk wrote:

>Hi,
>
>
>The UNSTABLE branch now has dcyl2 incorporated.
>
>dcyl2 was a contrib, (by Alen Ladavac, ported to ODE by Nguyen Binh),
>that is now in the regular source tree of UNSTABLE.
>
>I've added a test_cyl.cpp test app that tests cylinders against
>trimesh world, and a box.
>
>To use non-capped cylinders, do the following:
>
>./configure --with-opcode --with-cylinder
>
>I've been careful not to break anything, so a configure run
>without the flag should not be affected at all.
>
>This has only been tested on linux.
>
>
>Please report your findings,
>Later on, I plan to remove the contrib/ entry from UNSTABLE.
>
>   Bram Stolk
>
>PS: single-precision ODE seems to have an issue with test_cyl
>     sometimes collisions are not detected.
>     I'm pretty sure this is a trimesh issue, and not a cyl issue.
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