[ODE] tell me about "tri_mesh.cpp" and "trimesh class"

[jojo20@mail.goo.ne.jp]

Hi everyone.
I'm using ODE now.

I installed. I studied first step.
for example , output box, output shpere, collision, and so on.

Now,I draw complex body!
But,I coundn't understand  sample program "tri_mesh.cpp" , 
and I coundn't understand the manual noted "trimesh class".


//
I notice "tri_mesh.exe" is not TEST directory!

I read Makefile.
It is noted "each programs " + "tri_mesh.cpp".

I think from this , Is "trimesh class "  ADD some program??

Please show me , how to "trimesh class".



thanks,jojo