[ODE] CCylinder is now Capsule

[Bram Stolk]

Hi there,

I fixed the terminology in the svn repo, trunk branch.
Some remarks:

1) The C API is backwards compatible, by using defines
    as suggested by Jason
2) The C++ API in odecpp_collision.h is not BW compat,
    as redefining class names is tricker than redefining
    simple C funcs.
3) I chose not to rename the filename of
    collision_trimesh_ccylinder.cpp so that this change
    doesn't conflict with the premake branch.
4) ode/doc has been changed accordingly.

   Bram