ODE: replaced pos and R with posr

Syncronised with ODE 0.6 files:
error.cpp
collision_quadtreespace.cpp
timer.cpp
util.cpp
stepfast.cpp

Author: Xottab-DUTY

Externals/ode/ode/src/collision_kernel.cpp

@@ -313,8 +313,8 @@ void dGeomSetBody (dxGeom *g, dxBody *b)
 
   if (b) {
     if (!g->body) dFree (g->pos,sizeof(dxPosR));
-    g->pos = b->pos;
-    g->R = b->R;
+    g->pos = b->posr.pos;
+    g->R = b->posr.R;
     dGeomMoved (g);
     if (g->body != b) {
       g->bodyRemove();
@@ -326,8 +326,8 @@ void dGeomSetBody (dxGeom *g, dxBody *b)
       dxPosR *pr = (dxPosR*) dAlloc (sizeof(dxPosR));
       g->pos = pr->pos;
       g->R = pr->R;
-      memcpy (g->pos,g->body->pos,sizeof(dVector3));
-      memcpy (g->R,g->body->R,sizeof(dMatrix3));
+      memcpy (g->pos,g->body->posr.pos,sizeof(dVector3));
+      memcpy (g->R,g->body->posr.R,sizeof(dMatrix3));
       g->bodyRemove();
     }
     // dGeomMoved() should not be called if the body is being set to 0, as the

Externals/ode/ode/src/collision_kernel.h

@@ -46,14 +46,6 @@ internal data structures and functions for collision detection.
 //****************************************************************************
 // geometry object base class
 
-// position vector and rotation matrix for geometry objects that are not
-// connected to bodies.
-
-struct dxPosR {
-  dVector3 pos;
-  dMatrix3 R;
-};
-
 
 // geom flags.
 //

Externals/ode/ode/src/collision_quadtreespace.cpp

@@ -351,7 +351,7 @@ dxQuadTreeSpace::dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Exte
 
 	int BlockCount = 0;
 	for (int i = 0; i <= Depth; i++){
-		BlockCount += (int)powf(SPLITS, i);
+		BlockCount += (int)pow((dReal)SPLITS, i);
 	}
 
 	Blocks = (Block*)dAlloc(BlockCount * sizeof(Block));
@@ -384,7 +384,7 @@ dxQuadTreeSpace::~dxQuadTreeSpace(){
 
 	int BlockCount = 0;
 	for (int i = 0; i < Depth; i++){
-		BlockCount += (int)powf(SPLITS, i);
+		BlockCount += (int)pow((dReal)SPLITS, i);
 	}
 
 	dFree(Blocks, BlockCount * sizeof(Block));
@@ -495,7 +495,8 @@ void dxQuadTreeSpace::remove(dxGeom* g){
 	for (int i = 0; i < DirtyList.size(); i++){
 		if (DirtyList[i] == g){
 			DirtyList.remove(i);
-			break;
+			// (mg) there can be multiple instances of a dirty object on stack  be sure to remove ALL and not just first, for this we decrement i
+			--i;
 		}
 	}
 

Externals/ode/ode/src/error.cpp

@@ -23,7 +23,6 @@
 #include <ode/config.h>
 #include <ode/error.h>
 
-#pragma warning(disable:4996)
 
 static dMessageFunction *error_function = 0;
 static dMessageFunction *debug_function = 0;
@@ -119,10 +118,17 @@ extern "C" void dMessage (int num, const char *msg, ...)
 
 #ifdef WIN32
 
+// isn't cygwin annoying!
+#ifdef CYGWIN
+#define _snprintf snprintf
+#define _vsnprintf vsnprintf
+#endif
+
+
 #include "windows.h"
 
-//#ifdef _DEBUG_
-void _cdecl dError (int num, const char *msg, ...)
+
+extern "C" void dError (int num, const char *msg, ...)
 {
   va_list ap;
   va_start (ap,msg);
@@ -138,29 +144,29 @@ void _cdecl dError (int num, const char *msg, ...)
 }
 
 
-void _cdecl dDebug (int num, const char *msg, ...)
+extern "C" void dDebug (int num, const char *msg, ...)
 {
   va_list ap;
   va_start (ap,msg);
   if (debug_function) debug_function (num,msg,ap);
   else {
     char s[1000],title[100];
-    _snprintf	(title,sizeof(title),"ODE INTERNAL ERROR %d",num);
-    _vsnprintf	(s,sizeof(s),msg,ap);
+    _snprintf (title,sizeof(title),"ODE INTERNAL ERROR %d",num);
+    _vsnprintf (s,sizeof(s),msg,ap);
     s[sizeof(s)-1] = 0;
     MessageBox(0,s,title,MB_OK | MB_ICONSTOP);
   }
   abort();
 }
 
-void _cdecl dMessage (int num, const char *msg, ...)
+
+extern "C" void dMessage (int num, const char *msg, ...)
 {
   va_list ap;
   va_start (ap,msg);
   if (message_function) message_function (num,msg,ap);
   else printMessage (num,"ODE Message",msg,ap);
 }
-//#endif
 
 
 #endif