diff -Naur xmoto-0.1.10/configure xmoto-0.1.10-patched/configure
--- xmoto-0.1.10/configure	2005-12-03 12:02:27.484542016 +0100
+++ xmoto-0.1.10-patched/configure	2005-12-03 11:58:36.000000000 +0100
@@ -272,44 +272,7 @@
 PACKAGE_BUGREPORT=
 
 ac_unique_file="src/GameMain.cpp"
-# Factoring default headers for most tests.
-ac_includes_default="\
-#include <stdio.h>
-#if HAVE_SYS_TYPES_H
-# include <sys/types.h>
-#endif
-#if HAVE_SYS_STAT_H
-# include <sys/stat.h>
-#endif
-#if STDC_HEADERS
-# include <stdlib.h>
-# include <stddef.h>
-#else
-# if HAVE_STDLIB_H
-#  include <stdlib.h>
-# endif
-#endif
-#if HAVE_STRING_H
-# if !STDC_HEADERS && HAVE_MEMORY_H
-#  include <memory.h>
-# endif
-# include <string.h>
-#endif
-#if HAVE_STRINGS_H
-# include <strings.h>
-#endif
-#if HAVE_INTTYPES_H
-# include <inttypes.h>
-#else
-# if HAVE_STDINT_H
-#  include <stdint.h>
-# endif
-#endif
-#if HAVE_UNISTD_H
-# include <unistd.h>
-#endif"
-
-ac_subst_vars='SHELL PATH_SEPARATOR PACKAGE_NAME PACKAGE_TARNAME PACKAGE_VERSION PACKAGE_STRING PACKAGE_BUGREPORT exec_prefix prefix program_transform_name bindir sbindir libexecdir datadir sysconfdir sharedstatedir localstatedir libdir includedir oldincludedir infodir mandir build_alias host_alias target_alias DEFS ECHO_C ECHO_N ECHO_T LIBS INSTALL_PROGRAM INSTALL_SCRIPT INSTALL_DATA PACKAGE VERSION ACLOCAL AUTOCONF AUTOMAKE AUTOHEADER MAKEINFO AMTAR install_sh STRIP ac_ct_STRIP INSTALL_STRIP_PROGRAM AWK SET_MAKE CC CFLAGS LDFLAGS CPPFLAGS ac_ct_CC EXEEXT OBJEXT DEPDIR am__include am__quote AMDEP_TRUE AMDEP_FALSE AMDEPBACKSLASH CCDEPMODE CXX CXXFLAGS ac_ct_CXX CXXDEPMODE CPP EGREP LIBOBJS LTLIBOBJS'
+ac_subst_vars='SHELL PATH_SEPARATOR PACKAGE_NAME PACKAGE_TARNAME PACKAGE_VERSION PACKAGE_STRING PACKAGE_BUGREPORT exec_prefix prefix program_transform_name bindir sbindir libexecdir datadir sysconfdir sharedstatedir localstatedir libdir includedir oldincludedir infodir mandir build_alias host_alias target_alias DEFS ECHO_C ECHO_N ECHO_T LIBS INSTALL_PROGRAM INSTALL_SCRIPT INSTALL_DATA PACKAGE VERSION ACLOCAL AUTOCONF AUTOMAKE AUTOHEADER MAKEINFO AMTAR install_sh STRIP ac_ct_STRIP INSTALL_STRIP_PROGRAM AWK SET_MAKE CC CFLAGS LDFLAGS CPPFLAGS ac_ct_CC EXEEXT OBJEXT DEPDIR am__include am__quote AMDEP_TRUE AMDEP_FALSE AMDEPBACKSLASH CCDEPMODE CXX CXXFLAGS ac_ct_CXX CXXDEPMODE LIBOBJS LTLIBOBJS'
 ac_subst_files=''
 
 # Initialize some variables set by options.
@@ -774,10 +737,6 @@
 ac_env_CXXFLAGS_value=$CXXFLAGS
 ac_cv_env_CXXFLAGS_set=${CXXFLAGS+set}
 ac_cv_env_CXXFLAGS_value=$CXXFLAGS
-ac_env_CPP_set=${CPP+set}
-ac_env_CPP_value=$CPP
-ac_cv_env_CPP_set=${CPP+set}
-ac_cv_env_CPP_value=$CPP
 
 #
 # Report the --help message.
@@ -865,7 +824,6 @@
               headers in a nonstandard directory <include dir>
   CXX         C++ compiler command
   CXXFLAGS    C++ compiler flags
-  CPP         C preprocessor
 
 Use these variables to override the choices made by `configure' or to help
 it to find libraries and programs with nonstandard names/locations.
@@ -3717,2177 +3675,6 @@
 fi
 
 
-echo "$as_me:$LINENO: checking for library containing lua_pushboolean" >&5
-echo $ECHO_N "checking for library containing lua_pushboolean... $ECHO_C" >&6
-if test "${ac_cv_search_lua_pushboolean+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_func_search_save_LIBS=$LIBS
-ac_cv_search_lua_pushboolean=no
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-
-/* Override any gcc2 internal prototype to avoid an error.  */
-#ifdef __cplusplus
-extern "C"
-#endif
-/* We use char because int might match the return type of a gcc2
-   builtin and then its argument prototype would still apply.  */
-char lua_pushboolean ();
-int
-main ()
-{
-lua_pushboolean ();
-  ;
-  return 0;
-}
-_ACEOF
-rm -f conftest.$ac_objext conftest$ac_exeext
-if { (eval echo "$as_me:$LINENO: \"$ac_link\"") >&5
-  (eval $ac_link) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest$ac_exeext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_cv_search_lua_pushboolean="none required"
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-fi
-rm -f conftest.err conftest.$ac_objext \
-      conftest$ac_exeext conftest.$ac_ext
-if test "$ac_cv_search_lua_pushboolean" = no; then
-  for ac_lib in lua lua50; do
-    LIBS="-l$ac_lib  $ac_func_search_save_LIBS"
-    cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-
-/* Override any gcc2 internal prototype to avoid an error.  */
-#ifdef __cplusplus
-extern "C"
-#endif
-/* We use char because int might match the return type of a gcc2
-   builtin and then its argument prototype would still apply.  */
-char lua_pushboolean ();
-int
-main ()
-{
-lua_pushboolean ();
-  ;
-  return 0;
-}
-_ACEOF
-rm -f conftest.$ac_objext conftest$ac_exeext
-if { (eval echo "$as_me:$LINENO: \"$ac_link\"") >&5
-  (eval $ac_link) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest$ac_exeext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_cv_search_lua_pushboolean="-l$ac_lib"
-break
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-fi
-rm -f conftest.err conftest.$ac_objext \
-      conftest$ac_exeext conftest.$ac_ext
-  done
-fi
-LIBS=$ac_func_search_save_LIBS
-fi
-echo "$as_me:$LINENO: result: $ac_cv_search_lua_pushboolean" >&5
-echo "${ECHO_T}$ac_cv_search_lua_pushboolean" >&6
-if test "$ac_cv_search_lua_pushboolean" != no; then
-  test "$ac_cv_search_lua_pushboolean" = "none required" || LIBS="$ac_cv_search_lua_pushboolean $LIBS"
-
-else
-  { { echo "$as_me:$LINENO: error: liblua50 or liblua required" >&5
-echo "$as_me: error: liblua50 or liblua required" >&2;}
-   { (exit 1); exit 1; }; }
-fi
-
-echo "$as_me:$LINENO: checking for library containing luaopen_math" >&5
-echo $ECHO_N "checking for library containing luaopen_math... $ECHO_C" >&6
-if test "${ac_cv_search_luaopen_math+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_func_search_save_LIBS=$LIBS
-ac_cv_search_luaopen_math=no
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-
-/* Override any gcc2 internal prototype to avoid an error.  */
-#ifdef __cplusplus
-extern "C"
-#endif
-/* We use char because int might match the return type of a gcc2
-   builtin and then its argument prototype would still apply.  */
-char luaopen_math ();
-int
-main ()
-{
-luaopen_math ();
-  ;
-  return 0;
-}
-_ACEOF
-rm -f conftest.$ac_objext conftest$ac_exeext
-if { (eval echo "$as_me:$LINENO: \"$ac_link\"") >&5
-  (eval $ac_link) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest$ac_exeext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_cv_search_luaopen_math="none required"
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-fi
-rm -f conftest.err conftest.$ac_objext \
-      conftest$ac_exeext conftest.$ac_ext
-if test "$ac_cv_search_luaopen_math" = no; then
-  for ac_lib in lualib lualib50; do
-    LIBS="-l$ac_lib  $ac_func_search_save_LIBS"
-    cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-
-/* Override any gcc2 internal prototype to avoid an error.  */
-#ifdef __cplusplus
-extern "C"
-#endif
-/* We use char because int might match the return type of a gcc2
-   builtin and then its argument prototype would still apply.  */
-char luaopen_math ();
-int
-main ()
-{
-luaopen_math ();
-  ;
-  return 0;
-}
-_ACEOF
-rm -f conftest.$ac_objext conftest$ac_exeext
-if { (eval echo "$as_me:$LINENO: \"$ac_link\"") >&5
-  (eval $ac_link) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest$ac_exeext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_cv_search_luaopen_math="-l$ac_lib"
-break
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-fi
-rm -f conftest.err conftest.$ac_objext \
-      conftest$ac_exeext conftest.$ac_ext
-  done
-fi
-LIBS=$ac_func_search_save_LIBS
-fi
-echo "$as_me:$LINENO: result: $ac_cv_search_luaopen_math" >&5
-echo "${ECHO_T}$ac_cv_search_luaopen_math" >&6
-if test "$ac_cv_search_luaopen_math" != no; then
-  test "$ac_cv_search_luaopen_math" = "none required" || LIBS="$ac_cv_search_luaopen_math $LIBS"
-
-else
-  { { echo "$as_me:$LINENO: error: liblualib50 or liblualib required" >&5
-echo "$as_me: error: liblualib50 or liblualib required" >&2;}
-   { (exit 1); exit 1; }; }
-fi
-
-
-ac_ext=c
-ac_cpp='$CPP $CPPFLAGS'
-ac_compile='$CC -c $CFLAGS $CPPFLAGS conftest.$ac_ext >&5'
-ac_link='$CC -o conftest$ac_exeext $CFLAGS $CPPFLAGS $LDFLAGS conftest.$ac_ext $LIBS >&5'
-ac_compiler_gnu=$ac_cv_c_compiler_gnu
-echo "$as_me:$LINENO: checking how to run the C preprocessor" >&5
-echo $ECHO_N "checking how to run the C preprocessor... $ECHO_C" >&6
-# On Suns, sometimes $CPP names a directory.
-if test -n "$CPP" && test -d "$CPP"; then
-  CPP=
-fi
-if test -z "$CPP"; then
-  if test "${ac_cv_prog_CPP+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-      # Double quotes because CPP needs to be expanded
-    for CPP in "$CC -E" "$CC -E -traditional-cpp" "/lib/cpp"
-    do
-      ac_preproc_ok=false
-for ac_c_preproc_warn_flag in '' yes
-do
-  # Use a header file that comes with gcc, so configuring glibc
-  # with a fresh cross-compiler works.
-  # Prefer <limits.h> to <assert.h> if __STDC__ is defined, since
-  # <limits.h> exists even on freestanding compilers.
-  # On the NeXT, cc -E runs the code through the compiler's parser,
-  # not just through cpp. "Syntax error" is here to catch this case.
-  cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#ifdef __STDC__
-# include <limits.h>
-#else
-# include <assert.h>
-#endif
-		     Syntax error
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  :
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  # Broken: fails on valid input.
-continue
-fi
-rm -f conftest.err conftest.$ac_ext
-
-  # OK, works on sane cases.  Now check whether non-existent headers
-  # can be detected and how.
-  cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <ac_nonexistent.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  # Broken: success on invalid input.
-continue
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  # Passes both tests.
-ac_preproc_ok=:
-break
-fi
-rm -f conftest.err conftest.$ac_ext
-
-done
-# Because of `break', _AC_PREPROC_IFELSE's cleaning code was skipped.
-rm -f conftest.err conftest.$ac_ext
-if $ac_preproc_ok; then
-  break
-fi
-
-    done
-    ac_cv_prog_CPP=$CPP
-
-fi
-  CPP=$ac_cv_prog_CPP
-else
-  ac_cv_prog_CPP=$CPP
-fi
-echo "$as_me:$LINENO: result: $CPP" >&5
-echo "${ECHO_T}$CPP" >&6
-ac_preproc_ok=false
-for ac_c_preproc_warn_flag in '' yes
-do
-  # Use a header file that comes with gcc, so configuring glibc
-  # with a fresh cross-compiler works.
-  # Prefer <limits.h> to <assert.h> if __STDC__ is defined, since
-  # <limits.h> exists even on freestanding compilers.
-  # On the NeXT, cc -E runs the code through the compiler's parser,
-  # not just through cpp. "Syntax error" is here to catch this case.
-  cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#ifdef __STDC__
-# include <limits.h>
-#else
-# include <assert.h>
-#endif
-		     Syntax error
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  :
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  # Broken: fails on valid input.
-continue
-fi
-rm -f conftest.err conftest.$ac_ext
-
-  # OK, works on sane cases.  Now check whether non-existent headers
-  # can be detected and how.
-  cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <ac_nonexistent.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  # Broken: success on invalid input.
-continue
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  # Passes both tests.
-ac_preproc_ok=:
-break
-fi
-rm -f conftest.err conftest.$ac_ext
-
-done
-# Because of `break', _AC_PREPROC_IFELSE's cleaning code was skipped.
-rm -f conftest.err conftest.$ac_ext
-if $ac_preproc_ok; then
-  :
-else
-  { { echo "$as_me:$LINENO: error: C preprocessor \"$CPP\" fails sanity check
-See \`config.log' for more details." >&5
-echo "$as_me: error: C preprocessor \"$CPP\" fails sanity check
-See \`config.log' for more details." >&2;}
-   { (exit 1); exit 1; }; }
-fi
-
-ac_ext=c
-ac_cpp='$CPP $CPPFLAGS'
-ac_compile='$CC -c $CFLAGS $CPPFLAGS conftest.$ac_ext >&5'
-ac_link='$CC -o conftest$ac_exeext $CFLAGS $CPPFLAGS $LDFLAGS conftest.$ac_ext $LIBS >&5'
-ac_compiler_gnu=$ac_cv_c_compiler_gnu
-
-
-echo "$as_me:$LINENO: checking for egrep" >&5
-echo $ECHO_N "checking for egrep... $ECHO_C" >&6
-if test "${ac_cv_prog_egrep+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  if echo a | (grep -E '(a|b)') >/dev/null 2>&1
-    then ac_cv_prog_egrep='grep -E'
-    else ac_cv_prog_egrep='egrep'
-    fi
-fi
-echo "$as_me:$LINENO: result: $ac_cv_prog_egrep" >&5
-echo "${ECHO_T}$ac_cv_prog_egrep" >&6
- EGREP=$ac_cv_prog_egrep
-
-
-echo "$as_me:$LINENO: checking for ANSI C header files" >&5
-echo $ECHO_N "checking for ANSI C header files... $ECHO_C" >&6
-if test "${ac_cv_header_stdc+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <stdlib.h>
-#include <stdarg.h>
-#include <string.h>
-#include <float.h>
-
-int
-main ()
-{
-
-  ;
-  return 0;
-}
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_cv_header_stdc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_cv_header_stdc=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-
-if test $ac_cv_header_stdc = yes; then
-  # SunOS 4.x string.h does not declare mem*, contrary to ANSI.
-  cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <string.h>
-
-_ACEOF
-if (eval "$ac_cpp conftest.$ac_ext") 2>&5 |
-  $EGREP "memchr" >/dev/null 2>&1; then
-  :
-else
-  ac_cv_header_stdc=no
-fi
-rm -f conftest*
-
-fi
-
-if test $ac_cv_header_stdc = yes; then
-  # ISC 2.0.2 stdlib.h does not declare free, contrary to ANSI.
-  cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <stdlib.h>
-
-_ACEOF
-if (eval "$ac_cpp conftest.$ac_ext") 2>&5 |
-  $EGREP "free" >/dev/null 2>&1; then
-  :
-else
-  ac_cv_header_stdc=no
-fi
-rm -f conftest*
-
-fi
-
-if test $ac_cv_header_stdc = yes; then
-  # /bin/cc in Irix-4.0.5 gets non-ANSI ctype macros unless using -ansi.
-  if test "$cross_compiling" = yes; then
-  :
-else
-  cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <ctype.h>
-#if ((' ' & 0x0FF) == 0x020)
-# define ISLOWER(c) ('a' <= (c) && (c) <= 'z')
-# define TOUPPER(c) (ISLOWER(c) ? 'A' + ((c) - 'a') : (c))
-#else
-# define ISLOWER(c) \
-		   (('a' <= (c) && (c) <= 'i') \
-		     || ('j' <= (c) && (c) <= 'r') \
-		     || ('s' <= (c) && (c) <= 'z'))
-# define TOUPPER(c) (ISLOWER(c) ? ((c) | 0x40) : (c))
-#endif
-
-#define XOR(e, f) (((e) && !(f)) || (!(e) && (f)))
-int
-main ()
-{
-  int i;
-  for (i = 0; i < 256; i++)
-    if (XOR (islower (i), ISLOWER (i))
-	|| toupper (i) != TOUPPER (i))
-      exit(2);
-  exit (0);
-}
-_ACEOF
-rm -f conftest$ac_exeext
-if { (eval echo "$as_me:$LINENO: \"$ac_link\"") >&5
-  (eval $ac_link) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } && { ac_try='./conftest$ac_exeext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  :
-else
-  echo "$as_me: program exited with status $ac_status" >&5
-echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-( exit $ac_status )
-ac_cv_header_stdc=no
-fi
-rm -f core *.core gmon.out bb.out conftest$ac_exeext conftest.$ac_objext conftest.$ac_ext
-fi
-fi
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_stdc" >&5
-echo "${ECHO_T}$ac_cv_header_stdc" >&6
-if test $ac_cv_header_stdc = yes; then
-
-cat >>confdefs.h <<\_ACEOF
-#define STDC_HEADERS 1
-_ACEOF
-
-fi
-
-# On IRIX 5.3, sys/types and inttypes.h are conflicting.
-
-
-
-
-
-
-
-
-
-for ac_header in sys/types.h sys/stat.h stdlib.h string.h memory.h strings.h \
-		  inttypes.h stdint.h unistd.h
-do
-as_ac_Header=`echo "ac_cv_header_$ac_header" | $as_tr_sh`
-echo "$as_me:$LINENO: checking for $ac_header" >&5
-echo $ECHO_N "checking for $ac_header... $ECHO_C" >&6
-if eval "test \"\${$as_ac_Header+set}\" = set"; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-
-#include <$ac_header>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  eval "$as_ac_Header=yes"
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-eval "$as_ac_Header=no"
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-fi
-echo "$as_me:$LINENO: result: `eval echo '${'$as_ac_Header'}'`" >&5
-echo "${ECHO_T}`eval echo '${'$as_ac_Header'}'`" >&6
-if test `eval echo '${'$as_ac_Header'}'` = yes; then
-  cat >>confdefs.h <<_ACEOF
-#define `echo "HAVE_$ac_header" | $as_tr_cpp` 1
-_ACEOF
-
-fi
-
-done
-
-
-if test "${ac_cv_header_lua50_lua_h+set}" = set; then
-  echo "$as_me:$LINENO: checking for lua50/lua.h" >&5
-echo $ECHO_N "checking for lua50/lua.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua50_lua_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua50_lua_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua50_lua_h" >&6
-else
-  # Is the header compilable?
-echo "$as_me:$LINENO: checking lua50/lua.h usability" >&5
-echo $ECHO_N "checking lua50/lua.h usability... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-#include <lua50/lua.h>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_header_compiler=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_header_compiler=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_compiler" >&5
-echo "${ECHO_T}$ac_header_compiler" >&6
-
-# Is the header present?
-echo "$as_me:$LINENO: checking lua50/lua.h presence" >&5
-echo $ECHO_N "checking lua50/lua.h presence... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <lua50/lua.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  ac_header_preproc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  ac_header_preproc=no
-fi
-rm -f conftest.err conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_preproc" >&5
-echo "${ECHO_T}$ac_header_preproc" >&6
-
-# So?  What about this header?
-case $ac_header_compiler:$ac_header_preproc:$ac_c_preproc_warn_flag in
-  yes:no: )
-    { echo "$as_me:$LINENO: WARNING: lua50/lua.h: accepted by the compiler, rejected by the preprocessor!" >&5
-echo "$as_me: WARNING: lua50/lua.h: accepted by the compiler, rejected by the preprocessor!" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lua.h: proceeding with the compiler's result" >&5
-echo "$as_me: WARNING: lua50/lua.h: proceeding with the compiler's result" >&2;}
-    ac_header_preproc=yes
-    ;;
-  no:yes:* )
-    { echo "$as_me:$LINENO: WARNING: lua50/lua.h: present but cannot be compiled" >&5
-echo "$as_me: WARNING: lua50/lua.h: present but cannot be compiled" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lua.h:     check for missing prerequisite headers?" >&5
-echo "$as_me: WARNING: lua50/lua.h:     check for missing prerequisite headers?" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lua.h: see the Autoconf documentation" >&5
-echo "$as_me: WARNING: lua50/lua.h: see the Autoconf documentation" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lua.h:     section \"Present But Cannot Be Compiled\"" >&5
-echo "$as_me: WARNING: lua50/lua.h:     section \"Present But Cannot Be Compiled\"" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lua.h: proceeding with the preprocessor's result" >&5
-echo "$as_me: WARNING: lua50/lua.h: proceeding with the preprocessor's result" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lua.h: in the future, the compiler will take precedence" >&5
-echo "$as_me: WARNING: lua50/lua.h: in the future, the compiler will take precedence" >&2;}
-    (
-      cat <<\_ASBOX
-## ------------------------------------------ ##
-## Report this to the AC_PACKAGE_NAME lists.  ##
-## ------------------------------------------ ##
-_ASBOX
-    ) |
-      sed "s/^/$as_me: WARNING:     /" >&2
-    ;;
-esac
-echo "$as_me:$LINENO: checking for lua50/lua.h" >&5
-echo $ECHO_N "checking for lua50/lua.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua50_lua_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_cv_header_lua50_lua_h=$ac_header_preproc
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua50_lua_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua50_lua_h" >&6
-
-fi
-if test $ac_cv_header_lua50_lua_h = yes; then
-  cat >>confdefs.h <<\_ACEOF
-#define HAVE_LUA50_LUA_H 1
-_ACEOF
-
-fi
-
-
-if test "${ac_cv_header_lua50_lauxlib_h+set}" = set; then
-  echo "$as_me:$LINENO: checking for lua50/lauxlib.h" >&5
-echo $ECHO_N "checking for lua50/lauxlib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua50_lauxlib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua50_lauxlib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua50_lauxlib_h" >&6
-else
-  # Is the header compilable?
-echo "$as_me:$LINENO: checking lua50/lauxlib.h usability" >&5
-echo $ECHO_N "checking lua50/lauxlib.h usability... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-#include <lua50/lauxlib.h>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_header_compiler=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_header_compiler=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_compiler" >&5
-echo "${ECHO_T}$ac_header_compiler" >&6
-
-# Is the header present?
-echo "$as_me:$LINENO: checking lua50/lauxlib.h presence" >&5
-echo $ECHO_N "checking lua50/lauxlib.h presence... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <lua50/lauxlib.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  ac_header_preproc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  ac_header_preproc=no
-fi
-rm -f conftest.err conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_preproc" >&5
-echo "${ECHO_T}$ac_header_preproc" >&6
-
-# So?  What about this header?
-case $ac_header_compiler:$ac_header_preproc:$ac_c_preproc_warn_flag in
-  yes:no: )
-    { echo "$as_me:$LINENO: WARNING: lua50/lauxlib.h: accepted by the compiler, rejected by the preprocessor!" >&5
-echo "$as_me: WARNING: lua50/lauxlib.h: accepted by the compiler, rejected by the preprocessor!" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lauxlib.h: proceeding with the compiler's result" >&5
-echo "$as_me: WARNING: lua50/lauxlib.h: proceeding with the compiler's result" >&2;}
-    ac_header_preproc=yes
-    ;;
-  no:yes:* )
-    { echo "$as_me:$LINENO: WARNING: lua50/lauxlib.h: present but cannot be compiled" >&5
-echo "$as_me: WARNING: lua50/lauxlib.h: present but cannot be compiled" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lauxlib.h:     check for missing prerequisite headers?" >&5
-echo "$as_me: WARNING: lua50/lauxlib.h:     check for missing prerequisite headers?" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lauxlib.h: see the Autoconf documentation" >&5
-echo "$as_me: WARNING: lua50/lauxlib.h: see the Autoconf documentation" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lauxlib.h:     section \"Present But Cannot Be Compiled\"" >&5
-echo "$as_me: WARNING: lua50/lauxlib.h:     section \"Present But Cannot Be Compiled\"" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lauxlib.h: proceeding with the preprocessor's result" >&5
-echo "$as_me: WARNING: lua50/lauxlib.h: proceeding with the preprocessor's result" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lauxlib.h: in the future, the compiler will take precedence" >&5
-echo "$as_me: WARNING: lua50/lauxlib.h: in the future, the compiler will take precedence" >&2;}
-    (
-      cat <<\_ASBOX
-## ------------------------------------------ ##
-## Report this to the AC_PACKAGE_NAME lists.  ##
-## ------------------------------------------ ##
-_ASBOX
-    ) |
-      sed "s/^/$as_me: WARNING:     /" >&2
-    ;;
-esac
-echo "$as_me:$LINENO: checking for lua50/lauxlib.h" >&5
-echo $ECHO_N "checking for lua50/lauxlib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua50_lauxlib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_cv_header_lua50_lauxlib_h=$ac_header_preproc
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua50_lauxlib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua50_lauxlib_h" >&6
-
-fi
-if test $ac_cv_header_lua50_lauxlib_h = yes; then
-  cat >>confdefs.h <<\_ACEOF
-#define HAVE_LUA50_LAUXLIB_H 1
-_ACEOF
-
-fi
-
-
-if test "${ac_cv_header_lua50_lualib_h+set}" = set; then
-  echo "$as_me:$LINENO: checking for lua50/lualib.h" >&5
-echo $ECHO_N "checking for lua50/lualib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua50_lualib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua50_lualib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua50_lualib_h" >&6
-else
-  # Is the header compilable?
-echo "$as_me:$LINENO: checking lua50/lualib.h usability" >&5
-echo $ECHO_N "checking lua50/lualib.h usability... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-#include <lua50/lualib.h>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_header_compiler=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_header_compiler=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_compiler" >&5
-echo "${ECHO_T}$ac_header_compiler" >&6
-
-# Is the header present?
-echo "$as_me:$LINENO: checking lua50/lualib.h presence" >&5
-echo $ECHO_N "checking lua50/lualib.h presence... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <lua50/lualib.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  ac_header_preproc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  ac_header_preproc=no
-fi
-rm -f conftest.err conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_preproc" >&5
-echo "${ECHO_T}$ac_header_preproc" >&6
-
-# So?  What about this header?
-case $ac_header_compiler:$ac_header_preproc:$ac_c_preproc_warn_flag in
-  yes:no: )
-    { echo "$as_me:$LINENO: WARNING: lua50/lualib.h: accepted by the compiler, rejected by the preprocessor!" >&5
-echo "$as_me: WARNING: lua50/lualib.h: accepted by the compiler, rejected by the preprocessor!" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lualib.h: proceeding with the compiler's result" >&5
-echo "$as_me: WARNING: lua50/lualib.h: proceeding with the compiler's result" >&2;}
-    ac_header_preproc=yes
-    ;;
-  no:yes:* )
-    { echo "$as_me:$LINENO: WARNING: lua50/lualib.h: present but cannot be compiled" >&5
-echo "$as_me: WARNING: lua50/lualib.h: present but cannot be compiled" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lualib.h:     check for missing prerequisite headers?" >&5
-echo "$as_me: WARNING: lua50/lualib.h:     check for missing prerequisite headers?" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lualib.h: see the Autoconf documentation" >&5
-echo "$as_me: WARNING: lua50/lualib.h: see the Autoconf documentation" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lualib.h:     section \"Present But Cannot Be Compiled\"" >&5
-echo "$as_me: WARNING: lua50/lualib.h:     section \"Present But Cannot Be Compiled\"" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lualib.h: proceeding with the preprocessor's result" >&5
-echo "$as_me: WARNING: lua50/lualib.h: proceeding with the preprocessor's result" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua50/lualib.h: in the future, the compiler will take precedence" >&5
-echo "$as_me: WARNING: lua50/lualib.h: in the future, the compiler will take precedence" >&2;}
-    (
-      cat <<\_ASBOX
-## ------------------------------------------ ##
-## Report this to the AC_PACKAGE_NAME lists.  ##
-## ------------------------------------------ ##
-_ASBOX
-    ) |
-      sed "s/^/$as_me: WARNING:     /" >&2
-    ;;
-esac
-echo "$as_me:$LINENO: checking for lua50/lualib.h" >&5
-echo $ECHO_N "checking for lua50/lualib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua50_lualib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_cv_header_lua50_lualib_h=$ac_header_preproc
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua50_lualib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua50_lualib_h" >&6
-
-fi
-if test $ac_cv_header_lua50_lualib_h = yes; then
-  cat >>confdefs.h <<\_ACEOF
-#define HAVE_LUA50_LUALIB_H 1
-_ACEOF
-
-fi
-
-
-
-if test "${ac_cv_header_lua_lua_h+set}" = set; then
-  echo "$as_me:$LINENO: checking for lua/lua.h" >&5
-echo $ECHO_N "checking for lua/lua.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua_lua_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua_lua_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua_lua_h" >&6
-else
-  # Is the header compilable?
-echo "$as_me:$LINENO: checking lua/lua.h usability" >&5
-echo $ECHO_N "checking lua/lua.h usability... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-#include <lua/lua.h>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_header_compiler=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_header_compiler=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_compiler" >&5
-echo "${ECHO_T}$ac_header_compiler" >&6
-
-# Is the header present?
-echo "$as_me:$LINENO: checking lua/lua.h presence" >&5
-echo $ECHO_N "checking lua/lua.h presence... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <lua/lua.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  ac_header_preproc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  ac_header_preproc=no
-fi
-rm -f conftest.err conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_preproc" >&5
-echo "${ECHO_T}$ac_header_preproc" >&6
-
-# So?  What about this header?
-case $ac_header_compiler:$ac_header_preproc:$ac_c_preproc_warn_flag in
-  yes:no: )
-    { echo "$as_me:$LINENO: WARNING: lua/lua.h: accepted by the compiler, rejected by the preprocessor!" >&5
-echo "$as_me: WARNING: lua/lua.h: accepted by the compiler, rejected by the preprocessor!" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lua.h: proceeding with the compiler's result" >&5
-echo "$as_me: WARNING: lua/lua.h: proceeding with the compiler's result" >&2;}
-    ac_header_preproc=yes
-    ;;
-  no:yes:* )
-    { echo "$as_me:$LINENO: WARNING: lua/lua.h: present but cannot be compiled" >&5
-echo "$as_me: WARNING: lua/lua.h: present but cannot be compiled" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lua.h:     check for missing prerequisite headers?" >&5
-echo "$as_me: WARNING: lua/lua.h:     check for missing prerequisite headers?" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lua.h: see the Autoconf documentation" >&5
-echo "$as_me: WARNING: lua/lua.h: see the Autoconf documentation" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lua.h:     section \"Present But Cannot Be Compiled\"" >&5
-echo "$as_me: WARNING: lua/lua.h:     section \"Present But Cannot Be Compiled\"" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lua.h: proceeding with the preprocessor's result" >&5
-echo "$as_me: WARNING: lua/lua.h: proceeding with the preprocessor's result" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lua.h: in the future, the compiler will take precedence" >&5
-echo "$as_me: WARNING: lua/lua.h: in the future, the compiler will take precedence" >&2;}
-    (
-      cat <<\_ASBOX
-## ------------------------------------------ ##
-## Report this to the AC_PACKAGE_NAME lists.  ##
-## ------------------------------------------ ##
-_ASBOX
-    ) |
-      sed "s/^/$as_me: WARNING:     /" >&2
-    ;;
-esac
-echo "$as_me:$LINENO: checking for lua/lua.h" >&5
-echo $ECHO_N "checking for lua/lua.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua_lua_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_cv_header_lua_lua_h=$ac_header_preproc
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua_lua_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua_lua_h" >&6
-
-fi
-if test $ac_cv_header_lua_lua_h = yes; then
-  cat >>confdefs.h <<\_ACEOF
-#define HAVE_LUA_LUA_H 1
-_ACEOF
-
-fi
-
-
-if test "${ac_cv_header_lua_lauxlib_h+set}" = set; then
-  echo "$as_me:$LINENO: checking for lua/lauxlib.h" >&5
-echo $ECHO_N "checking for lua/lauxlib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua_lauxlib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua_lauxlib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua_lauxlib_h" >&6
-else
-  # Is the header compilable?
-echo "$as_me:$LINENO: checking lua/lauxlib.h usability" >&5
-echo $ECHO_N "checking lua/lauxlib.h usability... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-#include <lua/lauxlib.h>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_header_compiler=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_header_compiler=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_compiler" >&5
-echo "${ECHO_T}$ac_header_compiler" >&6
-
-# Is the header present?
-echo "$as_me:$LINENO: checking lua/lauxlib.h presence" >&5
-echo $ECHO_N "checking lua/lauxlib.h presence... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <lua/lauxlib.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  ac_header_preproc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  ac_header_preproc=no
-fi
-rm -f conftest.err conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_preproc" >&5
-echo "${ECHO_T}$ac_header_preproc" >&6
-
-# So?  What about this header?
-case $ac_header_compiler:$ac_header_preproc:$ac_c_preproc_warn_flag in
-  yes:no: )
-    { echo "$as_me:$LINENO: WARNING: lua/lauxlib.h: accepted by the compiler, rejected by the preprocessor!" >&5
-echo "$as_me: WARNING: lua/lauxlib.h: accepted by the compiler, rejected by the preprocessor!" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lauxlib.h: proceeding with the compiler's result" >&5
-echo "$as_me: WARNING: lua/lauxlib.h: proceeding with the compiler's result" >&2;}
-    ac_header_preproc=yes
-    ;;
-  no:yes:* )
-    { echo "$as_me:$LINENO: WARNING: lua/lauxlib.h: present but cannot be compiled" >&5
-echo "$as_me: WARNING: lua/lauxlib.h: present but cannot be compiled" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lauxlib.h:     check for missing prerequisite headers?" >&5
-echo "$as_me: WARNING: lua/lauxlib.h:     check for missing prerequisite headers?" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lauxlib.h: see the Autoconf documentation" >&5
-echo "$as_me: WARNING: lua/lauxlib.h: see the Autoconf documentation" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lauxlib.h:     section \"Present But Cannot Be Compiled\"" >&5
-echo "$as_me: WARNING: lua/lauxlib.h:     section \"Present But Cannot Be Compiled\"" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lauxlib.h: proceeding with the preprocessor's result" >&5
-echo "$as_me: WARNING: lua/lauxlib.h: proceeding with the preprocessor's result" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lauxlib.h: in the future, the compiler will take precedence" >&5
-echo "$as_me: WARNING: lua/lauxlib.h: in the future, the compiler will take precedence" >&2;}
-    (
-      cat <<\_ASBOX
-## ------------------------------------------ ##
-## Report this to the AC_PACKAGE_NAME lists.  ##
-## ------------------------------------------ ##
-_ASBOX
-    ) |
-      sed "s/^/$as_me: WARNING:     /" >&2
-    ;;
-esac
-echo "$as_me:$LINENO: checking for lua/lauxlib.h" >&5
-echo $ECHO_N "checking for lua/lauxlib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua_lauxlib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_cv_header_lua_lauxlib_h=$ac_header_preproc
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua_lauxlib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua_lauxlib_h" >&6
-
-fi
-if test $ac_cv_header_lua_lauxlib_h = yes; then
-  cat >>confdefs.h <<\_ACEOF
-#define HAVE_LUA_LAUXLIB_H 1
-_ACEOF
-
-fi
-
-
-if test "${ac_cv_header_lua_lualib_h+set}" = set; then
-  echo "$as_me:$LINENO: checking for lua/lualib.h" >&5
-echo $ECHO_N "checking for lua/lualib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua_lualib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua_lualib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua_lualib_h" >&6
-else
-  # Is the header compilable?
-echo "$as_me:$LINENO: checking lua/lualib.h usability" >&5
-echo $ECHO_N "checking lua/lualib.h usability... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-#include <lua/lualib.h>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_header_compiler=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_header_compiler=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_compiler" >&5
-echo "${ECHO_T}$ac_header_compiler" >&6
-
-# Is the header present?
-echo "$as_me:$LINENO: checking lua/lualib.h presence" >&5
-echo $ECHO_N "checking lua/lualib.h presence... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <lua/lualib.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  ac_header_preproc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  ac_header_preproc=no
-fi
-rm -f conftest.err conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_preproc" >&5
-echo "${ECHO_T}$ac_header_preproc" >&6
-
-# So?  What about this header?
-case $ac_header_compiler:$ac_header_preproc:$ac_c_preproc_warn_flag in
-  yes:no: )
-    { echo "$as_me:$LINENO: WARNING: lua/lualib.h: accepted by the compiler, rejected by the preprocessor!" >&5
-echo "$as_me: WARNING: lua/lualib.h: accepted by the compiler, rejected by the preprocessor!" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lualib.h: proceeding with the compiler's result" >&5
-echo "$as_me: WARNING: lua/lualib.h: proceeding with the compiler's result" >&2;}
-    ac_header_preproc=yes
-    ;;
-  no:yes:* )
-    { echo "$as_me:$LINENO: WARNING: lua/lualib.h: present but cannot be compiled" >&5
-echo "$as_me: WARNING: lua/lualib.h: present but cannot be compiled" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lualib.h:     check for missing prerequisite headers?" >&5
-echo "$as_me: WARNING: lua/lualib.h:     check for missing prerequisite headers?" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lualib.h: see the Autoconf documentation" >&5
-echo "$as_me: WARNING: lua/lualib.h: see the Autoconf documentation" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lualib.h:     section \"Present But Cannot Be Compiled\"" >&5
-echo "$as_me: WARNING: lua/lualib.h:     section \"Present But Cannot Be Compiled\"" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lualib.h: proceeding with the preprocessor's result" >&5
-echo "$as_me: WARNING: lua/lualib.h: proceeding with the preprocessor's result" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua/lualib.h: in the future, the compiler will take precedence" >&5
-echo "$as_me: WARNING: lua/lualib.h: in the future, the compiler will take precedence" >&2;}
-    (
-      cat <<\_ASBOX
-## ------------------------------------------ ##
-## Report this to the AC_PACKAGE_NAME lists.  ##
-## ------------------------------------------ ##
-_ASBOX
-    ) |
-      sed "s/^/$as_me: WARNING:     /" >&2
-    ;;
-esac
-echo "$as_me:$LINENO: checking for lua/lualib.h" >&5
-echo $ECHO_N "checking for lua/lualib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua_lualib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_cv_header_lua_lualib_h=$ac_header_preproc
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua_lualib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua_lualib_h" >&6
-
-fi
-if test $ac_cv_header_lua_lualib_h = yes; then
-  cat >>confdefs.h <<\_ACEOF
-#define HAVE_LUA_LUALIB_H 1
-_ACEOF
-
-fi
-
-
-
-if test "${ac_cv_header_lua_h+set}" = set; then
-  echo "$as_me:$LINENO: checking for lua.h" >&5
-echo $ECHO_N "checking for lua.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua_h" >&6
-else
-  # Is the header compilable?
-echo "$as_me:$LINENO: checking lua.h usability" >&5
-echo $ECHO_N "checking lua.h usability... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-#include <lua.h>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_header_compiler=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_header_compiler=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_compiler" >&5
-echo "${ECHO_T}$ac_header_compiler" >&6
-
-# Is the header present?
-echo "$as_me:$LINENO: checking lua.h presence" >&5
-echo $ECHO_N "checking lua.h presence... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <lua.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  ac_header_preproc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  ac_header_preproc=no
-fi
-rm -f conftest.err conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_preproc" >&5
-echo "${ECHO_T}$ac_header_preproc" >&6
-
-# So?  What about this header?
-case $ac_header_compiler:$ac_header_preproc:$ac_c_preproc_warn_flag in
-  yes:no: )
-    { echo "$as_me:$LINENO: WARNING: lua.h: accepted by the compiler, rejected by the preprocessor!" >&5
-echo "$as_me: WARNING: lua.h: accepted by the compiler, rejected by the preprocessor!" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua.h: proceeding with the compiler's result" >&5
-echo "$as_me: WARNING: lua.h: proceeding with the compiler's result" >&2;}
-    ac_header_preproc=yes
-    ;;
-  no:yes:* )
-    { echo "$as_me:$LINENO: WARNING: lua.h: present but cannot be compiled" >&5
-echo "$as_me: WARNING: lua.h: present but cannot be compiled" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua.h:     check for missing prerequisite headers?" >&5
-echo "$as_me: WARNING: lua.h:     check for missing prerequisite headers?" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua.h: see the Autoconf documentation" >&5
-echo "$as_me: WARNING: lua.h: see the Autoconf documentation" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua.h:     section \"Present But Cannot Be Compiled\"" >&5
-echo "$as_me: WARNING: lua.h:     section \"Present But Cannot Be Compiled\"" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua.h: proceeding with the preprocessor's result" >&5
-echo "$as_me: WARNING: lua.h: proceeding with the preprocessor's result" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lua.h: in the future, the compiler will take precedence" >&5
-echo "$as_me: WARNING: lua.h: in the future, the compiler will take precedence" >&2;}
-    (
-      cat <<\_ASBOX
-## ------------------------------------------ ##
-## Report this to the AC_PACKAGE_NAME lists.  ##
-## ------------------------------------------ ##
-_ASBOX
-    ) |
-      sed "s/^/$as_me: WARNING:     /" >&2
-    ;;
-esac
-echo "$as_me:$LINENO: checking for lua.h" >&5
-echo $ECHO_N "checking for lua.h... $ECHO_C" >&6
-if test "${ac_cv_header_lua_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_cv_header_lua_h=$ac_header_preproc
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lua_h" >&5
-echo "${ECHO_T}$ac_cv_header_lua_h" >&6
-
-fi
-if test $ac_cv_header_lua_h = yes; then
-  cat >>confdefs.h <<\_ACEOF
-#define HAVE_LUA_H 1
-_ACEOF
-
-fi
-
-
-if test "${ac_cv_header_lauxlib_h+set}" = set; then
-  echo "$as_me:$LINENO: checking for lauxlib.h" >&5
-echo $ECHO_N "checking for lauxlib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lauxlib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lauxlib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lauxlib_h" >&6
-else
-  # Is the header compilable?
-echo "$as_me:$LINENO: checking lauxlib.h usability" >&5
-echo $ECHO_N "checking lauxlib.h usability... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-#include <lauxlib.h>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_header_compiler=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_header_compiler=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_compiler" >&5
-echo "${ECHO_T}$ac_header_compiler" >&6
-
-# Is the header present?
-echo "$as_me:$LINENO: checking lauxlib.h presence" >&5
-echo $ECHO_N "checking lauxlib.h presence... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <lauxlib.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  ac_header_preproc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  ac_header_preproc=no
-fi
-rm -f conftest.err conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_preproc" >&5
-echo "${ECHO_T}$ac_header_preproc" >&6
-
-# So?  What about this header?
-case $ac_header_compiler:$ac_header_preproc:$ac_c_preproc_warn_flag in
-  yes:no: )
-    { echo "$as_me:$LINENO: WARNING: lauxlib.h: accepted by the compiler, rejected by the preprocessor!" >&5
-echo "$as_me: WARNING: lauxlib.h: accepted by the compiler, rejected by the preprocessor!" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lauxlib.h: proceeding with the compiler's result" >&5
-echo "$as_me: WARNING: lauxlib.h: proceeding with the compiler's result" >&2;}
-    ac_header_preproc=yes
-    ;;
-  no:yes:* )
-    { echo "$as_me:$LINENO: WARNING: lauxlib.h: present but cannot be compiled" >&5
-echo "$as_me: WARNING: lauxlib.h: present but cannot be compiled" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lauxlib.h:     check for missing prerequisite headers?" >&5
-echo "$as_me: WARNING: lauxlib.h:     check for missing prerequisite headers?" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lauxlib.h: see the Autoconf documentation" >&5
-echo "$as_me: WARNING: lauxlib.h: see the Autoconf documentation" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lauxlib.h:     section \"Present But Cannot Be Compiled\"" >&5
-echo "$as_me: WARNING: lauxlib.h:     section \"Present But Cannot Be Compiled\"" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lauxlib.h: proceeding with the preprocessor's result" >&5
-echo "$as_me: WARNING: lauxlib.h: proceeding with the preprocessor's result" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lauxlib.h: in the future, the compiler will take precedence" >&5
-echo "$as_me: WARNING: lauxlib.h: in the future, the compiler will take precedence" >&2;}
-    (
-      cat <<\_ASBOX
-## ------------------------------------------ ##
-## Report this to the AC_PACKAGE_NAME lists.  ##
-## ------------------------------------------ ##
-_ASBOX
-    ) |
-      sed "s/^/$as_me: WARNING:     /" >&2
-    ;;
-esac
-echo "$as_me:$LINENO: checking for lauxlib.h" >&5
-echo $ECHO_N "checking for lauxlib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lauxlib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_cv_header_lauxlib_h=$ac_header_preproc
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lauxlib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lauxlib_h" >&6
-
-fi
-if test $ac_cv_header_lauxlib_h = yes; then
-  cat >>confdefs.h <<\_ACEOF
-#define HAVE_LAUXLIB_H 1
-_ACEOF
-
-fi
-
-
-if test "${ac_cv_header_lualib_h+set}" = set; then
-  echo "$as_me:$LINENO: checking for lualib.h" >&5
-echo $ECHO_N "checking for lualib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lualib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lualib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lualib_h" >&6
-else
-  # Is the header compilable?
-echo "$as_me:$LINENO: checking lualib.h usability" >&5
-echo $ECHO_N "checking lualib.h usability... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-$ac_includes_default
-#include <lualib.h>
-_ACEOF
-rm -f conftest.$ac_objext
-if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
-  (eval $ac_compile) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest.$ac_objext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_header_compiler=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-ac_header_compiler=no
-fi
-rm -f conftest.err conftest.$ac_objext conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_compiler" >&5
-echo "${ECHO_T}$ac_header_compiler" >&6
-
-# Is the header present?
-echo "$as_me:$LINENO: checking lualib.h presence" >&5
-echo $ECHO_N "checking lualib.h presence... $ECHO_C" >&6
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-#include <lualib.h>
-_ACEOF
-if { (eval echo "$as_me:$LINENO: \"$ac_cpp conftest.$ac_ext\"") >&5
-  (eval $ac_cpp conftest.$ac_ext) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } >/dev/null; then
-  if test -s conftest.err; then
-    ac_cpp_err=$ac_c_preproc_warn_flag
-    ac_cpp_err=$ac_cpp_err$ac_c_werror_flag
-  else
-    ac_cpp_err=
-  fi
-else
-  ac_cpp_err=yes
-fi
-if test -z "$ac_cpp_err"; then
-  ac_header_preproc=yes
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-  ac_header_preproc=no
-fi
-rm -f conftest.err conftest.$ac_ext
-echo "$as_me:$LINENO: result: $ac_header_preproc" >&5
-echo "${ECHO_T}$ac_header_preproc" >&6
-
-# So?  What about this header?
-case $ac_header_compiler:$ac_header_preproc:$ac_c_preproc_warn_flag in
-  yes:no: )
-    { echo "$as_me:$LINENO: WARNING: lualib.h: accepted by the compiler, rejected by the preprocessor!" >&5
-echo "$as_me: WARNING: lualib.h: accepted by the compiler, rejected by the preprocessor!" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lualib.h: proceeding with the compiler's result" >&5
-echo "$as_me: WARNING: lualib.h: proceeding with the compiler's result" >&2;}
-    ac_header_preproc=yes
-    ;;
-  no:yes:* )
-    { echo "$as_me:$LINENO: WARNING: lualib.h: present but cannot be compiled" >&5
-echo "$as_me: WARNING: lualib.h: present but cannot be compiled" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lualib.h:     check for missing prerequisite headers?" >&5
-echo "$as_me: WARNING: lualib.h:     check for missing prerequisite headers?" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lualib.h: see the Autoconf documentation" >&5
-echo "$as_me: WARNING: lualib.h: see the Autoconf documentation" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lualib.h:     section \"Present But Cannot Be Compiled\"" >&5
-echo "$as_me: WARNING: lualib.h:     section \"Present But Cannot Be Compiled\"" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lualib.h: proceeding with the preprocessor's result" >&5
-echo "$as_me: WARNING: lualib.h: proceeding with the preprocessor's result" >&2;}
-    { echo "$as_me:$LINENO: WARNING: lualib.h: in the future, the compiler will take precedence" >&5
-echo "$as_me: WARNING: lualib.h: in the future, the compiler will take precedence" >&2;}
-    (
-      cat <<\_ASBOX
-## ------------------------------------------ ##
-## Report this to the AC_PACKAGE_NAME lists.  ##
-## ------------------------------------------ ##
-_ASBOX
-    ) |
-      sed "s/^/$as_me: WARNING:     /" >&2
-    ;;
-esac
-echo "$as_me:$LINENO: checking for lualib.h" >&5
-echo $ECHO_N "checking for lualib.h... $ECHO_C" >&6
-if test "${ac_cv_header_lualib_h+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_cv_header_lualib_h=$ac_header_preproc
-fi
-echo "$as_me:$LINENO: result: $ac_cv_header_lualib_h" >&5
-echo "${ECHO_T}$ac_cv_header_lualib_h" >&6
-
-fi
-if test $ac_cv_header_lualib_h = yes; then
-  cat >>confdefs.h <<\_ACEOF
-#define HAVE_LUALIB_H 1
-_ACEOF
-
-fi
-
-
-
-echo "$as_me:$LINENO: checking for library containing dJointAttach" >&5
-echo $ECHO_N "checking for library containing dJointAttach... $ECHO_C" >&6
-if test "${ac_cv_search_dJointAttach+set}" = set; then
-  echo $ECHO_N "(cached) $ECHO_C" >&6
-else
-  ac_func_search_save_LIBS=$LIBS
-ac_cv_search_dJointAttach=no
-cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-
-/* Override any gcc2 internal prototype to avoid an error.  */
-#ifdef __cplusplus
-extern "C"
-#endif
-/* We use char because int might match the return type of a gcc2
-   builtin and then its argument prototype would still apply.  */
-char dJointAttach ();
-int
-main ()
-{
-dJointAttach ();
-  ;
-  return 0;
-}
-_ACEOF
-rm -f conftest.$ac_objext conftest$ac_exeext
-if { (eval echo "$as_me:$LINENO: \"$ac_link\"") >&5
-  (eval $ac_link) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest$ac_exeext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_cv_search_dJointAttach="none required"
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-fi
-rm -f conftest.err conftest.$ac_objext \
-      conftest$ac_exeext conftest.$ac_ext
-if test "$ac_cv_search_dJointAttach" = no; then
-  for ac_lib in ode ode0; do
-    LIBS="-l$ac_lib  $ac_func_search_save_LIBS"
-    cat >conftest.$ac_ext <<_ACEOF
-/* confdefs.h.  */
-_ACEOF
-cat confdefs.h >>conftest.$ac_ext
-cat >>conftest.$ac_ext <<_ACEOF
-/* end confdefs.h.  */
-
-/* Override any gcc2 internal prototype to avoid an error.  */
-#ifdef __cplusplus
-extern "C"
-#endif
-/* We use char because int might match the return type of a gcc2
-   builtin and then its argument prototype would still apply.  */
-char dJointAttach ();
-int
-main ()
-{
-dJointAttach ();
-  ;
-  return 0;
-}
-_ACEOF
-rm -f conftest.$ac_objext conftest$ac_exeext
-if { (eval echo "$as_me:$LINENO: \"$ac_link\"") >&5
-  (eval $ac_link) 2>conftest.er1
-  ac_status=$?
-  grep -v '^ *+' conftest.er1 >conftest.err
-  rm -f conftest.er1
-  cat conftest.err >&5
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); } &&
-	 { ac_try='test -z "$ac_c_werror_flag"			 || test ! -s conftest.err'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; } &&
-	 { ac_try='test -s conftest$ac_exeext'
-  { (eval echo "$as_me:$LINENO: \"$ac_try\"") >&5
-  (eval $ac_try) 2>&5
-  ac_status=$?
-  echo "$as_me:$LINENO: \$? = $ac_status" >&5
-  (exit $ac_status); }; }; then
-  ac_cv_search_dJointAttach="-l$ac_lib"
-break
-else
-  echo "$as_me: failed program was:" >&5
-sed 's/^/| /' conftest.$ac_ext >&5
-
-fi
-rm -f conftest.err conftest.$ac_objext \
-      conftest$ac_exeext conftest.$ac_ext
-  done
-fi
-LIBS=$ac_func_search_save_LIBS
-fi
-echo "$as_me:$LINENO: result: $ac_cv_search_dJointAttach" >&5
-echo "${ECHO_T}$ac_cv_search_dJointAttach" >&6
-if test "$ac_cv_search_dJointAttach" != no; then
-  test "$ac_cv_search_dJointAttach" = "none required" || LIBS="$ac_cv_search_dJointAttach $LIBS"
-
-else
-  { { echo "$as_me:$LINENO: error: libode or libode0 required" >&5
-echo "$as_me: error: libode or libode0 required" >&2;}
-   { (exit 1); exit 1; }; }
-fi
-
-
                     ac_config_files="$ac_config_files Makefile bin/Makefile"
 cat >confcache <<\_ACEOF
 # This file is a shell script that caches the results of configure
@@ -6579,8 +4366,6 @@
 s,@CXXFLAGS@,$CXXFLAGS,;t t
 s,@ac_ct_CXX@,$ac_ct_CXX,;t t
 s,@CXXDEPMODE@,$CXXDEPMODE,;t t
-s,@CPP@,$CPP,;t t
-s,@EGREP@,$EGREP,;t t
 s,@LIBOBJS@,$LIBOBJS,;t t
 s,@LTLIBOBJS@,$LTLIBOBJS,;t t
 CEOF
diff -Naur xmoto-0.1.10/configure.in xmoto-0.1.10-patched/configure.in
--- xmoto-0.1.10/configure.in	2005-12-03 12:02:27.647517240 +0100
+++ xmoto-0.1.10-patched/configure.in	2005-12-03 11:53:34.000000000 +0100
@@ -11,21 +11,4 @@
 AC_CHECK_LIB(SDL_mixer,Mix_OpenAudio, [], [AC_MSG_ERROR(SDL_mixer required)])
 AC_CHECK_LIB(GL,glVertex3f, [], [AC_MSG_ERROR(OpenGL required)])
 
-AC_SEARCH_LIBS(lua_pushboolean,lua lua50, [], [AC_MSG_ERROR(liblua50 or liblua required)])
-AC_SEARCH_LIBS(luaopen_math,lualib lualib50, [], [AC_MSG_ERROR(liblualib50 or liblualib required)])
-
-AC_CHECK_HEADER(lua50/lua.h,AC_DEFINE(HAVE_LUA50_LUA_H),[])
-AC_CHECK_HEADER(lua50/lauxlib.h,AC_DEFINE(HAVE_LUA50_LAUXLIB_H),[])
-AC_CHECK_HEADER(lua50/lualib.h,AC_DEFINE(HAVE_LUA50_LUALIB_H),[])
-
-AC_CHECK_HEADER(lua/lua.h,AC_DEFINE(HAVE_LUA_LUA_H),[])
-AC_CHECK_HEADER(lua/lauxlib.h,AC_DEFINE(HAVE_LUA_LAUXLIB_H),[])
-AC_CHECK_HEADER(lua/lualib.h,AC_DEFINE(HAVE_LUA_LUALIB_H),[])
-
-AC_CHECK_HEADER(lua.h,AC_DEFINE(HAVE_LUA_H),[])
-AC_CHECK_HEADER(lauxlib.h,AC_DEFINE(HAVE_LAUXLIB_H),[])
-AC_CHECK_HEADER(lualib.h,AC_DEFINE(HAVE_LUALIB_H),[])
-
-AC_SEARCH_LIBS(dJointAttach,ode ode0, [], [AC_MSG_ERROR(libode or libode0 required)])
-
 AC_OUTPUT(Makefile bin/Makefile)
diff -Naur xmoto-0.1.10/Makefile.am xmoto-0.1.10-patched/Makefile.am
--- xmoto-0.1.10/Makefile.am	2005-12-03 12:02:27.481542472 +0100
+++ xmoto-0.1.10-patched/Makefile.am	2005-12-03 11:58:33.000000000 +0100
@@ -22,13 +22,102 @@
 	src/DBuffer.cpp \
 	src/DBuffer.h
 
+ode_SOURCES = src/ode/s/array.cpp src/ode/s/collision_kernel.cpp \
+	src/ode/s/error.cpp src/ode/s/export-dif.cpp \
+	src/ode/s/joint.cpp src/ode/s/lcp.cpp \
+	src/ode/s/mass.cpp src/ode/s/mat.cpp \
+	src/ode/s/matrix.cpp \
+	src/ode/s/memory.cpp src/ode/s/misc.cpp \
+	src/ode/s/obstack.cpp src/ode/s/ode.cpp \
+	src/ode/s/odemath.cpp src/ode/s/quickstep.cpp \
+	src/ode/s/rotation.cpp src/ode/s/step.cpp \
+	src/ode/s/stepfast.cpp src/ode/s/testing.cpp \
+	src/ode/s/timer.cpp src/ode/s/util.cpp \
+	src/ode/s/collision_quadtreespace.cpp \
+	src/ode/s/collision_space.cpp \
+	src/ode/s/collision_std.cpp \
+	src/ode/s/collision_transform.cpp \
+	src/ode/s/collision_util.cpp \
+	src/ode/s/fastdot.c src/ode/s/fastldlt.c \
+	src/ode/s/fastlsolve.c src/ode/s/fastltsolve.c \
+	src/ode/collision.h \
+	src/ode/collision_space.h \
+	src/ode/collision_trimesh.h \
+	src/ode/common.h \
+	src/ode/compatibility.h \
+	src/ode/config.h \
+	src/ode/contact.h \
+	src/ode/error.h \
+	src/ode/export-dif.h \
+	src/ode/mass.h \
+	src/ode/matrix.h \
+	src/ode/memory.h \
+	src/ode/misc.h \
+	src/ode/objects.h \
+	src/ode/odecpp_collision.h \
+	src/ode/odecpp.h \
+	src/ode/odecpp_old.h \
+	src/ode/ode.h \
+	src/ode/odemath.h \
+	src/ode/rotation.h \
+	src/ode/timer.h \
+	src/ode/s/array.h \
+	src/ode/s/collision_kernel.h \
+	src/ode/s/collision_space_internal.h \
+	src/ode/s/collision_std.h \
+	src/ode/s/collision_transform.h \
+	src/ode/s/collision_trimesh_internal.h \
+	src/ode/s/collision_util.h \
+	src/ode/s/joint.h \
+	src/ode/s/lcp.h \
+	src/ode/s/mat.h \
+	src/ode/s/objects.h \
+	src/ode/s/obstack.h \
+	src/ode/s/quickstep.h \
+	src/ode/s/stack.h \
+	src/ode/s/step.h \
+	src/ode/s/testing.h \
+	src/ode/s/util.h			
+	
+lua_SOURCES = src/lua/lapi.c src/lua/lauxlib.c src/lua/lcode.c \
+         src/lua/ldebug.c src/lua/ldo.c src/lua/ldump.c \
+         src/lua/lfunc.c src/lua/lgc.c src/lua/llex.c \
+         src/lua/lmathlib.c src/lua/lmem.c src/lua/lobject.c \
+         src/lua/lopcodes.c src/lua/lparser.c src/lua/lstate.c \
+         src/lua/lstring.c src/lua/ltable.c src/lua/ltests.c \
+         src/lua/ltm.c src/lua/lundump.c src/lua/lvm.c \
+         src/lua/lzio.c \
+        src/lua/lua.h \
+	src/lua/lapi.h \
+	src/lua/lauxlib.h \
+	src/lua/lcode.h \
+	src/lua/ldebug.h \
+	src/lua/ldo.h \
+	src/lua/lfunc.h \
+	src/lua/lgc.h \
+	src/lua/llex.h \
+	src/lua/llimits.h \
+	src/lua/lmem.h \
+	src/lua/lobject.h \
+	src/lua/lopcodes.h \
+	src/lua/lparser.h \
+	src/lua/lstate.h \
+	src/lua/lstring.h \
+	src/lua/ltable.h \
+	src/lua/ltm.h \
+	src/lua/lualib.h \
+	src/lua/lundump.h \
+	src/lua/lvm.h \
+	src/lua/lzio.h	
+
 bin_PROGRAMS = xmoto xmoto-edit
 
 xmoto_edit_SOURCES = $(common_SOURCES) src/Editor.cpp src/EditorMain.cpp \
 	src/EditorData.cpp src/EditorLog.cpp src/Editor.h src/EditorData.h \
 	src/EditorLog.h src/Packager.cpp src/Packager.h
 
-xmoto_SOURCES = $(common_SOURCES) src/BSP.cpp src/Game.cpp src/GameMain.cpp \
+xmoto_SOURCES = $(common_SOURCES) $(lua_SOURCES) $(ode_SOURCES) \
+        src/BSP.cpp src/Game.cpp src/GameMain.cpp \
 	src/GameMenus.cpp src/GUIBestTimes.cpp src/GUIButton.cpp src/GUI.cpp \
 	src/GUIFrame.cpp src/GUIList.cpp src/GUIStatic.cpp src/GUITabView.cpp \
 	src/MotoGame.cpp src/MotoGameL.cpp src/MPhysics.cpp src/PlayerData.cpp \
diff -Naur xmoto-0.1.10/Makefile.in xmoto-0.1.10-patched/Makefile.in
--- xmoto-0.1.10/Makefile.in	2005-12-03 12:02:27.483542168 +0100
+++ xmoto-0.1.10-patched/Makefile.in	2005-12-03 11:58:37.000000000 +0100
@@ -102,6 +102,96 @@
 	src/DBuffer.h
 
 
+ode_SOURCES = src/ode/s/array.cpp src/ode/s/collision_kernel.cpp \
+	src/ode/s/error.cpp src/ode/s/export-dif.cpp \
+	src/ode/s/joint.cpp src/ode/s/lcp.cpp \
+	src/ode/s/mass.cpp src/ode/s/mat.cpp \
+	src/ode/s/matrix.cpp \
+	src/ode/s/memory.cpp src/ode/s/misc.cpp \
+	src/ode/s/obstack.cpp src/ode/s/ode.cpp \
+	src/ode/s/odemath.cpp src/ode/s/quickstep.cpp \
+	src/ode/s/rotation.cpp src/ode/s/step.cpp \
+	src/ode/s/stepfast.cpp src/ode/s/testing.cpp \
+	src/ode/s/timer.cpp src/ode/s/util.cpp \
+	src/ode/s/collision_quadtreespace.cpp \
+	src/ode/s/collision_space.cpp \
+	src/ode/s/collision_std.cpp \
+	src/ode/s/collision_transform.cpp \
+	src/ode/s/collision_util.cpp \
+	src/ode/s/fastdot.c src/ode/s/fastldlt.c \
+	src/ode/s/fastlsolve.c src/ode/s/fastltsolve.c \
+	src/ode/collision.h \
+	src/ode/collision_space.h \
+	src/ode/collision_trimesh.h \
+	src/ode/common.h \
+	src/ode/compatibility.h \
+	src/ode/config.h \
+	src/ode/contact.h \
+	src/ode/error.h \
+	src/ode/export-dif.h \
+	src/ode/mass.h \
+	src/ode/matrix.h \
+	src/ode/memory.h \
+	src/ode/misc.h \
+	src/ode/objects.h \
+	src/ode/odecpp_collision.h \
+	src/ode/odecpp.h \
+	src/ode/odecpp_old.h \
+	src/ode/ode.h \
+	src/ode/odemath.h \
+	src/ode/rotation.h \
+	src/ode/timer.h \
+	src/ode/s/array.h \
+	src/ode/s/collision_kernel.h \
+	src/ode/s/collision_space_internal.h \
+	src/ode/s/collision_std.h \
+	src/ode/s/collision_transform.h \
+	src/ode/s/collision_trimesh_internal.h \
+	src/ode/s/collision_util.h \
+	src/ode/s/joint.h \
+	src/ode/s/lcp.h \
+	src/ode/s/mat.h \
+	src/ode/s/objects.h \
+	src/ode/s/obstack.h \
+	src/ode/s/quickstep.h \
+	src/ode/s/stack.h \
+	src/ode/s/step.h \
+	src/ode/s/testing.h \
+	src/ode/s/util.h			
+
+
+lua_SOURCES = src/lua/lapi.c src/lua/lauxlib.c src/lua/lcode.c \
+         src/lua/ldebug.c src/lua/ldo.c src/lua/ldump.c \
+         src/lua/lfunc.c src/lua/lgc.c src/lua/llex.c \
+         src/lua/lmathlib.c src/lua/lmem.c src/lua/lobject.c \
+         src/lua/lopcodes.c src/lua/lparser.c src/lua/lstate.c \
+         src/lua/lstring.c src/lua/ltable.c src/lua/ltests.c \
+         src/lua/ltm.c src/lua/lundump.c src/lua/lvm.c \
+         src/lua/lzio.c \
+        src/lua/lua.h \
+	src/lua/lapi.h \
+	src/lua/lauxlib.h \
+	src/lua/lcode.h \
+	src/lua/ldebug.h \
+	src/lua/ldo.h \
+	src/lua/lfunc.h \
+	src/lua/lgc.h \
+	src/lua/llex.h \
+	src/lua/llimits.h \
+	src/lua/lmem.h \
+	src/lua/lobject.h \
+	src/lua/lopcodes.h \
+	src/lua/lparser.h \
+	src/lua/lstate.h \
+	src/lua/lstring.h \
+	src/lua/ltable.h \
+	src/lua/ltm.h \
+	src/lua/lualib.h \
+	src/lua/lundump.h \
+	src/lua/lvm.h \
+	src/lua/lzio.h	
+
+
 bin_PROGRAMS = xmoto xmoto-edit
 
 xmoto_edit_SOURCES = $(common_SOURCES) src/Editor.cpp src/EditorMain.cpp \
@@ -109,7 +199,8 @@
 	src/EditorLog.h src/Packager.cpp src/Packager.h
 
 
-xmoto_SOURCES = $(common_SOURCES) src/BSP.cpp src/Game.cpp src/GameMain.cpp \
+xmoto_SOURCES = $(common_SOURCES) $(lua_SOURCES) $(ode_SOURCES) \
+        src/BSP.cpp src/Game.cpp src/GameMain.cpp \
 	src/GameMenus.cpp src/GUIBestTimes.cpp src/GUIButton.cpp src/GUI.cpp \
 	src/GUIFrame.cpp src/GUIList.cpp src/GUIStatic.cpp src/GUITabView.cpp \
 	src/MotoGame.cpp src/MotoGameL.cpp src/MPhysics.cpp src/PlayerData.cpp \
@@ -148,13 +239,32 @@
 	VDrawText.$(OBJEXT) VFileIO.$(OBJEXT) VMath.$(OBJEXT) \
 	VTexture.$(OBJEXT) VXml.$(OBJEXT) $(am__objects_1) \
 	$(am__objects_2) DBuffer.$(OBJEXT)
-am_xmoto_OBJECTS = $(am__objects_3) BSP.$(OBJEXT) Game.$(OBJEXT) \
-	GameMain.$(OBJEXT) GameMenus.$(OBJEXT) GUIBestTimes.$(OBJEXT) \
-	GUIButton.$(OBJEXT) GUI.$(OBJEXT) GUIFrame.$(OBJEXT) \
-	GUIList.$(OBJEXT) GUIStatic.$(OBJEXT) GUITabView.$(OBJEXT) \
-	MotoGame.$(OBJEXT) MotoGameL.$(OBJEXT) MPhysics.$(OBJEXT) \
-	PlayerData.$(OBJEXT) Renderer.$(OBJEXT) RendererInit.$(OBJEXT) \
-	Replay.$(OBJEXT) Sound.$(OBJEXT) UserConfig.$(OBJEXT) \
+am__objects_4 = lapi.$(OBJEXT) lauxlib.$(OBJEXT) lcode.$(OBJEXT) \
+	ldebug.$(OBJEXT) ldo.$(OBJEXT) ldump.$(OBJEXT) lfunc.$(OBJEXT) \
+	lgc.$(OBJEXT) llex.$(OBJEXT) lmathlib.$(OBJEXT) lmem.$(OBJEXT) \
+	lobject.$(OBJEXT) lopcodes.$(OBJEXT) lparser.$(OBJEXT) \
+	lstate.$(OBJEXT) lstring.$(OBJEXT) ltable.$(OBJEXT) \
+	ltests.$(OBJEXT) ltm.$(OBJEXT) lundump.$(OBJEXT) lvm.$(OBJEXT) \
+	lzio.$(OBJEXT)
+am__objects_5 = array.$(OBJEXT) collision_kernel.$(OBJEXT) \
+	error.$(OBJEXT) export-dif.$(OBJEXT) joint.$(OBJEXT) \
+	lcp.$(OBJEXT) mass.$(OBJEXT) mat.$(OBJEXT) matrix.$(OBJEXT) \
+	memory.$(OBJEXT) misc.$(OBJEXT) obstack.$(OBJEXT) ode.$(OBJEXT) \
+	odemath.$(OBJEXT) quickstep.$(OBJEXT) rotation.$(OBJEXT) \
+	step.$(OBJEXT) stepfast.$(OBJEXT) testing.$(OBJEXT) \
+	timer.$(OBJEXT) util.$(OBJEXT) \
+	collision_quadtreespace.$(OBJEXT) collision_space.$(OBJEXT) \
+	collision_std.$(OBJEXT) collision_transform.$(OBJEXT) \
+	collision_util.$(OBJEXT) fastdot.$(OBJEXT) fastldlt.$(OBJEXT) \
+	fastlsolve.$(OBJEXT) fastltsolve.$(OBJEXT)
+am_xmoto_OBJECTS = $(am__objects_3) $(am__objects_4) $(am__objects_5) \
+	BSP.$(OBJEXT) Game.$(OBJEXT) GameMain.$(OBJEXT) \
+	GameMenus.$(OBJEXT) GUIBestTimes.$(OBJEXT) GUIButton.$(OBJEXT) \
+	GUI.$(OBJEXT) GUIFrame.$(OBJEXT) GUIList.$(OBJEXT) \
+	GUIStatic.$(OBJEXT) GUITabView.$(OBJEXT) MotoGame.$(OBJEXT) \
+	MotoGameL.$(OBJEXT) MPhysics.$(OBJEXT) PlayerData.$(OBJEXT) \
+	Renderer.$(OBJEXT) RendererInit.$(OBJEXT) Replay.$(OBJEXT) \
+	Sound.$(OBJEXT) UserConfig.$(OBJEXT) \
 	RendererParticles.$(OBJEXT) RendererBike.$(OBJEXT) \
 	Input.$(OBJEXT) GameSerializer.$(OBJEXT)
 xmoto_OBJECTS = $(am_xmoto_OBJECTS)
@@ -176,17 +286,17 @@
 LIBS = @LIBS@
 depcomp =
 am__depfiles_maybe =
+COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
+	$(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
+CCLD = $(CC)
+LINK = $(CCLD) $(AM_CFLAGS) $(CFLAGS) $(AM_LDFLAGS) $(LDFLAGS) -o $@
+CFLAGS = @CFLAGS@
 CXXCOMPILE = $(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) \
 	$(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS)
 CXXLD = $(CXX)
 CXXLINK = $(CXXLD) $(AM_CXXFLAGS) $(CXXFLAGS) $(AM_LDFLAGS) $(LDFLAGS) \
 	-o $@
 CXXFLAGS = @CXXFLAGS@
-CFLAGS = @CFLAGS@
-COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
-	$(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
-CCLD = $(CC)
-LINK = $(CCLD) $(AM_CFLAGS) $(CFLAGS) $(AM_LDFLAGS) $(LDFLAGS) -o $@
 DIST_SOURCES = $(xmoto_SOURCES) $(xmoto_edit_SOURCES)
 
 RECURSIVE_TARGETS = info-recursive dvi-recursive install-info-recursive \
@@ -202,7 +312,7 @@
 all: all-recursive
 
 .SUFFIXES:
-.SUFFIXES: .cpp .o .obj
+.SUFFIXES: .c .cpp .o .obj
 
 am__CONFIG_DISTCLEAN_FILES = config.status config.cache config.log \
  configure.lineno
@@ -264,6 +374,58 @@
 tinyxmlerror.$(OBJEXT): src/tinyxml/tinyxmlerror.cpp
 tinyxmlparser.$(OBJEXT): src/tinyxml/tinyxmlparser.cpp
 DBuffer.$(OBJEXT): src/DBuffer.cpp
+lapi.$(OBJEXT): src/lua/lapi.c
+lauxlib.$(OBJEXT): src/lua/lauxlib.c
+lcode.$(OBJEXT): src/lua/lcode.c
+ldebug.$(OBJEXT): src/lua/ldebug.c
+ldo.$(OBJEXT): src/lua/ldo.c
+ldump.$(OBJEXT): src/lua/ldump.c
+lfunc.$(OBJEXT): src/lua/lfunc.c
+lgc.$(OBJEXT): src/lua/lgc.c
+llex.$(OBJEXT): src/lua/llex.c
+lmathlib.$(OBJEXT): src/lua/lmathlib.c
+lmem.$(OBJEXT): src/lua/lmem.c
+lobject.$(OBJEXT): src/lua/lobject.c
+lopcodes.$(OBJEXT): src/lua/lopcodes.c
+lparser.$(OBJEXT): src/lua/lparser.c
+lstate.$(OBJEXT): src/lua/lstate.c
+lstring.$(OBJEXT): src/lua/lstring.c
+ltable.$(OBJEXT): src/lua/ltable.c
+ltests.$(OBJEXT): src/lua/ltests.c
+ltm.$(OBJEXT): src/lua/ltm.c
+lundump.$(OBJEXT): src/lua/lundump.c
+lvm.$(OBJEXT): src/lua/lvm.c
+lzio.$(OBJEXT): src/lua/lzio.c
+array.$(OBJEXT): src/ode/s/array.cpp
+collision_kernel.$(OBJEXT): src/ode/s/collision_kernel.cpp
+error.$(OBJEXT): src/ode/s/error.cpp
+export-dif.$(OBJEXT): src/ode/s/export-dif.cpp
+joint.$(OBJEXT): src/ode/s/joint.cpp
+lcp.$(OBJEXT): src/ode/s/lcp.cpp
+mass.$(OBJEXT): src/ode/s/mass.cpp
+mat.$(OBJEXT): src/ode/s/mat.cpp
+matrix.$(OBJEXT): src/ode/s/matrix.cpp
+memory.$(OBJEXT): src/ode/s/memory.cpp
+misc.$(OBJEXT): src/ode/s/misc.cpp
+obstack.$(OBJEXT): src/ode/s/obstack.cpp
+ode.$(OBJEXT): src/ode/s/ode.cpp
+odemath.$(OBJEXT): src/ode/s/odemath.cpp
+quickstep.$(OBJEXT): src/ode/s/quickstep.cpp
+rotation.$(OBJEXT): src/ode/s/rotation.cpp
+step.$(OBJEXT): src/ode/s/step.cpp
+stepfast.$(OBJEXT): src/ode/s/stepfast.cpp
+testing.$(OBJEXT): src/ode/s/testing.cpp
+timer.$(OBJEXT): src/ode/s/timer.cpp
+util.$(OBJEXT): src/ode/s/util.cpp
+collision_quadtreespace.$(OBJEXT): src/ode/s/collision_quadtreespace.cpp
+collision_space.$(OBJEXT): src/ode/s/collision_space.cpp
+collision_std.$(OBJEXT): src/ode/s/collision_std.cpp
+collision_transform.$(OBJEXT): src/ode/s/collision_transform.cpp
+collision_util.$(OBJEXT): src/ode/s/collision_util.cpp
+fastdot.$(OBJEXT): src/ode/s/fastdot.c
+fastldlt.$(OBJEXT): src/ode/s/fastldlt.c
+fastlsolve.$(OBJEXT): src/ode/s/fastlsolve.c
+fastltsolve.$(OBJEXT): src/ode/s/fastltsolve.c
 BSP.$(OBJEXT): src/BSP.cpp
 Game.$(OBJEXT): src/Game.cpp
 GameMain.$(OBJEXT): src/GameMain.cpp
@@ -306,6 +468,168 @@
 distclean-compile:
 	-rm -f *.tab.c
 
+.c.o:
+	$(COMPILE) -c `test -f '$<' || echo '$(srcdir)/'`$<
+
+.c.obj:
+	$(COMPILE) -c `cygpath -w $<`
+
+lapi.o: src/lua/lapi.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lapi.o `test -f 'src/lua/lapi.c' || echo '$(srcdir)/'`src/lua/lapi.c
+
+lapi.obj: src/lua/lapi.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lapi.obj `cygpath -w src/lua/lapi.c`
+
+lauxlib.o: src/lua/lauxlib.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lauxlib.o `test -f 'src/lua/lauxlib.c' || echo '$(srcdir)/'`src/lua/lauxlib.c
+
+lauxlib.obj: src/lua/lauxlib.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lauxlib.obj `cygpath -w src/lua/lauxlib.c`
+
+lcode.o: src/lua/lcode.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lcode.o `test -f 'src/lua/lcode.c' || echo '$(srcdir)/'`src/lua/lcode.c
+
+lcode.obj: src/lua/lcode.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lcode.obj `cygpath -w src/lua/lcode.c`
+
+ldebug.o: src/lua/ldebug.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ldebug.o `test -f 'src/lua/ldebug.c' || echo '$(srcdir)/'`src/lua/ldebug.c
+
+ldebug.obj: src/lua/ldebug.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ldebug.obj `cygpath -w src/lua/ldebug.c`
+
+ldo.o: src/lua/ldo.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ldo.o `test -f 'src/lua/ldo.c' || echo '$(srcdir)/'`src/lua/ldo.c
+
+ldo.obj: src/lua/ldo.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ldo.obj `cygpath -w src/lua/ldo.c`
+
+ldump.o: src/lua/ldump.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ldump.o `test -f 'src/lua/ldump.c' || echo '$(srcdir)/'`src/lua/ldump.c
+
+ldump.obj: src/lua/ldump.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ldump.obj `cygpath -w src/lua/ldump.c`
+
+lfunc.o: src/lua/lfunc.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lfunc.o `test -f 'src/lua/lfunc.c' || echo '$(srcdir)/'`src/lua/lfunc.c
+
+lfunc.obj: src/lua/lfunc.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lfunc.obj `cygpath -w src/lua/lfunc.c`
+
+lgc.o: src/lua/lgc.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lgc.o `test -f 'src/lua/lgc.c' || echo '$(srcdir)/'`src/lua/lgc.c
+
+lgc.obj: src/lua/lgc.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lgc.obj `cygpath -w src/lua/lgc.c`
+
+llex.o: src/lua/llex.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o llex.o `test -f 'src/lua/llex.c' || echo '$(srcdir)/'`src/lua/llex.c
+
+llex.obj: src/lua/llex.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o llex.obj `cygpath -w src/lua/llex.c`
+
+lmathlib.o: src/lua/lmathlib.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lmathlib.o `test -f 'src/lua/lmathlib.c' || echo '$(srcdir)/'`src/lua/lmathlib.c
+
+lmathlib.obj: src/lua/lmathlib.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lmathlib.obj `cygpath -w src/lua/lmathlib.c`
+
+lmem.o: src/lua/lmem.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lmem.o `test -f 'src/lua/lmem.c' || echo '$(srcdir)/'`src/lua/lmem.c
+
+lmem.obj: src/lua/lmem.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lmem.obj `cygpath -w src/lua/lmem.c`
+
+lobject.o: src/lua/lobject.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lobject.o `test -f 'src/lua/lobject.c' || echo '$(srcdir)/'`src/lua/lobject.c
+
+lobject.obj: src/lua/lobject.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lobject.obj `cygpath -w src/lua/lobject.c`
+
+lopcodes.o: src/lua/lopcodes.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lopcodes.o `test -f 'src/lua/lopcodes.c' || echo '$(srcdir)/'`src/lua/lopcodes.c
+
+lopcodes.obj: src/lua/lopcodes.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lopcodes.obj `cygpath -w src/lua/lopcodes.c`
+
+lparser.o: src/lua/lparser.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lparser.o `test -f 'src/lua/lparser.c' || echo '$(srcdir)/'`src/lua/lparser.c
+
+lparser.obj: src/lua/lparser.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lparser.obj `cygpath -w src/lua/lparser.c`
+
+lstate.o: src/lua/lstate.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lstate.o `test -f 'src/lua/lstate.c' || echo '$(srcdir)/'`src/lua/lstate.c
+
+lstate.obj: src/lua/lstate.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lstate.obj `cygpath -w src/lua/lstate.c`
+
+lstring.o: src/lua/lstring.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lstring.o `test -f 'src/lua/lstring.c' || echo '$(srcdir)/'`src/lua/lstring.c
+
+lstring.obj: src/lua/lstring.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lstring.obj `cygpath -w src/lua/lstring.c`
+
+ltable.o: src/lua/ltable.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ltable.o `test -f 'src/lua/ltable.c' || echo '$(srcdir)/'`src/lua/ltable.c
+
+ltable.obj: src/lua/ltable.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ltable.obj `cygpath -w src/lua/ltable.c`
+
+ltests.o: src/lua/ltests.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ltests.o `test -f 'src/lua/ltests.c' || echo '$(srcdir)/'`src/lua/ltests.c
+
+ltests.obj: src/lua/ltests.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ltests.obj `cygpath -w src/lua/ltests.c`
+
+ltm.o: src/lua/ltm.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ltm.o `test -f 'src/lua/ltm.c' || echo '$(srcdir)/'`src/lua/ltm.c
+
+ltm.obj: src/lua/ltm.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o ltm.obj `cygpath -w src/lua/ltm.c`
+
+lundump.o: src/lua/lundump.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lundump.o `test -f 'src/lua/lundump.c' || echo '$(srcdir)/'`src/lua/lundump.c
+
+lundump.obj: src/lua/lundump.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lundump.obj `cygpath -w src/lua/lundump.c`
+
+lvm.o: src/lua/lvm.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lvm.o `test -f 'src/lua/lvm.c' || echo '$(srcdir)/'`src/lua/lvm.c
+
+lvm.obj: src/lua/lvm.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lvm.obj `cygpath -w src/lua/lvm.c`
+
+lzio.o: src/lua/lzio.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lzio.o `test -f 'src/lua/lzio.c' || echo '$(srcdir)/'`src/lua/lzio.c
+
+lzio.obj: src/lua/lzio.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o lzio.obj `cygpath -w src/lua/lzio.c`
+
+fastdot.o: src/ode/s/fastdot.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o fastdot.o `test -f 'src/ode/s/fastdot.c' || echo '$(srcdir)/'`src/ode/s/fastdot.c
+
+fastdot.obj: src/ode/s/fastdot.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o fastdot.obj `cygpath -w src/ode/s/fastdot.c`
+
+fastldlt.o: src/ode/s/fastldlt.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o fastldlt.o `test -f 'src/ode/s/fastldlt.c' || echo '$(srcdir)/'`src/ode/s/fastldlt.c
+
+fastldlt.obj: src/ode/s/fastldlt.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o fastldlt.obj `cygpath -w src/ode/s/fastldlt.c`
+
+fastlsolve.o: src/ode/s/fastlsolve.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o fastlsolve.o `test -f 'src/ode/s/fastlsolve.c' || echo '$(srcdir)/'`src/ode/s/fastlsolve.c
+
+fastlsolve.obj: src/ode/s/fastlsolve.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o fastlsolve.obj `cygpath -w src/ode/s/fastlsolve.c`
+
+fastltsolve.o: src/ode/s/fastltsolve.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o fastltsolve.o `test -f 'src/ode/s/fastltsolve.c' || echo '$(srcdir)/'`src/ode/s/fastltsolve.c
+
+fastltsolve.obj: src/ode/s/fastltsolve.c
+	$(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o fastltsolve.obj `cygpath -w src/ode/s/fastltsolve.c`
+
 .cpp.o:
 	$(CXXCOMPILE) -c -o $@ `test -f '$<' || echo '$(srcdir)/'`$<
 
@@ -438,6 +762,162 @@
 DBuffer.obj: src/DBuffer.cpp
 	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o DBuffer.obj `cygpath -w src/DBuffer.cpp`
 
+array.o: src/ode/s/array.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o array.o `test -f 'src/ode/s/array.cpp' || echo '$(srcdir)/'`src/ode/s/array.cpp
+
+array.obj: src/ode/s/array.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o array.obj `cygpath -w src/ode/s/array.cpp`
+
+collision_kernel.o: src/ode/s/collision_kernel.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_kernel.o `test -f 'src/ode/s/collision_kernel.cpp' || echo '$(srcdir)/'`src/ode/s/collision_kernel.cpp
+
+collision_kernel.obj: src/ode/s/collision_kernel.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_kernel.obj `cygpath -w src/ode/s/collision_kernel.cpp`
+
+error.o: src/ode/s/error.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o error.o `test -f 'src/ode/s/error.cpp' || echo '$(srcdir)/'`src/ode/s/error.cpp
+
+error.obj: src/ode/s/error.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o error.obj `cygpath -w src/ode/s/error.cpp`
+
+export-dif.o: src/ode/s/export-dif.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o export-dif.o `test -f 'src/ode/s/export-dif.cpp' || echo '$(srcdir)/'`src/ode/s/export-dif.cpp
+
+export-dif.obj: src/ode/s/export-dif.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o export-dif.obj `cygpath -w src/ode/s/export-dif.cpp`
+
+joint.o: src/ode/s/joint.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o joint.o `test -f 'src/ode/s/joint.cpp' || echo '$(srcdir)/'`src/ode/s/joint.cpp
+
+joint.obj: src/ode/s/joint.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o joint.obj `cygpath -w src/ode/s/joint.cpp`
+
+lcp.o: src/ode/s/lcp.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o lcp.o `test -f 'src/ode/s/lcp.cpp' || echo '$(srcdir)/'`src/ode/s/lcp.cpp
+
+lcp.obj: src/ode/s/lcp.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o lcp.obj `cygpath -w src/ode/s/lcp.cpp`
+
+mass.o: src/ode/s/mass.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o mass.o `test -f 'src/ode/s/mass.cpp' || echo '$(srcdir)/'`src/ode/s/mass.cpp
+
+mass.obj: src/ode/s/mass.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o mass.obj `cygpath -w src/ode/s/mass.cpp`
+
+mat.o: src/ode/s/mat.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o mat.o `test -f 'src/ode/s/mat.cpp' || echo '$(srcdir)/'`src/ode/s/mat.cpp
+
+mat.obj: src/ode/s/mat.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o mat.obj `cygpath -w src/ode/s/mat.cpp`
+
+matrix.o: src/ode/s/matrix.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o matrix.o `test -f 'src/ode/s/matrix.cpp' || echo '$(srcdir)/'`src/ode/s/matrix.cpp
+
+matrix.obj: src/ode/s/matrix.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o matrix.obj `cygpath -w src/ode/s/matrix.cpp`
+
+memory.o: src/ode/s/memory.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o memory.o `test -f 'src/ode/s/memory.cpp' || echo '$(srcdir)/'`src/ode/s/memory.cpp
+
+memory.obj: src/ode/s/memory.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o memory.obj `cygpath -w src/ode/s/memory.cpp`
+
+misc.o: src/ode/s/misc.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o misc.o `test -f 'src/ode/s/misc.cpp' || echo '$(srcdir)/'`src/ode/s/misc.cpp
+
+misc.obj: src/ode/s/misc.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o misc.obj `cygpath -w src/ode/s/misc.cpp`
+
+obstack.o: src/ode/s/obstack.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o obstack.o `test -f 'src/ode/s/obstack.cpp' || echo '$(srcdir)/'`src/ode/s/obstack.cpp
+
+obstack.obj: src/ode/s/obstack.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o obstack.obj `cygpath -w src/ode/s/obstack.cpp`
+
+ode.o: src/ode/s/ode.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o ode.o `test -f 'src/ode/s/ode.cpp' || echo '$(srcdir)/'`src/ode/s/ode.cpp
+
+ode.obj: src/ode/s/ode.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o ode.obj `cygpath -w src/ode/s/ode.cpp`
+
+odemath.o: src/ode/s/odemath.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o odemath.o `test -f 'src/ode/s/odemath.cpp' || echo '$(srcdir)/'`src/ode/s/odemath.cpp
+
+odemath.obj: src/ode/s/odemath.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o odemath.obj `cygpath -w src/ode/s/odemath.cpp`
+
+quickstep.o: src/ode/s/quickstep.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o quickstep.o `test -f 'src/ode/s/quickstep.cpp' || echo '$(srcdir)/'`src/ode/s/quickstep.cpp
+
+quickstep.obj: src/ode/s/quickstep.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o quickstep.obj `cygpath -w src/ode/s/quickstep.cpp`
+
+rotation.o: src/ode/s/rotation.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o rotation.o `test -f 'src/ode/s/rotation.cpp' || echo '$(srcdir)/'`src/ode/s/rotation.cpp
+
+rotation.obj: src/ode/s/rotation.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o rotation.obj `cygpath -w src/ode/s/rotation.cpp`
+
+step.o: src/ode/s/step.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o step.o `test -f 'src/ode/s/step.cpp' || echo '$(srcdir)/'`src/ode/s/step.cpp
+
+step.obj: src/ode/s/step.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o step.obj `cygpath -w src/ode/s/step.cpp`
+
+stepfast.o: src/ode/s/stepfast.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o stepfast.o `test -f 'src/ode/s/stepfast.cpp' || echo '$(srcdir)/'`src/ode/s/stepfast.cpp
+
+stepfast.obj: src/ode/s/stepfast.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o stepfast.obj `cygpath -w src/ode/s/stepfast.cpp`
+
+testing.o: src/ode/s/testing.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o testing.o `test -f 'src/ode/s/testing.cpp' || echo '$(srcdir)/'`src/ode/s/testing.cpp
+
+testing.obj: src/ode/s/testing.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o testing.obj `cygpath -w src/ode/s/testing.cpp`
+
+timer.o: src/ode/s/timer.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o timer.o `test -f 'src/ode/s/timer.cpp' || echo '$(srcdir)/'`src/ode/s/timer.cpp
+
+timer.obj: src/ode/s/timer.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o timer.obj `cygpath -w src/ode/s/timer.cpp`
+
+util.o: src/ode/s/util.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o util.o `test -f 'src/ode/s/util.cpp' || echo '$(srcdir)/'`src/ode/s/util.cpp
+
+util.obj: src/ode/s/util.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o util.obj `cygpath -w src/ode/s/util.cpp`
+
+collision_quadtreespace.o: src/ode/s/collision_quadtreespace.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_quadtreespace.o `test -f 'src/ode/s/collision_quadtreespace.cpp' || echo '$(srcdir)/'`src/ode/s/collision_quadtreespace.cpp
+
+collision_quadtreespace.obj: src/ode/s/collision_quadtreespace.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_quadtreespace.obj `cygpath -w src/ode/s/collision_quadtreespace.cpp`
+
+collision_space.o: src/ode/s/collision_space.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_space.o `test -f 'src/ode/s/collision_space.cpp' || echo '$(srcdir)/'`src/ode/s/collision_space.cpp
+
+collision_space.obj: src/ode/s/collision_space.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_space.obj `cygpath -w src/ode/s/collision_space.cpp`
+
+collision_std.o: src/ode/s/collision_std.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_std.o `test -f 'src/ode/s/collision_std.cpp' || echo '$(srcdir)/'`src/ode/s/collision_std.cpp
+
+collision_std.obj: src/ode/s/collision_std.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_std.obj `cygpath -w src/ode/s/collision_std.cpp`
+
+collision_transform.o: src/ode/s/collision_transform.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_transform.o `test -f 'src/ode/s/collision_transform.cpp' || echo '$(srcdir)/'`src/ode/s/collision_transform.cpp
+
+collision_transform.obj: src/ode/s/collision_transform.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_transform.obj `cygpath -w src/ode/s/collision_transform.cpp`
+
+collision_util.o: src/ode/s/collision_util.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_util.o `test -f 'src/ode/s/collision_util.cpp' || echo '$(srcdir)/'`src/ode/s/collision_util.cpp
+
+collision_util.obj: src/ode/s/collision_util.cpp
+	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o collision_util.obj `cygpath -w src/ode/s/collision_util.cpp`
+
 BSP.o: src/BSP.cpp
 	$(CXX) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) $(CPPFLAGS) $(AM_CXXFLAGS) $(CXXFLAGS) -c -o BSP.o `test -f 'src/BSP.cpp' || echo '$(srcdir)/'`src/BSP.cpp
 
diff -Naur xmoto-0.1.10/src/lua/lapi.c xmoto-0.1.10-patched/src/lua/lapi.c
--- xmoto-0.1.10/src/lua/lapi.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lapi.c	2005-12-03 11:54:19.000000000 +0100
@@ -0,0 +1,922 @@
+/*
+** $Id: lapi.c,v 1.235 2003/04/07 14:36:08 roberto Exp $
+** Lua API
+** See Copyright Notice in lua.h
+*/
+
+
+#include <assert.h>
+#include <string.h>
+
+#define lapi_c
+
+#include "lua.h"
+
+#include "lapi.h"
+#include "ldebug.h"
+#include "ldo.h"
+#include "lfunc.h"
+#include "lgc.h"
+#include "lmem.h"
+#include "lobject.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "ltable.h"
+#include "ltm.h"
+#include "lundump.h"
+#include "lvm.h"
+
+
+const char lua_ident[] =
+  "$Lua: " LUA_VERSION " " LUA_COPYRIGHT " $\n"
+  "$Authors: " LUA_AUTHORS " $\n"
+  "$URL: www.lua.org $\n";
+
+
+
+#ifndef api_check
+#define api_check(L, o)		/*{ assert(o); }*/
+#endif
+
+#define api_checknelems(L, n)	api_check(L, (n) <= (L->top - L->base))
+
+#define api_incr_top(L)   {api_check(L, L->top < L->ci->top); L->top++;}
+
+
+
+
+static TObject *negindex (lua_State *L, int idx) {
+  if (idx > LUA_REGISTRYINDEX) {
+    api_check(L, idx != 0 && -idx <= L->top - L->base);
+    return L->top+idx;
+  }
+  else switch (idx) {  /* pseudo-indices */
+    case LUA_REGISTRYINDEX: return registry(L);
+    case LUA_GLOBALSINDEX: return gt(L);
+    default: {
+      TObject *func = (L->base - 1);
+      idx = LUA_GLOBALSINDEX - idx;
+      lua_assert(iscfunction(func));
+      return (idx <= clvalue(func)->c.nupvalues)
+                ? &clvalue(func)->c.upvalue[idx-1]
+                : NULL;
+    }
+  }
+}
+
+
+static TObject *luaA_index (lua_State *L, int idx) {
+  if (idx > 0) {
+    api_check(L, idx <= L->top - L->base);
+    return L->base + idx - 1;
+  }
+  else {
+    TObject *o = negindex(L, idx);
+    api_check(L, o != NULL);
+    return o;
+  }
+}
+
+
+static TObject *luaA_indexAcceptable (lua_State *L, int idx) {
+  if (idx > 0) {
+    TObject *o = L->base+(idx-1);
+    api_check(L, idx <= L->stack_last - L->base);
+    if (o >= L->top) return NULL;
+    else return o;
+  }
+  else
+    return negindex(L, idx);
+}
+
+
+void luaA_pushobject (lua_State *L, const TObject *o) {
+  setobj2s(L->top, o);
+  incr_top(L);
+}
+
+
+LUA_API int lua_checkstack (lua_State *L, int size) {
+  int res;
+  lua_lock(L);
+  if ((L->top - L->base + size) > LUA_MAXCSTACK)
+    res = 0;  /* stack overflow */
+  else {
+    luaD_checkstack(L, size);
+    if (L->ci->top < L->top + size)
+      L->ci->top = L->top + size;
+    res = 1;
+  }
+  lua_unlock(L);
+  return res;
+}
+
+
+LUA_API void lua_xmove (lua_State *from, lua_State *to, int n) {
+  int i;
+  lua_lock(to);
+  api_checknelems(from, n);
+  from->top -= n;
+  for (i = 0; i < n; i++) {
+    setobj2s(to->top, from->top + i);
+    api_incr_top(to);
+  }
+  lua_unlock(to);
+}
+
+
+LUA_API lua_CFunction lua_atpanic (lua_State *L, lua_CFunction panicf) {
+  lua_CFunction old;
+  lua_lock(L);
+  old = G(L)->panic;
+  G(L)->panic = panicf;
+  lua_unlock(L);
+  return old;
+}
+
+
+LUA_API lua_State *lua_newthread (lua_State *L) {
+  lua_State *L1;
+  lua_lock(L);
+  luaC_checkGC(L);
+  L1 = luaE_newthread(L);
+  setthvalue(L->top, L1);
+  api_incr_top(L);
+  lua_unlock(L);
+  lua_userstateopen(L1);
+  return L1;
+}
+
+
+
+/*
+** basic stack manipulation
+*/
+
+
+LUA_API int lua_gettop (lua_State *L) {
+  return (L->top - L->base);
+}
+
+
+LUA_API void lua_settop (lua_State *L, int idx) {
+  lua_lock(L);
+  if (idx >= 0) {
+    api_check(L, idx <= L->stack_last - L->base);
+    while (L->top < L->base + idx)
+      setnilvalue(L->top++);
+    L->top = L->base + idx;
+  }
+  else {
+    api_check(L, -(idx+1) <= (L->top - L->base));
+    L->top += idx+1;  /* `subtract' index (index is negative) */
+  }
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_remove (lua_State *L, int idx) {
+  StkId p;
+  lua_lock(L);
+  p = luaA_index(L, idx);
+  while (++p < L->top) setobjs2s(p-1, p);
+  L->top--;
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_insert (lua_State *L, int idx) {
+  StkId p;
+  StkId q;
+  lua_lock(L);
+  p = luaA_index(L, idx);
+  for (q = L->top; q>p; q--) setobjs2s(q, q-1);
+  setobjs2s(p, L->top);
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_replace (lua_State *L, int idx) {
+  lua_lock(L);
+  api_checknelems(L, 1);
+  setobj(luaA_index(L, idx), L->top - 1);  /* write barrier */
+  L->top--;
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_pushvalue (lua_State *L, int idx) {
+  lua_lock(L);
+  setobj2s(L->top, luaA_index(L, idx));
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+
+/*
+** access functions (stack -> C)
+*/
+
+
+LUA_API int lua_type (lua_State *L, int idx) {
+  StkId o = luaA_indexAcceptable(L, idx);
+  return (o == NULL) ? LUA_TNONE : ttype(o);
+}
+
+
+LUA_API const char *lua_typename (lua_State *L, int t) {
+  UNUSED(L);
+  return (t == LUA_TNONE) ? "no value" : luaT_typenames[t];
+}
+
+
+LUA_API int lua_iscfunction (lua_State *L, int idx) {
+  StkId o = luaA_indexAcceptable(L, idx);
+  return (o == NULL) ? 0 : iscfunction(o);
+}
+
+
+LUA_API int lua_isnumber (lua_State *L, int idx) {
+  TObject n;
+  const TObject *o = luaA_indexAcceptable(L, idx);
+  return (o != NULL && tonumber(o, &n));
+}
+
+
+LUA_API int lua_isstring (lua_State *L, int idx) {
+  int t = lua_type(L, idx);
+  return (t == LUA_TSTRING || t == LUA_TNUMBER);
+}
+
+
+LUA_API int lua_isuserdata (lua_State *L, int idx) {
+  const TObject *o = luaA_indexAcceptable(L, idx);
+  return (o != NULL && (ttisuserdata(o) || ttislightuserdata(o)));
+}
+
+
+LUA_API int lua_rawequal (lua_State *L, int index1, int index2) {
+  StkId o1 = luaA_indexAcceptable(L, index1);
+  StkId o2 = luaA_indexAcceptable(L, index2);
+  return (o1 == NULL || o2 == NULL) ? 0  /* index out of range */
+                                    : luaO_rawequalObj(o1, o2);
+}
+
+
+LUA_API int lua_equal (lua_State *L, int index1, int index2) {
+  StkId o1, o2;
+  int i;
+  lua_lock(L);  /* may call tag method */
+  o1 = luaA_indexAcceptable(L, index1);
+  o2 = luaA_indexAcceptable(L, index2);
+  i = (o1 == NULL || o2 == NULL) ? 0  /* index out of range */
+                                 : equalobj(L, o1, o2);
+  lua_unlock(L);
+  return i;
+}
+
+
+LUA_API int lua_lessthan (lua_State *L, int index1, int index2) {
+  StkId o1, o2;
+  int i;
+  lua_lock(L);  /* may call tag method */
+  o1 = luaA_indexAcceptable(L, index1);
+  o2 = luaA_indexAcceptable(L, index2);
+  i = (o1 == NULL || o2 == NULL) ? 0  /* index out-of-range */
+                                 : luaV_lessthan(L, o1, o2);
+  lua_unlock(L);
+  return i;
+}
+
+
+
+LUA_API lua_Number lua_tonumber (lua_State *L, int idx) {
+  TObject n;
+  const TObject *o = luaA_indexAcceptable(L, idx);
+  if (o != NULL && tonumber(o, &n))
+    return nvalue(o);
+  else
+    return 0;
+}
+
+
+LUA_API int lua_toboolean (lua_State *L, int idx) {
+  const TObject *o = luaA_indexAcceptable(L, idx);
+  return (o != NULL) && !l_isfalse(o);
+}
+
+
+LUA_API const char *lua_tostring (lua_State *L, int idx) {
+  StkId o = luaA_indexAcceptable(L, idx);
+  if (o == NULL)
+    return NULL;
+  else if (ttisstring(o))
+    return svalue(o);
+  else {
+    const char *s;
+    lua_lock(L);  /* `luaV_tostring' may create a new string */
+    s = (luaV_tostring(L, o) ? svalue(o) : NULL);
+    luaC_checkGC(L);
+    lua_unlock(L);
+    return s;
+  }
+}
+
+
+LUA_API size_t lua_strlen (lua_State *L, int idx) {
+  StkId o = luaA_indexAcceptable(L, idx);
+  if (o == NULL)
+    return 0;
+  else if (ttisstring(o))
+    return tsvalue(o)->tsv.len;
+  else {
+    size_t l;
+    lua_lock(L);  /* `luaV_tostring' may create a new string */
+    l = (luaV_tostring(L, o) ? tsvalue(o)->tsv.len : 0);
+    lua_unlock(L);
+    return l;
+  }
+}
+
+
+LUA_API lua_CFunction lua_tocfunction (lua_State *L, int idx) {
+  StkId o = luaA_indexAcceptable(L, idx);
+  return (o == NULL || !iscfunction(o)) ? NULL : clvalue(o)->c.f;
+}
+
+
+LUA_API void *lua_touserdata (lua_State *L, int idx) {
+  StkId o = luaA_indexAcceptable(L, idx);
+  if (o == NULL) return NULL;
+  switch (ttype(o)) {
+    case LUA_TUSERDATA: return (uvalue(o) + 1);
+    case LUA_TLIGHTUSERDATA: return pvalue(o);
+    default: return NULL;
+  }
+}
+
+
+LUA_API lua_State *lua_tothread (lua_State *L, int idx) {
+  StkId o = luaA_indexAcceptable(L, idx);
+  return (o == NULL || !ttisthread(o)) ? NULL : thvalue(o);
+}
+
+
+LUA_API const void *lua_topointer (lua_State *L, int idx) {
+  StkId o = luaA_indexAcceptable(L, idx);
+  if (o == NULL) return NULL;
+  else {
+    switch (ttype(o)) {
+      case LUA_TTABLE: return hvalue(o);
+      case LUA_TFUNCTION: return clvalue(o);
+      case LUA_TTHREAD: return thvalue(o);
+      case LUA_TUSERDATA:
+      case LUA_TLIGHTUSERDATA:
+        return lua_touserdata(L, idx);
+      default: return NULL;
+    }
+  }
+}
+
+
+
+/*
+** push functions (C -> stack)
+*/
+
+
+LUA_API void lua_pushnil (lua_State *L) {
+  lua_lock(L);
+  setnilvalue(L->top);
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_pushnumber (lua_State *L, lua_Number n) {
+  lua_lock(L);
+  setnvalue(L->top, n);
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_pushlstring (lua_State *L, const char *s, size_t len) {
+  lua_lock(L);
+  luaC_checkGC(L);
+  setsvalue2s(L->top, luaS_newlstr(L, s, len));
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_pushstring (lua_State *L, const char *s) {
+  if (s == NULL)
+    lua_pushnil(L);
+  else
+    lua_pushlstring(L, s, strlen(s));
+}
+
+
+LUA_API const char *lua_pushvfstring (lua_State *L, const char *fmt,
+                                      va_list argp) {
+  const char *ret;
+  lua_lock(L);
+  luaC_checkGC(L);
+  ret = luaO_pushvfstring(L, fmt, argp);
+  lua_unlock(L);
+  return ret;
+}
+
+
+LUA_API const char *lua_pushfstring (lua_State *L, const char *fmt, ...) {
+  const char *ret;
+  va_list argp;
+  lua_lock(L);
+  luaC_checkGC(L);
+  va_start(argp, fmt);
+  ret = luaO_pushvfstring(L, fmt, argp);
+  va_end(argp);
+  lua_unlock(L);
+  return ret;
+}
+
+
+LUA_API void lua_pushcclosure (lua_State *L, lua_CFunction fn, int n) {
+  Closure *cl;
+  lua_lock(L);
+  luaC_checkGC(L);
+  api_checknelems(L, n);
+  cl = luaF_newCclosure(L, n);
+  cl->c.f = fn;
+  L->top -= n;
+  while (n--)
+    setobj2n(&cl->c.upvalue[n], L->top+n);
+  setclvalue(L->top, cl);
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_pushboolean (lua_State *L, int b) {
+  lua_lock(L);
+  setbvalue(L->top, (b != 0));  /* ensure that true is 1 */
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_pushlightuserdata (lua_State *L, void *p) {
+  lua_lock(L);
+  setpvalue(L->top, p);
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+
+/*
+** get functions (Lua -> stack)
+*/
+
+
+LUA_API void lua_gettable (lua_State *L, int idx) {
+  StkId t;
+  lua_lock(L);
+  t = luaA_index(L, idx);
+  setobj2s(L->top - 1, luaV_gettable(L, t, L->top - 1, 0));
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_rawget (lua_State *L, int idx) {
+  StkId t;
+  lua_lock(L);
+  t = luaA_index(L, idx);
+  api_check(L, ttistable(t));
+  setobj2s(L->top - 1, luaH_get(hvalue(t), L->top - 1));
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_rawgeti (lua_State *L, int idx, int n) {
+  StkId o;
+  lua_lock(L);
+  o = luaA_index(L, idx);
+  api_check(L, ttistable(o));
+  setobj2s(L->top, luaH_getnum(hvalue(o), n));
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_newtable (lua_State *L) {
+  lua_lock(L);
+  luaC_checkGC(L);
+  sethvalue(L->top, luaH_new(L, 0, 0));
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+LUA_API int lua_getmetatable (lua_State *L, int objindex) {
+  const TObject *obj;
+  Table *mt = NULL;
+  int res;
+  lua_lock(L);
+  obj = luaA_indexAcceptable(L, objindex);
+  if (obj != NULL) {
+    switch (ttype(obj)) {
+      case LUA_TTABLE:
+        mt = hvalue(obj)->metatable;
+        break;
+      case LUA_TUSERDATA:
+        mt = uvalue(obj)->uv.metatable;
+        break;
+    }
+  }
+  if (mt == NULL || mt == hvalue(defaultmeta(L)))
+    res = 0;
+  else {
+    sethvalue(L->top, mt);
+    api_incr_top(L);
+    res = 1;
+  }
+  lua_unlock(L);
+  return res;
+}
+
+
+LUA_API void lua_getfenv (lua_State *L, int idx) {
+  StkId o;
+  lua_lock(L);
+  o = luaA_index(L, idx);
+  setobj2s(L->top, isLfunction(o) ? &clvalue(o)->l.g : gt(L));
+  api_incr_top(L);
+  lua_unlock(L);
+}
+
+
+/*
+** set functions (stack -> Lua)
+*/
+
+
+LUA_API void lua_settable (lua_State *L, int idx) {
+  StkId t;
+  lua_lock(L);
+  api_checknelems(L, 2);
+  t = luaA_index(L, idx);
+  luaV_settable(L, t, L->top - 2, L->top - 1);
+  L->top -= 2;  /* pop index and value */
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_rawset (lua_State *L, int idx) {
+  StkId t;
+  lua_lock(L);
+  api_checknelems(L, 2);
+  t = luaA_index(L, idx);
+  api_check(L, ttistable(t));
+  setobj2t(luaH_set(L, hvalue(t), L->top-2), L->top-1);  /* write barrier */
+  L->top -= 2;
+  lua_unlock(L);
+}
+
+
+LUA_API void lua_rawseti (lua_State *L, int idx, int n) {
+  StkId o;
+  lua_lock(L);
+  api_checknelems(L, 1);
+  o = luaA_index(L, idx);
+  api_check(L, ttistable(o));
+  setobj2t(luaH_setnum(L, hvalue(o), n), L->top-1);  /* write barrier */
+  L->top--;
+  lua_unlock(L);
+}
+
+
+LUA_API int lua_setmetatable (lua_State *L, int objindex) {
+  TObject *obj, *mt;
+  int res = 1;
+  lua_lock(L);
+  api_checknelems(L, 1);
+  obj = luaA_index(L, objindex);
+  mt = (!ttisnil(L->top - 1)) ? L->top - 1 : defaultmeta(L);
+  api_check(L, ttistable(mt));
+  switch (ttype(obj)) {
+    case LUA_TTABLE: {
+      hvalue(obj)->metatable = hvalue(mt);  /* write barrier */
+      break;
+    }
+    case LUA_TUSERDATA: {
+      uvalue(obj)->uv.metatable = hvalue(mt);  /* write barrier */
+      break;
+    }
+    default: {
+      res = 0;  /* cannot set */
+      break;
+    }
+  }
+  L->top--;
+  lua_unlock(L);
+  return res;
+}
+
+
+LUA_API int lua_setfenv (lua_State *L, int idx) {
+  StkId o;
+  int res = 0;
+  lua_lock(L);
+  api_checknelems(L, 1);
+  o = luaA_index(L, idx);
+  L->top--;
+  api_check(L, ttistable(L->top));
+  if (isLfunction(o)) {
+    res = 1;
+    clvalue(o)->l.g = *(L->top);
+  }
+  lua_unlock(L);
+  return res;
+}
+
+
+/*
+** `load' and `call' functions (run Lua code)
+*/
+
+LUA_API void lua_call (lua_State *L, int nargs, int nresults) {
+  StkId func;
+  lua_lock(L);
+  api_checknelems(L, nargs+1);
+  func = L->top - (nargs+1);
+  luaD_call(L, func, nresults);
+  lua_unlock(L);
+}
+
+
+
+/*
+** Execute a protected call.
+*/
+struct CallS {  /* data to `f_call' */
+  StkId func;
+  int nresults;
+};
+
+
+static void f_call (lua_State *L, void *ud) {
+  struct CallS *c = cast(struct CallS *, ud);
+  luaD_call(L, c->func, c->nresults);
+}
+
+
+
+LUA_API int lua_pcall (lua_State *L, int nargs, int nresults, int errfunc) {
+  struct CallS c;
+  int status;
+  ptrdiff_t func;
+  lua_lock(L);
+  func = (errfunc == 0) ? 0 : savestack(L, luaA_index(L, errfunc));
+  c.func = L->top - (nargs+1);  /* function to be called */
+  c.nresults = nresults;
+  status = luaD_pcall(L, f_call, &c, savestack(L, c.func), func);
+  lua_unlock(L);
+  return status;
+}
+
+
+/*
+** Execute a protected C call.
+*/
+struct CCallS {  /* data to `f_Ccall' */
+  lua_CFunction func;
+  void *ud;
+};
+
+
+static void f_Ccall (lua_State *L, void *ud) {
+  struct CCallS *c = cast(struct CCallS *, ud);
+  Closure *cl;
+  cl = luaF_newCclosure(L, 0);
+  cl->c.f = c->func;
+  setclvalue(L->top, cl);  /* push function */
+  incr_top(L);
+  setpvalue(L->top, c->ud);  /* push only argument */
+  incr_top(L);
+  luaD_call(L, L->top - 2, 0);
+}
+
+
+LUA_API int lua_cpcall (lua_State *L, lua_CFunction func, void *ud) {
+  struct CCallS c;
+  int status;
+  lua_lock(L);
+  c.func = func;
+  c.ud = ud;
+  status = luaD_pcall(L, f_Ccall, &c, savestack(L, L->top), 0);
+  lua_unlock(L);
+  return status;
+}
+
+
+LUA_API int lua_load (lua_State *L, lua_Chunkreader reader, void *data,
+                      const char *chunkname) {
+  ZIO z;
+  int status;
+  int c;
+  lua_lock(L);
+  if (!chunkname) chunkname = "?";
+  luaZ_init(&z, reader, data, chunkname);
+  c = luaZ_lookahead(&z);
+  status = luaD_protectedparser(L, &z, (c == LUA_SIGNATURE[0]));
+  lua_unlock(L);
+  return status;
+}
+
+
+LUA_API int lua_dump (lua_State *L, lua_Chunkwriter writer, void *data) {
+  int status;
+  TObject *o;
+  lua_lock(L);
+  api_checknelems(L, 1);
+  o = L->top - 1;
+  if (isLfunction(o) && clvalue(o)->l.nupvalues == 0) {
+    luaU_dump(L, clvalue(o)->l.p, writer, data);
+    status = 1;
+  }
+  else
+    status = 0;
+  lua_unlock(L);
+  return status;
+}
+
+
+/*
+** Garbage-collection functions
+*/
+
+/* GC values are expressed in Kbytes: #bytes/2^10 */
+#define GCscalel(x)		((x)>>10)
+#define GCscale(x)		(cast(int, GCscalel(x)))
+#define GCunscale(x)		(cast(lu_mem, x)<<10)
+
+LUA_API int lua_getgcthreshold (lua_State *L) {
+  int threshold;
+  lua_lock(L);
+  threshold = GCscale(G(L)->GCthreshold);
+  lua_unlock(L);
+  return threshold;
+}
+
+LUA_API int lua_getgccount (lua_State *L) {
+  int count;
+  lua_lock(L);
+  count = GCscale(G(L)->nblocks);
+  lua_unlock(L);
+  return count;
+}
+
+LUA_API void lua_setgcthreshold (lua_State *L, int newthreshold) {
+  lua_lock(L);
+  if (cast(lu_mem, newthreshold) > GCscalel(MAX_LUMEM))
+    G(L)->GCthreshold = MAX_LUMEM;
+  else
+    G(L)->GCthreshold = GCunscale(newthreshold);
+  luaC_checkGC(L);
+  lua_unlock(L);
+}
+
+
+/*
+** miscellaneous functions
+*/
+
+
+LUA_API const char *lua_version (void) {
+  return LUA_VERSION;
+}
+
+
+LUA_API int lua_error (lua_State *L) {
+  lua_lock(L);
+  api_checknelems(L, 1);
+  luaG_errormsg(L);
+  lua_unlock(L);
+  return 0;  /* to avoid warnings */
+}
+
+
+LUA_API int lua_next (lua_State *L, int idx) {
+  StkId t;
+  int more;
+  lua_lock(L);
+  t = luaA_index(L, idx);
+  api_check(L, ttistable(t));
+  more = luaH_next(L, hvalue(t), L->top - 1);
+  if (more) {
+    api_incr_top(L);
+  }
+  else  /* no more elements */
+    L->top -= 1;  /* remove key */
+  lua_unlock(L);
+  return more;
+}
+
+
+LUA_API void lua_concat (lua_State *L, int n) {
+  lua_lock(L);
+  luaC_checkGC(L);
+  api_checknelems(L, n);
+  if (n >= 2) {
+    luaV_concat(L, n, L->top - L->base - 1);
+    L->top -= (n-1);
+  }
+  else if (n == 0) {  /* push empty string */
+    setsvalue2s(L->top, luaS_newlstr(L, NULL, 0));
+    api_incr_top(L);
+  }
+  /* else n == 1; nothing to do */
+  lua_unlock(L);
+}
+
+
+LUA_API void *lua_newuserdata (lua_State *L, size_t size) {
+  Udata *u;
+  lua_lock(L);
+  luaC_checkGC(L);
+  u = luaS_newudata(L, size);
+  setuvalue(L->top, u);
+  api_incr_top(L);
+  lua_unlock(L);
+  return u + 1;
+}
+
+
+LUA_API int lua_pushupvalues (lua_State *L) {
+  Closure *func;
+  int n, i;
+  lua_lock(L);
+  api_check(L, iscfunction(L->base - 1));
+  func = clvalue(L->base - 1);
+  n = func->c.nupvalues;
+  luaD_checkstack(L, n + LUA_MINSTACK);
+  for (i=0; i<n; i++) {
+    setobj2s(L->top, &func->c.upvalue[i]);
+    L->top++;
+  }
+  lua_unlock(L);
+  return n;
+}
+
+
+static const char *aux_upvalue (lua_State *L, int funcindex, int n,
+                                TObject **val) {
+  Closure *f;
+  StkId fi = luaA_index(L, funcindex);
+  if (!ttisfunction(fi)) return NULL;
+  f = clvalue(fi);
+  if (f->c.isC) {
+    if (n > f->c.nupvalues) return NULL;
+    *val = &f->c.upvalue[n-1];
+    return "";
+  }
+  else {
+    Proto *p = f->l.p;
+    if (n > p->sizeupvalues) return NULL;
+    *val = f->l.upvals[n-1]->v;
+    return getstr(p->upvalues[n-1]);
+  }
+}
+
+
+LUA_API const char *lua_getupvalue (lua_State *L, int funcindex, int n) {
+  const char *name;
+  TObject *val;
+  lua_lock(L);
+  name = aux_upvalue(L, funcindex, n, &val);
+  if (name) {
+    setobj2s(L->top, val);
+    api_incr_top(L);
+  }
+  lua_unlock(L);
+  return name;
+}
+
+
+LUA_API const char *lua_setupvalue (lua_State *L, int funcindex, int n) {
+  const char *name;
+  TObject *val;
+  lua_lock(L);
+  api_checknelems(L, 1);
+  name = aux_upvalue(L, funcindex, n, &val);
+  if (name) {
+    L->top--;
+    setobj(val, L->top);  /* write barrier */
+  }
+  lua_unlock(L);
+  return name;
+}
+
diff -Naur xmoto-0.1.10/src/lua/lapi.h xmoto-0.1.10-patched/src/lua/lapi.h
--- xmoto-0.1.10/src/lua/lapi.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lapi.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,16 @@
+/*
+** $Id: lapi.h,v 1.21 2002/03/04 21:29:41 roberto Exp $
+** Auxiliary functions from Lua API
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lapi_h
+#define lapi_h
+
+
+#include "lobject.h"
+
+
+void luaA_pushobject (lua_State *L, const TObject *o);
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lauxlib.c xmoto-0.1.10-patched/src/lua/lauxlib.c
--- xmoto-0.1.10/src/lua/lauxlib.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lauxlib.c	2005-12-03 11:54:19.000000000 +0100
@@ -0,0 +1,591 @@
+/*
+** $Id: lauxlib.c,v 1.100 2003/04/07 14:35:00 roberto Exp $
+** Auxiliary functions for building Lua libraries
+** See Copyright Notice in lua.h
+*/
+
+
+#include <ctype.h>
+#include <errno.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <string.h>
+
+
+/* This file uses only the official API of Lua.
+** Any function declared here could be written as an application function.
+*/
+
+#define lauxlib_c
+
+#include "lua.h"
+
+#include "lauxlib.h"
+
+
+/* number of prereserved references (for internal use) */
+#define RESERVED_REFS	2
+
+/* reserved references */
+#define FREELIST_REF	1	/* free list of references */
+#define ARRAYSIZE_REF	2	/* array sizes */
+
+
+/* convert a stack index to positive */
+#define abs_index(L, i)		((i) > 0 || (i) <= LUA_REGISTRYINDEX ? (i) : \
+					lua_gettop(L) + (i) + 1)
+
+
+/*
+** {======================================================
+** Error-report functions
+** =======================================================
+*/
+
+
+LUALIB_API int luaL_argerror (lua_State *L, int narg, const char *extramsg) {
+  lua_Debug ar;
+  lua_getstack(L, 0, &ar);
+  lua_getinfo(L, "n", &ar);
+  if (strcmp(ar.namewhat, "method") == 0) {
+    narg--;  /* do not count `self' */
+    if (narg == 0)  /* error is in the self argument itself? */
+      return luaL_error(L, "calling `%s' on bad self (%s)", ar.name, extramsg);
+  }
+  if (ar.name == NULL)
+    ar.name = "?";
+  return luaL_error(L, "bad argument #%d to `%s' (%s)",
+                        narg, ar.name, extramsg);
+}
+
+
+LUALIB_API int luaL_typerror (lua_State *L, int narg, const char *tname) {
+  const char *msg = lua_pushfstring(L, "%s expected, got %s",
+                                    tname, lua_typename(L, lua_type(L,narg)));
+  return luaL_argerror(L, narg, msg);
+}
+
+
+static void tag_error (lua_State *L, int narg, int tag) {
+  luaL_typerror(L, narg, lua_typename(L, tag)); 
+}
+
+
+LUALIB_API void luaL_where (lua_State *L, int level) {
+  lua_Debug ar;
+  if (lua_getstack(L, level, &ar)) {  /* check function at level */
+    lua_getinfo(L, "Snl", &ar);  /* get info about it */
+    if (ar.currentline > 0) {  /* is there info? */
+      lua_pushfstring(L, "%s:%d: ", ar.short_src, ar.currentline);
+      return;
+    }
+  }
+  lua_pushliteral(L, "");  /* else, no information available... */
+}
+
+
+LUALIB_API int luaL_error (lua_State *L, const char *fmt, ...) {
+  va_list argp;
+  va_start(argp, fmt);
+  luaL_where(L, 1);
+  lua_pushvfstring(L, fmt, argp);
+  va_end(argp);
+  lua_concat(L, 2);
+  return lua_error(L);
+}
+
+/* }====================================================== */
+
+
+LUALIB_API int luaL_findstring (const char *name, const char *const list[]) {
+  int i;
+  for (i=0; list[i]; i++)
+    if (strcmp(list[i], name) == 0)
+      return i;
+  return -1;  /* name not found */
+}
+
+
+LUALIB_API int luaL_newmetatable (lua_State *L, const char *tname) {
+  lua_pushstring(L, tname);
+  lua_rawget(L, LUA_REGISTRYINDEX);  /* get registry.name */
+  if (!lua_isnil(L, -1))  /* name already in use? */
+    return 0;  /* leave previous value on top, but return 0 */
+  lua_pop(L, 1);
+  lua_newtable(L);  /* create metatable */
+  lua_pushstring(L, tname);
+  lua_pushvalue(L, -2);
+  lua_rawset(L, LUA_REGISTRYINDEX);  /* registry.name = metatable */
+  lua_pushvalue(L, -1);
+  lua_pushstring(L, tname);
+  lua_rawset(L, LUA_REGISTRYINDEX);  /* registry[metatable] = name */
+  return 1;
+}
+
+
+LUALIB_API void  luaL_getmetatable (lua_State *L, const char *tname) {
+  lua_pushstring(L, tname);
+  lua_rawget(L, LUA_REGISTRYINDEX);
+}
+
+
+LUALIB_API void *luaL_checkudata (lua_State *L, int ud, const char *tname) {
+  const char *tn;
+  if (!lua_getmetatable(L, ud)) return NULL;  /* no metatable? */
+  lua_rawget(L, LUA_REGISTRYINDEX);  /* get registry[metatable] */
+  tn = lua_tostring(L, -1);
+  if (tn && (strcmp(tn, tname) == 0)) {
+    lua_pop(L, 1);
+    return lua_touserdata(L, ud);
+  }
+  else {
+    lua_pop(L, 1);
+    return NULL;
+  }
+}
+
+
+LUALIB_API void luaL_checkstack (lua_State *L, int space, const char *mes) {
+  if (!lua_checkstack(L, space))
+    luaL_error(L, "stack overflow (%s)", mes);
+}
+
+
+LUALIB_API void luaL_checktype (lua_State *L, int narg, int t) {
+  if (lua_type(L, narg) != t)
+    tag_error(L, narg, t);
+}
+
+
+LUALIB_API void luaL_checkany (lua_State *L, int narg) {
+  if (lua_type(L, narg) == LUA_TNONE)
+    luaL_argerror(L, narg, "value expected");
+}
+
+
+LUALIB_API const char *luaL_checklstring (lua_State *L, int narg, size_t *len) {
+  const char *s = lua_tostring(L, narg);
+  if (!s) tag_error(L, narg, LUA_TSTRING);
+  if (len) *len = lua_strlen(L, narg);
+  return s;
+}
+
+
+LUALIB_API const char *luaL_optlstring (lua_State *L, int narg,
+                                        const char *def, size_t *len) {
+  if (lua_isnoneornil(L, narg)) {
+    if (len)
+      *len = (def ? strlen(def) : 0);
+    return def;
+  }
+  else return luaL_checklstring(L, narg, len);
+}
+
+
+LUALIB_API lua_Number luaL_checknumber (lua_State *L, int narg) {
+  lua_Number d = lua_tonumber(L, narg);
+  if (d == 0 && !lua_isnumber(L, narg))  /* avoid extra test when d is not 0 */
+    tag_error(L, narg, LUA_TNUMBER);
+  return d;
+}
+
+
+LUALIB_API lua_Number luaL_optnumber (lua_State *L, int narg, lua_Number def) {
+  if (lua_isnoneornil(L, narg)) return def;
+  else return luaL_checknumber(L, narg);
+}
+
+
+LUALIB_API int luaL_getmetafield (lua_State *L, int obj, const char *event) {
+  if (!lua_getmetatable(L, obj))  /* no metatable? */
+    return 0;
+  lua_pushstring(L, event);
+  lua_rawget(L, -2);
+  if (lua_isnil(L, -1)) {
+    lua_pop(L, 2);  /* remove metatable and metafield */
+    return 0;
+  }
+  else {
+    lua_remove(L, -2);  /* remove only metatable */
+    return 1;
+  }
+}
+
+
+LUALIB_API int luaL_callmeta (lua_State *L, int obj, const char *event) {
+  obj = abs_index(L, obj);
+  if (!luaL_getmetafield(L, obj, event))  /* no metafield? */
+    return 0;
+  lua_pushvalue(L, obj);
+  lua_call(L, 1, 1);
+  return 1;
+}
+
+
+LUALIB_API void luaL_openlib (lua_State *L, const char *libname,
+                              const luaL_reg *l, int nup) {
+  if (libname) {
+    lua_pushstring(L, libname);
+    lua_gettable(L, LUA_GLOBALSINDEX);  /* check whether lib already exists */
+    if (lua_isnil(L, -1)) {  /* no? */
+      lua_pop(L, 1);
+      lua_newtable(L);  /* create it */
+      lua_pushstring(L, libname);
+      lua_pushvalue(L, -2);
+      lua_settable(L, LUA_GLOBALSINDEX);  /* register it with given name */
+    }
+    lua_insert(L, -(nup+1));  /* move library table to below upvalues */
+  }
+  for (; l->name; l++) {
+    int i;
+    lua_pushstring(L, l->name);
+    for (i=0; i<nup; i++)  /* copy upvalues to the top */
+      lua_pushvalue(L, -(nup+1));
+    lua_pushcclosure(L, l->func, nup);
+    lua_settable(L, -(nup+3));
+  }
+  lua_pop(L, nup);  /* remove upvalues */
+}
+
+
+
+/*
+** {======================================================
+** getn-setn: size for arrays
+** =======================================================
+*/
+
+static int checkint (lua_State *L, int topop) {
+  int n = (int)lua_tonumber(L, -1);
+  if (n == 0 && !lua_isnumber(L, -1)) n = -1;
+  lua_pop(L, topop);
+  return n;
+}
+
+
+static void getsizes (lua_State *L) {
+  lua_rawgeti(L, LUA_REGISTRYINDEX, ARRAYSIZE_REF);
+  if (lua_isnil(L, -1)) {  /* no `size' table? */
+    lua_pop(L, 1);  /* remove nil */
+    lua_newtable(L);  /* create it */
+    lua_pushvalue(L, -1);  /* `size' will be its own metatable */
+    lua_setmetatable(L, -2);
+    lua_pushliteral(L, "__mode");
+    lua_pushliteral(L, "k");
+    lua_rawset(L, -3);  /* metatable(N).__mode = "k" */
+    lua_pushvalue(L, -1);
+    lua_rawseti(L, LUA_REGISTRYINDEX, ARRAYSIZE_REF);  /* store in register */
+  }
+}
+
+
+void luaL_setn (lua_State *L, int t, int n) {
+  t = abs_index(L, t);
+  lua_pushliteral(L, "n");
+  lua_rawget(L, t);
+  if (checkint(L, 1) >= 0) {  /* is there a numeric field `n'? */
+    lua_pushliteral(L, "n");  /* use it */
+    lua_pushnumber(L, (lua_Number)n);
+    lua_rawset(L, t);
+  }
+  else {  /* use `sizes' */
+    getsizes(L);
+    lua_pushvalue(L, t);
+    lua_pushnumber(L, (lua_Number)n);
+    lua_rawset(L, -3);  /* sizes[t] = n */
+    lua_pop(L, 1);  /* remove `sizes' */
+  }
+}
+
+
+int luaL_getn (lua_State *L, int t) {
+  int n;
+  t = abs_index(L, t);
+  lua_pushliteral(L, "n");  /* try t.n */
+  lua_rawget(L, t);
+  if ((n = checkint(L, 1)) >= 0) return n;
+  getsizes(L);  /* else try sizes[t] */
+  lua_pushvalue(L, t);
+  lua_rawget(L, -2);
+  if ((n = checkint(L, 2)) >= 0) return n;
+  for (n = 1; ; n++) {  /* else must count elements */
+    lua_rawgeti(L, t, n);
+    if (lua_isnil(L, -1)) break;
+    lua_pop(L, 1);
+  }
+  lua_pop(L, 1);
+  return n - 1;
+}
+
+/* }====================================================== */
+
+
+
+/*
+** {======================================================
+** Generic Buffer manipulation
+** =======================================================
+*/
+
+
+#define bufflen(B)	((B)->p - (B)->buffer)
+#define bufffree(B)	((size_t)(LUAL_BUFFERSIZE - bufflen(B)))
+
+#define LIMIT	(LUA_MINSTACK/2)
+
+
+static int emptybuffer (luaL_Buffer *B) {
+  size_t l = bufflen(B);
+  if (l == 0) return 0;  /* put nothing on stack */
+  else {
+    lua_pushlstring(B->L, B->buffer, l);
+    B->p = B->buffer;
+    B->lvl++;
+    return 1;
+  }
+}
+
+
+static void adjuststack (luaL_Buffer *B) {
+  if (B->lvl > 1) {
+    lua_State *L = B->L;
+    int toget = 1;  /* number of levels to concat */
+    size_t toplen = lua_strlen(L, -1);
+    do {
+      size_t l = lua_strlen(L, -(toget+1));
+      if (B->lvl - toget + 1 >= LIMIT || toplen > l) {
+        toplen += l;
+        toget++;
+      }
+      else break;
+    } while (toget < B->lvl);
+    lua_concat(L, toget);
+    B->lvl = B->lvl - toget + 1;
+  }
+}
+
+
+LUALIB_API char *luaL_prepbuffer (luaL_Buffer *B) {
+  if (emptybuffer(B))
+    adjuststack(B);
+  return B->buffer;
+}
+
+
+LUALIB_API void luaL_addlstring (luaL_Buffer *B, const char *s, size_t l) {
+  while (l--)
+    luaL_putchar(B, *s++);
+}
+
+
+LUALIB_API void luaL_addstring (luaL_Buffer *B, const char *s) {
+  luaL_addlstring(B, s, strlen(s));
+}
+
+
+LUALIB_API void luaL_pushresult (luaL_Buffer *B) {
+  emptybuffer(B);
+  lua_concat(B->L, B->lvl);
+  B->lvl = 1;
+}
+
+
+LUALIB_API void luaL_addvalue (luaL_Buffer *B) {
+  lua_State *L = B->L;
+  size_t vl = lua_strlen(L, -1);
+  if (vl <= bufffree(B)) {  /* fit into buffer? */
+    memcpy(B->p, lua_tostring(L, -1), vl);  /* put it there */
+    B->p += vl;
+    lua_pop(L, 1);  /* remove from stack */
+  }
+  else {
+    if (emptybuffer(B))
+      lua_insert(L, -2);  /* put buffer before new value */
+    B->lvl++;  /* add new value into B stack */
+    adjuststack(B);
+  }
+}
+
+
+LUALIB_API void luaL_buffinit (lua_State *L, luaL_Buffer *B) {
+  B->L = L;
+  B->p = B->buffer;
+  B->lvl = 0;
+}
+
+/* }====================================================== */
+
+
+LUALIB_API int luaL_ref (lua_State *L, int t) {
+  int ref;
+  t = abs_index(L, t);
+  if (lua_isnil(L, -1)) {
+    lua_pop(L, 1);  /* remove from stack */
+    return LUA_REFNIL;  /* `nil' has a unique fixed reference */
+  }
+  lua_rawgeti(L, t, FREELIST_REF);  /* get first free element */
+  ref = (int)lua_tonumber(L, -1);  /* ref = t[FREELIST_REF] */
+  lua_pop(L, 1);  /* remove it from stack */
+  if (ref != 0) {  /* any free element? */
+    lua_rawgeti(L, t, ref);  /* remove it from list */
+    lua_rawseti(L, t, FREELIST_REF);  /* (t[FREELIST_REF] = t[ref]) */
+  }
+  else {  /* no free elements */
+    ref = luaL_getn(L, t);
+    if (ref < RESERVED_REFS)
+      ref = RESERVED_REFS;  /* skip reserved references */
+    ref++;  /* create new reference */
+    luaL_setn(L, t, ref);
+  }
+  lua_rawseti(L, t, ref);
+  return ref;
+}
+
+
+LUALIB_API void luaL_unref (lua_State *L, int t, int ref) {
+  if (ref >= 0) {
+    t = abs_index(L, t);
+    lua_rawgeti(L, t, FREELIST_REF);
+    lua_rawseti(L, t, ref);  /* t[ref] = t[FREELIST_REF] */
+    lua_pushnumber(L, (lua_Number)ref);
+    lua_rawseti(L, t, FREELIST_REF);  /* t[FREELIST_REF] = ref */
+  }
+}
+
+
+
+/*
+** {======================================================
+** Load functions
+** =======================================================
+*/
+
+typedef struct LoadF {
+  FILE *f;
+  char buff[LUAL_BUFFERSIZE];
+} LoadF;
+
+
+static const char *getF (lua_State *L, void *ud, size_t *size) {
+  LoadF *lf = (LoadF *)ud;
+  (void)L;
+  if (feof(lf->f)) return NULL;
+  *size = fread(lf->buff, 1, LUAL_BUFFERSIZE, lf->f);
+  return (*size > 0) ? lf->buff : NULL;
+}
+
+
+static int errfile (lua_State *L, int fnameindex) {
+  const char *filename = lua_tostring(L, fnameindex) + 1;
+  lua_pushfstring(L, "cannot read %s: %s", filename, strerror(errno));
+  lua_remove(L, fnameindex);
+  return LUA_ERRFILE;
+}
+
+
+LUALIB_API int luaL_loadfile (lua_State *L, const char *filename) {
+  LoadF lf;
+  int status, readstatus;
+  int c;
+  int fnameindex = lua_gettop(L) + 1;  /* index of filename on the stack */
+  if (filename == NULL) {
+    lua_pushliteral(L, "=stdin");
+    lf.f = stdin;
+  }
+  else {
+    lua_pushfstring(L, "@%s", filename);
+    lf.f = fopen(filename, "r");
+  }
+  if (lf.f == NULL) return errfile(L, fnameindex);  /* unable to open file */
+  c = ungetc(getc(lf.f), lf.f);
+  if (!(isspace(c) || isprint(c)) && lf.f != stdin) {  /* binary file? */
+    fclose(lf.f);
+    lf.f = fopen(filename, "rb");  /* reopen in binary mode */
+    if (lf.f == NULL) return errfile(L, fnameindex); /* unable to reopen file */
+  }
+  status = lua_load(L, getF, &lf, lua_tostring(L, -1));
+  readstatus = ferror(lf.f);
+  if (lf.f != stdin) fclose(lf.f);  /* close file (even in case of errors) */
+  if (readstatus) {
+    lua_settop(L, fnameindex);  /* ignore results from `lua_load' */
+    return errfile(L, fnameindex);
+  }
+  lua_remove(L, fnameindex);
+  return status;
+}
+
+
+typedef struct LoadS {
+  const char *s;
+  size_t size;
+} LoadS;
+
+
+static const char *getS (lua_State *L, void *ud, size_t *size) {
+  LoadS *ls = (LoadS *)ud;
+  (void)L;
+  if (ls->size == 0) return NULL;
+  *size = ls->size;
+  ls->size = 0;
+  return ls->s;
+}
+
+
+LUALIB_API int luaL_loadbuffer (lua_State *L, const char *buff, size_t size,
+                                const char *name) {
+  LoadS ls;
+  ls.s = buff;
+  ls.size = size;
+  return lua_load(L, getS, &ls, name);
+}
+
+/* }====================================================== */
+
+
+/*
+** {======================================================
+** compatibility code
+** =======================================================
+*/
+
+
+static void callalert (lua_State *L, int status) {
+  if (status != 0) {
+    lua_getglobal(L, "_ALERT");
+    if (lua_isfunction(L, -1)) {
+      lua_insert(L, -2);
+      lua_call(L, 1, 0);
+    }
+    else {  /* no _ALERT function; print it on stderr */
+      fprintf(stderr, "%s\n", lua_tostring(L, -2));
+      lua_pop(L, 2);  /* remove error message and _ALERT */
+    }
+  }
+}
+
+
+static int aux_do (lua_State *L, int status) {
+  if (status == 0) {  /* parse OK? */
+    status = lua_pcall(L, 0, LUA_MULTRET, 0);  /* call main */
+  }
+  callalert(L, status);
+  return status;
+}
+
+
+LUALIB_API int lua_dofile (lua_State *L, const char *filename) {
+  return aux_do(L, luaL_loadfile(L, filename));
+}
+
+
+LUALIB_API int lua_dobuffer (lua_State *L, const char *buff, size_t size,
+                          const char *name) {
+  return aux_do(L, luaL_loadbuffer(L, buff, size, name));
+}
+
+
+LUALIB_API int lua_dostring (lua_State *L, const char *str) {
+  return lua_dobuffer(L, str, strlen(str), str);
+}
+
+/* }====================================================== */
diff -Naur xmoto-0.1.10/src/lua/lauxlib.h xmoto-0.1.10-patched/src/lua/lauxlib.h
--- xmoto-0.1.10/src/lua/lauxlib.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lauxlib.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,145 @@
+/*
+** $Id: lauxlib.h,v 1.60 2003/04/03 13:35:34 roberto Exp $
+** Auxiliary functions for building Lua libraries
+** See Copyright Notice in lua.h
+*/
+
+
+#ifndef lauxlib_h
+#define lauxlib_h
+
+
+#include <stddef.h>
+#include <stdio.h>
+
+#include "lua.h"
+
+
+#ifndef LUALIB_API
+#define LUALIB_API	LUA_API
+#endif
+
+
+
+typedef struct luaL_reg {
+  const char *name;
+  lua_CFunction func;
+} luaL_reg;
+
+
+LUALIB_API void luaL_openlib (lua_State *L, const char *libname,
+                               const luaL_reg *l, int nup);
+LUALIB_API int luaL_getmetafield (lua_State *L, int obj, const char *e);
+LUALIB_API int luaL_callmeta (lua_State *L, int obj, const char *e);
+LUALIB_API int luaL_typerror (lua_State *L, int narg, const char *tname);
+LUALIB_API int luaL_argerror (lua_State *L, int numarg, const char *extramsg);
+LUALIB_API const char *luaL_checklstring (lua_State *L, int numArg, size_t *l);
+LUALIB_API const char *luaL_optlstring (lua_State *L, int numArg,
+                                           const char *def, size_t *l);
+LUALIB_API lua_Number luaL_checknumber (lua_State *L, int numArg);
+LUALIB_API lua_Number luaL_optnumber (lua_State *L, int nArg, lua_Number def);
+
+LUALIB_API void luaL_checkstack (lua_State *L, int sz, const char *msg);
+LUALIB_API void luaL_checktype (lua_State *L, int narg, int t);
+LUALIB_API void luaL_checkany (lua_State *L, int narg);
+
+LUALIB_API int   luaL_newmetatable (lua_State *L, const char *tname);
+LUALIB_API void  luaL_getmetatable (lua_State *L, const char *tname);
+LUALIB_API void *luaL_checkudata (lua_State *L, int ud, const char *tname);
+
+LUALIB_API void luaL_where (lua_State *L, int lvl);
+LUALIB_API int luaL_error (lua_State *L, const char *fmt, ...);
+
+LUALIB_API int luaL_findstring (const char *st, const char *const lst[]);
+
+LUALIB_API int luaL_ref (lua_State *L, int t);
+LUALIB_API void luaL_unref (lua_State *L, int t, int ref);
+
+LUALIB_API int luaL_getn (lua_State *L, int t);
+LUALIB_API void luaL_setn (lua_State *L, int t, int n);
+
+LUALIB_API int luaL_loadfile (lua_State *L, const char *filename);
+LUALIB_API int luaL_loadbuffer (lua_State *L, const char *buff, size_t sz,
+                                const char *name);
+
+
+
+/*
+** ===============================================================
+** some useful macros
+** ===============================================================
+*/
+
+#define luaL_argcheck(L, cond,numarg,extramsg) if (!(cond)) \
+                                               luaL_argerror(L, numarg,extramsg)
+#define luaL_checkstring(L,n)	(luaL_checklstring(L, (n), NULL))
+#define luaL_optstring(L,n,d)	(luaL_optlstring(L, (n), (d), NULL))
+#define luaL_checkint(L,n)	((int)luaL_checknumber(L, n))
+#define luaL_checklong(L,n)	((long)luaL_checknumber(L, n))
+#define luaL_optint(L,n,d)	((int)luaL_optnumber(L, n,(lua_Number)(d)))
+#define luaL_optlong(L,n,d)	((long)luaL_optnumber(L, n,(lua_Number)(d)))
+
+
+/*
+** {======================================================
+** Generic Buffer manipulation
+** =======================================================
+*/
+
+
+#ifndef LUAL_BUFFERSIZE
+#define LUAL_BUFFERSIZE	  BUFSIZ
+#endif
+
+
+typedef struct luaL_Buffer {
+  char *p;			/* current position in buffer */
+  int lvl;  /* number of strings in the stack (level) */
+  lua_State *L;
+  char buffer[LUAL_BUFFERSIZE];
+} luaL_Buffer;
+
+#define luaL_putchar(B,c) \
+  ((void)((B)->p < ((B)->buffer+LUAL_BUFFERSIZE) || luaL_prepbuffer(B)), \
+   (*(B)->p++ = (char)(c)))
+
+#define luaL_addsize(B,n)	((B)->p += (n))
+
+LUALIB_API void luaL_buffinit (lua_State *L, luaL_Buffer *B);
+LUALIB_API char *luaL_prepbuffer (luaL_Buffer *B);
+LUALIB_API void luaL_addlstring (luaL_Buffer *B, const char *s, size_t l);
+LUALIB_API void luaL_addstring (luaL_Buffer *B, const char *s);
+LUALIB_API void luaL_addvalue (luaL_Buffer *B);
+LUALIB_API void luaL_pushresult (luaL_Buffer *B);
+
+
+/* }====================================================== */
+
+
+
+/*
+** Compatibility macros and functions
+*/
+
+LUALIB_API int   lua_dofile (lua_State *L, const char *filename);
+LUALIB_API int   lua_dostring (lua_State *L, const char *str);
+LUALIB_API int   lua_dobuffer (lua_State *L, const char *buff, size_t sz,
+                               const char *n);
+
+
+#define luaL_check_lstr 	luaL_checklstring
+#define luaL_opt_lstr 	luaL_optlstring 
+#define luaL_check_number 	luaL_checknumber 
+#define luaL_opt_number	luaL_optnumber
+#define luaL_arg_check	luaL_argcheck
+#define luaL_check_string	luaL_checkstring
+#define luaL_opt_string	luaL_optstring
+#define luaL_check_int	luaL_checkint
+#define luaL_check_long	luaL_checklong
+#define luaL_opt_int	luaL_optint
+#define luaL_opt_long	luaL_optlong
+
+
+#endif
+
+
diff -Naur xmoto-0.1.10/src/lua/lcode.c xmoto-0.1.10-patched/src/lua/lcode.c
--- xmoto-0.1.10/src/lua/lcode.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lcode.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,714 @@
+/*
+** $Id: lcode.c,v 1.117 2003/04/03 13:35:34 roberto Exp $
+** Code generator for Lua
+** See Copyright Notice in lua.h
+*/
+
+
+#include <stdlib.h>
+
+#define lcode_c
+
+#include "lua.h"
+
+#include "lcode.h"
+#include "ldebug.h"
+#include "ldo.h"
+#include "llex.h"
+#include "lmem.h"
+#include "lobject.h"
+#include "lopcodes.h"
+#include "lparser.h"
+#include "ltable.h"
+
+
+#define hasjumps(e)	((e)->t != (e)->f)
+
+
+void luaK_nil (FuncState *fs, int from, int n) {
+  Instruction *previous;
+  if (fs->pc > fs->lasttarget &&  /* no jumps to current position? */
+      GET_OPCODE(*(previous = &fs->f->code[fs->pc-1])) == OP_LOADNIL) {
+    int pfrom = GETARG_A(*previous);
+    int pto = GETARG_B(*previous);
+    if (pfrom <= from && from <= pto+1) {  /* can connect both? */
+      if (from+n-1 > pto)
+        SETARG_B(*previous, from+n-1);
+      return;
+    }
+  }
+  luaK_codeABC(fs, OP_LOADNIL, from, from+n-1, 0);  /* else no optimization */
+}
+
+
+int luaK_jump (FuncState *fs) {
+  int jpc = fs->jpc;  /* save list of jumps to here */
+  int j;
+  fs->jpc = NO_JUMP;
+  j = luaK_codeAsBx(fs, OP_JMP, 0, NO_JUMP);
+  luaK_concat(fs, &j, jpc);  /* keep them on hold */
+  return j;
+}
+
+
+static int luaK_condjump (FuncState *fs, OpCode op, int A, int B, int C) {
+  luaK_codeABC(fs, op, A, B, C);
+  return luaK_jump(fs);
+}
+
+
+static void luaK_fixjump (FuncState *fs, int pc, int dest) {
+  Instruction *jmp = &fs->f->code[pc];
+  int offset = dest-(pc+1);
+  lua_assert(dest != NO_JUMP);
+  if (abs(offset) > MAXARG_sBx)
+    luaX_syntaxerror(fs->ls, "control structure too long");
+  SETARG_sBx(*jmp, offset);
+}
+
+
+/*
+** returns current `pc' and marks it as a jump target (to avoid wrong
+** optimizations with consecutive instructions not in the same basic block).
+*/
+int luaK_getlabel (FuncState *fs) {
+  fs->lasttarget = fs->pc;
+  return fs->pc;
+}
+
+
+static int luaK_getjump (FuncState *fs, int pc) {
+  int offset = GETARG_sBx(fs->f->code[pc]);
+  if (offset == NO_JUMP)  /* point to itself represents end of list */
+    return NO_JUMP;  /* end of list */
+  else
+    return (pc+1)+offset;  /* turn offset into absolute position */
+}
+
+
+static Instruction *getjumpcontrol (FuncState *fs, int pc) {
+  Instruction *pi = &fs->f->code[pc];
+  if (pc >= 1 && testOpMode(GET_OPCODE(*(pi-1)), OpModeT))
+    return pi-1;
+  else
+    return pi;
+}
+
+
+/*
+** check whether list has any jump that do not produce a value
+** (or produce an inverted value)
+*/
+static int need_value (FuncState *fs, int list, int cond) {
+  for (; list != NO_JUMP; list = luaK_getjump(fs, list)) {
+    Instruction i = *getjumpcontrol(fs, list);
+    if (GET_OPCODE(i) != OP_TEST || GETARG_C(i) != cond) return 1;
+  }
+  return 0;  /* not found */
+}
+
+
+static void patchtestreg (Instruction *i, int reg) {
+  if (reg == NO_REG) reg = GETARG_B(*i);
+  SETARG_A(*i, reg);
+}
+
+
+static void luaK_patchlistaux (FuncState *fs, int list,
+          int ttarget, int treg, int ftarget, int freg, int dtarget) {
+  while (list != NO_JUMP) {
+    int next = luaK_getjump(fs, list);
+    Instruction *i = getjumpcontrol(fs, list);
+    if (GET_OPCODE(*i) != OP_TEST) {
+      lua_assert(dtarget != NO_JUMP);
+      luaK_fixjump(fs, list, dtarget);  /* jump to default target */
+    }
+    else {
+      if (GETARG_C(*i)) {
+        lua_assert(ttarget != NO_JUMP);
+        patchtestreg(i, treg);
+        luaK_fixjump(fs, list, ttarget);
+      }
+      else {
+        lua_assert(ftarget != NO_JUMP);
+        patchtestreg(i, freg);
+        luaK_fixjump(fs, list, ftarget);
+      }
+    }
+    list = next;
+  }
+}
+
+
+static void luaK_dischargejpc (FuncState *fs) {
+  luaK_patchlistaux(fs, fs->jpc, fs->pc, NO_REG, fs->pc, NO_REG, fs->pc);
+  fs->jpc = NO_JUMP;
+}
+
+
+void luaK_patchlist (FuncState *fs, int list, int target) {
+  if (target == fs->pc)
+    luaK_patchtohere(fs, list);
+  else {
+    lua_assert(target < fs->pc);
+    luaK_patchlistaux(fs, list, target, NO_REG, target, NO_REG, target);
+  }
+}
+
+
+void luaK_patchtohere (FuncState *fs, int list) {
+  luaK_getlabel(fs);
+  luaK_concat(fs, &fs->jpc, list);
+}
+
+
+void luaK_concat (FuncState *fs, int *l1, int l2) {
+  if (l2 == NO_JUMP) return;
+  else if (*l1 == NO_JUMP)
+    *l1 = l2;
+  else {
+    int list = *l1;
+    int next;
+    while ((next = luaK_getjump(fs, list)) != NO_JUMP)  /* find last element */
+      list = next;
+    luaK_fixjump(fs, list, l2);
+  }
+}
+
+
+void luaK_checkstack (FuncState *fs, int n) {
+  int newstack = fs->freereg + n;
+  if (newstack > fs->f->maxstacksize) {
+    if (newstack >= MAXSTACK)
+      luaX_syntaxerror(fs->ls, "function or expression too complex");
+    fs->f->maxstacksize = cast(lu_byte, newstack);
+  }
+}
+
+
+void luaK_reserveregs (FuncState *fs, int n) {
+  luaK_checkstack(fs, n);
+  fs->freereg += n;
+}
+
+
+static void freereg (FuncState *fs, int reg) {
+  if (reg >= fs->nactvar && reg < MAXSTACK) {
+    fs->freereg--;
+    lua_assert(reg == fs->freereg);
+  }
+}
+
+
+static void freeexp (FuncState *fs, expdesc *e) {
+  if (e->k == VNONRELOC)
+    freereg(fs, e->info);
+}
+
+
+static int addk (FuncState *fs, TObject *k, TObject *v) {
+  const TObject *idx = luaH_get(fs->h, k);
+  if (ttisnumber(idx)) {
+    lua_assert(luaO_rawequalObj(&fs->f->k[cast(int, nvalue(idx))], v));
+    return cast(int, nvalue(idx));
+  }
+  else {  /* constant not found; create a new entry */
+    Proto *f = fs->f;
+    luaM_growvector(fs->L, f->k, fs->nk, f->sizek, TObject,
+                    MAXARG_Bx, "constant table overflow");
+    setobj2n(&f->k[fs->nk], v);
+    setnvalue(luaH_set(fs->L, fs->h, k), cast(lua_Number, fs->nk));
+    return fs->nk++;
+  }
+}
+
+
+int luaK_stringK (FuncState *fs, TString *s) {
+  TObject o;
+  setsvalue(&o, s);
+  return addk(fs, &o, &o);
+}
+
+
+int luaK_numberK (FuncState *fs, lua_Number r) {
+  TObject o;
+  setnvalue(&o, r);
+  return addk(fs, &o, &o);
+}
+
+
+static int nil_constant (FuncState *fs) {
+  TObject k, v;
+  setnilvalue(&v);
+  sethvalue(&k, fs->h);  /* cannot use nil as key; instead use table itself */
+  return addk(fs, &k, &v);
+}
+
+
+void luaK_setcallreturns (FuncState *fs, expdesc *e, int nresults) {
+  if (e->k == VCALL) {  /* expression is an open function call? */
+    SETARG_C(getcode(fs, e), nresults+1);
+    if (nresults == 1) {  /* `regular' expression? */
+      e->k = VNONRELOC;
+      e->info = GETARG_A(getcode(fs, e));
+    }
+  }
+}
+
+
+void luaK_dischargevars (FuncState *fs, expdesc *e) {
+  switch (e->k) {
+    case VLOCAL: {
+      e->k = VNONRELOC;
+      break;
+    }
+    case VUPVAL: {
+      e->info = luaK_codeABC(fs, OP_GETUPVAL, 0, e->info, 0);
+      e->k = VRELOCABLE;
+      break;
+    }
+    case VGLOBAL: {
+      e->info = luaK_codeABx(fs, OP_GETGLOBAL, 0, e->info);
+      e->k = VRELOCABLE;
+      break;
+    }
+    case VINDEXED: {
+      freereg(fs, e->aux);
+      freereg(fs, e->info);
+      e->info = luaK_codeABC(fs, OP_GETTABLE, 0, e->info, e->aux);
+      e->k = VRELOCABLE;
+      break;
+    }
+    case VCALL: {
+      luaK_setcallreturns(fs, e, 1);
+      break;
+    }
+    default: break;  /* there is one value available (somewhere) */
+  }
+}
+
+
+static int code_label (FuncState *fs, int A, int b, int jump) {
+  luaK_getlabel(fs);  /* those instructions may be jump targets */
+  return luaK_codeABC(fs, OP_LOADBOOL, A, b, jump);
+}
+
+
+static void discharge2reg (FuncState *fs, expdesc *e, int reg) {
+  luaK_dischargevars(fs, e);
+  switch (e->k) {
+    case VNIL: {
+      luaK_nil(fs, reg, 1);
+      break;
+    }
+    case VFALSE:  case VTRUE: {
+      luaK_codeABC(fs, OP_LOADBOOL, reg, e->k == VTRUE, 0);
+      break;
+    }
+    case VK: {
+      luaK_codeABx(fs, OP_LOADK, reg, e->info);
+      break;
+    }
+    case VRELOCABLE: {
+      Instruction *pc = &getcode(fs, e);
+      SETARG_A(*pc, reg);
+      break;
+    }
+    case VNONRELOC: {
+      if (reg != e->info)
+        luaK_codeABC(fs, OP_MOVE, reg, e->info, 0);
+      break;
+    }
+    default: {
+      lua_assert(e->k == VVOID || e->k == VJMP);
+      return;  /* nothing to do... */
+    }
+  }
+  e->info = reg;
+  e->k = VNONRELOC;
+}
+
+
+static void discharge2anyreg (FuncState *fs, expdesc *e) {
+  if (e->k != VNONRELOC) {
+    luaK_reserveregs(fs, 1);
+    discharge2reg(fs, e, fs->freereg-1);
+  }
+}
+
+
+static void luaK_exp2reg (FuncState *fs, expdesc *e, int reg) {
+  discharge2reg(fs, e, reg);
+  if (e->k == VJMP)
+    luaK_concat(fs, &e->t, e->info);  /* put this jump in `t' list */
+  if (hasjumps(e)) {
+    int final;  /* position after whole expression */
+    int p_f = NO_JUMP;  /* position of an eventual LOAD false */
+    int p_t = NO_JUMP;  /* position of an eventual LOAD true */
+    if (need_value(fs, e->t, 1) || need_value(fs, e->f, 0)) {
+      int fj = NO_JUMP;  /* first jump (over LOAD ops.) */
+      if (e->k != VJMP)
+        fj = luaK_jump(fs);
+      p_f = code_label(fs, reg, 0, 1);
+      p_t = code_label(fs, reg, 1, 0);
+      luaK_patchtohere(fs, fj);
+    }
+    final = luaK_getlabel(fs);
+    luaK_patchlistaux(fs, e->f, p_f, NO_REG, final, reg, p_f);
+    luaK_patchlistaux(fs, e->t, final, reg, p_t, NO_REG, p_t);
+  }
+  e->f = e->t = NO_JUMP;
+  e->info = reg;
+  e->k = VNONRELOC;
+}
+
+
+void luaK_exp2nextreg (FuncState *fs, expdesc *e) {
+  luaK_dischargevars(fs, e);
+  freeexp(fs, e);
+  luaK_reserveregs(fs, 1);
+  luaK_exp2reg(fs, e, fs->freereg - 1);
+}
+
+
+int luaK_exp2anyreg (FuncState *fs, expdesc *e) {
+  luaK_dischargevars(fs, e);
+  if (e->k == VNONRELOC) {
+    if (!hasjumps(e)) return e->info;  /* exp is already in a register */ 
+    if (e->info >= fs->nactvar) {  /* reg. is not a local? */
+      luaK_exp2reg(fs, e, e->info);  /* put value on it */
+      return e->info;
+    }
+  }
+  luaK_exp2nextreg(fs, e);  /* default */
+  return e->info;
+}
+
+
+void luaK_exp2val (FuncState *fs, expdesc *e) {
+  if (hasjumps(e))
+    luaK_exp2anyreg(fs, e);
+  else
+    luaK_dischargevars(fs, e);
+}
+
+
+int luaK_exp2RK (FuncState *fs, expdesc *e) {
+  luaK_exp2val(fs, e);
+  switch (e->k) {
+    case VNIL: {
+      if (fs->nk + MAXSTACK <= MAXARG_C) {  /* constant fit in argC? */
+        e->info = nil_constant(fs);
+        e->k = VK;
+        return e->info + MAXSTACK;
+      }
+      else break;
+    }
+    case VK: {
+      if (e->info + MAXSTACK <= MAXARG_C)  /* constant fit in argC? */
+        return e->info + MAXSTACK;
+      else break;
+    }
+    default: break;
+  }
+  /* not a constant in the right range: put it in a register */
+  return luaK_exp2anyreg(fs, e);
+}
+
+
+void luaK_storevar (FuncState *fs, expdesc *var, expdesc *exp) {
+  switch (var->k) {
+    case VLOCAL: {
+      freeexp(fs, exp);
+      luaK_exp2reg(fs, exp, var->info);
+      return;
+    }
+    case VUPVAL: {
+      int e = luaK_exp2anyreg(fs, exp);
+      luaK_codeABC(fs, OP_SETUPVAL, e, var->info, 0);
+      break;
+    }
+    case VGLOBAL: {
+      int e = luaK_exp2anyreg(fs, exp);
+      luaK_codeABx(fs, OP_SETGLOBAL, e, var->info);
+      break;
+    }
+    case VINDEXED: {
+      int e = luaK_exp2RK(fs, exp);
+      luaK_codeABC(fs, OP_SETTABLE, var->info, var->aux, e);
+      break;
+    }
+    default: {
+      lua_assert(0);  /* invalid var kind to store */
+      break;
+    }
+  }
+  freeexp(fs, exp);
+}
+
+
+void luaK_self (FuncState *fs, expdesc *e, expdesc *key) {
+  int func;
+  luaK_exp2anyreg(fs, e);
+  freeexp(fs, e);
+  func = fs->freereg;
+  luaK_reserveregs(fs, 2);
+  luaK_codeABC(fs, OP_SELF, func, e->info, luaK_exp2RK(fs, key));
+  freeexp(fs, key);
+  e->info = func;
+  e->k = VNONRELOC;
+}
+
+
+static void invertjump (FuncState *fs, expdesc *e) {
+  Instruction *pc = getjumpcontrol(fs, e->info);
+  lua_assert(testOpMode(GET_OPCODE(*pc), OpModeT) &&
+             GET_OPCODE(*pc) != OP_TEST);
+  SETARG_A(*pc, !(GETARG_A(*pc)));
+}
+
+
+static int jumponcond (FuncState *fs, expdesc *e, int cond) {
+  if (e->k == VRELOCABLE) {
+    Instruction ie = getcode(fs, e);
+    if (GET_OPCODE(ie) == OP_NOT) {
+      fs->pc--;  /* remove previous OP_NOT */
+      return luaK_condjump(fs, OP_TEST, NO_REG, GETARG_B(ie), !cond);
+    }
+    /* else go through */
+  }
+  discharge2anyreg(fs, e);
+  freeexp(fs, e);
+  return luaK_condjump(fs, OP_TEST, NO_REG, e->info, cond);
+}
+
+
+void luaK_goiftrue (FuncState *fs, expdesc *e) {
+  int pc;  /* pc of last jump */
+  luaK_dischargevars(fs, e);
+  switch (e->k) {
+    case VK: case VTRUE: {
+      pc = NO_JUMP;  /* always true; do nothing */
+      break;
+    }
+    case VFALSE: {
+      pc = luaK_jump(fs);  /* always jump */
+      break;
+    }
+    case VJMP: {
+      invertjump(fs, e);
+      pc = e->info;
+      break;
+    }
+    default: {
+      pc = jumponcond(fs, e, 0);
+      break;
+    }
+  }
+  luaK_concat(fs, &e->f, pc);  /* insert last jump in `f' list */
+}
+
+
+void luaK_goiffalse (FuncState *fs, expdesc *e) {
+  int pc;  /* pc of last jump */
+  luaK_dischargevars(fs, e);
+  switch (e->k) {
+    case VNIL: case VFALSE: {
+      pc = NO_JUMP;  /* always false; do nothing */
+      break;
+    }
+    case VTRUE: {
+      pc = luaK_jump(fs);  /* always jump */
+      break;
+    }
+    case VJMP: {
+      pc = e->info;
+      break;
+    }
+    default: {
+      pc = jumponcond(fs, e, 1);
+      break;
+    }
+  }
+  luaK_concat(fs, &e->t, pc);  /* insert last jump in `t' list */
+}
+
+
+static void codenot (FuncState *fs, expdesc *e) {
+  luaK_dischargevars(fs, e);
+  switch (e->k) {
+    case VNIL: case VFALSE: {
+      e->k = VTRUE;
+      break;
+    }
+    case VK: case VTRUE: {
+      e->k = VFALSE;
+      break;
+    }
+    case VJMP: {
+      invertjump(fs, e);
+      break;
+    }
+    case VRELOCABLE:
+    case VNONRELOC: {
+      discharge2anyreg(fs, e);
+      freeexp(fs, e);
+      e->info = luaK_codeABC(fs, OP_NOT, 0, e->info, 0);
+      e->k = VRELOCABLE;
+      break;
+    }
+    default: {
+      lua_assert(0);  /* cannot happen */
+      break;
+    }
+  }
+  /* interchange true and false lists */
+  { int temp = e->f; e->f = e->t; e->t = temp; }
+}
+
+
+void luaK_indexed (FuncState *fs, expdesc *t, expdesc *k) {
+  t->aux = luaK_exp2RK(fs, k);
+  t->k = VINDEXED;
+}
+
+
+void luaK_prefix (FuncState *fs, UnOpr op, expdesc *e) {
+  if (op == OPR_MINUS) {
+    luaK_exp2val(fs, e);
+    if (e->k == VK && ttisnumber(&fs->f->k[e->info]))
+      e->info = luaK_numberK(fs, -nvalue(&fs->f->k[e->info]));
+    else {
+      luaK_exp2anyreg(fs, e);
+      freeexp(fs, e);
+      e->info = luaK_codeABC(fs, OP_UNM, 0, e->info, 0);
+      e->k = VRELOCABLE;
+    }
+  }
+  else  /* op == NOT */
+    codenot(fs, e);
+}
+
+
+void luaK_infix (FuncState *fs, BinOpr op, expdesc *v) {
+  switch (op) {
+    case OPR_AND: {
+      luaK_goiftrue(fs, v);
+      luaK_patchtohere(fs, v->t);
+      v->t = NO_JUMP;
+      break;
+    }
+    case OPR_OR: {
+      luaK_goiffalse(fs, v);
+      luaK_patchtohere(fs, v->f);
+      v->f = NO_JUMP;
+      break;
+    }
+    case OPR_CONCAT: {
+      luaK_exp2nextreg(fs, v);  /* operand must be on the `stack' */
+      break;
+    }
+    default: {
+      luaK_exp2RK(fs, v);
+      break;
+    }
+  }
+}
+
+
+static void codebinop (FuncState *fs, expdesc *res, BinOpr op,
+                       int o1, int o2) {
+  if (op <= OPR_POW) {  /* arithmetic operator? */
+    OpCode opc = cast(OpCode, (op - OPR_ADD) + OP_ADD);  /* ORDER OP */
+    res->info = luaK_codeABC(fs, opc, 0, o1, o2);
+    res->k = VRELOCABLE;
+  }
+  else {  /* test operator */
+    static const OpCode ops[] = {OP_EQ, OP_EQ, OP_LT, OP_LE, OP_LT, OP_LE};
+    int cond = 1;
+    if (op >= OPR_GT) {  /* `>' or `>='? */
+      int temp;  /* exchange args and replace by `<' or `<=' */
+      temp = o1; o1 = o2; o2 = temp;  /* o1 <==> o2 */
+    }
+    else if (op == OPR_NE) cond = 0;
+    res->info = luaK_condjump(fs, ops[op - OPR_NE], cond, o1, o2);
+    res->k = VJMP;
+  }
+}
+
+
+void luaK_posfix (FuncState *fs, BinOpr op, expdesc *e1, expdesc *e2) {
+  switch (op) {
+    case OPR_AND: {
+      lua_assert(e1->t == NO_JUMP);  /* list must be closed */
+      luaK_dischargevars(fs, e2);
+      luaK_concat(fs, &e1->f, e2->f);
+      e1->k = e2->k; e1->info = e2->info; e1->aux = e2->aux; e1->t = e2->t;
+      break;
+    }
+    case OPR_OR: {
+      lua_assert(e1->f == NO_JUMP);  /* list must be closed */
+      luaK_dischargevars(fs, e2);
+      luaK_concat(fs, &e1->t, e2->t);
+      e1->k = e2->k; e1->info = e2->info; e1->aux = e2->aux; e1->f = e2->f;
+      break;
+    }
+    case OPR_CONCAT: {
+      luaK_exp2val(fs, e2);
+      if (e2->k == VRELOCABLE && GET_OPCODE(getcode(fs, e2)) == OP_CONCAT) {
+        lua_assert(e1->info == GETARG_B(getcode(fs, e2))-1);
+        freeexp(fs, e1);
+        SETARG_B(getcode(fs, e2), e1->info);
+        e1->k = e2->k; e1->info = e2->info;
+      }
+      else {
+        luaK_exp2nextreg(fs, e2);
+        freeexp(fs, e2);
+        freeexp(fs, e1);
+        e1->info = luaK_codeABC(fs, OP_CONCAT, 0, e1->info, e2->info);
+        e1->k = VRELOCABLE;
+      }
+      break;
+    }
+    default: {
+      int o1 = luaK_exp2RK(fs, e1);
+      int o2 = luaK_exp2RK(fs, e2);
+      freeexp(fs, e2);
+      freeexp(fs, e1);
+      codebinop(fs, e1, op, o1, o2);
+    }
+  }
+}
+
+
+void luaK_fixline (FuncState *fs, int line) {
+  fs->f->lineinfo[fs->pc - 1] = line;
+}
+
+
+int luaK_code (FuncState *fs, Instruction i, int line) {
+  Proto *f = fs->f;
+  luaK_dischargejpc(fs);  /* `pc' will change */
+  /* put new instruction in code array */
+  luaM_growvector(fs->L, f->code, fs->pc, f->sizecode, Instruction,
+                  MAX_INT, "code size overflow");
+  f->code[fs->pc] = i;
+  /* save corresponding line information */
+  luaM_growvector(fs->L, f->lineinfo, fs->pc, f->sizelineinfo, int,
+                  MAX_INT, "code size overflow");
+  f->lineinfo[fs->pc] = line;
+  return fs->pc++;
+}
+
+
+int luaK_codeABC (FuncState *fs, OpCode o, int a, int b, int c) {
+  lua_assert(getOpMode(o) == iABC);
+  return luaK_code(fs, CREATE_ABC(o, a, b, c), fs->ls->lastline);
+}
+
+
+int luaK_codeABx (FuncState *fs, OpCode o, int a, unsigned int bc) {
+  lua_assert(getOpMode(o) == iABx || getOpMode(o) == iAsBx);
+  return luaK_code(fs, CREATE_ABx(o, a, bc), fs->ls->lastline);
+}
+
diff -Naur xmoto-0.1.10/src/lua/lcode.h xmoto-0.1.10-patched/src/lua/lcode.h
--- xmoto-0.1.10/src/lua/lcode.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lcode.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,74 @@
+/*
+** $Id: lcode.h,v 1.38 2002/12/11 12:34:22 roberto Exp $
+** Code generator for Lua
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lcode_h
+#define lcode_h
+
+#include "llex.h"
+#include "lobject.h"
+#include "lopcodes.h"
+#include "lparser.h"
+
+
+/*
+** Marks the end of a patch list. It is an invalid value both as an absolute
+** address, and as a list link (would link an element to itself).
+*/
+#define NO_JUMP (-1)
+
+
+/*
+** grep "ORDER OPR" if you change these enums
+*/
+typedef enum BinOpr {
+  OPR_ADD, OPR_SUB, OPR_MULT, OPR_DIV, OPR_POW,
+  OPR_CONCAT,
+  OPR_NE, OPR_EQ,
+  OPR_LT, OPR_LE, OPR_GT, OPR_GE,
+  OPR_AND, OPR_OR,
+  OPR_NOBINOPR
+} BinOpr;
+
+#define binopistest(op)	((op) >= OPR_NE)
+
+typedef enum UnOpr { OPR_MINUS, OPR_NOT, OPR_NOUNOPR } UnOpr;
+
+
+#define getcode(fs,e)	((fs)->f->code[(e)->info])
+
+#define luaK_codeAsBx(fs,o,A,sBx)	luaK_codeABx(fs,o,A,(sBx)+MAXARG_sBx)
+
+int luaK_code (FuncState *fs, Instruction i, int line);
+int luaK_codeABx (FuncState *fs, OpCode o, int A, unsigned int Bx);
+int luaK_codeABC (FuncState *fs, OpCode o, int A, int B, int C);
+void luaK_fixline (FuncState *fs, int line);
+void luaK_nil (FuncState *fs, int from, int n);
+void luaK_reserveregs (FuncState *fs, int n);
+void luaK_checkstack (FuncState *fs, int n);
+int luaK_stringK (FuncState *fs, TString *s);
+int luaK_numberK (FuncState *fs, lua_Number r);
+void luaK_dischargevars (FuncState *fs, expdesc *e);
+int luaK_exp2anyreg (FuncState *fs, expdesc *e);
+void luaK_exp2nextreg (FuncState *fs, expdesc *e);
+void luaK_exp2val (FuncState *fs, expdesc *e);
+int luaK_exp2RK (FuncState *fs, expdesc *e);
+void luaK_self (FuncState *fs, expdesc *e, expdesc *key);
+void luaK_indexed (FuncState *fs, expdesc *t, expdesc *k);
+void luaK_goiftrue (FuncState *fs, expdesc *e);
+void luaK_goiffalse (FuncState *fs, expdesc *e);
+void luaK_storevar (FuncState *fs, expdesc *var, expdesc *e);
+void luaK_setcallreturns (FuncState *fs, expdesc *var, int nresults);
+int luaK_jump (FuncState *fs);
+void luaK_patchlist (FuncState *fs, int list, int target);
+void luaK_patchtohere (FuncState *fs, int list);
+void luaK_concat (FuncState *fs, int *l1, int l2);
+int luaK_getlabel (FuncState *fs);
+void luaK_prefix (FuncState *fs, UnOpr op, expdesc *v);
+void luaK_infix (FuncState *fs, BinOpr op, expdesc *v);
+void luaK_posfix (FuncState *fs, BinOpr op, expdesc *v1, expdesc *v2);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/ldebug.c xmoto-0.1.10-patched/src/lua/ldebug.c
--- xmoto-0.1.10/src/lua/ldebug.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ldebug.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,585 @@
+/*
+** $Id: ldebug.c,v 1.150 2003/03/19 21:24:04 roberto Exp $
+** Debug Interface
+** See Copyright Notice in lua.h
+*/
+
+
+#include <stdlib.h>
+#include <string.h>
+
+#define ldebug_c
+
+#include "lua.h"
+
+#include "lapi.h"
+#include "lcode.h"
+#include "ldebug.h"
+#include "ldo.h"
+#include "lfunc.h"
+#include "lobject.h"
+#include "lopcodes.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "ltable.h"
+#include "ltm.h"
+#include "lvm.h"
+
+
+
+static const char *getfuncname (CallInfo *ci, const char **name);
+
+
+#define isLua(ci)	(!((ci)->state & CI_C))
+
+
+static int currentpc (CallInfo *ci) {
+  if (!isLua(ci)) return -1;  /* function is not a Lua function? */
+  if (ci->state & CI_HASFRAME)  /* function has a frame? */
+    ci->u.l.savedpc = *ci->u.l.pc;  /* use `pc' from there */
+  /* function's pc is saved */
+  return pcRel(ci->u.l.savedpc, ci_func(ci)->l.p);
+}
+
+
+static int currentline (CallInfo *ci) {
+  int pc = currentpc(ci);
+  if (pc < 0)
+    return -1;  /* only active lua functions have current-line information */
+  else
+    return getline(ci_func(ci)->l.p, pc);
+}
+
+
+void luaG_inithooks (lua_State *L) {
+  CallInfo *ci;
+  for (ci = L->ci; ci != L->base_ci; ci--)  /* update all `savedpc's */
+    currentpc(ci);
+  L->hookinit = 1;
+}
+
+
+/*
+** this function can be called asynchronous (e.g. during a signal)
+*/
+LUA_API int lua_sethook (lua_State *L, lua_Hook func, int mask, int count) {
+  if (func == NULL || mask == 0) {  /* turn off hooks? */
+    mask = 0;
+    func = NULL;
+  }
+  L->hook = func;
+  L->basehookcount = count;
+  resethookcount(L);
+  L->hookmask = cast(lu_byte, mask);
+  L->hookinit = 0;
+  return 1;
+}
+
+
+LUA_API lua_Hook lua_gethook (lua_State *L) {
+  return L->hook;
+}
+
+
+LUA_API int lua_gethookmask (lua_State *L) {
+  return L->hookmask;
+}
+
+
+LUA_API int lua_gethookcount (lua_State *L) {
+  return L->basehookcount;
+}
+
+
+LUA_API int lua_getstack (lua_State *L, int level, lua_Debug *ar) {
+  int status;
+  CallInfo *ci;
+  lua_lock(L);
+  for (ci = L->ci; level > 0 && ci > L->base_ci; ci--) {
+    level--;
+    if (!(ci->state & CI_C))  /* Lua function? */
+      level -= ci->u.l.tailcalls;  /* skip lost tail calls */
+  }
+  if (level > 0 || ci == L->base_ci) status = 0;  /* there is no such level */
+  else if (level < 0) {  /* level is of a lost tail call */
+    status = 1;
+    ar->i_ci = 0;
+  }
+  else {
+    status = 1;
+    ar->i_ci = ci - L->base_ci;
+  }
+  lua_unlock(L);
+  return status;
+}
+
+
+static Proto *getluaproto (CallInfo *ci) {
+  return (isLua(ci) ? ci_func(ci)->l.p : NULL);
+}
+
+
+LUA_API const char *lua_getlocal (lua_State *L, const lua_Debug *ar, int n) {
+  const char *name;
+  CallInfo *ci;
+  Proto *fp;
+  lua_lock(L);
+  name = NULL;
+  ci = L->base_ci + ar->i_ci;
+  fp = getluaproto(ci);
+  if (fp) {  /* is a Lua function? */
+    name = luaF_getlocalname(fp, n, currentpc(ci));
+    if (name)
+      luaA_pushobject(L, ci->base+(n-1));  /* push value */
+  }
+  lua_unlock(L);
+  return name;
+}
+
+
+LUA_API const char *lua_setlocal (lua_State *L, const lua_Debug *ar, int n) {
+  const char *name;
+  CallInfo *ci;
+  Proto *fp;
+  lua_lock(L);
+  name = NULL;
+  ci = L->base_ci + ar->i_ci;
+  fp = getluaproto(ci);
+  L->top--;  /* pop new value */
+  if (fp) {  /* is a Lua function? */
+    name = luaF_getlocalname(fp, n, currentpc(ci));
+    if (!name || name[0] == '(')  /* `(' starts private locals */
+      name = NULL;
+    else
+      setobjs2s(ci->base+(n-1), L->top);
+  }
+  lua_unlock(L);
+  return name;
+}
+
+
+static void funcinfo (lua_Debug *ar, StkId func) {
+  Closure *cl = clvalue(func);
+  if (cl->c.isC) {
+    ar->source = "=[C]";
+    ar->linedefined = -1;
+    ar->what = "C";
+  }
+  else {
+    ar->source = getstr(cl->l.p->source);
+    ar->linedefined = cl->l.p->lineDefined;
+    ar->what = (ar->linedefined == 0) ? "main" : "Lua";
+  }
+  luaO_chunkid(ar->short_src, ar->source, LUA_IDSIZE);
+}
+
+
+static const char *travglobals (lua_State *L, const TObject *o) {
+  Table *g = hvalue(gt(L));
+  int i = sizenode(g);
+  while (i--) {
+    Node *n = gnode(g, i);
+    if (luaO_rawequalObj(o, gval(n)) && ttisstring(gkey(n)))
+      return getstr(tsvalue(gkey(n)));
+  }
+  return NULL;
+}
+
+
+static void info_tailcall (lua_State *L, lua_Debug *ar) {
+  ar->name = ar->namewhat = "";
+  ar->what = "tail";
+  ar->linedefined = ar->currentline = -1;
+  ar->source = "=(tail call)";
+  luaO_chunkid(ar->short_src, ar->source, LUA_IDSIZE);
+  ar->nups = 0;
+  setnilvalue(L->top);
+}
+
+
+static int auxgetinfo (lua_State *L, const char *what, lua_Debug *ar,
+                    StkId f, CallInfo *ci) {
+  int status = 1;
+  for (; *what; what++) {
+    switch (*what) {
+      case 'S': {
+        funcinfo(ar, f);
+        break;
+      }
+      case 'l': {
+        ar->currentline = (ci) ? currentline(ci) : -1;
+        break;
+      }
+      case 'u': {
+        ar->nups = clvalue(f)->c.nupvalues;
+        break;
+      }
+      case 'n': {
+        ar->namewhat = (ci) ? getfuncname(ci, &ar->name) : NULL;
+        if (ar->namewhat == NULL) {
+          /* try to find a global name */
+          if ((ar->name = travglobals(L, f)) != NULL)
+            ar->namewhat = "global";
+          else ar->namewhat = "";  /* not found */
+        }
+        break;
+      }
+      case 'f': {
+        setobj2s(L->top, f);
+        break;
+      }
+      default: status = 0;  /* invalid option */
+    }
+  }
+  return status;
+}
+
+
+LUA_API int lua_getinfo (lua_State *L, const char *what, lua_Debug *ar) {
+  int status = 1;
+  lua_lock(L);
+  if (*what == '>') {
+    StkId f = L->top - 1;
+    if (!ttisfunction(f))
+      luaG_runerror(L, "value for `lua_getinfo' is not a function");
+    status = auxgetinfo(L, what + 1, ar, f, NULL);
+    L->top--;  /* pop function */
+  }
+  else if (ar->i_ci != 0) {  /* no tail call? */
+    CallInfo *ci = L->base_ci + ar->i_ci;
+    lua_assert(ttisfunction(ci->base - 1));
+    status = auxgetinfo(L, what, ar, ci->base - 1, ci);
+  }
+  else
+    info_tailcall(L, ar);
+  if (strchr(what, 'f')) incr_top(L);
+  lua_unlock(L);
+  return status;
+}
+
+
+/*
+** {======================================================
+** Symbolic Execution and code checker
+** =======================================================
+*/
+
+#define check(x)		if (!(x)) return 0;
+
+#define checkjump(pt,pc)	check(0 <= pc && pc < pt->sizecode)
+
+#define checkreg(pt,reg)	check((reg) < (pt)->maxstacksize)
+
+
+
+static int precheck (const Proto *pt) {
+  check(pt->maxstacksize <= MAXSTACK);
+  check(pt->sizelineinfo == pt->sizecode || pt->sizelineinfo == 0);
+  lua_assert(pt->numparams+pt->is_vararg <= pt->maxstacksize);
+  check(GET_OPCODE(pt->code[pt->sizecode-1]) == OP_RETURN);
+  return 1;
+}
+
+
+static int checkopenop (const Proto *pt, int pc) {
+  Instruction i = pt->code[pc+1];
+  switch (GET_OPCODE(i)) {
+    case OP_CALL:
+    case OP_TAILCALL:
+    case OP_RETURN: {
+      check(GETARG_B(i) == 0);
+      return 1;
+    }
+    case OP_SETLISTO: return 1;
+    default: return 0;  /* invalid instruction after an open call */
+  }
+}
+
+
+static int checkRK (const Proto *pt, int r) {
+  return (r < pt->maxstacksize || (r >= MAXSTACK && r-MAXSTACK < pt->sizek));
+}
+
+
+static Instruction luaG_symbexec (const Proto *pt, int lastpc, int reg) {
+  int pc;
+  int last;  /* stores position of last instruction that changed `reg' */
+  last = pt->sizecode-1;  /* points to final return (a `neutral' instruction) */
+  check(precheck(pt));
+  for (pc = 0; pc < lastpc; pc++) {
+    const Instruction i = pt->code[pc];
+    OpCode op = GET_OPCODE(i);
+    int a = GETARG_A(i);
+    int b = 0;
+    int c = 0;
+    checkreg(pt, a);
+    switch (getOpMode(op)) {
+      case iABC: {
+        b = GETARG_B(i);
+        c = GETARG_C(i);
+        if (testOpMode(op, OpModeBreg)) {
+          checkreg(pt, b);
+        }
+        else if (testOpMode(op, OpModeBrk))
+          check(checkRK(pt, b));
+        if (testOpMode(op, OpModeCrk))
+          check(checkRK(pt, c));
+        break;
+      }
+      case iABx: {
+        b = GETARG_Bx(i);
+        if (testOpMode(op, OpModeK)) check(b < pt->sizek);
+        break;
+      }
+      case iAsBx: {
+        b = GETARG_sBx(i);
+        break;
+      }
+    }
+    if (testOpMode(op, OpModesetA)) {
+      if (a == reg) last = pc;  /* change register `a' */
+    }
+    if (testOpMode(op, OpModeT)) {
+      check(pc+2 < pt->sizecode);  /* check skip */
+      check(GET_OPCODE(pt->code[pc+1]) == OP_JMP);
+    }
+    switch (op) {
+      case OP_LOADBOOL: {
+        check(c == 0 || pc+2 < pt->sizecode);  /* check its jump */
+        break;
+      }
+      case OP_LOADNIL: {
+        if (a <= reg && reg <= b)
+          last = pc;  /* set registers from `a' to `b' */
+        break;
+      }
+      case OP_GETUPVAL:
+      case OP_SETUPVAL: {
+        check(b < pt->nups);
+        break;
+      }
+      case OP_GETGLOBAL:
+      case OP_SETGLOBAL: {
+        check(ttisstring(&pt->k[b]));
+        break;
+      }
+      case OP_SELF: {
+        checkreg(pt, a+1);
+        if (reg == a+1) last = pc;
+        break;
+      }
+      case OP_CONCAT: {
+        /* `c' is a register, and at least two operands */
+        check(c < MAXSTACK && b < c);
+        break;
+      }
+      case OP_TFORLOOP:
+        checkreg(pt, a+c+5);
+        if (reg >= a) last = pc;  /* affect all registers above base */
+        /* go through */
+      case OP_FORLOOP:
+        checkreg(pt, a+2);
+        /* go through */
+      case OP_JMP: {
+        int dest = pc+1+b;
+	check(0 <= dest && dest < pt->sizecode);
+        /* not full check and jump is forward and do not skip `lastpc'? */
+        if (reg != NO_REG && pc < dest && dest <= lastpc)
+          pc += b;  /* do the jump */
+        break;
+      }
+      case OP_CALL:
+      case OP_TAILCALL: {
+        if (b != 0) {
+          checkreg(pt, a+b-1);
+        }
+        c--;  /* c = num. returns */
+        if (c == LUA_MULTRET) {
+          check(checkopenop(pt, pc));
+        }
+        else if (c != 0)
+          checkreg(pt, a+c-1);
+        if (reg >= a) last = pc;  /* affect all registers above base */
+        break;
+      }
+      case OP_RETURN: {
+        b--;  /* b = num. returns */
+        if (b > 0) checkreg(pt, a+b-1);
+        break;
+      }
+      case OP_SETLIST: {
+        checkreg(pt, a + (b&(LFIELDS_PER_FLUSH-1)) + 1);
+        break;
+      }
+      case OP_CLOSURE: {
+        int nup;
+        check(b < pt->sizep);
+        nup = pt->p[b]->nups;
+        check(pc + nup < pt->sizecode);
+        for (; nup>0; nup--) {
+          OpCode op1 = GET_OPCODE(pt->code[pc+nup]);
+          check(op1 == OP_GETUPVAL || op1 == OP_MOVE);
+        }
+        break;
+      }
+      default: break;
+    }
+  }
+  return pt->code[last];
+}
+
+#undef check
+#undef checkjump
+#undef checkreg
+
+/* }====================================================== */
+
+
+int luaG_checkcode (const Proto *pt) {
+  return luaG_symbexec(pt, pt->sizecode, NO_REG);
+}
+
+
+static const char *kname (Proto *p, int c) {
+  c = c - MAXSTACK;
+  if (c >= 0 && ttisstring(&p->k[c]))
+    return svalue(&p->k[c]);
+  else
+    return "?";
+}
+
+
+static const char *getobjname (CallInfo *ci, int stackpos, const char **name) {
+  if (isLua(ci)) {  /* a Lua function? */
+    Proto *p = ci_func(ci)->l.p;
+    int pc = currentpc(ci);
+    Instruction i;
+    *name = luaF_getlocalname(p, stackpos+1, pc);
+    if (*name)  /* is a local? */
+      return "local";
+    i = luaG_symbexec(p, pc, stackpos);  /* try symbolic execution */
+    lua_assert(pc != -1);
+    switch (GET_OPCODE(i)) {
+      case OP_GETGLOBAL: {
+        int g = GETARG_Bx(i);  /* global index */
+        lua_assert(ttisstring(&p->k[g]));
+        *name = svalue(&p->k[g]);
+        return "global";
+      }
+      case OP_MOVE: {
+        int a = GETARG_A(i);
+        int b = GETARG_B(i);  /* move from `b' to `a' */
+        if (b < a)
+          return getobjname(ci, b, name);  /* get name for `b' */
+        break;
+      }
+      case OP_GETTABLE: {
+        int k = GETARG_C(i);  /* key index */
+        *name = kname(p, k);
+        return "field";
+      }
+      case OP_SELF: {
+        int k = GETARG_C(i);  /* key index */
+        *name = kname(p, k);
+        return "method";
+      }
+      default: break;
+    }
+  }
+  return NULL;  /* no useful name found */
+}
+
+
+static const char *getfuncname (CallInfo *ci, const char **name) {
+  Instruction i;
+  if ((isLua(ci) && ci->u.l.tailcalls > 0) || !isLua(ci - 1))
+    return NULL;  /* calling function is not Lua (or is unknown) */
+  ci--;  /* calling function */
+  i = ci_func(ci)->l.p->code[currentpc(ci)];
+  if (GET_OPCODE(i) == OP_CALL || GET_OPCODE(i) == OP_TAILCALL)
+    return getobjname(ci, GETARG_A(i), name);
+  else
+    return NULL;  /* no useful name can be found */
+}
+
+
+/* only ANSI way to check whether a pointer points to an array */
+static int isinstack (CallInfo *ci, const TObject *o) {
+  StkId p;
+  for (p = ci->base; p < ci->top; p++)
+    if (o == p) return 1;
+  return 0;
+}
+
+
+void luaG_typeerror (lua_State *L, const TObject *o, const char *op) {
+  const char *name = NULL;
+  const char *t = luaT_typenames[ttype(o)];
+  const char *kind = (isinstack(L->ci, o)) ?
+                         getobjname(L->ci, o - L->base, &name) : NULL;
+  if (kind)
+    luaG_runerror(L, "attempt to %s %s `%s' (a %s value)",
+                op, kind, name, t);
+  else
+    luaG_runerror(L, "attempt to %s a %s value", op, t);
+}
+
+
+void luaG_concaterror (lua_State *L, StkId p1, StkId p2) {
+  if (ttisstring(p1)) p1 = p2;
+  lua_assert(!ttisstring(p1));
+  luaG_typeerror(L, p1, "concatenate");
+}
+
+
+void luaG_aritherror (lua_State *L, const TObject *p1, const TObject *p2) {
+  TObject temp;
+  if (luaV_tonumber(p1, &temp) == NULL)
+    p2 = p1;  /* first operand is wrong */
+  luaG_typeerror(L, p2, "perform arithmetic on");
+}
+
+
+int luaG_ordererror (lua_State *L, const TObject *p1, const TObject *p2) {
+  const char *t1 = luaT_typenames[ttype(p1)];
+  const char *t2 = luaT_typenames[ttype(p2)];
+  if (t1[2] == t2[2])
+    luaG_runerror(L, "attempt to compare two %s values", t1);
+  else
+    luaG_runerror(L, "attempt to compare %s with %s", t1, t2);
+  return 0;
+}
+
+
+static void addinfo (lua_State *L, const char *msg) {
+  CallInfo *ci = L->ci;
+  if (isLua(ci)) {  /* is Lua code? */
+    char buff[LUA_IDSIZE];  /* add file:line information */
+    int line = currentline(ci);
+    luaO_chunkid(buff, getstr(getluaproto(ci)->source), LUA_IDSIZE);
+    luaO_pushfstring(L, "%s:%d: %s", buff, line, msg);
+  }
+}
+
+
+void luaG_errormsg (lua_State *L) {
+  if (L->errfunc != 0) {  /* is there an error handling function? */
+    StkId errfunc = restorestack(L, L->errfunc);
+    if (!ttisfunction(errfunc)) luaD_throw(L, LUA_ERRERR);
+    setobjs2s(L->top, L->top - 1);  /* move argument */
+    setobjs2s(L->top - 1, errfunc);  /* push function */
+    incr_top(L);
+    luaD_call(L, L->top - 2, 1);  /* call it */
+  }
+  luaD_throw(L, LUA_ERRRUN);
+}
+
+
+void luaG_runerror (lua_State *L, const char *fmt, ...) {
+  va_list argp;
+  va_start(argp, fmt);
+  addinfo(L, luaO_pushvfstring(L, fmt, argp));
+  va_end(argp);
+  luaG_errormsg(L);
+}
+
diff -Naur xmoto-0.1.10/src/lua/ldebug.h xmoto-0.1.10-patched/src/lua/ldebug.h
--- xmoto-0.1.10/src/lua/ldebug.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ldebug.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,31 @@
+/*
+** $Id: ldebug.h,v 1.32 2002/11/18 11:01:55 roberto Exp $
+** Auxiliary functions from Debug Interface module
+** See Copyright Notice in lua.h
+*/
+
+#ifndef ldebug_h
+#define ldebug_h
+
+
+#include "lstate.h"
+
+
+#define pcRel(pc, p)	(cast(int, (pc) - (p)->code) - 1)
+
+#define getline(f,pc)	(((f)->lineinfo) ? (f)->lineinfo[pc] : 0)
+
+#define resethookcount(L)	(L->hookcount = L->basehookcount)
+
+
+void luaG_inithooks (lua_State *L);
+void luaG_typeerror (lua_State *L, const TObject *o, const char *opname);
+void luaG_concaterror (lua_State *L, StkId p1, StkId p2);
+void luaG_aritherror (lua_State *L, const TObject *p1, const TObject *p2);
+int luaG_ordererror (lua_State *L, const TObject *p1, const TObject *p2);
+void luaG_runerror (lua_State *L, const char *fmt, ...);
+void luaG_errormsg (lua_State *L);
+int luaG_checkcode (const Proto *pt);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/ldo.c xmoto-0.1.10-patched/src/lua/ldo.c
--- xmoto-0.1.10/src/lua/ldo.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ldo.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,471 @@
+/*
+** $Id: ldo.c,v 1.217a 2003/04/03 13:35:34 roberto Exp $
+** Stack and Call structure of Lua
+** See Copyright Notice in lua.h
+*/
+
+
+#include <setjmp.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define ldo_c
+
+#include "lua.h"
+
+#include "ldebug.h"
+#include "ldo.h"
+#include "lfunc.h"
+#include "lgc.h"
+#include "lmem.h"
+#include "lobject.h"
+#include "lopcodes.h"
+#include "lparser.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "ltable.h"
+#include "ltm.h"
+#include "lundump.h"
+#include "lvm.h"
+#include "lzio.h"
+
+
+
+
+/*
+** {======================================================
+** Error-recovery functions (based on long jumps)
+** =======================================================
+*/
+
+
+/* chain list of long jump buffers */
+struct lua_longjmp {
+  struct lua_longjmp *previous;
+  jmp_buf b;
+  volatile int status;  /* error code */
+};
+
+
+static void seterrorobj (lua_State *L, int errcode, StkId oldtop) {
+  switch (errcode) {
+    case LUA_ERRMEM: {
+      setsvalue2s(oldtop, luaS_new(L, MEMERRMSG));
+      break;
+    }
+    case LUA_ERRERR: {
+      setsvalue2s(oldtop, luaS_new(L, "error in error handling"));
+      break;
+    }
+    case LUA_ERRSYNTAX:
+    case LUA_ERRRUN: {
+      setobjs2s(oldtop, L->top - 1);  /* error message on current top */
+      break;
+    }
+  }
+  L->top = oldtop + 1;
+}
+
+
+void luaD_throw (lua_State *L, int errcode) {
+  if (L->errorJmp) {
+    L->errorJmp->status = errcode;
+    longjmp(L->errorJmp->b, 1);
+  }
+  else {
+    G(L)->panic(L);
+    exit(EXIT_FAILURE);
+  }
+}
+
+
+int luaD_rawrunprotected (lua_State *L, Pfunc f, void *ud) {
+  struct lua_longjmp lj;
+  lj.status = 0;
+  lj.previous = L->errorJmp;  /* chain new error handler */
+  L->errorJmp = &lj;
+  if (setjmp(lj.b) == 0)
+    (*f)(L, ud);
+  L->errorJmp = lj.previous;  /* restore old error handler */
+  return lj.status;
+}
+
+
+static void restore_stack_limit (lua_State *L) {
+  L->stack_last = L->stack+L->stacksize-1;
+  if (L->size_ci > LUA_MAXCALLS) {  /* there was an overflow? */
+    int inuse = (L->ci - L->base_ci);
+    if (inuse + 1 < LUA_MAXCALLS)  /* can `undo' overflow? */
+      luaD_reallocCI(L, LUA_MAXCALLS);
+  }
+}
+
+/* }====================================================== */
+
+
+static void correctstack (lua_State *L, TObject *oldstack) {
+  CallInfo *ci;
+  GCObject *up;
+  L->top = (L->top - oldstack) + L->stack;
+  for (up = L->openupval; up != NULL; up = up->gch.next)
+    gcotouv(up)->v = (gcotouv(up)->v - oldstack) + L->stack;
+  for (ci = L->base_ci; ci <= L->ci; ci++) {
+    ci->top = (ci->top - oldstack) + L->stack;
+    ci->base = (ci->base - oldstack) + L->stack;
+  }
+  L->base = L->ci->base;
+}
+
+
+void luaD_reallocstack (lua_State *L, int newsize) {
+  TObject *oldstack = L->stack;
+  luaM_reallocvector(L, L->stack, L->stacksize, newsize, TObject);
+  L->stacksize = newsize;
+  L->stack_last = L->stack+newsize-1-EXTRA_STACK;
+  correctstack(L, oldstack);
+}
+
+
+void luaD_reallocCI (lua_State *L, int newsize) {
+  CallInfo *oldci = L->base_ci;
+  luaM_reallocvector(L, L->base_ci, L->size_ci, newsize, CallInfo);
+  L->size_ci = cast(unsigned short, newsize);
+  L->ci = (L->ci - oldci) + L->base_ci;
+  L->end_ci = L->base_ci + L->size_ci;
+}
+
+
+void luaD_growstack (lua_State *L, int n) {
+  if (n <= L->stacksize)  /* double size is enough? */
+    luaD_reallocstack(L, 2*L->stacksize);
+  else
+    luaD_reallocstack(L, L->stacksize + n + EXTRA_STACK);
+}
+
+
+static void luaD_growCI (lua_State *L) {
+  if (L->size_ci > LUA_MAXCALLS)  /* overflow while handling overflow? */
+    luaD_throw(L, LUA_ERRERR);
+  else {
+    luaD_reallocCI(L, 2*L->size_ci);
+    if (L->size_ci > LUA_MAXCALLS)
+      luaG_runerror(L, "stack overflow");
+  }
+}
+
+
+void luaD_callhook (lua_State *L, int event, int line) {
+  lua_Hook hook = L->hook;
+  if (hook && L->allowhook) {
+    ptrdiff_t top = savestack(L, L->top);
+    ptrdiff_t ci_top = savestack(L, L->ci->top);
+    lua_Debug ar;
+    ar.event = event;
+    ar.currentline = line;
+    if (event == LUA_HOOKTAILRET)
+      ar.i_ci = 0;  /* tail call; no debug information about it */
+    else
+      ar.i_ci = L->ci - L->base_ci;
+    luaD_checkstack(L, LUA_MINSTACK);  /* ensure minimum stack size */
+    L->ci->top = L->top + LUA_MINSTACK;
+    L->allowhook = 0;  /* cannot call hooks inside a hook */
+    lua_unlock(L);
+    (*hook)(L, &ar);
+    lua_lock(L);
+    lua_assert(!L->allowhook);
+    L->allowhook = 1;
+    L->ci->top = restorestack(L, ci_top);
+    L->top = restorestack(L, top);
+  }
+}
+
+
+static void adjust_varargs (lua_State *L, int nfixargs, StkId base) {
+  int i;
+  Table *htab;
+  TObject nname;
+  int actual = L->top - base;  /* actual number of arguments */
+  if (actual < nfixargs) {
+    luaD_checkstack(L, nfixargs - actual);
+    for (; actual < nfixargs; ++actual)
+      setnilvalue(L->top++);
+  }
+  actual -= nfixargs;  /* number of extra arguments */
+  htab = luaH_new(L, actual, 1);  /* create `arg' table */
+  for (i=0; i<actual; i++)  /* put extra arguments into `arg' table */
+    setobj2n(luaH_setnum(L, htab, i+1), L->top - actual + i);
+  /* store counter in field `n' */
+  setsvalue(&nname, luaS_newliteral(L, "n"));
+  setnvalue(luaH_set(L, htab, &nname), cast(lua_Number, actual));
+  L->top -= actual;  /* remove extra elements from the stack */
+  sethvalue(L->top, htab);
+  incr_top(L);
+}
+
+
+static StkId tryfuncTM (lua_State *L, StkId func) {
+  const TObject *tm = luaT_gettmbyobj(L, func, TM_CALL);
+  StkId p;
+  ptrdiff_t funcr = savestack(L, func);
+  if (!ttisfunction(tm))
+    luaG_typeerror(L, func, "call");
+  /* Open a hole inside the stack at `func' */
+  for (p = L->top; p > func; p--) setobjs2s(p, p-1);
+  incr_top(L);
+  func = restorestack(L, funcr);  /* previous call may change stack */
+  setobj2s(func, tm);  /* tag method is the new function to be called */
+  return func;
+}
+
+
+StkId luaD_precall (lua_State *L, StkId func) {
+  LClosure *cl;
+  ptrdiff_t funcr = savestack(L, func);
+  if (!ttisfunction(func)) /* `func' is not a function? */
+    func = tryfuncTM(L, func);  /* check the `function' tag method */
+  if (L->ci + 1 == L->end_ci) luaD_growCI(L);
+  else condhardstacktests(luaD_reallocCI(L, L->size_ci));
+  cl = &clvalue(func)->l;
+  if (!cl->isC) {  /* Lua function? prepare its call */
+    CallInfo *ci;
+    Proto *p = cl->p;
+    if (p->is_vararg)  /* varargs? */
+      adjust_varargs(L, p->numparams, func+1);
+    luaD_checkstack(L, p->maxstacksize);
+    ci = ++L->ci;  /* now `enter' new function */
+    L->base = L->ci->base = restorestack(L, funcr) + 1;
+    ci->top = L->base + p->maxstacksize;
+    ci->u.l.savedpc = p->code;  /* starting point */
+    ci->u.l.tailcalls = 0;
+    ci->state = CI_SAVEDPC;
+    while (L->top < ci->top)
+      setnilvalue(L->top++);
+    L->top = ci->top;
+    return NULL;
+  }
+  else {  /* if is a C function, call it */
+    CallInfo *ci;
+    int n;
+    luaD_checkstack(L, LUA_MINSTACK);  /* ensure minimum stack size */
+    ci = ++L->ci;  /* now `enter' new function */
+    L->base = L->ci->base = restorestack(L, funcr) + 1;
+    ci->top = L->top + LUA_MINSTACK;
+    ci->state = CI_C;  /* a C function */
+    if (L->hookmask & LUA_MASKCALL)
+      luaD_callhook(L, LUA_HOOKCALL, -1);
+    lua_unlock(L);
+#ifdef LUA_COMPATUPVALUES
+    lua_pushupvalues(L);
+#endif
+    n = (*clvalue(L->base - 1)->c.f)(L);  /* do the actual call */
+    lua_lock(L);
+    return L->top - n;
+  }
+}
+
+
+static StkId callrethooks (lua_State *L, StkId firstResult) {
+  ptrdiff_t fr = savestack(L, firstResult);  /* next call may change stack */
+  luaD_callhook(L, LUA_HOOKRET, -1);
+  if (!(L->ci->state & CI_C)) {  /* Lua function? */
+    while (L->ci->u.l.tailcalls--)  /* call hook for eventual tail calls */
+      luaD_callhook(L, LUA_HOOKTAILRET, -1);
+  }
+  return restorestack(L, fr);
+}
+
+
+void luaD_poscall (lua_State *L, int wanted, StkId firstResult) { 
+  StkId res;
+  if (L->hookmask & LUA_MASKRET)
+    firstResult = callrethooks(L, firstResult);
+  res = L->base - 1;  /* res == final position of 1st result */
+  L->ci--;
+  L->base = L->ci->base;  /* restore base */
+  /* move results to correct place */
+  while (wanted != 0 && firstResult < L->top) {
+    setobjs2s(res++, firstResult++);
+    wanted--;
+  }
+  while (wanted-- > 0)
+    setnilvalue(res++);
+  L->top = res;
+}
+
+
+/*
+** Call a function (C or Lua). The function to be called is at *func.
+** The arguments are on the stack, right after the function.
+** When returns, all the results are on the stack, starting at the original
+** function position.
+*/ 
+void luaD_call (lua_State *L, StkId func, int nResults) {
+  StkId firstResult;
+  lua_assert(!(L->ci->state & CI_CALLING));
+  if (++L->nCcalls >= LUA_MAXCCALLS) {
+    if (L->nCcalls == LUA_MAXCCALLS)
+      luaG_runerror(L, "C stack overflow");
+    else if (L->nCcalls >= (LUA_MAXCCALLS + (LUA_MAXCCALLS>>3)))
+      luaD_throw(L, LUA_ERRERR);  /* error while handing stack error */
+  }
+  firstResult = luaD_precall(L, func);
+  if (firstResult == NULL)  /* is a Lua function? */
+    firstResult = luaV_execute(L);  /* call it */
+  luaD_poscall(L, nResults, firstResult);
+  L->nCcalls--;
+  luaC_checkGC(L);
+}
+
+
+static void resume (lua_State *L, void *ud) {
+  StkId firstResult;
+  int nargs = *cast(int *, ud);
+  CallInfo *ci = L->ci;
+  if (ci == L->base_ci) {  /* no activation record? */
+    lua_assert(nargs < L->top - L->base);
+    luaD_precall(L, L->top - (nargs + 1));  /* start coroutine */
+  }
+  else {  /* inside a yield */
+    lua_assert(ci->state & CI_YIELD);
+    if (ci->state & CI_C) {  /* `common' yield? */
+      /* finish interrupted execution of `OP_CALL' */
+      int nresults;
+      lua_assert((ci-1)->state & CI_SAVEDPC);
+      lua_assert(GET_OPCODE(*((ci-1)->u.l.savedpc - 1)) == OP_CALL ||
+                 GET_OPCODE(*((ci-1)->u.l.savedpc - 1)) == OP_TAILCALL);
+      nresults = GETARG_C(*((ci-1)->u.l.savedpc - 1)) - 1;
+      luaD_poscall(L, nresults, L->top - nargs);  /* complete it */
+      if (nresults >= 0) L->top = L->ci->top;
+    }
+    else {  /* yielded inside a hook: just continue its execution */
+      ci->state &= ~CI_YIELD;
+    }
+  }
+  firstResult = luaV_execute(L);
+  if (firstResult != NULL)   /* return? */
+    luaD_poscall(L, LUA_MULTRET, firstResult);  /* finalize this coroutine */
+}
+
+
+static int resume_error (lua_State *L, const char *msg) {
+  L->top = L->ci->base;
+  setsvalue2s(L->top, luaS_new(L, msg));
+  incr_top(L);
+  lua_unlock(L);
+  return LUA_ERRRUN;
+}
+
+
+LUA_API int lua_resume (lua_State *L, int nargs) {
+  int status;
+  lu_byte old_allowhooks;
+  lua_lock(L);
+  if (L->ci == L->base_ci) {
+    if (nargs >= L->top - L->base)
+      return resume_error(L, "cannot resume dead coroutine");
+  }
+  else if (!(L->ci->state & CI_YIELD))  /* not inside a yield? */
+    return resume_error(L, "cannot resume non-suspended coroutine");
+  old_allowhooks = L->allowhook;
+  lua_assert(L->errfunc == 0 && L->nCcalls == 0);
+  status = luaD_rawrunprotected(L, resume, &nargs);
+  if (status != 0) {  /* error? */
+    L->ci = L->base_ci;  /* go back to initial level */
+    L->base = L->ci->base;
+    L->nCcalls = 0;
+    luaF_close(L, L->base);  /* close eventual pending closures */
+    seterrorobj(L, status, L->base);
+    L->allowhook = old_allowhooks;
+    restore_stack_limit(L);
+  }
+  lua_unlock(L);
+  return status;
+}
+
+
+LUA_API int lua_yield (lua_State *L, int nresults) {
+  CallInfo *ci;
+  lua_lock(L);
+  ci = L->ci;
+  if (L->nCcalls > 0)
+    luaG_runerror(L, "attempt to yield across metamethod/C-call boundary");
+  if (ci->state & CI_C) {  /* usual yield */
+    if ((ci-1)->state & CI_C)
+      luaG_runerror(L, "cannot yield a C function");
+    if (L->top - nresults > L->base) {  /* is there garbage in the stack? */
+      int i;
+      for (i=0; i<nresults; i++)  /* move down results */
+        setobjs2s(L->base + i, L->top - nresults + i);
+      L->top = L->base + nresults;
+    }
+  } /* else it's an yield inside a hook: nothing to do */
+  ci->state |= CI_YIELD;
+  lua_unlock(L);
+  return -1;
+}
+
+
+int luaD_pcall (lua_State *L, Pfunc func, void *u,
+                ptrdiff_t old_top, ptrdiff_t ef) {
+  int status;
+  unsigned short oldnCcalls = L->nCcalls;
+  ptrdiff_t old_ci = saveci(L, L->ci);
+  lu_byte old_allowhooks = L->allowhook;
+  ptrdiff_t old_errfunc = L->errfunc;
+  L->errfunc = ef;
+  status = luaD_rawrunprotected(L, func, u);
+  if (status != 0) {  /* an error occurred? */
+    StkId oldtop = restorestack(L, old_top);
+    luaF_close(L, oldtop);  /* close eventual pending closures */
+    seterrorobj(L, status, oldtop);
+    L->nCcalls = oldnCcalls;
+    L->ci = restoreci(L, old_ci);
+    L->base = L->ci->base;
+    L->allowhook = old_allowhooks;
+    restore_stack_limit(L);
+  }
+  L->errfunc = old_errfunc;
+  return status;
+}
+
+
+
+/*
+** Execute a protected parser.
+*/
+struct SParser {  /* data to `f_parser' */
+  ZIO *z;
+  Mbuffer buff;  /* buffer to be used by the scanner */
+  int bin;
+};
+
+static void f_parser (lua_State *L, void *ud) {
+  struct SParser *p;
+  Proto *tf;
+  Closure *cl;
+  luaC_checkGC(L);
+  p = cast(struct SParser *, ud);
+  tf = p->bin ? luaU_undump(L, p->z, &p->buff) : luaY_parser(L, p->z, &p->buff);
+  cl = luaF_newLclosure(L, 0, gt(L));
+  cl->l.p = tf;
+  setclvalue(L->top, cl);
+  incr_top(L);
+}
+
+
+int luaD_protectedparser (lua_State *L, ZIO *z, int bin) {
+  struct SParser p;
+  int status;
+  ptrdiff_t oldtopr = savestack(L, L->top);  /* save current top */
+  p.z = z; p.bin = bin;
+  luaZ_initbuffer(L, &p.buff);
+  status = luaD_rawrunprotected(L, f_parser, &p);
+  luaZ_freebuffer(L, &p.buff);
+  if (status != 0) {  /* error? */
+    StkId oldtop = restorestack(L, oldtopr);
+    seterrorobj(L, status, oldtop);
+  }
+  return status;
+}
+
+
diff -Naur xmoto-0.1.10/src/lua/ldo.h xmoto-0.1.10-patched/src/lua/ldo.h
--- xmoto-0.1.10/src/lua/ldo.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ldo.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,60 @@
+/*
+** $Id: ldo.h,v 1.56 2002/12/04 17:29:32 roberto Exp $
+** Stack and Call structure of Lua
+** See Copyright Notice in lua.h
+*/
+
+#ifndef ldo_h
+#define ldo_h
+
+
+#include "lobject.h"
+#include "lstate.h"
+#include "lzio.h"
+
+
+/*
+** macro to control inclusion of some hard tests on stack reallocation
+*/ 
+#ifndef HARDSTACKTESTS
+#define condhardstacktests(x)	{ /* empty */ }
+#else
+#define condhardstacktests(x)	x
+#endif
+
+
+#define luaD_checkstack(L,n)	\
+  if ((char *)L->stack_last - (char *)L->top <= (n)*(int)sizeof(TObject)) \
+    luaD_growstack(L, n); \
+  else condhardstacktests(luaD_reallocstack(L, L->stacksize));
+
+
+#define incr_top(L) {luaD_checkstack(L,1); L->top++;}
+
+#define savestack(L,p)		((char *)(p) - (char *)L->stack)
+#define restorestack(L,n)	((TObject *)((char *)L->stack + (n)))
+
+#define saveci(L,p)		((char *)(p) - (char *)L->base_ci)
+#define restoreci(L,n)		((CallInfo *)((char *)L->base_ci + (n)))
+
+
+/* type of protected functions, to be ran by `runprotected' */
+typedef void (*Pfunc) (lua_State *L, void *ud);
+
+void luaD_resetprotection (lua_State *L);
+int luaD_protectedparser (lua_State *L, ZIO *z, int bin);
+void luaD_callhook (lua_State *L, int event, int line);
+StkId luaD_precall (lua_State *L, StkId func);
+void luaD_call (lua_State *L, StkId func, int nResults);
+int luaD_pcall (lua_State *L, Pfunc func, void *u,
+                ptrdiff_t oldtop, ptrdiff_t ef);
+void luaD_poscall (lua_State *L, int wanted, StkId firstResult);
+void luaD_reallocCI (lua_State *L, int newsize);
+void luaD_reallocstack (lua_State *L, int newsize);
+void luaD_growstack (lua_State *L, int n);
+
+void luaD_throw (lua_State *L, int errcode);
+int luaD_rawrunprotected (lua_State *L, Pfunc f, void *ud);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/ldump.c xmoto-0.1.10-patched/src/lua/ldump.c
--- xmoto-0.1.10/src/lua/ldump.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ldump.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,170 @@
+/*
+** $Id: ldump.c,v 1.4 2003/02/11 23:52:12 lhf Exp $
+** save bytecodes
+** See Copyright Notice in lua.h
+*/
+
+#include <stddef.h>
+
+#define ldump_c
+
+#include "lua.h"
+
+#include "lobject.h"
+#include "lopcodes.h"
+#include "lstate.h"
+#include "lundump.h"
+
+#define DumpVector(b,n,size,D)	DumpBlock(b,(n)*(size),D)
+#define DumpLiteral(s,D)	DumpBlock("" s,(sizeof(s))-1,D)
+
+typedef struct {
+ lua_State* L;
+ lua_Chunkwriter write;
+ void* data;
+} DumpState;
+
+static void DumpBlock(const void* b, size_t size, DumpState* D)
+{
+ lua_unlock(D->L);
+ (*D->write)(D->L,b,size,D->data);
+ lua_lock(D->L);
+}
+
+static void DumpByte(int y, DumpState* D)
+{
+ char x=(char)y;
+ DumpBlock(&x,sizeof(x),D);
+}
+
+static void DumpInt(int x, DumpState* D)
+{
+ DumpBlock(&x,sizeof(x),D);
+}
+
+static void DumpSize(size_t x, DumpState* D)
+{
+ DumpBlock(&x,sizeof(x),D);
+}
+
+static void DumpNumber(lua_Number x, DumpState* D)
+{
+ DumpBlock(&x,sizeof(x),D);
+}
+
+static void DumpString(TString* s, DumpState* D)
+{
+ if (s==NULL || getstr(s)==NULL)
+  DumpSize(0,D);
+ else
+ {
+  size_t size=s->tsv.len+1;		/* include trailing '\0' */
+  DumpSize(size,D);
+  DumpBlock(getstr(s),size,D);
+ }
+}
+
+static void DumpCode(const Proto* f, DumpState* D)
+{
+ DumpInt(f->sizecode,D);
+ DumpVector(f->code,f->sizecode,sizeof(*f->code),D);
+}
+
+static void DumpLocals(const Proto* f, DumpState* D)
+{
+ int i,n=f->sizelocvars;
+ DumpInt(n,D);
+ for (i=0; i<n; i++)
+ {
+  DumpString(f->locvars[i].varname,D);
+  DumpInt(f->locvars[i].startpc,D);
+  DumpInt(f->locvars[i].endpc,D);
+ }
+}
+
+static void DumpLines(const Proto* f, DumpState* D)
+{
+ DumpInt(f->sizelineinfo,D);
+ DumpVector(f->lineinfo,f->sizelineinfo,sizeof(*f->lineinfo),D);
+}
+
+static void DumpUpvalues(const Proto* f, DumpState* D)
+{
+ int i,n=f->sizeupvalues;
+ DumpInt(n,D);
+ for (i=0; i<n; i++) DumpString(f->upvalues[i],D);
+}
+
+static void DumpFunction(const Proto* f, const TString* p, DumpState* D);
+
+static void DumpConstants(const Proto* f, DumpState* D)
+{
+ int i,n;
+ DumpInt(n=f->sizek,D);
+ for (i=0; i<n; i++)
+ {
+  const TObject* o=&f->k[i];
+  DumpByte(ttype(o),D);
+  switch (ttype(o))
+  {
+   case LUA_TNUMBER:
+	DumpNumber(nvalue(o),D);
+	break;
+   case LUA_TSTRING:
+	DumpString(tsvalue(o),D);
+	break;
+   case LUA_TNIL:
+	break;
+   default:
+	lua_assert(0);			/* cannot happen */
+	break;
+  }
+ }
+ DumpInt(n=f->sizep,D);
+ for (i=0; i<n; i++) DumpFunction(f->p[i],f->source,D);
+}
+
+static void DumpFunction(const Proto* f, const TString* p, DumpState* D)
+{
+ DumpString((f->source==p) ? NULL : f->source,D);
+ DumpInt(f->lineDefined,D);
+ DumpByte(f->nups,D);
+ DumpByte(f->numparams,D);
+ DumpByte(f->is_vararg,D);
+ DumpByte(f->maxstacksize,D);
+ DumpLines(f,D);
+ DumpLocals(f,D);
+ DumpUpvalues(f,D);
+ DumpConstants(f,D);
+ DumpCode(f,D);
+}
+
+static void DumpHeader(DumpState* D)
+{
+ DumpLiteral(LUA_SIGNATURE,D);
+ DumpByte(VERSION,D);
+ DumpByte(luaU_endianness(),D);
+ DumpByte(sizeof(int),D);
+ DumpByte(sizeof(size_t),D);
+ DumpByte(sizeof(Instruction),D);
+ DumpByte(SIZE_OP,D);
+ DumpByte(SIZE_A,D);
+ DumpByte(SIZE_B,D);
+ DumpByte(SIZE_C,D);
+ DumpByte(sizeof(lua_Number),D);
+ DumpNumber(TEST_NUMBER,D);
+}
+
+/*
+** dump function as precompiled chunk
+*/
+void luaU_dump (lua_State* L, const Proto* Main, lua_Chunkwriter w, void* data)
+{
+ DumpState D;
+ D.L=L;
+ D.write=w;
+ D.data=data;
+ DumpHeader(&D);
+ DumpFunction(Main,NULL,&D);
+}
+
diff -Naur xmoto-0.1.10/src/lua/lfunc.c xmoto-0.1.10-patched/src/lua/lfunc.c
--- xmoto-0.1.10/src/lua/lfunc.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lfunc.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,135 @@
+/*
+** $Id: lfunc.c,v 1.67 2003/03/18 12:50:04 roberto Exp $
+** Auxiliary functions to manipulate prototypes and closures
+** See Copyright Notice in lua.h
+*/
+
+
+#include <stdlib.h>
+
+#define lfunc_c
+
+#include "lua.h"
+
+#include "lfunc.h"
+#include "lgc.h"
+#include "lmem.h"
+#include "lobject.h"
+#include "lstate.h"
+
+
+#define sizeCclosure(n)	(cast(int, sizeof(CClosure)) + \
+                         cast(int, sizeof(TObject)*((n)-1)))
+
+#define sizeLclosure(n)	(cast(int, sizeof(LClosure)) + \
+                         cast(int, sizeof(TObject *)*((n)-1)))
+
+
+
+Closure *luaF_newCclosure (lua_State *L, int nelems) {
+  Closure *c = cast(Closure *, luaM_malloc(L, sizeCclosure(nelems)));
+  luaC_link(L, valtogco(c), LUA_TFUNCTION);
+  c->c.isC = 1;
+  c->c.nupvalues = cast(lu_byte, nelems);
+  return c;
+}
+
+
+Closure *luaF_newLclosure (lua_State *L, int nelems, TObject *e) {
+  Closure *c = cast(Closure *, luaM_malloc(L, sizeLclosure(nelems)));
+  luaC_link(L, valtogco(c), LUA_TFUNCTION);
+  c->l.isC = 0;
+  c->l.g = *e;
+  c->l.nupvalues = cast(lu_byte, nelems);
+  return c;
+}
+
+
+UpVal *luaF_findupval (lua_State *L, StkId level) {
+  GCObject **pp = &L->openupval;
+  UpVal *p;
+  UpVal *v;
+  while ((p = ngcotouv(*pp)) != NULL && p->v >= level) {
+    if (p->v == level) return p;
+    pp = &p->next;
+  }
+  v = luaM_new(L, UpVal);  /* not found: create a new one */
+  v->tt = LUA_TUPVAL;
+  v->marked = 1;  /* open upvalues should not be collected */
+  v->v = level;  /* current value lives in the stack */
+  v->next = *pp;  /* chain it in the proper position */
+  *pp = valtogco(v);
+  return v;
+}
+
+
+void luaF_close (lua_State *L, StkId level) {
+  UpVal *p;
+  while ((p = ngcotouv(L->openupval)) != NULL && p->v >= level) {
+    setobj(&p->value, p->v);  /* save current value (write barrier) */
+    p->v = &p->value;  /* now current value lives here */
+    L->openupval = p->next;  /* remove from `open' list */
+    luaC_link(L, valtogco(p), LUA_TUPVAL);
+  }
+}
+
+
+Proto *luaF_newproto (lua_State *L) {
+  Proto *f = luaM_new(L, Proto);
+  luaC_link(L, valtogco(f), LUA_TPROTO);
+  f->k = NULL;
+  f->sizek = 0;
+  f->p = NULL;
+  f->sizep = 0;
+  f->code = NULL;
+  f->sizecode = 0;
+  f->sizelineinfo = 0;
+  f->sizeupvalues = 0;
+  f->nups = 0;
+  f->upvalues = NULL;
+  f->numparams = 0;
+  f->is_vararg = 0;
+  f->maxstacksize = 0;
+  f->lineinfo = NULL;
+  f->sizelocvars = 0;
+  f->locvars = NULL;
+  f->lineDefined = 0;
+  f->source = NULL;
+  return f;
+}
+
+
+void luaF_freeproto (lua_State *L, Proto *f) {
+  luaM_freearray(L, f->code, f->sizecode, Instruction);
+  luaM_freearray(L, f->p, f->sizep, Proto *);
+  luaM_freearray(L, f->k, f->sizek, TObject);
+  luaM_freearray(L, f->lineinfo, f->sizelineinfo, int);
+  luaM_freearray(L, f->locvars, f->sizelocvars, struct LocVar);
+  luaM_freearray(L, f->upvalues, f->sizeupvalues, TString *);
+  luaM_freelem(L, f);
+}
+
+
+void luaF_freeclosure (lua_State *L, Closure *c) {
+  int size = (c->c.isC) ? sizeCclosure(c->c.nupvalues) :
+                          sizeLclosure(c->l.nupvalues);
+  luaM_free(L, c, size);
+}
+
+
+/*
+** Look for n-th local variable at line `line' in function `func'.
+** Returns NULL if not found.
+*/
+const char *luaF_getlocalname (const Proto *f, int local_number, int pc) {
+  int i;
+  for (i = 0; i<f->sizelocvars && f->locvars[i].startpc <= pc; i++) {
+    if (pc < f->locvars[i].endpc) {  /* is variable active? */
+      local_number--;
+      if (local_number == 0)
+        return getstr(f->locvars[i].varname);
+    }
+  }
+  return NULL;  /* not found */
+}
+
diff -Naur xmoto-0.1.10/src/lua/lfunc.h xmoto-0.1.10-patched/src/lua/lfunc.h
--- xmoto-0.1.10/src/lua/lfunc.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lfunc.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,25 @@
+/*
+** $Id: lfunc.h,v 1.21 2003/03/18 12:50:04 roberto Exp $
+** Auxiliary functions to manipulate prototypes and closures
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lfunc_h
+#define lfunc_h
+
+
+#include "lobject.h"
+
+
+Proto *luaF_newproto (lua_State *L);
+Closure *luaF_newCclosure (lua_State *L, int nelems);
+Closure *luaF_newLclosure (lua_State *L, int nelems, TObject *e);
+UpVal *luaF_findupval (lua_State *L, StkId level);
+void luaF_close (lua_State *L, StkId level);
+void luaF_freeproto (lua_State *L, Proto *f);
+void luaF_freeclosure (lua_State *L, Closure *c);
+
+const char *luaF_getlocalname (const Proto *func, int local_number, int pc);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lgc.c xmoto-0.1.10-patched/src/lua/lgc.c
--- xmoto-0.1.10/src/lua/lgc.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lgc.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,498 @@
+/*
+** $Id: lgc.c,v 1.171a 2003/04/03 13:35:34 roberto Exp $
+** Garbage Collector
+** See Copyright Notice in lua.h
+*/
+
+#include <string.h>
+
+#define lgc_c
+
+#include "lua.h"
+
+#include "ldebug.h"
+#include "ldo.h"
+#include "lfunc.h"
+#include "lgc.h"
+#include "lmem.h"
+#include "lobject.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "ltable.h"
+#include "ltm.h"
+
+
+typedef struct GCState {
+  GCObject *tmark;  /* list of marked objects to be traversed */
+  GCObject *wk;  /* list of traversed key-weak tables (to be cleared) */
+  GCObject *wv;  /* list of traversed value-weak tables */
+  GCObject *wkv;  /* list of traversed key-value weak tables */
+  global_State *g;
+} GCState;
+
+
+/*
+** some userful bit tricks
+*/
+#define setbit(x,b)	((x) |= (1<<(b)))
+#define resetbit(x,b)	((x) &= cast(lu_byte, ~(1<<(b))))
+#define testbit(x,b)	((x) & (1<<(b)))
+
+#define unmark(x)	resetbit((x)->gch.marked, 0)
+#define ismarked(x)	((x)->gch.marked & ((1<<4)|1))
+
+#define stringmark(s)	setbit((s)->tsv.marked, 0)
+
+
+#define isfinalized(u)		(!testbit((u)->uv.marked, 1))
+#define markfinalized(u)	resetbit((u)->uv.marked, 1)
+
+
+#define KEYWEAKBIT    1
+#define VALUEWEAKBIT  2
+#define KEYWEAK         (1<<KEYWEAKBIT)
+#define VALUEWEAK       (1<<VALUEWEAKBIT)
+
+
+
+#define markobject(st,o) { checkconsistency(o); \
+  if (iscollectable(o) && !ismarked(gcvalue(o))) reallymarkobject(st,gcvalue(o)); }
+
+#define condmarkobject(st,o,c) { checkconsistency(o); \
+  if (iscollectable(o) && !ismarked(gcvalue(o)) && (c)) \
+    reallymarkobject(st,gcvalue(o)); }
+
+#define markvalue(st,t) { if (!ismarked(valtogco(t))) \
+		reallymarkobject(st, valtogco(t)); }
+
+
+
+static void reallymarkobject (GCState *st, GCObject *o) {
+  lua_assert(!ismarked(o));
+  setbit(o->gch.marked, 0);  /* mark object */
+  switch (o->gch.tt) {
+    case LUA_TUSERDATA: {
+      markvalue(st, gcotou(o)->uv.metatable);
+      break;
+    }
+    case LUA_TFUNCTION: {
+      gcotocl(o)->c.gclist = st->tmark;
+      st->tmark = o;
+      break;
+    }
+    case LUA_TTABLE: {
+      gcotoh(o)->gclist = st->tmark;
+      st->tmark = o;
+      break;
+    }
+    case LUA_TTHREAD: {
+      gcototh(o)->gclist = st->tmark;
+      st->tmark = o;
+      break;
+    }
+    case LUA_TPROTO: {
+      gcotop(o)->gclist = st->tmark;
+      st->tmark = o;
+      break;
+    }
+    default: lua_assert(o->gch.tt == LUA_TSTRING);
+  }
+}
+
+
+static void marktmu (GCState *st) {
+  GCObject *u;
+  for (u = st->g->tmudata; u; u = u->gch.next) {
+    unmark(u);  /* may be marked, if left from previous GC */
+    reallymarkobject(st, u);
+  }
+}
+
+
+/* move `dead' udata that need finalization to list `tmudata' */
+size_t luaC_separateudata (lua_State *L) {
+  size_t deadmem = 0;
+  GCObject **p = &G(L)->rootudata;
+  GCObject *curr;
+  GCObject *collected = NULL;  /* to collect udata with gc event */
+  GCObject **lastcollected = &collected;
+  while ((curr = *p) != NULL) {
+    lua_assert(curr->gch.tt == LUA_TUSERDATA);
+    if (ismarked(curr) || isfinalized(gcotou(curr)))
+      p = &curr->gch.next;  /* don't bother with them */
+
+    else if (fasttm(L, gcotou(curr)->uv.metatable, TM_GC) == NULL) {
+      markfinalized(gcotou(curr));  /* don't need finalization */
+      p = &curr->gch.next;
+    }
+    else {  /* must call its gc method */
+      deadmem += sizeudata(gcotou(curr)->uv.len);
+      *p = curr->gch.next;
+      curr->gch.next = NULL;  /* link `curr' at the end of `collected' list */
+      *lastcollected = curr;
+      lastcollected = &curr->gch.next;
+    }
+  }
+  /* insert collected udata with gc event into `tmudata' list */
+  *lastcollected = G(L)->tmudata;
+  G(L)->tmudata = collected;
+  return deadmem;
+}
+
+
+static void removekey (Node *n) {
+  setnilvalue(gval(n));  /* remove corresponding value ... */
+  if (iscollectable(gkey(n)))
+    setttype(gkey(n), LUA_TNONE);  /* dead key; remove it */
+}
+
+
+static void traversetable (GCState *st, Table *h) {
+  int i;
+  int weakkey = 0;
+  int weakvalue = 0;
+  const TObject *mode;
+  markvalue(st, h->metatable);
+  lua_assert(h->lsizenode || h->node == st->g->dummynode);
+  mode = gfasttm(st->g, h->metatable, TM_MODE);
+  if (mode && ttisstring(mode)) {  /* is there a weak mode? */
+    weakkey = (strchr(svalue(mode), 'k') != NULL);
+    weakvalue = (strchr(svalue(mode), 'v') != NULL);
+    if (weakkey || weakvalue) {  /* is really weak? */
+      GCObject **weaklist;
+      h->marked &= ~(KEYWEAK | VALUEWEAK);  /* clear bits */
+      h->marked |= cast(lu_byte, (weakkey << KEYWEAKBIT) |
+                                 (weakvalue << VALUEWEAKBIT));
+      weaklist = (weakkey && weakvalue) ? &st->wkv :
+                              (weakkey) ? &st->wk :
+                                          &st->wv;
+      h->gclist = *weaklist;  /* must be cleared after GC, ... */
+      *weaklist = valtogco(h);  /* ... so put in the appropriate list */
+    }
+  }
+  if (!weakvalue) {
+    i = h->sizearray;
+    while (i--)
+      markobject(st, &h->array[i]);
+  }
+  i = sizenode(h);
+  while (i--) {
+    Node *n = gnode(h, i);
+    if (!ttisnil(gval(n))) {
+      lua_assert(!ttisnil(gkey(n)));
+      condmarkobject(st, gkey(n), !weakkey);
+      condmarkobject(st, gval(n), !weakvalue);
+    }
+  }
+}
+
+
+static void traverseproto (GCState *st, Proto *f) {
+  int i;
+  stringmark(f->source);
+  for (i=0; i<f->sizek; i++) {  /* mark literal strings */
+    if (ttisstring(f->k+i))
+      stringmark(tsvalue(f->k+i));
+  }
+  for (i=0; i<f->sizeupvalues; i++)  /* mark upvalue names */
+    stringmark(f->upvalues[i]);
+  for (i=0; i<f->sizep; i++)  /* mark nested protos */
+    markvalue(st, f->p[i]);
+  for (i=0; i<f->sizelocvars; i++)  /* mark local-variable names */
+    stringmark(f->locvars[i].varname);
+  lua_assert(luaG_checkcode(f));
+}
+
+
+
+static void traverseclosure (GCState *st, Closure *cl) {
+  if (cl->c.isC) {
+    int i;
+    for (i=0; i<cl->c.nupvalues; i++)  /* mark its upvalues */
+      markobject(st, &cl->c.upvalue[i]);
+  }
+  else {
+    int i;
+    lua_assert(cl->l.nupvalues == cl->l.p->nups);
+    markvalue(st, hvalue(&cl->l.g));
+    markvalue(st, cl->l.p);
+    for (i=0; i<cl->l.nupvalues; i++) {  /* mark its upvalues */
+      UpVal *u = cl->l.upvals[i];
+      if (!u->marked) {
+        markobject(st, &u->value);
+        u->marked = 1;
+      }
+    }
+  }
+}
+
+
+static void checkstacksizes (lua_State *L, StkId max) {
+  int used = L->ci - L->base_ci;  /* number of `ci' in use */
+  if (4*used < L->size_ci && 2*BASIC_CI_SIZE < L->size_ci)
+    luaD_reallocCI(L, L->size_ci/2);  /* still big enough... */
+  else condhardstacktests(luaD_reallocCI(L, L->size_ci));
+  used = max - L->stack;  /* part of stack in use */
+  if (4*used < L->stacksize && 2*(BASIC_STACK_SIZE+EXTRA_STACK) < L->stacksize)
+    luaD_reallocstack(L, L->stacksize/2);  /* still big enough... */
+  else condhardstacktests(luaD_reallocstack(L, L->stacksize));
+}
+
+
+static void traversestack (GCState *st, lua_State *L1) {
+  StkId o, lim;
+  CallInfo *ci;
+  markobject(st, gt(L1));
+  lim = L1->top;
+  for (ci = L1->base_ci; ci <= L1->ci; ci++) {
+    lua_assert(ci->top <= L1->stack_last);
+    lua_assert(ci->state & (CI_C | CI_HASFRAME | CI_SAVEDPC));
+    if (lim < ci->top)
+      lim = ci->top;
+  }
+  for (o = L1->stack; o < L1->top; o++)
+    markobject(st, o);
+  for (; o <= lim; o++)
+    setnilvalue(o);
+  checkstacksizes(L1, lim);
+}
+
+
+static void propagatemarks (GCState *st) {
+  while (st->tmark) {  /* traverse marked objects */
+    switch (st->tmark->gch.tt) {
+      case LUA_TTABLE: {
+        Table *h = gcotoh(st->tmark);
+        st->tmark = h->gclist;
+        traversetable(st, h);
+        break;
+      }
+      case LUA_TFUNCTION: {
+        Closure *cl = gcotocl(st->tmark);
+        st->tmark = cl->c.gclist;
+        traverseclosure(st, cl);
+        break;
+      }
+      case LUA_TTHREAD: {
+        lua_State *th = gcototh(st->tmark);
+        st->tmark = th->gclist;
+        traversestack(st, th);
+        break;
+      }
+      case LUA_TPROTO: {
+        Proto *p = gcotop(st->tmark);
+        st->tmark = p->gclist;
+        traverseproto(st, p);
+        break;
+      }
+      default: lua_assert(0);
+    }
+  }
+}
+
+
+static int valismarked (const TObject *o) {
+  if (ttisstring(o))
+    stringmark(tsvalue(o));  /* strings are `values', so are never weak */
+  return !iscollectable(o) || testbit(o->value.gc->gch.marked, 0);
+}
+
+
+/*
+** clear collected keys from weaktables
+*/
+static void cleartablekeys (GCObject *l) {
+  while (l) {
+    Table *h = gcotoh(l);
+    int i = sizenode(h);
+    lua_assert(h->marked & KEYWEAK);
+    while (i--) {
+      Node *n = gnode(h, i);
+      if (!valismarked(gkey(n)))  /* key was collected? */
+        removekey(n);  /* remove entry from table */
+    }
+    l = h->gclist;
+  }
+}
+
+
+/*
+** clear collected values from weaktables
+*/
+static void cleartablevalues (GCObject *l) {
+  while (l) {
+    Table *h = gcotoh(l);
+    int i = h->sizearray;
+    lua_assert(h->marked & VALUEWEAK);
+    while (i--) {
+      TObject *o = &h->array[i];
+      if (!valismarked(o))  /* value was collected? */
+        setnilvalue(o);  /* remove value */
+    }
+    i = sizenode(h);
+    while (i--) {
+      Node *n = gnode(h, i);
+      if (!valismarked(gval(n)))  /* value was collected? */
+        removekey(n);  /* remove entry from table */
+    }
+    l = h->gclist;
+  }
+}
+
+
+static void freeobj (lua_State *L, GCObject *o) {
+  switch (o->gch.tt) {
+    case LUA_TPROTO: luaF_freeproto(L, gcotop(o)); break;
+    case LUA_TFUNCTION: luaF_freeclosure(L, gcotocl(o)); break;
+    case LUA_TUPVAL: luaM_freelem(L, gcotouv(o)); break;
+    case LUA_TTABLE: luaH_free(L, gcotoh(o)); break;
+    case LUA_TTHREAD: {
+      lua_assert(gcototh(o) != L && gcototh(o) != G(L)->mainthread);
+      luaE_freethread(L, gcototh(o));
+      break;
+    }
+    case LUA_TSTRING: {
+      luaM_free(L, o, sizestring(gcotots(o)->tsv.len));
+      break;
+    }
+    case LUA_TUSERDATA: {
+      luaM_free(L, o, sizeudata(gcotou(o)->uv.len));
+      break;
+    }
+    default: lua_assert(0);
+  }
+}
+
+
+static int sweeplist (lua_State *L, GCObject **p, int limit) {
+  GCObject *curr;
+  int count = 0;  /* number of collected items */
+  while ((curr = *p) != NULL) {
+    if (curr->gch.marked > limit) {
+      unmark(curr);
+      p = &curr->gch.next;
+    }
+    else {
+      count++;
+      *p = curr->gch.next;
+      freeobj(L, curr);
+    }
+  }
+  return count;
+}
+
+
+static void sweepstrings (lua_State *L, int all) {
+  int i;
+  for (i=0; i<G(L)->strt.size; i++) {  /* for each list */
+    G(L)->strt.nuse -= sweeplist(L, &G(L)->strt.hash[i], all);
+  }
+}
+
+
+static void checkSizes (lua_State *L, size_t deadmem) {
+  /* check size of string hash */
+  if (G(L)->strt.nuse < cast(ls_nstr, G(L)->strt.size/4) &&
+      G(L)->strt.size > MINSTRTABSIZE*2)
+    luaS_resize(L, G(L)->strt.size/2);  /* table is too big */
+  /* check size of buffer */
+  if (luaZ_sizebuffer(&G(L)->buff) > LUA_MINBUFFER*2) {  /* buffer too big? */
+    size_t newsize = luaZ_sizebuffer(&G(L)->buff) / 2;
+    luaZ_resizebuffer(L, &G(L)->buff, newsize);
+  }
+  G(L)->GCthreshold = 2*G(L)->nblocks - deadmem;  /* new threshold */
+}
+
+
+static void do1gcTM (lua_State *L, Udata *udata) {
+  const TObject *tm = fasttm(L, udata->uv.metatable, TM_GC);
+  if (tm != NULL) {
+    setobj2s(L->top, tm);
+    setuvalue(L->top+1, udata);
+    L->top += 2;
+    luaD_call(L, L->top - 2, 0);
+  }
+}
+
+
+void luaC_callGCTM (lua_State *L) {
+  lu_byte oldah = L->allowhook;
+  L->allowhook = 0;  /* stop debug hooks during GC tag methods */
+  L->top++;  /* reserve space to keep udata while runs its gc method */
+  while (G(L)->tmudata != NULL) {
+    GCObject *o = G(L)->tmudata;
+    Udata *udata = gcotou(o);
+    G(L)->tmudata = udata->uv.next;  /* remove udata from `tmudata' */
+    udata->uv.next = G(L)->rootudata;  /* return it to `root' list */
+    G(L)->rootudata = o;
+    setuvalue(L->top - 1, udata);  /* keep a reference to it */
+    unmark(o);
+    markfinalized(udata);
+    do1gcTM(L, udata);
+  }
+  L->top--;
+  L->allowhook = oldah;  /* restore hooks */
+}
+
+
+void luaC_sweep (lua_State *L, int all) {
+  if (all) all = 256;  /* larger than any mark */
+  sweeplist(L, &G(L)->rootudata, all);
+  sweepstrings(L, all);
+  sweeplist(L, &G(L)->rootgc, all);
+}
+
+
+/* mark root set */
+static void markroot (GCState *st, lua_State *L) {
+  global_State *g = st->g;
+  markobject(st, defaultmeta(L));
+  markobject(st, registry(L));
+  traversestack(st, g->mainthread);
+  if (L != g->mainthread)  /* another thread is running? */
+    markvalue(st, L);  /* cannot collect it */
+}
+
+
+static size_t mark (lua_State *L) {
+  size_t deadmem;
+  GCState st;
+  GCObject *wkv;
+  st.g = G(L);
+  st.tmark = NULL;
+  st.wkv = st.wk = st.wv = NULL;
+  markroot(&st, L);
+  propagatemarks(&st);  /* mark all reachable objects */
+  cleartablevalues(st.wkv);
+  cleartablevalues(st.wv);
+  wkv = st.wkv;  /* keys must be cleared after preserving udata */
+  st.wkv = NULL;
+  st.wv = NULL;
+  deadmem = luaC_separateudata(L);  /* separate userdata to be preserved */
+  marktmu(&st);  /* mark `preserved' userdata */
+  propagatemarks(&st);  /* remark, to propagate `preserveness' */
+  cleartablekeys(wkv);
+  /* `propagatemarks' may resuscitate some weak tables; clear them too */
+  cleartablekeys(st.wk);
+  cleartablevalues(st.wv);
+  cleartablekeys(st.wkv);
+  cleartablevalues(st.wkv);
+  return deadmem;
+}
+
+
+void luaC_collectgarbage (lua_State *L) {
+  size_t deadmem = mark(L);
+  luaC_sweep(L, 0);
+  checkSizes(L, deadmem);
+  luaC_callGCTM(L);
+}
+
+
+void luaC_link (lua_State *L, GCObject *o, lu_byte tt) {
+  o->gch.next = G(L)->rootgc;
+  G(L)->rootgc = o;
+  o->gch.marked = 0;
+  o->gch.tt = tt;
+}
+
diff -Naur xmoto-0.1.10/src/lua/lgc.h xmoto-0.1.10-patched/src/lua/lgc.h
--- xmoto-0.1.10/src/lua/lgc.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lgc.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,25 @@
+/*
+** $Id: lgc.h,v 1.19a 2003/02/28 19:45:15 roberto Exp $
+** Garbage Collector
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lgc_h
+#define lgc_h
+
+
+#include "lobject.h"
+
+
+#define luaC_checkGC(L) { lua_assert(!(L->ci->state & CI_CALLING)); \
+	if (G(L)->nblocks >= G(L)->GCthreshold) luaC_collectgarbage(L); }
+
+
+size_t luaC_separateudata (lua_State *L);
+void luaC_callGCTM (lua_State *L);
+void luaC_sweep (lua_State *L, int all);
+void luaC_collectgarbage (lua_State *L);
+void luaC_link (lua_State *L, GCObject *o, lu_byte tt);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/llex.c xmoto-0.1.10-patched/src/lua/llex.c
--- xmoto-0.1.10/src/lua/llex.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/llex.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,417 @@
+/*
+** $Id: llex.c,v 1.119 2003/03/24 12:39:34 roberto Exp $
+** Lexical Analyzer
+** See Copyright Notice in lua.h
+*/
+
+
+#include <ctype.h>
+#include <string.h>
+
+#define llex_c
+
+#include "lua.h"
+
+#include "ldo.h"
+#include "llex.h"
+#include "lobject.h"
+#include "lparser.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "lzio.h"
+
+
+
+#define next(LS) (LS->current = zgetc(LS->z))
+
+
+
+/* ORDER RESERVED */
+static const char *const token2string [] = {
+    "and", "break", "do", "else", "elseif",
+    "end", "false", "for", "function", "if",
+    "in", "local", "nil", "not", "or", "repeat",
+    "return", "then", "true", "until", "while", "*name",
+    "..", "...", "==", ">=", "<=", "~=",
+    "*number", "*string", "<eof>"
+};
+
+
+void luaX_init (lua_State *L) {
+  int i;
+  for (i=0; i<NUM_RESERVED; i++) {
+    TString *ts = luaS_new(L, token2string[i]);
+    luaS_fix(ts);  /* reserved words are never collected */
+    lua_assert(strlen(token2string[i])+1 <= TOKEN_LEN);
+    ts->tsv.reserved = cast(lu_byte, i+1);  /* reserved word */
+  }
+}
+
+
+#define MAXSRC          80
+
+
+void luaX_checklimit (LexState *ls, int val, int limit, const char *msg) {
+  if (val > limit) {
+    msg = luaO_pushfstring(ls->L, "too many %s (limit=%d)", msg, limit);
+    luaX_syntaxerror(ls, msg);
+  }
+}
+
+
+void luaX_errorline (LexState *ls, const char *s, const char *token, int line) {
+  lua_State *L = ls->L;
+  char buff[MAXSRC];
+  luaO_chunkid(buff, getstr(ls->source), MAXSRC);
+  luaO_pushfstring(L, "%s:%d: %s near `%s'", buff, line, s, token); 
+  luaD_throw(L, LUA_ERRSYNTAX);
+}
+
+
+static void luaX_error (LexState *ls, const char *s, const char *token) {
+  luaX_errorline(ls, s, token, ls->linenumber);
+}
+
+
+void luaX_syntaxerror (LexState *ls, const char *msg) {
+  const char *lasttoken;
+  switch (ls->t.token) {
+    case TK_NAME:
+      lasttoken = getstr(ls->t.seminfo.ts);
+      break;
+    case TK_STRING:
+    case TK_NUMBER:
+      lasttoken = luaZ_buffer(ls->buff);
+      break;
+    default:
+      lasttoken = luaX_token2str(ls, ls->t.token);
+      break;
+  }
+  luaX_error(ls, msg, lasttoken);
+}
+
+
+const char *luaX_token2str (LexState *ls, int token) {
+  if (token < FIRST_RESERVED) {
+    lua_assert(token == (unsigned char)token);
+    return luaO_pushfstring(ls->L, "%c", token);
+  }
+  else
+    return token2string[token-FIRST_RESERVED];
+}
+
+
+static void luaX_lexerror (LexState *ls, const char *s, int token) {
+  if (token == TK_EOS)
+    luaX_error(ls, s, luaX_token2str(ls, token));
+  else
+    luaX_error(ls, s, luaZ_buffer(ls->buff));
+}
+
+
+static void inclinenumber (LexState *LS) {
+  next(LS);  /* skip `\n' */
+  ++LS->linenumber;
+  luaX_checklimit(LS, LS->linenumber, MAX_INT, "lines in a chunk");
+}
+
+
+void luaX_setinput (lua_State *L, LexState *LS, ZIO *z, TString *source) {
+  LS->L = L;
+  LS->lookahead.token = TK_EOS;  /* no look-ahead token */
+  LS->z = z;
+  LS->fs = NULL;
+  LS->linenumber = 1;
+  LS->lastline = 1;
+  LS->source = source;
+  next(LS);  /* read first char */
+  if (LS->current == '#') {
+    do {  /* skip first line */
+      next(LS);
+    } while (LS->current != '\n' && LS->current != EOZ);
+  }
+}
+
+
+
+/*
+** =======================================================
+** LEXICAL ANALYZER
+** =======================================================
+*/
+
+
+/* use buffer to store names, literal strings and numbers */
+
+/* extra space to allocate when growing buffer */
+#define EXTRABUFF	32
+
+/* maximum number of chars that can be read without checking buffer size */
+#define MAXNOCHECK	5
+
+#define checkbuffer(LS, len)	\
+    if (((len)+MAXNOCHECK)*sizeof(char) > luaZ_sizebuffer((LS)->buff)) \
+      luaZ_openspace((LS)->L, (LS)->buff, (len)+EXTRABUFF)
+
+#define save(LS, c, l) \
+	(luaZ_buffer((LS)->buff)[l++] = cast(char, c))
+#define save_and_next(LS, l)  (save(LS, LS->current, l), next(LS))
+
+
+static size_t readname (LexState *LS) {
+  size_t l = 0;
+  checkbuffer(LS, l);
+  do {
+    checkbuffer(LS, l);
+    save_and_next(LS, l);
+  } while (isalnum(LS->current) || LS->current == '_');
+  save(LS, '\0', l);
+  return l-1;
+}
+
+
+/* LUA_NUMBER */
+static void read_numeral (LexState *LS, int comma, SemInfo *seminfo) {
+  size_t l = 0;
+  checkbuffer(LS, l);
+  if (comma) save(LS, '.', l);
+  while (isdigit(LS->current)) {
+    checkbuffer(LS, l);
+    save_and_next(LS, l);
+  }
+  if (LS->current == '.') {
+    save_and_next(LS, l);
+    if (LS->current == '.') {
+      save_and_next(LS, l);
+      save(LS, '\0', l);
+      luaX_lexerror(LS,
+                 "ambiguous syntax (decimal point x string concatenation)",
+                 TK_NUMBER);
+    }
+  }
+  while (isdigit(LS->current)) {
+    checkbuffer(LS, l);
+    save_and_next(LS, l);
+  }
+  if (LS->current == 'e' || LS->current == 'E') {
+    save_and_next(LS, l);  /* read `E' */
+    if (LS->current == '+' || LS->current == '-')
+      save_and_next(LS, l);  /* optional exponent sign */
+    while (isdigit(LS->current)) {
+      checkbuffer(LS, l);
+      save_and_next(LS, l);
+    }
+  }
+  save(LS, '\0', l);
+  if (!luaO_str2d(luaZ_buffer(LS->buff), &seminfo->r))
+    luaX_lexerror(LS, "malformed number", TK_NUMBER);
+}
+
+
+static void read_long_string (LexState *LS, SemInfo *seminfo) {
+  int cont = 0;
+  size_t l = 0;
+  checkbuffer(LS, l);
+  save(LS, '[', l);  /* save first `[' */
+  save_and_next(LS, l);  /* pass the second `[' */
+  if (LS->current == '\n')  /* string starts with a newline? */
+    inclinenumber(LS);  /* skip it */
+  for (;;) {
+    checkbuffer(LS, l);
+    switch (LS->current) {
+      case EOZ:
+        save(LS, '\0', l);
+        luaX_lexerror(LS, (seminfo) ? "unfinished long string" :
+                                   "unfinished long comment", TK_EOS);
+        break;  /* to avoid warnings */
+      case '[':
+        save_and_next(LS, l);
+        if (LS->current == '[') {
+          cont++;
+          save_and_next(LS, l);
+        }
+        continue;
+      case ']':
+        save_and_next(LS, l);
+        if (LS->current == ']') {
+          if (cont == 0) goto endloop;
+          cont--;
+          save_and_next(LS, l);
+        }
+        continue;
+      case '\n':
+        save(LS, '\n', l);
+        inclinenumber(LS);
+        if (!seminfo) l = 0;  /* reset buffer to avoid wasting space */
+        continue;
+      default:
+        save_and_next(LS, l);
+    }
+  } endloop:
+  save_and_next(LS, l);  /* skip the second `]' */
+  save(LS, '\0', l);
+  if (seminfo)
+    seminfo->ts = luaS_newlstr(LS->L, luaZ_buffer(LS->buff) + 2, l - 5);
+}
+
+
+static void read_string (LexState *LS, int del, SemInfo *seminfo) {
+  size_t l = 0;
+  checkbuffer(LS, l);
+  save_and_next(LS, l);
+  while (LS->current != del) {
+    checkbuffer(LS, l);
+    switch (LS->current) {
+      case EOZ:
+        save(LS, '\0', l);
+        luaX_lexerror(LS, "unfinished string", TK_EOS);
+        break;  /* to avoid warnings */
+      case '\n':
+        save(LS, '\0', l);
+        luaX_lexerror(LS, "unfinished string", TK_STRING);
+        break;  /* to avoid warnings */
+      case '\\':
+        next(LS);  /* do not save the `\' */
+        switch (LS->current) {
+          case 'a': save(LS, '\a', l); next(LS); break;
+          case 'b': save(LS, '\b', l); next(LS); break;
+          case 'f': save(LS, '\f', l); next(LS); break;
+          case 'n': save(LS, '\n', l); next(LS); break;
+          case 'r': save(LS, '\r', l); next(LS); break;
+          case 't': save(LS, '\t', l); next(LS); break;
+          case 'v': save(LS, '\v', l); next(LS); break;
+          case '\n': save(LS, '\n', l); inclinenumber(LS); break;
+          case EOZ: break;  /* will raise an error next loop */
+          default: {
+            if (!isdigit(LS->current))
+              save_and_next(LS, l);  /* handles \\, \", \', and \? */
+            else {  /* \xxx */
+              int c = 0;
+              int i = 0;
+              do {
+                c = 10*c + (LS->current-'0');
+                next(LS);
+              } while (++i<3 && isdigit(LS->current));
+              if (c > UCHAR_MAX) {
+                save(LS, '\0', l);
+                luaX_lexerror(LS, "escape sequence too large", TK_STRING);
+              }
+              save(LS, c, l);
+            }
+          }
+        }
+        break;
+      default:
+        save_and_next(LS, l);
+    }
+  }
+  save_and_next(LS, l);  /* skip delimiter */
+  save(LS, '\0', l);
+  seminfo->ts = luaS_newlstr(LS->L, luaZ_buffer(LS->buff) + 1, l - 3);
+}
+
+
+int luaX_lex (LexState *LS, SemInfo *seminfo) {
+  for (;;) {
+    switch (LS->current) {
+
+      case '\n': {
+        inclinenumber(LS);
+        continue;
+      }
+      case '-': {
+        next(LS);
+        if (LS->current != '-') return '-';
+        /* else is a comment */
+        next(LS);
+        if (LS->current == '[' && (next(LS), LS->current == '['))
+          read_long_string(LS, NULL);  /* long comment */
+        else  /* short comment */
+          while (LS->current != '\n' && LS->current != EOZ)
+            next(LS);
+        continue;
+      }
+      case '[': {
+        next(LS);
+        if (LS->current != '[') return '[';
+        else {
+          read_long_string(LS, seminfo);
+          return TK_STRING;
+        }
+      }
+      case '=': {
+        next(LS);
+        if (LS->current != '=') return '=';
+        else { next(LS); return TK_EQ; }
+      }
+      case '<': {
+        next(LS);
+        if (LS->current != '=') return '<';
+        else { next(LS); return TK_LE; }
+      }
+      case '>': {
+        next(LS);
+        if (LS->current != '=') return '>';
+        else { next(LS); return TK_GE; }
+      }
+      case '~': {
+        next(LS);
+        if (LS->current != '=') return '~';
+        else { next(LS); return TK_NE; }
+      }
+      case '"':
+      case '\'': {
+        read_string(LS, LS->current, seminfo);
+        return TK_STRING;
+      }
+      case '.': {
+        next(LS);
+        if (LS->current == '.') {
+          next(LS);
+          if (LS->current == '.') {
+            next(LS);
+            return TK_DOTS;   /* ... */
+          }
+          else return TK_CONCAT;   /* .. */
+        }
+        else if (!isdigit(LS->current)) return '.';
+        else {
+          read_numeral(LS, 1, seminfo);
+          return TK_NUMBER;
+        }
+      }
+      case EOZ: {
+        return TK_EOS;
+      }
+      default: {
+        if (isspace(LS->current)) {
+          next(LS);
+          continue;
+        }
+        else if (isdigit(LS->current)) {
+          read_numeral(LS, 0, seminfo);
+          return TK_NUMBER;
+        }
+        else if (isalpha(LS->current) || LS->current == '_') {
+          /* identifier or reserved word */
+          size_t l = readname(LS);
+          TString *ts = luaS_newlstr(LS->L, luaZ_buffer(LS->buff), l);
+          if (ts->tsv.reserved > 0)  /* reserved word? */
+            return ts->tsv.reserved - 1 + FIRST_RESERVED;
+          seminfo->ts = ts;
+          return TK_NAME;
+        }
+        else {
+          int c = LS->current;
+          if (iscntrl(c))
+            luaX_error(LS, "invalid control char",
+                           luaO_pushfstring(LS->L, "char(%d)", c));
+          next(LS);
+          return c;  /* single-char tokens (+ - / ...) */
+        }
+      }
+    }
+  }
+}
+
+#undef next
diff -Naur xmoto-0.1.10/src/lua/llex.h xmoto-0.1.10-patched/src/lua/llex.h
--- xmoto-0.1.10/src/lua/llex.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/llex.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,75 @@
+/*
+** $Id: llex.h,v 1.47 2003/02/28 17:19:47 roberto Exp $
+** Lexical Analyzer
+** See Copyright Notice in lua.h
+*/
+
+#ifndef llex_h
+#define llex_h
+
+#include "lobject.h"
+#include "lzio.h"
+
+
+#define FIRST_RESERVED	257
+
+/* maximum length of a reserved word */
+#define TOKEN_LEN	(sizeof("function")/sizeof(char))
+
+
+/*
+* WARNING: if you change the order of this enumeration,
+* grep "ORDER RESERVED"
+*/
+enum RESERVED {
+  /* terminal symbols denoted by reserved words */
+  TK_AND = FIRST_RESERVED, TK_BREAK,
+  TK_DO, TK_ELSE, TK_ELSEIF, TK_END, TK_FALSE, TK_FOR, TK_FUNCTION,
+  TK_IF, TK_IN, TK_LOCAL, TK_NIL, TK_NOT, TK_OR, TK_REPEAT,
+  TK_RETURN, TK_THEN, TK_TRUE, TK_UNTIL, TK_WHILE,
+  /* other terminal symbols */
+  TK_NAME, TK_CONCAT, TK_DOTS, TK_EQ, TK_GE, TK_LE, TK_NE, TK_NUMBER,
+  TK_STRING, TK_EOS
+};
+
+/* number of reserved words */
+#define NUM_RESERVED	(cast(int, TK_WHILE-FIRST_RESERVED+1))
+
+
+typedef union {
+  lua_Number r;
+  TString *ts;
+} SemInfo;  /* semantics information */
+
+
+typedef struct Token {
+  int token;
+  SemInfo seminfo;
+} Token;
+
+
+typedef struct LexState {
+  int current;  /* current character (charint) */
+  int linenumber;  /* input line counter */
+  int lastline;  /* line of last token `consumed' */
+  Token t;  /* current token */
+  Token lookahead;  /* look ahead token */
+  struct FuncState *fs;  /* `FuncState' is private to the parser */
+  struct lua_State *L;
+  ZIO *z;  /* input stream */
+  Mbuffer *buff;  /* buffer for tokens */
+  TString *source;  /* current source name */
+  int nestlevel;  /* level of nested non-terminals */
+} LexState;
+
+
+void luaX_init (lua_State *L);
+void luaX_setinput (lua_State *L, LexState *LS, ZIO *z, TString *source);
+int luaX_lex (LexState *LS, SemInfo *seminfo);
+void luaX_checklimit (LexState *ls, int val, int limit, const char *msg);
+void luaX_syntaxerror (LexState *ls, const char *s);
+void luaX_errorline (LexState *ls, const char *s, const char *token, int line);
+const char *luaX_token2str (LexState *ls, int token);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/llimits.h xmoto-0.1.10-patched/src/lua/llimits.h
--- xmoto-0.1.10/src/lua/llimits.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/llimits.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,185 @@
+/*
+** $Id: llimits.h,v 1.52 2003/02/20 19:33:23 roberto Exp $
+** Limits, basic types, and some other `installation-dependent' definitions
+** See Copyright Notice in lua.h
+*/
+
+#ifndef llimits_h
+#define llimits_h
+
+
+#include <limits.h>
+#include <stddef.h>
+
+
+#include "lua.h"
+
+
+/*
+** try to find number of bits in an integer
+*/
+#ifndef BITS_INT
+/* avoid overflows in comparison */
+#if INT_MAX-20 < 32760
+#define	BITS_INT	16
+#else
+#if INT_MAX > 2147483640L
+/* machine has at least 32 bits */
+#define BITS_INT	32
+#else
+#error "you must define BITS_INT with number of bits in an integer"
+#endif
+#endif
+#endif
+
+
+/*
+** the following types define integer types for values that may not
+** fit in a `small int' (16 bits), but may waste space in a
+** `large long' (64 bits). The current definitions should work in
+** any machine, but may not be optimal.
+*/
+
+/* an unsigned integer to hold hash values */
+typedef unsigned int lu_hash;
+/* its signed equivalent */
+typedef int ls_hash;
+
+/* an unsigned integer big enough to count the total memory used by Lua; */
+/* it should be at least as large as size_t */
+typedef unsigned long lu_mem;
+
+#define MAX_LUMEM	ULONG_MAX
+
+
+/* an integer big enough to count the number of strings in use */
+typedef long ls_nstr;
+
+/* chars used as small naturals (so that `char' is reserved for characters) */
+typedef unsigned char lu_byte;
+
+
+#define MAX_SIZET	((size_t)(~(size_t)0)-2)
+
+
+#define MAX_INT (INT_MAX-2)  /* maximum value of an int (-2 for safety) */
+
+/*
+** conversion of pointer to integer
+** this is for hashing only; there is no problem if the integer
+** cannot hold the whole pointer value
+*/
+#define IntPoint(p)  ((lu_hash)(p))
+
+
+
+/* type to ensure maximum alignment */
+#ifndef LUSER_ALIGNMENT_T
+typedef union { double u; void *s; long l; } L_Umaxalign;
+#else
+typedef LUSER_ALIGNMENT_T L_Umaxalign;
+#endif
+
+
+/* result of `usual argument conversion' over lua_Number */
+#ifndef LUA_UACNUMBER
+typedef double l_uacNumber;
+#else
+typedef LUA_UACNUMBER l_uacNumber;
+#endif
+
+
+#ifndef lua_assert
+#define lua_assert(c)		/* empty */
+#endif
+
+
+#ifndef check_exp
+#define check_exp(c,e)	(e)
+#endif
+
+
+#ifndef UNUSED
+#define UNUSED(x)	((void)(x))	/* to avoid warnings */
+#endif
+
+
+#ifndef cast
+#define cast(t, exp)	((t)(exp))
+#endif
+
+
+
+/*
+** type for virtual-machine instructions
+** must be an unsigned with (at least) 4 bytes (see details in lopcodes.h)
+*/
+typedef unsigned long Instruction;
+
+
+/* maximum depth for calls (unsigned short) */
+#ifndef LUA_MAXCALLS
+#define LUA_MAXCALLS        4096
+#endif
+
+
+/*
+** maximum depth for C calls (unsigned short): Not too big, or may
+** overflow the C stack...
+*/
+
+#ifndef LUA_MAXCCALLS
+#define LUA_MAXCCALLS        200
+#endif
+
+
+/* maximum size for the C stack */
+#ifndef LUA_MAXCSTACK
+#define LUA_MAXCSTACK        2048
+#endif
+
+
+/* maximum stack for a Lua function */
+#define MAXSTACK	250
+
+
+/* maximum number of variables declared in a function */
+#ifndef MAXVARS
+#define MAXVARS 200           /* arbitrary limit (<MAXSTACK) */
+#endif
+
+
+/* maximum number of upvalues per function */
+#ifndef MAXUPVALUES
+#define MAXUPVALUES	32
+#endif
+
+
+/* maximum number of parameters in a function */
+#ifndef MAXPARAMS
+#define MAXPARAMS 100           /* arbitrary limit (<MAXLOCALS) */
+#endif
+
+
+/* minimum size for the string table (must be power of 2) */
+#ifndef MINSTRTABSIZE
+#define MINSTRTABSIZE	32
+#endif
+
+
+/* minimum size for string buffer */
+#ifndef LUA_MINBUFFER
+#define LUA_MINBUFFER	32
+#endif
+
+
+/*
+** maximum number of syntactical nested non-terminals: Not too big,
+** or may overflow the C stack...
+*/
+#ifndef LUA_MAXPARSERLEVEL
+#define LUA_MAXPARSERLEVEL	200
+#endif
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lmathlib.c xmoto-0.1.10-patched/src/lua/lmathlib.c
--- xmoto-0.1.10/src/lua/lmathlib.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lmathlib.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,246 @@
+/*
+** $Id: lmathlib.c,v 1.56 2003/03/11 12:30:37 roberto Exp $
+** Standard mathematical library
+** See Copyright Notice in lua.h
+*/
+
+
+#include <stdlib.h>
+#include <math.h>
+
+#define lmathlib_c
+
+#include "lua.h"
+
+#include "lauxlib.h"
+#include "lualib.h"
+
+
+#undef PI
+#define PI (3.14159265358979323846)
+#define RADIANS_PER_DEGREE (PI/180.0)
+
+
+
+/*
+** If you want Lua to operate in degrees (instead of radians),
+** define USE_DEGREES
+*/
+#ifdef USE_DEGREES
+#define FROMRAD(a)	((a)/RADIANS_PER_DEGREE)
+#define TORAD(a)	((a)*RADIANS_PER_DEGREE)
+#else
+#define FROMRAD(a)	(a)
+#define TORAD(a)	(a)
+#endif
+
+
+static int math_abs (lua_State *L) {
+  lua_pushnumber(L, fabs(luaL_checknumber(L, 1)));
+  return 1;
+}
+
+static int math_sin (lua_State *L) {
+  lua_pushnumber(L, sin(TORAD(luaL_checknumber(L, 1))));
+  return 1;
+}
+
+static int math_cos (lua_State *L) {
+  lua_pushnumber(L, cos(TORAD(luaL_checknumber(L, 1))));
+  return 1;
+}
+
+static int math_tan (lua_State *L) {
+  lua_pushnumber(L, tan(TORAD(luaL_checknumber(L, 1))));
+  return 1;
+}
+
+static int math_asin (lua_State *L) {
+  lua_pushnumber(L, FROMRAD(asin(luaL_checknumber(L, 1))));
+  return 1;
+}
+
+static int math_acos (lua_State *L) {
+  lua_pushnumber(L, FROMRAD(acos(luaL_checknumber(L, 1))));
+  return 1;
+}
+
+static int math_atan (lua_State *L) {
+  lua_pushnumber(L, FROMRAD(atan(luaL_checknumber(L, 1))));
+  return 1;
+}
+
+static int math_atan2 (lua_State *L) {
+  lua_pushnumber(L, FROMRAD(atan2(luaL_checknumber(L, 1), luaL_checknumber(L, 2))));
+  return 1;
+}
+
+static int math_ceil (lua_State *L) {
+  lua_pushnumber(L, ceil(luaL_checknumber(L, 1)));
+  return 1;
+}
+
+static int math_floor (lua_State *L) {
+  lua_pushnumber(L, floor(luaL_checknumber(L, 1)));
+  return 1;
+}
+
+static int math_mod (lua_State *L) {
+  lua_pushnumber(L, fmod(luaL_checknumber(L, 1), luaL_checknumber(L, 2)));
+  return 1;
+}
+
+static int math_sqrt (lua_State *L) {
+  lua_pushnumber(L, sqrt(luaL_checknumber(L, 1)));
+  return 1;
+}
+
+static int math_pow (lua_State *L) {
+  lua_pushnumber(L, pow(luaL_checknumber(L, 1), luaL_checknumber(L, 2)));
+  return 1;
+}
+
+static int math_log (lua_State *L) {
+  lua_pushnumber(L, log(luaL_checknumber(L, 1)));
+  return 1;
+}
+
+static int math_log10 (lua_State *L) {
+  lua_pushnumber(L, log10(luaL_checknumber(L, 1)));
+  return 1;
+}
+
+static int math_exp (lua_State *L) {
+  lua_pushnumber(L, exp(luaL_checknumber(L, 1)));
+  return 1;
+}
+
+static int math_deg (lua_State *L) {
+  lua_pushnumber(L, luaL_checknumber(L, 1)/RADIANS_PER_DEGREE);
+  return 1;
+}
+
+static int math_rad (lua_State *L) {
+  lua_pushnumber(L, luaL_checknumber(L, 1)*RADIANS_PER_DEGREE);
+  return 1;
+}
+
+static int math_frexp (lua_State *L) {
+  int e;
+  lua_pushnumber(L, frexp(luaL_checknumber(L, 1), &e));
+  lua_pushnumber(L, e);
+  return 2;
+}
+
+static int math_ldexp (lua_State *L) {
+  lua_pushnumber(L, ldexp(luaL_checknumber(L, 1), luaL_checkint(L, 2)));
+  return 1;
+}
+
+
+
+static int math_min (lua_State *L) {
+  int n = lua_gettop(L);  /* number of arguments */
+  lua_Number dmin = luaL_checknumber(L, 1);
+  int i;
+  for (i=2; i<=n; i++) {
+    lua_Number d = luaL_checknumber(L, i);
+    if (d < dmin)
+      dmin = d;
+  }
+  lua_pushnumber(L, dmin);
+  return 1;
+}
+
+
+static int math_max (lua_State *L) {
+  int n = lua_gettop(L);  /* number of arguments */
+  lua_Number dmax = luaL_checknumber(L, 1);
+  int i;
+  for (i=2; i<=n; i++) {
+    lua_Number d = luaL_checknumber(L, i);
+    if (d > dmax)
+      dmax = d;
+  }
+  lua_pushnumber(L, dmax);
+  return 1;
+}
+
+
+static int math_random (lua_State *L) {
+  /* the `%' avoids the (rare) case of r==1, and is needed also because on
+     some systems (SunOS!) `rand()' may return a value larger than RAND_MAX */
+  lua_Number r = (lua_Number)(rand()%RAND_MAX) / (lua_Number)RAND_MAX;
+  switch (lua_gettop(L)) {  /* check number of arguments */
+    case 0: {  /* no arguments */
+      lua_pushnumber(L, r);  /* Number between 0 and 1 */
+      break;
+    }
+    case 1: {  /* only upper limit */
+      int u = luaL_checkint(L, 1);
+      luaL_argcheck(L, 1<=u, 1, "interval is empty");
+      lua_pushnumber(L, (int)floor(r*u)+1);  /* int between 1 and `u' */
+      break;
+    }
+    case 2: {  /* lower and upper limits */
+      int l = luaL_checkint(L, 1);
+      int u = luaL_checkint(L, 2);
+      luaL_argcheck(L, l<=u, 2, "interval is empty");
+      lua_pushnumber(L, (int)floor(r*(u-l+1))+l);  /* int between `l' and `u' */
+      break;
+    }
+    default: return luaL_error(L, "wrong number of arguments");
+  }
+  return 1;
+}
+
+
+static int math_randomseed (lua_State *L) {
+  srand(luaL_checkint(L, 1));
+  return 0;
+}
+
+
+static const luaL_reg mathlib[] = {
+  {"abs",   math_abs},
+  {"sin",   math_sin},
+  {"cos",   math_cos},
+  {"tan",   math_tan},
+  {"asin",  math_asin},
+  {"acos",  math_acos},
+  {"atan",  math_atan},
+  {"atan2", math_atan2},
+  {"ceil",  math_ceil},
+  {"floor", math_floor},
+  {"mod",   math_mod},
+  {"frexp", math_frexp},
+  {"ldexp", math_ldexp},
+  {"sqrt",  math_sqrt},
+  {"min",   math_min},
+  {"max",   math_max},
+  {"log",   math_log},
+  {"log10", math_log10},
+  {"exp",   math_exp},
+  {"deg",   math_deg},
+  {"pow",   math_pow},
+  {"rad",   math_rad},
+  {"random",     math_random},
+  {"randomseed", math_randomseed},
+  {NULL, NULL}
+};
+
+
+/*
+** Open math library
+*/
+LUALIB_API int luaopen_math (lua_State *L) {
+  luaL_openlib(L, LUA_MATHLIBNAME, mathlib, 0);
+  lua_pushliteral(L, "pi");
+  lua_pushnumber(L, PI);
+  lua_settable(L, -3);
+  lua_pushliteral(L, "__pow");
+  lua_pushcfunction(L, math_pow);
+  lua_settable(L, LUA_GLOBALSINDEX);
+  return 1;
+}
+
diff -Naur xmoto-0.1.10/src/lua/lmem.c xmoto-0.1.10-patched/src/lua/lmem.c
--- xmoto-0.1.10/src/lua/lmem.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lmem.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,91 @@
+/*
+** $Id: lmem.c,v 1.61 2002/12/04 17:38:31 roberto Exp $
+** Interface to Memory Manager
+** See Copyright Notice in lua.h
+*/
+
+
+#include <stdlib.h>
+
+#define lmem_c
+
+#include "lua.h"
+
+#include "ldebug.h"
+#include "ldo.h"
+#include "lmem.h"
+#include "lobject.h"
+#include "lstate.h"
+
+
+
+/*
+** definition for realloc function. It must assure that l_realloc(NULL,
+** 0, x) allocates a new block (ANSI C assures that). (`os' is the old
+** block size; some allocators may use that.)
+*/
+#ifndef l_realloc
+#define l_realloc(b,os,s)	realloc(b,s)
+#endif
+
+/*
+** definition for free function. (`os' is the old block size; some
+** allocators may use that.)
+*/
+#ifndef l_free
+#define l_free(b,os)	free(b)
+#endif
+
+
+#define MINSIZEARRAY	4
+
+
+void *luaM_growaux (lua_State *L, void *block, int *size, int size_elems,
+                    int limit, const char *errormsg) {
+  void *newblock;
+  int newsize = (*size)*2;
+  if (newsize < MINSIZEARRAY)
+    newsize = MINSIZEARRAY;  /* minimum size */
+  else if (*size >= limit/2) {  /* cannot double it? */
+    if (*size < limit - MINSIZEARRAY)  /* try something smaller... */
+      newsize = limit;  /* still have at least MINSIZEARRAY free places */
+    else luaG_runerror(L, errormsg);
+  }
+  newblock = luaM_realloc(L, block,
+                          cast(lu_mem, *size)*cast(lu_mem, size_elems),
+                          cast(lu_mem, newsize)*cast(lu_mem, size_elems));
+  *size = newsize;  /* update only when everything else is OK */
+  return newblock;
+}
+
+
+/*
+** generic allocation routine.
+*/
+void *luaM_realloc (lua_State *L, void *block, lu_mem oldsize, lu_mem size) {
+  lua_assert((oldsize == 0) == (block == NULL));
+  if (size == 0) {
+    if (block != NULL) {
+      l_free(block, oldsize);
+      block = NULL;
+    }
+    else return NULL;  /* avoid `nblocks' computations when oldsize==size==0 */
+  }
+  else if (size >= MAX_SIZET)
+    luaG_runerror(L, "memory allocation error: block too big");
+  else {
+    block = l_realloc(block, oldsize, size);
+    if (block == NULL) {
+      if (L)
+        luaD_throw(L, LUA_ERRMEM);
+      else return NULL;  /* error before creating state! */
+    }
+  }
+  if (L) {
+    lua_assert(G(L) != NULL && G(L)->nblocks > 0);
+    G(L)->nblocks -= oldsize;
+    G(L)->nblocks += size;
+  }
+  return block;
+}
+
diff -Naur xmoto-0.1.10/src/lua/lmem.h xmoto-0.1.10-patched/src/lua/lmem.h
--- xmoto-0.1.10/src/lua/lmem.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lmem.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,44 @@
+/*
+** $Id: lmem.h,v 1.26 2002/05/01 20:40:42 roberto Exp $
+** Interface to Memory Manager
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lmem_h
+#define lmem_h
+
+
+#include <stddef.h>
+
+#include "llimits.h"
+#include "lua.h"
+
+#define MEMERRMSG	"not enough memory"
+
+
+void *luaM_realloc (lua_State *L, void *oldblock, lu_mem oldsize, lu_mem size);
+
+void *luaM_growaux (lua_State *L, void *block, int *size, int size_elem,
+                    int limit, const char *errormsg);
+
+#define luaM_free(L, b, s)	luaM_realloc(L, (b), (s), 0)
+#define luaM_freelem(L, b)	luaM_realloc(L, (b), sizeof(*(b)), 0)
+#define luaM_freearray(L, b, n, t)	luaM_realloc(L, (b), \
+                                      cast(lu_mem, n)*cast(lu_mem, sizeof(t)), 0)
+
+#define luaM_malloc(L, t)	luaM_realloc(L, NULL, 0, (t))
+#define luaM_new(L, t)          cast(t *, luaM_malloc(L, sizeof(t)))
+#define luaM_newvector(L, n,t)  cast(t *, luaM_malloc(L, \
+                                         cast(lu_mem, n)*cast(lu_mem, sizeof(t))))
+
+#define luaM_growvector(L,v,nelems,size,t,limit,e) \
+          if (((nelems)+1) > (size)) \
+            ((v)=cast(t *, luaM_growaux(L,v,&(size),sizeof(t),limit,e)))
+
+#define luaM_reallocvector(L, v,oldn,n,t) \
+   ((v)=cast(t *, luaM_realloc(L, v,cast(lu_mem, oldn)*cast(lu_mem, sizeof(t)), \
+                                    cast(lu_mem, n)*cast(lu_mem, sizeof(t)))))
+
+
+#endif
+
diff -Naur xmoto-0.1.10/src/lua/lobject.c xmoto-0.1.10-patched/src/lua/lobject.c
--- xmoto-0.1.10/src/lua/lobject.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lobject.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,195 @@
+/*
+** $Id: lobject.c,v 1.97 2003/04/03 13:35:34 roberto Exp $
+** Some generic functions over Lua objects
+** See Copyright Notice in lua.h
+*/
+
+#include <ctype.h>
+#include <stdarg.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define lobject_c
+
+#include "lua.h"
+
+#include "ldo.h"
+#include "lmem.h"
+#include "lobject.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "lvm.h"
+
+
+/* function to convert a string to a lua_Number */
+#ifndef lua_str2number
+#define lua_str2number(s,p)     strtod((s), (p))
+#endif
+
+
+const TObject luaO_nilobject = {LUA_TNIL, {NULL}};
+
+
+/*
+** converts an integer to a "floating point byte", represented as
+** (mmmmmxxx), where the real value is (xxx) * 2^(mmmmm)
+*/
+int luaO_int2fb (unsigned int x) {
+  int m = 0;  /* mantissa */
+  while (x >= (1<<3)) {
+    x = (x+1) >> 1;
+    m++;
+  }
+  return (m << 3) | cast(int, x);
+}
+
+
+int luaO_log2 (unsigned int x) {
+  static const lu_byte log_8[255] = {
+    0,
+    1,1,
+    2,2,2,2,
+    3,3,3,3,3,3,3,3,
+    4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,4,
+    5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,
+    6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,
+    6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,6,
+    7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,
+    7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,
+    7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,
+    7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7,7
+  };
+  if (x >= 0x00010000) {
+    if (x >= 0x01000000) return log_8[((x>>24) & 0xff) - 1]+24;
+    else return log_8[((x>>16) & 0xff) - 1]+16;
+  }
+  else {
+    if (x >= 0x00000100) return log_8[((x>>8) & 0xff) - 1]+8;
+    else if (x) return log_8[(x & 0xff) - 1];
+    return -1;  /* special `log' for 0 */
+  }
+}
+
+
+int luaO_rawequalObj (const TObject *t1, const TObject *t2) {
+  if (ttype(t1) != ttype(t2)) return 0;
+  else switch (ttype(t1)) {
+    case LUA_TNIL:
+      return 1;
+    case LUA_TNUMBER:
+      return nvalue(t1) == nvalue(t2);
+    case LUA_TBOOLEAN:
+      return bvalue(t1) == bvalue(t2);  /* boolean true must be 1 !! */
+    case LUA_TLIGHTUSERDATA:
+      return pvalue(t1) == pvalue(t2);
+    default:
+      lua_assert(iscollectable(t1));
+      return gcvalue(t1) == gcvalue(t2);
+  }
+}
+
+
+int luaO_str2d (const char *s, lua_Number *result) {
+  char *endptr;
+  lua_Number res = lua_str2number(s, &endptr);
+  if (endptr == s) return 0;  /* no conversion */
+  while (isspace((unsigned char)(*endptr))) endptr++;
+  if (*endptr != '\0') return 0;  /* invalid trailing characters? */
+  *result = res;
+  return 1;
+}
+
+
+
+static void pushstr (lua_State *L, const char *str) {
+  setsvalue2s(L->top, luaS_new(L, str));
+  incr_top(L);
+}
+
+
+/* this function handles only `%d', `%c', %f, and `%s' formats */
+const char *luaO_pushvfstring (lua_State *L, const char *fmt, va_list argp) {
+  int n = 1;
+  pushstr(L, "");
+  for (;;) {
+    const char *e = strchr(fmt, '%');
+    if (e == NULL) break;
+    setsvalue2s(L->top, luaS_newlstr(L, fmt, e-fmt));
+    incr_top(L);
+    switch (*(e+1)) {
+      case 's':
+        pushstr(L, va_arg(argp, char *));
+        break;
+      case 'c': {
+        char buff[2];
+        buff[0] = cast(char, va_arg(argp, int));
+        buff[1] = '\0';
+        pushstr(L, buff);
+        break;
+      }
+      case 'd':
+        setnvalue(L->top, cast(lua_Number, va_arg(argp, int)));
+        incr_top(L);
+        break;
+      case 'f':
+        setnvalue(L->top, cast(lua_Number, va_arg(argp, l_uacNumber)));
+        incr_top(L);
+        break;
+      case '%':
+        pushstr(L, "%");
+        break;
+      default: lua_assert(0);
+    }
+    n += 2;
+    fmt = e+2;
+  }
+  pushstr(L, fmt);
+  luaV_concat(L, n+1, L->top - L->base - 1);
+  L->top -= n;
+  return svalue(L->top - 1);
+}
+
+
+const char *luaO_pushfstring (lua_State *L, const char *fmt, ...) {
+  const char *msg;
+  va_list argp;
+  va_start(argp, fmt);
+  msg = luaO_pushvfstring(L, fmt, argp);
+  va_end(argp);
+  return msg;
+}
+
+
+void luaO_chunkid (char *out, const char *source, int bufflen) {
+  if (*source == '=') {
+    strncpy(out, source+1, bufflen);  /* remove first char */
+    out[bufflen-1] = '\0';  /* ensures null termination */
+  }
+  else {  /* out = "source", or "...source" */
+    if (*source == '@') {
+      int l;
+      source++;  /* skip the `@' */
+      bufflen -= sizeof(" `...' ");
+      l = strlen(source);
+      strcpy(out, "");
+      if (l>bufflen) {
+        source += (l-bufflen);  /* get last part of file name */
+        strcat(out, "...");
+      }
+      strcat(out, source);
+    }
+    else {  /* out = [string "string"] */
+      int len = strcspn(source, "\n");  /* stop at first newline */
+      bufflen -= sizeof(" [string \"...\"] ");
+      if (len > bufflen) len = bufflen;
+      strcpy(out, "[string \"");
+      if (source[len] != '\0') {  /* must truncate? */
+        strncat(out, source, len);
+        strcat(out, "...");
+      }
+      else
+        strcat(out, source);
+      strcat(out, "\"]");
+    }
+  }
+}
diff -Naur xmoto-0.1.10/src/lua/lobject.h xmoto-0.1.10-patched/src/lua/lobject.h
--- xmoto-0.1.10/src/lua/lobject.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lobject.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,336 @@
+/*
+** $Id: lobject.h,v 1.159 2003/03/18 12:50:04 roberto Exp $
+** Type definitions for Lua objects
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lobject_h
+#define lobject_h
+
+
+#include "llimits.h"
+#include "lua.h"
+
+
+/* tags for values visible from Lua */
+#define NUM_TAGS	LUA_TTHREAD
+
+
+/*
+** Extra tags for non-values
+*/
+#define LUA_TPROTO	(NUM_TAGS+1)
+#define LUA_TUPVAL	(NUM_TAGS+2)
+
+
+/*
+** Union of all collectable objects
+*/
+typedef union GCObject GCObject;
+
+
+/*
+** Common Header for all collectable objects (in macro form, to be
+** included in other objects)
+*/
+#define CommonHeader	GCObject *next; lu_byte tt; lu_byte marked
+
+
+/*
+** Common header in struct form
+*/
+typedef struct GCheader {
+  CommonHeader;
+} GCheader;
+
+
+
+
+/*
+** Union of all Lua values
+*/
+typedef union {
+  GCObject *gc;
+  void *p;
+  lua_Number n;
+  int b;
+} Value;
+
+
+/*
+** Lua values (or `tagged objects')
+*/
+typedef struct lua_TObject {
+  int tt;
+  Value value;
+} TObject;
+
+
+/* Macros to test type */
+#define ttisnil(o)	(ttype(o) == LUA_TNIL)
+#define ttisnumber(o)	(ttype(o) == LUA_TNUMBER)
+#define ttisstring(o)	(ttype(o) == LUA_TSTRING)
+#define ttistable(o)	(ttype(o) == LUA_TTABLE)
+#define ttisfunction(o)	(ttype(o) == LUA_TFUNCTION)
+#define ttisboolean(o)	(ttype(o) == LUA_TBOOLEAN)
+#define ttisuserdata(o)	(ttype(o) == LUA_TUSERDATA)
+#define ttisthread(o)	(ttype(o) == LUA_TTHREAD)
+#define ttislightuserdata(o)	(ttype(o) == LUA_TLIGHTUSERDATA)
+
+/* Macros to access values */
+#define ttype(o)	((o)->tt)
+#define gcvalue(o)	check_exp(iscollectable(o), (o)->value.gc)
+#define pvalue(o)	check_exp(ttislightuserdata(o), (o)->value.p)
+#define nvalue(o)	check_exp(ttisnumber(o), (o)->value.n)
+#define tsvalue(o)	check_exp(ttisstring(o), &(o)->value.gc->ts)
+#define uvalue(o)	check_exp(ttisuserdata(o), &(o)->value.gc->u)
+#define clvalue(o)	check_exp(ttisfunction(o), &(o)->value.gc->cl)
+#define hvalue(o)	check_exp(ttistable(o), &(o)->value.gc->h)
+#define bvalue(o)	check_exp(ttisboolean(o), (o)->value.b)
+#define thvalue(o)	check_exp(ttisthread(o), &(o)->value.gc->th)
+
+#define l_isfalse(o)	(ttisnil(o) || (ttisboolean(o) && bvalue(o) == 0))
+
+/* Macros to set values */
+#define setnvalue(obj,x) \
+  { TObject *i_o=(obj); i_o->tt=LUA_TNUMBER; i_o->value.n=(x); }
+
+#define chgnvalue(obj,x) \
+	check_exp(ttype(obj)==LUA_TNUMBER, (obj)->value.n=(x))
+
+#define setpvalue(obj,x) \
+  { TObject *i_o=(obj); i_o->tt=LUA_TLIGHTUSERDATA; i_o->value.p=(x); }
+
+#define setbvalue(obj,x) \
+  { TObject *i_o=(obj); i_o->tt=LUA_TBOOLEAN; i_o->value.b=(x); }
+
+#define setsvalue(obj,x) \
+  { TObject *i_o=(obj); i_o->tt=LUA_TSTRING; \
+    i_o->value.gc=cast(GCObject *, (x)); \
+    lua_assert(i_o->value.gc->gch.tt == LUA_TSTRING); }
+
+#define setuvalue(obj,x) \
+  { TObject *i_o=(obj); i_o->tt=LUA_TUSERDATA; \
+    i_o->value.gc=cast(GCObject *, (x)); \
+    lua_assert(i_o->value.gc->gch.tt == LUA_TUSERDATA); }
+
+#define setthvalue(obj,x) \
+  { TObject *i_o=(obj); i_o->tt=LUA_TTHREAD; \
+    i_o->value.gc=cast(GCObject *, (x)); \
+    lua_assert(i_o->value.gc->gch.tt == LUA_TTHREAD); }
+
+#define setclvalue(obj,x) \
+  { TObject *i_o=(obj); i_o->tt=LUA_TFUNCTION; \
+    i_o->value.gc=cast(GCObject *, (x)); \
+    lua_assert(i_o->value.gc->gch.tt == LUA_TFUNCTION); }
+
+#define sethvalue(obj,x) \
+  { TObject *i_o=(obj); i_o->tt=LUA_TTABLE; \
+    i_o->value.gc=cast(GCObject *, (x)); \
+    lua_assert(i_o->value.gc->gch.tt == LUA_TTABLE); }
+
+#define setnilvalue(obj) ((obj)->tt=LUA_TNIL)
+
+
+
+/*
+** for internal debug only
+*/
+#define checkconsistency(obj) \
+  lua_assert(!iscollectable(obj) || (ttype(obj) == (obj)->value.gc->gch.tt))
+
+
+#define setobj(obj1,obj2) \
+  { const TObject *o2=(obj2); TObject *o1=(obj1); \
+    checkconsistency(o2); \
+    o1->tt=o2->tt; o1->value = o2->value; }
+
+
+/*
+** different types of sets, according to destination
+*/
+
+/* from stack to (same) stack */
+#define setobjs2s	setobj
+/* to stack (not from same stack) */
+#define setobj2s	setobj
+#define setsvalue2s	setsvalue
+/* from table to same table */
+#define setobjt2t	setobj
+/* to table */
+#define setobj2t	setobj
+/* to new object */
+#define setobj2n	setobj
+#define setsvalue2n	setsvalue
+
+#define setttype(obj, tt) (ttype(obj) = (tt))
+
+
+#define iscollectable(o)	(ttype(o) >= LUA_TSTRING)
+
+
+
+typedef TObject *StkId;  /* index to stack elements */
+
+
+/*
+** String headers for string table
+*/
+typedef union TString {
+  L_Umaxalign dummy;  /* ensures maximum alignment for strings */
+  struct {
+    CommonHeader;
+    lu_byte reserved;
+    lu_hash hash;
+    size_t len;
+  } tsv;
+} TString;
+
+
+#define getstr(ts)	cast(const char *, (ts) + 1)
+#define svalue(o)       getstr(tsvalue(o))
+
+
+
+typedef union Udata {
+  L_Umaxalign dummy;  /* ensures maximum alignment for `local' udata */
+  struct {
+    CommonHeader;
+    struct Table *metatable;
+    size_t len;
+  } uv;
+} Udata;
+
+
+
+
+/*
+** Function Prototypes
+*/
+typedef struct Proto {
+  CommonHeader;
+  TObject *k;  /* constants used by the function */
+  Instruction *code;
+  struct Proto **p;  /* functions defined inside the function */
+  int *lineinfo;  /* map from opcodes to source lines */
+  struct LocVar *locvars;  /* information about local variables */
+  TString **upvalues;  /* upvalue names */
+  TString  *source;
+  int sizeupvalues;
+  int sizek;  /* size of `k' */
+  int sizecode;
+  int sizelineinfo;
+  int sizep;  /* size of `p' */
+  int sizelocvars;
+  int lineDefined;
+  GCObject *gclist;
+  lu_byte nups;  /* number of upvalues */
+  lu_byte numparams;
+  lu_byte is_vararg;
+  lu_byte maxstacksize;
+} Proto;
+
+
+typedef struct LocVar {
+  TString *varname;
+  int startpc;  /* first point where variable is active */
+  int endpc;    /* first point where variable is dead */
+} LocVar;
+
+
+
+/*
+** Upvalues
+*/
+
+typedef struct UpVal {
+  CommonHeader;
+  TObject *v;  /* points to stack or to its own value */
+  TObject value;  /* the value (when closed) */
+} UpVal;
+
+
+/*
+** Closures
+*/
+
+#define ClosureHeader \
+	CommonHeader; lu_byte isC; lu_byte nupvalues; GCObject *gclist
+
+typedef struct CClosure {
+  ClosureHeader;
+  lua_CFunction f;
+  TObject upvalue[1];
+} CClosure;
+
+
+typedef struct LClosure {
+  ClosureHeader;
+  struct Proto *p;
+  TObject g;  /* global table for this closure */
+  UpVal *upvals[1];
+} LClosure;
+
+
+typedef union Closure {
+  CClosure c;
+  LClosure l;
+} Closure;
+
+
+#define iscfunction(o)	(ttype(o) == LUA_TFUNCTION && clvalue(o)->c.isC)
+#define isLfunction(o)	(ttype(o) == LUA_TFUNCTION && !clvalue(o)->c.isC)
+
+
+/*
+** Tables
+*/
+
+typedef struct Node {
+  TObject i_key;
+  TObject i_val;
+  struct Node *next;  /* for chaining */
+} Node;
+
+
+typedef struct Table {
+  CommonHeader;
+  lu_byte flags;  /* 1<<p means tagmethod(p) is not present */ 
+  lu_byte lsizenode;  /* log2 of size of `node' array */
+  struct Table *metatable;
+  TObject *array;  /* array part */
+  Node *node;
+  Node *firstfree;  /* this position is free; all positions after it are full */
+  GCObject *gclist;
+  int sizearray;  /* size of `array' array */
+} Table;
+
+
+
+/*
+** `module' operation for hashing (size is always a power of 2)
+*/
+#define lmod(s,size) \
+	check_exp((size&(size-1))==0, (cast(int, (s) & ((size)-1))))
+
+
+#define twoto(x)	(1<<(x))
+#define sizenode(t)	(twoto((t)->lsizenode))
+
+
+
+extern const TObject luaO_nilobject;
+
+int luaO_log2 (unsigned int x);
+int luaO_int2fb (unsigned int x);
+#define fb2int(x)	(((x) & 7) << ((x) >> 3))
+
+int luaO_rawequalObj (const TObject *t1, const TObject *t2);
+int luaO_str2d (const char *s, lua_Number *result);
+
+const char *luaO_pushvfstring (lua_State *L, const char *fmt, va_list argp);
+const char *luaO_pushfstring (lua_State *L, const char *fmt, ...);
+void luaO_chunkid (char *out, const char *source, int len);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lopcodes.c xmoto-0.1.10-patched/src/lua/lopcodes.c
--- xmoto-0.1.10/src/lua/lopcodes.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lopcodes.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,102 @@
+/*
+** $Id: lopcodes.c,v 1.22 2002/12/04 17:38:31 roberto Exp $
+** extracted automatically from lopcodes.h by mkprint.lua
+** DO NOT EDIT
+** See Copyright Notice in lua.h
+*/
+
+
+#define lopcodes_c
+
+#include "lua.h"
+
+#include "lobject.h"
+#include "lopcodes.h"
+
+
+#ifdef LUA_OPNAMES
+
+const char *const luaP_opnames[] = {
+  "MOVE",
+  "LOADK",
+  "LOADBOOL",
+  "LOADNIL",
+  "GETUPVAL",
+  "GETGLOBAL",
+  "GETTABLE",
+  "SETGLOBAL",
+  "SETUPVAL",
+  "SETTABLE",
+  "NEWTABLE",
+  "SELF",
+  "ADD",
+  "SUB",
+  "MUL",
+  "DIV",
+  "POW",
+  "UNM",
+  "NOT",
+  "CONCAT",
+  "JMP",
+  "EQ",
+  "LT",
+  "LE",
+  "TEST",
+  "CALL",
+  "TAILCALL",
+  "RETURN",
+  "FORLOOP",
+  "TFORLOOP",
+  "TFORPREP",
+  "SETLIST",
+  "SETLISTO",
+  "CLOSE",
+  "CLOSURE"
+};
+
+#endif
+
+#define opmode(t,b,bk,ck,sa,k,m) (((t)<<OpModeT) | \
+   ((b)<<OpModeBreg) | ((bk)<<OpModeBrk) | ((ck)<<OpModeCrk) | \
+   ((sa)<<OpModesetA) | ((k)<<OpModeK) | (m))
+
+
+const lu_byte luaP_opmodes[NUM_OPCODES] = {
+/*       T  B Bk Ck sA  K  mode			   opcode    */
+  opmode(0, 1, 0, 0, 1, 0, iABC)		/* OP_MOVE */
+ ,opmode(0, 0, 0, 0, 1, 1, iABx)		/* OP_LOADK */
+ ,opmode(0, 0, 0, 0, 1, 0, iABC)		/* OP_LOADBOOL */
+ ,opmode(0, 1, 0, 0, 1, 0, iABC)		/* OP_LOADNIL */
+ ,opmode(0, 0, 0, 0, 1, 0, iABC)		/* OP_GETUPVAL */
+ ,opmode(0, 0, 0, 0, 1, 1, iABx)		/* OP_GETGLOBAL */
+ ,opmode(0, 1, 0, 1, 1, 0, iABC)		/* OP_GETTABLE */
+ ,opmode(0, 0, 0, 0, 0, 1, iABx)		/* OP_SETGLOBAL */
+ ,opmode(0, 0, 0, 0, 0, 0, iABC)		/* OP_SETUPVAL */
+ ,opmode(0, 0, 1, 1, 0, 0, iABC)		/* OP_SETTABLE */
+ ,opmode(0, 0, 0, 0, 1, 0, iABC)		/* OP_NEWTABLE */
+ ,opmode(0, 1, 0, 1, 1, 0, iABC)		/* OP_SELF */
+ ,opmode(0, 0, 1, 1, 1, 0, iABC)		/* OP_ADD */
+ ,opmode(0, 0, 1, 1, 1, 0, iABC)		/* OP_SUB */
+ ,opmode(0, 0, 1, 1, 1, 0, iABC)		/* OP_MUL */
+ ,opmode(0, 0, 1, 1, 1, 0, iABC)		/* OP_DIV */
+ ,opmode(0, 0, 1, 1, 1, 0, iABC)		/* OP_POW */
+ ,opmode(0, 1, 0, 0, 1, 0, iABC)		/* OP_UNM */
+ ,opmode(0, 1, 0, 0, 1, 0, iABC)		/* OP_NOT */
+ ,opmode(0, 1, 0, 1, 1, 0, iABC)		/* OP_CONCAT */
+ ,opmode(0, 0, 0, 0, 0, 0, iAsBx)		/* OP_JMP */
+ ,opmode(1, 0, 1, 1, 0, 0, iABC)		/* OP_EQ */
+ ,opmode(1, 0, 1, 1, 0, 0, iABC)		/* OP_LT */
+ ,opmode(1, 0, 1, 1, 0, 0, iABC)		/* OP_LE */
+ ,opmode(1, 1, 0, 0, 1, 0, iABC)		/* OP_TEST */
+ ,opmode(0, 0, 0, 0, 0, 0, iABC)		/* OP_CALL */
+ ,opmode(0, 0, 0, 0, 0, 0, iABC)		/* OP_TAILCALL */
+ ,opmode(0, 0, 0, 0, 0, 0, iABC)		/* OP_RETURN */
+ ,opmode(0, 0, 0, 0, 0, 0, iAsBx)		/* OP_FORLOOP */
+ ,opmode(1, 0, 0, 0, 0, 0, iABC)		/* OP_TFORLOOP */
+ ,opmode(0, 0, 0, 0, 0, 0, iAsBx)		/* OP_TFORPREP */
+ ,opmode(0, 0, 0, 0, 0, 0, iABx)		/* OP_SETLIST */
+ ,opmode(0, 0, 0, 0, 0, 0, iABx)		/* OP_SETLISTO */
+ ,opmode(0, 0, 0, 0, 0, 0, iABC)		/* OP_CLOSE */
+ ,opmode(0, 0, 0, 0, 1, 0, iABx)		/* OP_CLOSURE */
+};
+
diff -Naur xmoto-0.1.10/src/lua/lopcodes.h xmoto-0.1.10-patched/src/lua/lopcodes.h
--- xmoto-0.1.10/src/lua/lopcodes.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lopcodes.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,238 @@
+/*
+** $Id: lopcodes.h,v 1.102 2002/08/21 18:56:09 roberto Exp $
+** Opcodes for Lua virtual machine
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lopcodes_h
+#define lopcodes_h
+
+#include "llimits.h"
+
+
+/*===========================================================================
+  We assume that instructions are unsigned numbers.
+  All instructions have an opcode in the first 6 bits.
+  Instructions can have the following fields:
+	`A' : 8 bits
+	`B' : 9 bits
+	`C' : 9 bits
+	`Bx' : 18 bits (`B' and `C' together)
+	`sBx' : signed Bx
+
+  A signed argument is represented in excess K; that is, the number
+  value is the unsigned value minus K. K is exactly the maximum value
+  for that argument (so that -max is represented by 0, and +max is
+  represented by 2*max), which is half the maximum for the corresponding
+  unsigned argument.
+===========================================================================*/
+
+
+enum OpMode {iABC, iABx, iAsBx};  /* basic instruction format */
+
+
+/*
+** size and position of opcode arguments.
+*/
+#define SIZE_C		9
+#define SIZE_B		9
+#define SIZE_Bx		(SIZE_C + SIZE_B)
+#define SIZE_A		8
+
+#define SIZE_OP		6
+
+#define POS_C		SIZE_OP
+#define POS_B		(POS_C + SIZE_C)
+#define POS_Bx		POS_C
+#define POS_A		(POS_B + SIZE_B)
+
+
+/*
+** limits for opcode arguments.
+** we use (signed) int to manipulate most arguments,
+** so they must fit in BITS_INT-1 bits (-1 for sign)
+*/
+#if SIZE_Bx < BITS_INT-1
+#define MAXARG_Bx        ((1<<SIZE_Bx)-1)
+#define MAXARG_sBx        (MAXARG_Bx>>1)         /* `sBx' is signed */
+#else
+#define MAXARG_Bx        MAX_INT
+#define MAXARG_sBx        MAX_INT
+#endif
+
+
+#define MAXARG_A        ((1<<SIZE_A)-1)
+#define MAXARG_B        ((1<<SIZE_B)-1)
+#define MAXARG_C        ((1<<SIZE_C)-1)
+
+
+/* creates a mask with `n' 1 bits at position `p' */
+#define MASK1(n,p)	((~((~(Instruction)0)<<n))<<p)
+
+/* creates a mask with `n' 0 bits at position `p' */
+#define MASK0(n,p)	(~MASK1(n,p))
+
+/*
+** the following macros help to manipulate instructions
+*/
+
+#define GET_OPCODE(i)	(cast(OpCode, (i)&MASK1(SIZE_OP,0)))
+#define SET_OPCODE(i,o)	((i) = (((i)&MASK0(SIZE_OP,0)) | cast(Instruction, o)))
+
+#define GETARG_A(i)	(cast(int, (i)>>POS_A))
+#define SETARG_A(i,u)	((i) = (((i)&MASK0(SIZE_A,POS_A)) | \
+		((cast(Instruction, u)<<POS_A)&MASK1(SIZE_A,POS_A))))
+
+#define GETARG_B(i)	(cast(int, ((i)>>POS_B) & MASK1(SIZE_B,0)))
+#define SETARG_B(i,b)	((i) = (((i)&MASK0(SIZE_B,POS_B)) | \
+		((cast(Instruction, b)<<POS_B)&MASK1(SIZE_B,POS_B))))
+
+#define GETARG_C(i)	(cast(int, ((i)>>POS_C) & MASK1(SIZE_C,0)))
+#define SETARG_C(i,b)	((i) = (((i)&MASK0(SIZE_C,POS_C)) | \
+		((cast(Instruction, b)<<POS_C)&MASK1(SIZE_C,POS_C))))
+
+#define GETARG_Bx(i)	(cast(int, ((i)>>POS_Bx) & MASK1(SIZE_Bx,0)))
+#define SETARG_Bx(i,b)	((i) = (((i)&MASK0(SIZE_Bx,POS_Bx)) | \
+		((cast(Instruction, b)<<POS_Bx)&MASK1(SIZE_Bx,POS_Bx))))
+
+#define GETARG_sBx(i)	(GETARG_Bx(i)-MAXARG_sBx)
+#define SETARG_sBx(i,b)	SETARG_Bx((i),cast(unsigned int, (b)+MAXARG_sBx))
+
+
+#define CREATE_ABC(o,a,b,c)	(cast(Instruction, o) \
+			| (cast(Instruction, a)<<POS_A) \
+			| (cast(Instruction, b)<<POS_B) \
+			| (cast(Instruction, c)<<POS_C))
+
+#define CREATE_ABx(o,a,bc)	(cast(Instruction, o) \
+			| (cast(Instruction, a)<<POS_A) \
+			| (cast(Instruction, bc)<<POS_Bx))
+
+
+
+
+/*
+** invalid register that fits in 8 bits
+*/
+#define NO_REG		MAXARG_A
+
+
+/*
+** R(x) - register
+** Kst(x) - constant (in constant table)
+** RK(x) == if x < MAXSTACK then R(x) else Kst(x-MAXSTACK)
+*/
+
+
+/*
+** grep "ORDER OP" if you change these enums
+*/
+
+typedef enum {
+/*----------------------------------------------------------------------
+name		args	description
+------------------------------------------------------------------------*/
+OP_MOVE,/*	A B	R(A) := R(B)					*/
+OP_LOADK,/*	A Bx	R(A) := Kst(Bx)					*/
+OP_LOADBOOL,/*	A B C	R(A) := (Bool)B; if (C) PC++			*/
+OP_LOADNIL,/*	A B	R(A) := ... := R(B) := nil			*/
+OP_GETUPVAL,/*	A B	R(A) := UpValue[B]				*/
+
+OP_GETGLOBAL,/*	A Bx	R(A) := Gbl[Kst(Bx)]				*/
+OP_GETTABLE,/*	A B C	R(A) := R(B)[RK(C)]				*/
+
+OP_SETGLOBAL,/*	A Bx	Gbl[Kst(Bx)] := R(A)				*/
+OP_SETUPVAL,/*	A B	UpValue[B] := R(A)				*/
+OP_SETTABLE,/*	A B C	R(A)[RK(B)] := RK(C)				*/
+
+OP_NEWTABLE,/*	A B C	R(A) := {} (size = B,C)				*/
+
+OP_SELF,/*	A B C	R(A+1) := R(B); R(A) := R(B)[RK(C)]		*/
+
+OP_ADD,/*	A B C	R(A) := RK(B) + RK(C)				*/
+OP_SUB,/*	A B C	R(A) := RK(B) - RK(C)				*/
+OP_MUL,/*	A B C	R(A) := RK(B) * RK(C)				*/
+OP_DIV,/*	A B C	R(A) := RK(B) / RK(C)				*/
+OP_POW,/*	A B C	R(A) := RK(B) ^ RK(C)				*/
+OP_UNM,/*	A B	R(A) := -R(B)					*/
+OP_NOT,/*	A B	R(A) := not R(B)				*/
+
+OP_CONCAT,/*	A B C	R(A) := R(B).. ... ..R(C)			*/
+
+OP_JMP,/*	sBx	PC += sBx					*/
+
+OP_EQ,/*	A B C	if ((RK(B) == RK(C)) ~= A) then pc++		*/
+OP_LT,/*	A B C	if ((RK(B) <  RK(C)) ~= A) then pc++  		*/
+OP_LE,/*	A B C	if ((RK(B) <= RK(C)) ~= A) then pc++  		*/
+
+OP_TEST,/*	A B C	if (R(B) <=> C) then R(A) := R(B) else pc++	*/ 
+
+OP_CALL,/*	A B C	R(A), ... ,R(A+C-2) := R(A)(R(A+1), ... ,R(A+B-1)) */
+OP_TAILCALL,/*	A B C	return R(A)(R(A+1), ... ,R(A+B-1))		*/
+OP_RETURN,/*	A B	return R(A), ... ,R(A+B-2)	(see note)	*/
+
+OP_FORLOOP,/*	A sBx	R(A)+=R(A+2); if R(A) <?= R(A+1) then PC+= sBx	*/
+
+OP_TFORLOOP,/*	A C	R(A+2), ... ,R(A+2+C) := R(A)(R(A+1), R(A+2)); 
+                        if R(A+2) ~= nil then pc++			*/
+OP_TFORPREP,/*	A sBx	if type(R(A)) == table then R(A+1):=R(A), R(A):=next;
+			PC += sBx					*/
+
+OP_SETLIST,/*	A Bx	R(A)[Bx-Bx%FPF+i] := R(A+i), 1 <= i <= Bx%FPF+1	*/
+OP_SETLISTO,/*	A Bx							*/
+
+OP_CLOSE,/*	A 	close all variables in the stack up to (>=) R(A)*/
+OP_CLOSURE/*	A Bx	R(A) := closure(KPROTO[Bx], R(A), ... ,R(A+n))	*/
+} OpCode;
+
+
+#define NUM_OPCODES	(cast(int, OP_CLOSURE+1))
+
+
+
+/*===========================================================================
+  Notes:
+  (1) In OP_CALL, if (B == 0) then B = top. C is the number of returns - 1,
+      and can be 0: OP_CALL then sets `top' to last_result+1, so
+      next open instruction (OP_CALL, OP_RETURN, OP_SETLIST) may use `top'.
+
+  (2) In OP_RETURN, if (B == 0) then return up to `top'
+
+  (3) For comparisons, B specifies what conditions the test should accept.
+
+  (4) All `skips' (pc++) assume that next instruction is a jump
+===========================================================================*/
+
+
+/*
+** masks for instruction properties
+*/  
+enum OpModeMask {
+  OpModeBreg = 2,       /* B is a register */
+  OpModeBrk,		/* B is a register/constant */
+  OpModeCrk,           /* C is a register/constant */
+  OpModesetA,           /* instruction set register A */
+  OpModeK,              /* Bx is a constant */
+  OpModeT		/* operator is a test */
+  
+};
+
+
+extern const lu_byte luaP_opmodes[NUM_OPCODES];
+
+#define getOpMode(m)            (cast(enum OpMode, luaP_opmodes[m] & 3))
+#define testOpMode(m, b)        (luaP_opmodes[m] & (1 << (b)))
+
+
+#ifdef LUA_OPNAMES
+extern const char *const luaP_opnames[];  /* opcode names */
+#endif
+
+
+
+/* number of list items to accumulate before a SETLIST instruction */
+/* (must be a power of 2) */
+#define LFIELDS_PER_FLUSH	32
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lparser.c xmoto-0.1.10-patched/src/lua/lparser.c
--- xmoto-0.1.10/src/lua/lparser.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lparser.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,1333 @@
+/*
+** $Id: lparser.c,v 1.208a 2003/04/03 13:35:34 roberto Exp $
+** Lua Parser
+** See Copyright Notice in lua.h
+*/
+
+
+#include <string.h>
+
+#define lparser_c
+
+#include "lua.h"
+
+#include "lcode.h"
+#include "ldebug.h"
+#include "lfunc.h"
+#include "llex.h"
+#include "lmem.h"
+#include "lobject.h"
+#include "lopcodes.h"
+#include "lparser.h"
+#include "lstate.h"
+#include "lstring.h"
+
+
+
+
+#define getlocvar(fs, i)	((fs)->f->locvars[(fs)->actvar[i]])
+
+
+#define enterlevel(ls)	if (++(ls)->nestlevel > LUA_MAXPARSERLEVEL) \
+		luaX_syntaxerror(ls, "too many syntax levels");
+#define leavelevel(ls)	((ls)->nestlevel--)
+
+
+/*
+** nodes for block list (list of active blocks)
+*/
+typedef struct BlockCnt {
+  struct BlockCnt *previous;  /* chain */
+  int breaklist;  /* list of jumps out of this loop */
+  int nactvar;  /* # active local variables outside the breakable structure */
+  int upval;  /* true if some variable in the block is an upvalue */
+  int isbreakable;  /* true if `block' is a loop */
+} BlockCnt;
+
+
+
+/*
+** prototypes for recursive non-terminal functions
+*/
+static void chunk (LexState *ls);
+static void expr (LexState *ls, expdesc *v);
+
+
+
+static void next (LexState *ls) {
+  ls->lastline = ls->linenumber;
+  if (ls->lookahead.token != TK_EOS) {  /* is there a look-ahead token? */
+    ls->t = ls->lookahead;  /* use this one */
+    ls->lookahead.token = TK_EOS;  /* and discharge it */
+  }
+  else
+    ls->t.token = luaX_lex(ls, &ls->t.seminfo);  /* read next token */
+}
+
+
+static void lookahead (LexState *ls) {
+  lua_assert(ls->lookahead.token == TK_EOS);
+  ls->lookahead.token = luaX_lex(ls, &ls->lookahead.seminfo);
+}
+
+
+static void error_expected (LexState *ls, int token) {
+  luaX_syntaxerror(ls,
+         luaO_pushfstring(ls->L, "`%s' expected", luaX_token2str(ls, token)));
+}
+
+
+static int testnext (LexState *ls, int c) {
+  if (ls->t.token == c) {
+    next(ls);
+    return 1;
+  }
+  else return 0;
+}
+
+
+static void check (LexState *ls, int c) {
+  if (!testnext(ls, c))
+    error_expected(ls, c);
+}
+
+
+#define check_condition(ls,c,msg)	{ if (!(c)) luaX_syntaxerror(ls, msg); }
+
+
+
+static void check_match (LexState *ls, int what, int who, int where) {
+  if (!testnext(ls, what)) {
+    if (where == ls->linenumber)
+      error_expected(ls, what);
+    else {
+      luaX_syntaxerror(ls, luaO_pushfstring(ls->L,
+             "`%s' expected (to close `%s' at line %d)",
+              luaX_token2str(ls, what), luaX_token2str(ls, who), where));
+    }
+  }
+}
+
+
+static TString *str_checkname (LexState *ls) {
+  TString *ts;
+  check_condition(ls, (ls->t.token == TK_NAME), "<name> expected");
+  ts = ls->t.seminfo.ts;
+  next(ls);
+  return ts;
+}
+
+
+static void init_exp (expdesc *e, expkind k, int i) {
+  e->f = e->t = NO_JUMP;
+  e->k = k;
+  e->info = i;
+}
+
+
+static void codestring (LexState *ls, expdesc *e, TString *s) {
+  init_exp(e, VK, luaK_stringK(ls->fs, s));
+}
+
+
+static void checkname(LexState *ls, expdesc *e) {
+  codestring(ls, e, str_checkname(ls));
+}
+
+
+static int luaI_registerlocalvar (LexState *ls, TString *varname) {
+  FuncState *fs = ls->fs;
+  Proto *f = fs->f;
+  luaM_growvector(ls->L, f->locvars, fs->nlocvars, f->sizelocvars,
+                  LocVar, MAX_INT, "");
+  f->locvars[fs->nlocvars].varname = varname;
+  return fs->nlocvars++;
+}
+
+
+static void new_localvar (LexState *ls, TString *name, int n) {
+  FuncState *fs = ls->fs;
+  luaX_checklimit(ls, fs->nactvar+n+1, MAXVARS, "local variables");
+  fs->actvar[fs->nactvar+n] = luaI_registerlocalvar(ls, name);
+}
+
+
+static void adjustlocalvars (LexState *ls, int nvars) {
+  FuncState *fs = ls->fs;
+  fs->nactvar += nvars;
+  for (; nvars; nvars--) {
+    getlocvar(fs, fs->nactvar - nvars).startpc = fs->pc;
+  }
+}
+
+
+static void removevars (LexState *ls, int tolevel) {
+  FuncState *fs = ls->fs;
+  while (fs->nactvar > tolevel)
+    getlocvar(fs, --fs->nactvar).endpc = fs->pc;
+}
+
+
+static void new_localvarstr (LexState *ls, const char *name, int n) {
+  new_localvar(ls, luaS_new(ls->L, name), n);
+}
+
+
+static void create_local (LexState *ls, const char *name) {
+  new_localvarstr(ls, name, 0);
+  adjustlocalvars(ls, 1);
+}
+
+
+static int indexupvalue (FuncState *fs, TString *name, expdesc *v) {
+  int i;
+  Proto *f = fs->f;
+  for (i=0; i<f->nups; i++) {
+    if (fs->upvalues[i].k == v->k && fs->upvalues[i].info == v->info) {
+      lua_assert(fs->f->upvalues[i] == name);
+      return i;
+    }
+  }
+  /* new one */
+  luaX_checklimit(fs->ls, f->nups + 1, MAXUPVALUES, "upvalues");
+  luaM_growvector(fs->L, fs->f->upvalues, f->nups, fs->f->sizeupvalues,
+                  TString *, MAX_INT, "");
+  fs->f->upvalues[f->nups] = name;
+  fs->upvalues[f->nups] = *v;
+  return f->nups++;
+}
+
+
+static int searchvar (FuncState *fs, TString *n) {
+  int i;
+  for (i=fs->nactvar-1; i >= 0; i--) {
+    if (n == getlocvar(fs, i).varname)
+      return i;
+  }
+  return -1;  /* not found */
+}
+
+
+static void markupval (FuncState *fs, int level) {
+  BlockCnt *bl = fs->bl;
+  while (bl && bl->nactvar > level) bl = bl->previous;
+  if (bl) bl->upval = 1;
+}
+
+
+static void singlevaraux (FuncState *fs, TString *n, expdesc *var, int base) {
+  if (fs == NULL)  /* no more levels? */
+    init_exp(var, VGLOBAL, NO_REG);  /* default is global variable */
+  else {
+    int v = searchvar(fs, n);  /* look up at current level */
+    if (v >= 0) {
+      init_exp(var, VLOCAL, v);
+      if (!base)
+        markupval(fs, v);  /* local will be used as an upval */
+    }
+    else {  /* not found at current level; try upper one */
+      singlevaraux(fs->prev, n, var, 0);
+      if (var->k == VGLOBAL) {
+        if (base)
+          var->info = luaK_stringK(fs, n);  /* info points to global name */
+      }
+      else {  /* LOCAL or UPVAL */
+        var->info = indexupvalue(fs, n, var);
+        var->k = VUPVAL;  /* upvalue in this level */
+      }
+    }
+  }
+}
+
+
+static TString *singlevar (LexState *ls, expdesc *var, int base) {
+  TString *varname = str_checkname(ls);
+  singlevaraux(ls->fs, varname, var, base);
+  return varname;
+}
+
+
+static void adjust_assign (LexState *ls, int nvars, int nexps, expdesc *e) {
+  FuncState *fs = ls->fs;
+  int extra = nvars - nexps;
+  if (e->k == VCALL) {
+    extra++;  /* includes call itself */
+    if (extra <= 0) extra = 0;
+    else luaK_reserveregs(fs, extra-1);
+    luaK_setcallreturns(fs, e, extra);  /* call provides the difference */
+  }
+  else {
+    if (e->k != VVOID) luaK_exp2nextreg(fs, e);  /* close last expression */
+    if (extra > 0) {
+      int reg = fs->freereg;
+      luaK_reserveregs(fs, extra);
+      luaK_nil(fs, reg, extra);
+    }
+  }
+}
+
+
+static void code_params (LexState *ls, int nparams, int dots) {
+  FuncState *fs = ls->fs;
+  adjustlocalvars(ls, nparams);
+  luaX_checklimit(ls, fs->nactvar, MAXPARAMS, "parameters");
+  fs->f->numparams = cast(lu_byte, fs->nactvar);
+  fs->f->is_vararg = cast(lu_byte, dots);
+  if (dots)
+    create_local(ls, "arg");
+  luaK_reserveregs(fs, fs->nactvar);  /* reserve register for parameters */
+}
+
+
+static void enterblock (FuncState *fs, BlockCnt *bl, int isbreakable) {
+  bl->breaklist = NO_JUMP;
+  bl->isbreakable = isbreakable;
+  bl->nactvar = fs->nactvar;
+  bl->upval = 0;
+  bl->previous = fs->bl;
+  fs->bl = bl;
+  lua_assert(fs->freereg == fs->nactvar);
+}
+
+
+static void leaveblock (FuncState *fs) {
+  BlockCnt *bl = fs->bl;
+  fs->bl = bl->previous;
+  removevars(fs->ls, bl->nactvar);
+  if (bl->upval)
+    luaK_codeABC(fs, OP_CLOSE, bl->nactvar, 0, 0);
+  lua_assert(bl->nactvar == fs->nactvar);
+  fs->freereg = fs->nactvar;  /* free registers */
+  luaK_patchtohere(fs, bl->breaklist);
+}
+
+
+static void pushclosure (LexState *ls, FuncState *func, expdesc *v) {
+  FuncState *fs = ls->fs;
+  Proto *f = fs->f;
+  int i;
+  luaM_growvector(ls->L, f->p, fs->np, f->sizep, Proto *,
+                  MAXARG_Bx, "constant table overflow");
+  f->p[fs->np++] = func->f;
+  init_exp(v, VRELOCABLE, luaK_codeABx(fs, OP_CLOSURE, 0, fs->np-1));
+  for (i=0; i<func->f->nups; i++) {
+    OpCode o = (func->upvalues[i].k == VLOCAL) ? OP_MOVE : OP_GETUPVAL;
+    luaK_codeABC(fs, o, 0, func->upvalues[i].info, 0);
+  }
+}
+
+
+static void open_func (LexState *ls, FuncState *fs) {
+  Proto *f = luaF_newproto(ls->L);
+  fs->f = f;
+  fs->prev = ls->fs;  /* linked list of funcstates */
+  fs->ls = ls;
+  fs->L = ls->L;
+  ls->fs = fs;
+  fs->pc = 0;
+  fs->lasttarget = 0;
+  fs->jpc = NO_JUMP;
+  fs->freereg = 0;
+  fs->nk = 0;
+  fs->h = luaH_new(ls->L, 0, 0);
+  fs->np = 0;
+  fs->nlocvars = 0;
+  fs->nactvar = 0;
+  fs->bl = NULL;
+  f->source = ls->source;
+  f->maxstacksize = 2;  /* registers 0/1 are always valid */
+}
+
+
+static void close_func (LexState *ls) {
+  lua_State *L = ls->L;
+  FuncState *fs = ls->fs;
+  Proto *f = fs->f;
+  removevars(ls, 0);
+  luaK_codeABC(fs, OP_RETURN, 0, 1, 0);  /* final return */
+  luaM_reallocvector(L, f->code, f->sizecode, fs->pc, Instruction);
+  f->sizecode = fs->pc;
+  luaM_reallocvector(L, f->lineinfo, f->sizelineinfo, fs->pc, int);
+  f->sizelineinfo = fs->pc;
+  luaM_reallocvector(L, f->k, f->sizek, fs->nk, TObject);
+  f->sizek = fs->nk;
+  luaM_reallocvector(L, f->p, f->sizep, fs->np, Proto *);
+  f->sizep = fs->np;
+  luaM_reallocvector(L, f->locvars, f->sizelocvars, fs->nlocvars, LocVar);
+  f->sizelocvars = fs->nlocvars;
+  luaM_reallocvector(L, f->upvalues, f->sizeupvalues, f->nups, TString *);
+  f->sizeupvalues = f->nups;
+  lua_assert(luaG_checkcode(f));
+  lua_assert(fs->bl == NULL);
+  ls->fs = fs->prev;
+}
+
+
+Proto *luaY_parser (lua_State *L, ZIO *z, Mbuffer *buff) {
+  struct LexState lexstate;
+  struct FuncState funcstate;
+  lexstate.buff = buff;
+  lexstate.nestlevel = 0;
+  luaX_setinput(L, &lexstate, z, luaS_new(L, zname(z)));
+  open_func(&lexstate, &funcstate);
+  next(&lexstate);  /* read first token */
+  chunk(&lexstate);
+  check_condition(&lexstate, (lexstate.t.token == TK_EOS), "<eof> expected");
+  close_func(&lexstate);
+  lua_assert(funcstate.prev == NULL);
+  lua_assert(funcstate.f->nups == 0);
+  lua_assert(lexstate.nestlevel == 0);
+  return funcstate.f;
+}
+
+
+
+/*============================================================*/
+/* GRAMMAR RULES */
+/*============================================================*/
+
+
+static void luaY_field (LexState *ls, expdesc *v) {
+  /* field -> ['.' | ':'] NAME */
+  FuncState *fs = ls->fs;
+  expdesc key;
+  luaK_exp2anyreg(fs, v);
+  next(ls);  /* skip the dot or colon */
+  checkname(ls, &key);
+  luaK_indexed(fs, v, &key);
+}
+
+
+static void luaY_index (LexState *ls, expdesc *v) {
+  /* index -> '[' expr ']' */
+  next(ls);  /* skip the '[' */
+  expr(ls, v);
+  luaK_exp2val(ls->fs, v);
+  check(ls, ']');
+}
+
+
+/*
+** {======================================================================
+** Rules for Constructors
+** =======================================================================
+*/
+
+
+struct ConsControl {
+  expdesc v;  /* last list item read */
+  expdesc *t;  /* table descriptor */
+  int nh;  /* total number of `record' elements */
+  int na;  /* total number of array elements */
+  int tostore;  /* number of array elements pending to be stored */
+};
+
+
+static void recfield (LexState *ls, struct ConsControl *cc) {
+  /* recfield -> (NAME | `['exp1`]') = exp1 */
+  FuncState *fs = ls->fs;
+  int reg = ls->fs->freereg;
+  expdesc key, val;
+  if (ls->t.token == TK_NAME) {
+    luaX_checklimit(ls, cc->nh, MAX_INT, "items in a constructor");
+    cc->nh++;
+    checkname(ls, &key);
+  }
+  else  /* ls->t.token == '[' */
+    luaY_index(ls, &key);
+  check(ls, '=');
+  luaK_exp2RK(fs, &key);
+  expr(ls, &val);
+  luaK_codeABC(fs, OP_SETTABLE, cc->t->info, luaK_exp2RK(fs, &key),
+                                             luaK_exp2RK(fs, &val));
+  fs->freereg = reg;  /* free registers */
+}
+
+
+static void closelistfield (FuncState *fs, struct ConsControl *cc) {
+  if (cc->v.k == VVOID) return;  /* there is no list item */
+  luaK_exp2nextreg(fs, &cc->v);
+  cc->v.k = VVOID;
+  if (cc->tostore == LFIELDS_PER_FLUSH) {
+    luaK_codeABx(fs, OP_SETLIST, cc->t->info, cc->na-1);  /* flush */
+    cc->tostore = 0;  /* no more items pending */
+    fs->freereg = cc->t->info + 1;  /* free registers */
+  }
+}
+
+
+static void lastlistfield (FuncState *fs, struct ConsControl *cc) {
+  if (cc->tostore == 0) return;
+  if (cc->v.k == VCALL) {
+    luaK_setcallreturns(fs, &cc->v, LUA_MULTRET);
+    luaK_codeABx(fs, OP_SETLISTO, cc->t->info, cc->na-1);
+  }
+  else {
+    if (cc->v.k != VVOID)
+      luaK_exp2nextreg(fs, &cc->v);
+    luaK_codeABx(fs, OP_SETLIST, cc->t->info, cc->na-1);
+  }
+  fs->freereg = cc->t->info + 1;  /* free registers */
+}
+
+
+static void listfield (LexState *ls, struct ConsControl *cc) {
+  expr(ls, &cc->v);
+  luaX_checklimit(ls, cc->na, MAXARG_Bx, "items in a constructor");
+  cc->na++;
+  cc->tostore++;
+}
+
+
+static void constructor (LexState *ls, expdesc *t) {
+  /* constructor -> ?? */
+  FuncState *fs = ls->fs;
+  int line = ls->linenumber;
+  int pc = luaK_codeABC(fs, OP_NEWTABLE, 0, 0, 0);
+  struct ConsControl cc;
+  cc.na = cc.nh = cc.tostore = 0;
+  cc.t = t;
+  init_exp(t, VRELOCABLE, pc);
+  init_exp(&cc.v, VVOID, 0);  /* no value (yet) */
+  luaK_exp2nextreg(ls->fs, t);  /* fix it at stack top (for gc) */
+  check(ls, '{');
+  do {
+    lua_assert(cc.v.k == VVOID || cc.tostore > 0);
+    testnext(ls, ';');  /* compatibility only */
+    if (ls->t.token == '}') break;
+    closelistfield(fs, &cc);
+    switch(ls->t.token) {
+      case TK_NAME: {  /* may be listfields or recfields */
+        lookahead(ls);
+        if (ls->lookahead.token != '=')  /* expression? */
+          listfield(ls, &cc);
+        else
+          recfield(ls, &cc);
+        break;
+      }
+      case '[': {  /* constructor_item -> recfield */
+        recfield(ls, &cc);
+        break;
+      }
+      default: {  /* constructor_part -> listfield */
+        listfield(ls, &cc);
+        break;
+      }
+    }
+  } while (testnext(ls, ',') || testnext(ls, ';'));
+  check_match(ls, '}', '{', line);
+  lastlistfield(fs, &cc);
+  SETARG_B(fs->f->code[pc], luaO_int2fb(cc.na)); /* set initial array size */
+  SETARG_C(fs->f->code[pc], luaO_log2(cc.nh)+1);  /* set initial table size */
+}
+
+/* }====================================================================== */
+
+
+
+static void parlist (LexState *ls) {
+  /* parlist -> [ param { `,' param } ] */
+  int nparams = 0;
+  int dots = 0;
+  if (ls->t.token != ')') {  /* is `parlist' not empty? */
+    do {
+      switch (ls->t.token) {
+        case TK_DOTS: dots = 1; next(ls); break;
+        case TK_NAME: new_localvar(ls, str_checkname(ls), nparams++); break;
+        default: luaX_syntaxerror(ls, "<name> or `...' expected");
+      }
+    } while (!dots && testnext(ls, ','));
+  }
+  code_params(ls, nparams, dots);
+}
+
+
+static void body (LexState *ls, expdesc *e, int needself, int line) {
+  /* body ->  `(' parlist `)' chunk END */
+  FuncState new_fs;
+  open_func(ls, &new_fs);
+  new_fs.f->lineDefined = line;
+  check(ls, '(');
+  if (needself)
+    create_local(ls, "self");
+  parlist(ls);
+  check(ls, ')');
+  chunk(ls);
+  check_match(ls, TK_END, TK_FUNCTION, line);
+  close_func(ls);
+  pushclosure(ls, &new_fs, e);
+}
+
+
+static int explist1 (LexState *ls, expdesc *v) {
+  /* explist1 -> expr { `,' expr } */
+  int n = 1;  /* at least one expression */
+  expr(ls, v);
+  while (testnext(ls, ',')) {
+    luaK_exp2nextreg(ls->fs, v);
+    expr(ls, v);
+    n++;
+  }
+  return n;
+}
+
+
+static void funcargs (LexState *ls, expdesc *f) {
+  FuncState *fs = ls->fs;
+  expdesc args;
+  int base, nparams;
+  int line = ls->linenumber;
+  switch (ls->t.token) {
+    case '(': {  /* funcargs -> `(' [ explist1 ] `)' */
+      if (line != ls->lastline)
+        luaX_syntaxerror(ls,"ambiguous syntax (function call x new statement)");
+      next(ls);
+      if (ls->t.token == ')')  /* arg list is empty? */
+        args.k = VVOID;
+      else {
+        explist1(ls, &args);
+        luaK_setcallreturns(fs, &args, LUA_MULTRET);
+      }
+      check_match(ls, ')', '(', line);
+      break;
+    }
+    case '{': {  /* funcargs -> constructor */
+      constructor(ls, &args);
+      break;
+    }
+    case TK_STRING: {  /* funcargs -> STRING */
+      codestring(ls, &args, ls->t.seminfo.ts);
+      next(ls);  /* must use `seminfo' before `next' */
+      break;
+    }
+    default: {
+      luaX_syntaxerror(ls, "function arguments expected");
+      return;
+    }
+  }
+  lua_assert(f->k == VNONRELOC);
+  base = f->info;  /* base register for call */
+  if (args.k == VCALL)
+    nparams = LUA_MULTRET;  /* open call */
+  else {
+    if (args.k != VVOID)
+      luaK_exp2nextreg(fs, &args);  /* close last argument */
+    nparams = fs->freereg - (base+1);
+  }
+  init_exp(f, VCALL, luaK_codeABC(fs, OP_CALL, base, nparams+1, 2));
+  luaK_fixline(fs, line);
+  fs->freereg = base+1;  /* call remove function and arguments and leaves
+                            (unless changed) one result */
+}
+
+
+
+
+/*
+** {======================================================================
+** Expression parsing
+** =======================================================================
+*/
+
+
+static void prefixexp (LexState *ls, expdesc *v) {
+  /* prefixexp -> NAME | '(' expr ')' */
+  switch (ls->t.token) {
+    case '(': {
+      int line = ls->linenumber;
+      next(ls);
+      expr(ls, v);
+      check_match(ls, ')', '(', line);
+      luaK_dischargevars(ls->fs, v);
+      return;
+    }
+    case TK_NAME: {
+      singlevar(ls, v, 1);
+      return;
+    }
+#ifdef LUA_COMPATUPSYNTAX
+    case '%': {  /* for compatibility only */
+      TString *varname;
+      int line = ls->linenumber;
+      next(ls);  /* skip `%' */
+      varname = singlevar(ls, v, 1);
+      if (v->k != VUPVAL)
+        luaX_errorline(ls, "global upvalues are obsolete",
+                           getstr(varname), line);
+      return;
+    }
+#endif
+    default: {
+      luaX_syntaxerror(ls, "unexpected symbol");
+      return;
+    }
+  }
+}
+
+
+static void primaryexp (LexState *ls, expdesc *v) {
+  /* primaryexp ->
+        prefixexp { `.' NAME | `[' exp `]' | `:' NAME funcargs | funcargs } */
+  FuncState *fs = ls->fs;
+  prefixexp(ls, v);
+  for (;;) {
+    switch (ls->t.token) {
+      case '.': {  /* field */
+        luaY_field(ls, v);
+        break;
+      }
+      case '[': {  /* `[' exp1 `]' */
+        expdesc key;
+        luaK_exp2anyreg(fs, v);
+        luaY_index(ls, &key);
+        luaK_indexed(fs, v, &key);
+        break;
+      }
+      case ':': {  /* `:' NAME funcargs */
+        expdesc key;
+        next(ls);
+        checkname(ls, &key);
+        luaK_self(fs, v, &key);
+        funcargs(ls, v);
+        break;
+      }
+      case '(': case TK_STRING: case '{': {  /* funcargs */
+        luaK_exp2nextreg(fs, v);
+        funcargs(ls, v);
+        break;
+      }
+      default: return;
+    }
+  }
+}
+
+
+static void simpleexp (LexState *ls, expdesc *v) {
+  /* simpleexp -> NUMBER | STRING | NIL | constructor | FUNCTION body
+               | primaryexp */
+  switch (ls->t.token) {
+    case TK_NUMBER: {
+      init_exp(v, VK, luaK_numberK(ls->fs, ls->t.seminfo.r));
+      next(ls);  /* must use `seminfo' before `next' */
+      break;
+    }
+    case TK_STRING: {
+      codestring(ls, v, ls->t.seminfo.ts);
+      next(ls);  /* must use `seminfo' before `next' */
+      break;
+    }
+    case TK_NIL: {
+      init_exp(v, VNIL, 0);
+      next(ls);
+      break;
+    }
+    case TK_TRUE: {
+      init_exp(v, VTRUE, 0);
+      next(ls);
+      break;
+    }
+    case TK_FALSE: {
+      init_exp(v, VFALSE, 0);
+      next(ls);
+      break;
+    }
+    case '{': {  /* constructor */
+      constructor(ls, v);
+      break;
+    }
+    case TK_FUNCTION: {
+      next(ls);
+      body(ls, v, 0, ls->linenumber);
+      break;
+    }
+    default: {
+      primaryexp(ls, v);
+      break;
+    }
+  }
+}
+
+
+static UnOpr getunopr (int op) {
+  switch (op) {
+    case TK_NOT: return OPR_NOT;
+    case '-': return OPR_MINUS;
+    default: return OPR_NOUNOPR;
+  }
+}
+
+
+static BinOpr getbinopr (int op) {
+  switch (op) {
+    case '+': return OPR_ADD;
+    case '-': return OPR_SUB;
+    case '*': return OPR_MULT;
+    case '/': return OPR_DIV;
+    case '^': return OPR_POW;
+    case TK_CONCAT: return OPR_CONCAT;
+    case TK_NE: return OPR_NE;
+    case TK_EQ: return OPR_EQ;
+    case '<': return OPR_LT;
+    case TK_LE: return OPR_LE;
+    case '>': return OPR_GT;
+    case TK_GE: return OPR_GE;
+    case TK_AND: return OPR_AND;
+    case TK_OR: return OPR_OR;
+    default: return OPR_NOBINOPR;
+  }
+}
+
+
+static const struct {
+  lu_byte left;  /* left priority for each binary operator */
+  lu_byte right; /* right priority */
+} priority[] = {  /* ORDER OPR */
+   {6, 6}, {6, 6}, {7, 7}, {7, 7},  /* arithmetic */
+   {10, 9}, {5, 4},                 /* power and concat (right associative) */
+   {3, 3}, {3, 3},                  /* equality */
+   {3, 3}, {3, 3}, {3, 3}, {3, 3},  /* order */
+   {2, 2}, {1, 1}                   /* logical (and/or) */
+};
+
+#define UNARY_PRIORITY	8  /* priority for unary operators */
+
+
+/*
+** subexpr -> (simplexep | unop subexpr) { binop subexpr }
+** where `binop' is any binary operator with a priority higher than `limit'
+*/
+static BinOpr subexpr (LexState *ls, expdesc *v, int limit) {
+  BinOpr op;
+  UnOpr uop;
+  enterlevel(ls);
+  uop = getunopr(ls->t.token);
+  if (uop != OPR_NOUNOPR) {
+    next(ls);
+    subexpr(ls, v, UNARY_PRIORITY);
+    luaK_prefix(ls->fs, uop, v);
+  }
+  else simpleexp(ls, v);
+  /* expand while operators have priorities higher than `limit' */
+  op = getbinopr(ls->t.token);
+  while (op != OPR_NOBINOPR && cast(int, priority[op].left) > limit) {
+    expdesc v2;
+    BinOpr nextop;
+    next(ls);
+    luaK_infix(ls->fs, op, v);
+    /* read sub-expression with higher priority */
+    nextop = subexpr(ls, &v2, cast(int, priority[op].right));
+    luaK_posfix(ls->fs, op, v, &v2);
+    op = nextop;
+  }
+  leavelevel(ls);
+  return op;  /* return first untreated operator */
+}
+
+
+static void expr (LexState *ls, expdesc *v) {
+  subexpr(ls, v, -1);
+}
+
+/* }==================================================================== */
+
+
+
+/*
+** {======================================================================
+** Rules for Statements
+** =======================================================================
+*/
+
+
+static int block_follow (int token) {
+  switch (token) {
+    case TK_ELSE: case TK_ELSEIF: case TK_END:
+    case TK_UNTIL: case TK_EOS:
+      return 1;
+    default: return 0;
+  }
+}
+
+
+static void block (LexState *ls) {
+  /* block -> chunk */
+  FuncState *fs = ls->fs;
+  BlockCnt bl;
+  enterblock(fs, &bl, 0);
+  chunk(ls);
+  lua_assert(bl.breaklist == NO_JUMP);
+  leaveblock(fs);
+}
+
+
+/*
+** structure to chain all variables in the left-hand side of an
+** assignment
+*/
+struct LHS_assign {
+  struct LHS_assign *prev;
+  expdesc v;  /* variable (global, local, upvalue, or indexed) */
+};
+
+
+/*
+** check whether, in an assignment to a local variable, the local variable
+** is needed in a previous assignment (to a table). If so, save original
+** local value in a safe place and use this safe copy in the previous
+** assignment.
+*/
+static void check_conflict (LexState *ls, struct LHS_assign *lh, expdesc *v) {
+  FuncState *fs = ls->fs;
+  int extra = fs->freereg;  /* eventual position to save local variable */
+  int conflict = 0;
+  for (; lh; lh = lh->prev) {
+    if (lh->v.k == VINDEXED) {
+      if (lh->v.info == v->info) {  /* conflict? */
+        conflict = 1;
+        lh->v.info = extra;  /* previous assignment will use safe copy */
+      }
+      if (lh->v.aux == v->info) {  /* conflict? */
+        conflict = 1;
+        lh->v.aux = extra;  /* previous assignment will use safe copy */
+      }
+    }
+  }
+  if (conflict) {
+    luaK_codeABC(fs, OP_MOVE, fs->freereg, v->info, 0);  /* make copy */
+    luaK_reserveregs(fs, 1);
+  }
+}
+
+
+static void assignment (LexState *ls, struct LHS_assign *lh, int nvars) {
+  expdesc e;
+  check_condition(ls, VLOCAL <= lh->v.k && lh->v.k <= VINDEXED,
+                      "syntax error");
+  if (testnext(ls, ',')) {  /* assignment -> `,' primaryexp assignment */
+    struct LHS_assign nv;
+    nv.prev = lh;
+    primaryexp(ls, &nv.v);
+    if (nv.v.k == VLOCAL)
+      check_conflict(ls, lh, &nv.v);
+    assignment(ls, &nv, nvars+1);
+  }
+  else {  /* assignment -> `=' explist1 */
+    int nexps;
+    check(ls, '=');
+    nexps = explist1(ls, &e);
+    if (nexps != nvars) {
+      adjust_assign(ls, nvars, nexps, &e);
+      if (nexps > nvars)
+        ls->fs->freereg -= nexps - nvars;  /* remove extra values */
+    }
+    else {
+      luaK_setcallreturns(ls->fs, &e, 1);  /* close last expression */
+      luaK_storevar(ls->fs, &lh->v, &e);
+      return;  /* avoid default */
+    }
+  }
+  init_exp(&e, VNONRELOC, ls->fs->freereg-1);  /* default assignment */
+  luaK_storevar(ls->fs, &lh->v, &e);
+}
+
+
+static void cond (LexState *ls, expdesc *v) {
+  /* cond -> exp */
+  expr(ls, v);  /* read condition */
+  if (v->k == VNIL) v->k = VFALSE;  /* `falses' are all equal here */
+  luaK_goiftrue(ls->fs, v);
+  luaK_patchtohere(ls->fs, v->t);
+}
+
+
+/*
+** The while statement optimizes its code by coding the condition
+** after its body (and thus avoiding one jump in the loop).
+*/
+
+/*
+** maximum size of expressions for optimizing `while' code
+*/
+#ifndef MAXEXPWHILE
+#define MAXEXPWHILE	100
+#endif
+
+/*
+** the call `luaK_goiffalse' may grow the size of an expression by
+** at most this:
+*/
+#define EXTRAEXP	5
+
+static void whilestat (LexState *ls, int line) {
+  /* whilestat -> WHILE cond DO block END */
+  Instruction codeexp[MAXEXPWHILE + EXTRAEXP];
+  int lineexp;
+  int i;
+  int sizeexp;
+  FuncState *fs = ls->fs;
+  int whileinit, blockinit, expinit;
+  expdesc v;
+  BlockCnt bl;
+  next(ls);  /* skip WHILE */
+  whileinit = luaK_jump(fs);  /* jump to condition (which will be moved) */
+  expinit = luaK_getlabel(fs);
+  expr(ls, &v);  /* parse condition */
+  if (v.k == VK) v.k = VTRUE;  /* `trues' are all equal here */
+  lineexp = ls->linenumber;
+  luaK_goiffalse(fs, &v);
+  luaK_concat(fs, &v.f, fs->jpc);
+  fs->jpc = NO_JUMP;
+  sizeexp = fs->pc - expinit;  /* size of expression code */
+  if (sizeexp > MAXEXPWHILE) 
+    luaX_syntaxerror(ls, "`while' condition too complex");
+  for (i = 0; i < sizeexp; i++)  /* save `exp' code */
+    codeexp[i] = fs->f->code[expinit + i];
+  fs->pc = expinit;  /* remove `exp' code */
+  enterblock(fs, &bl, 1);
+  check(ls, TK_DO);
+  blockinit = luaK_getlabel(fs);
+  block(ls);
+  luaK_patchtohere(fs, whileinit);  /* initial jump jumps to here */
+  /* move `exp' back to code */
+  if (v.t != NO_JUMP) v.t += fs->pc - expinit;
+  if (v.f != NO_JUMP) v.f += fs->pc - expinit;
+  for (i=0; i<sizeexp; i++)
+    luaK_code(fs, codeexp[i], lineexp);
+  check_match(ls, TK_END, TK_WHILE, line);
+  leaveblock(fs);
+  luaK_patchlist(fs, v.t, blockinit);  /* true conditions go back to loop */
+  luaK_patchtohere(fs, v.f);  /* false conditions finish the loop */
+}
+
+
+static void repeatstat (LexState *ls, int line) {
+  /* repeatstat -> REPEAT block UNTIL cond */
+  FuncState *fs = ls->fs;
+  int repeat_init = luaK_getlabel(fs);
+  expdesc v;
+  BlockCnt bl;
+  enterblock(fs, &bl, 1);
+  next(ls);
+  block(ls);
+  check_match(ls, TK_UNTIL, TK_REPEAT, line);
+  cond(ls, &v);
+  luaK_patchlist(fs, v.f, repeat_init);
+  leaveblock(fs);
+}
+
+
+static int exp1 (LexState *ls) {
+  expdesc e;
+  int k;
+  expr(ls, &e);
+  k = e.k;
+  luaK_exp2nextreg(ls->fs, &e);
+  return k;
+}
+
+
+static void forbody (LexState *ls, int base, int line, int nvars, int isnum) {
+  BlockCnt bl;
+  FuncState *fs = ls->fs;
+  int prep, endfor;
+  adjustlocalvars(ls, nvars);  /* scope for all variables */
+  check(ls, TK_DO);
+  enterblock(fs, &bl, 1);  /* loop block */
+  prep = luaK_getlabel(fs);
+  block(ls);
+  luaK_patchtohere(fs, prep-1);
+  endfor = (isnum) ? luaK_codeAsBx(fs, OP_FORLOOP, base, NO_JUMP) :
+                     luaK_codeABC(fs, OP_TFORLOOP, base, 0, nvars - 3);
+  luaK_fixline(fs, line);  /* pretend that `OP_FOR' starts the loop */
+  luaK_patchlist(fs, (isnum) ? endfor : luaK_jump(fs), prep);
+  leaveblock(fs);
+}
+
+
+static void fornum (LexState *ls, TString *varname, int line) {
+  /* fornum -> NAME = exp1,exp1[,exp1] DO body */
+  FuncState *fs = ls->fs;
+  int base = fs->freereg;
+  new_localvar(ls, varname, 0);
+  new_localvarstr(ls, "(for limit)", 1);
+  new_localvarstr(ls, "(for step)", 2);
+  check(ls, '=');
+  exp1(ls);  /* initial value */
+  check(ls, ',');
+  exp1(ls);  /* limit */
+  if (testnext(ls, ','))
+    exp1(ls);  /* optional step */
+  else {  /* default step = 1 */
+    luaK_codeABx(fs, OP_LOADK, fs->freereg, luaK_numberK(fs, 1));
+    luaK_reserveregs(fs, 1);
+  }
+  luaK_codeABC(fs, OP_SUB, fs->freereg - 3, fs->freereg - 3, fs->freereg - 1);
+  luaK_jump(fs);
+  forbody(ls, base, line, 3, 1);
+}
+
+
+static void forlist (LexState *ls, TString *indexname) {
+  /* forlist -> NAME {,NAME} IN explist1 DO body */
+  FuncState *fs = ls->fs;
+  expdesc e;
+  int nvars = 0;
+  int line;
+  int base = fs->freereg;
+  new_localvarstr(ls, "(for generator)", nvars++);
+  new_localvarstr(ls, "(for state)", nvars++);
+  new_localvar(ls, indexname, nvars++);
+  while (testnext(ls, ','))
+    new_localvar(ls, str_checkname(ls), nvars++);
+  check(ls, TK_IN);
+  line = ls->linenumber;
+  adjust_assign(ls, nvars, explist1(ls, &e), &e);
+  luaK_checkstack(fs, 3);  /* extra space to call generator */
+  luaK_codeAsBx(fs, OP_TFORPREP, base, NO_JUMP);
+  forbody(ls, base, line, nvars, 0);
+}
+
+
+static void forstat (LexState *ls, int line) {
+  /* forstat -> fornum | forlist */
+  FuncState *fs = ls->fs;
+  TString *varname;
+  BlockCnt bl;
+  enterblock(fs, &bl, 0);  /* block to control variable scope */
+  next(ls);  /* skip `for' */
+  varname = str_checkname(ls);  /* first variable name */
+  switch (ls->t.token) {
+    case '=': fornum(ls, varname, line); break;
+    case ',': case TK_IN: forlist(ls, varname); break;
+    default: luaX_syntaxerror(ls, "`=' or `in' expected");
+  }
+  check_match(ls, TK_END, TK_FOR, line);
+  leaveblock(fs);
+}
+
+
+static void test_then_block (LexState *ls, expdesc *v) {
+  /* test_then_block -> [IF | ELSEIF] cond THEN block */
+  next(ls);  /* skip IF or ELSEIF */
+  cond(ls, v);
+  check(ls, TK_THEN);
+  block(ls);  /* `then' part */
+}
+
+
+static void ifstat (LexState *ls, int line) {
+  /* ifstat -> IF cond THEN block {ELSEIF cond THEN block} [ELSE block] END */
+  FuncState *fs = ls->fs;
+  expdesc v;
+  int escapelist = NO_JUMP;
+  test_then_block(ls, &v);  /* IF cond THEN block */
+  while (ls->t.token == TK_ELSEIF) {
+    luaK_concat(fs, &escapelist, luaK_jump(fs));
+    luaK_patchtohere(fs, v.f);
+    test_then_block(ls, &v);  /* ELSEIF cond THEN block */
+  }
+  if (ls->t.token == TK_ELSE) {
+    luaK_concat(fs, &escapelist, luaK_jump(fs));
+    luaK_patchtohere(fs, v.f);
+    next(ls);  /* skip ELSE (after patch, for correct line info) */
+    block(ls);  /* `else' part */
+  }
+  else
+    luaK_concat(fs, &escapelist, v.f);
+  luaK_patchtohere(fs, escapelist);
+  check_match(ls, TK_END, TK_IF, line);
+}
+
+
+static void localfunc (LexState *ls) {
+  expdesc v, b;
+  FuncState *fs = ls->fs;
+  new_localvar(ls, str_checkname(ls), 0);
+  init_exp(&v, VLOCAL, fs->freereg);
+  luaK_reserveregs(fs, 1);
+  adjustlocalvars(ls, 1);
+  body(ls, &b, 0, ls->linenumber);
+  luaK_storevar(fs, &v, &b);
+  /* debug information will only see the variable after this point! */
+  getlocvar(fs, fs->nactvar - 1).startpc = fs->pc;
+}
+
+
+static void localstat (LexState *ls) {
+  /* stat -> LOCAL NAME {`,' NAME} [`=' explist1] */
+  int nvars = 0;
+  int nexps;
+  expdesc e;
+  do {
+    new_localvar(ls, str_checkname(ls), nvars++);
+  } while (testnext(ls, ','));
+  if (testnext(ls, '='))
+    nexps = explist1(ls, &e);
+  else {
+    e.k = VVOID;
+    nexps = 0;
+  }
+  adjust_assign(ls, nvars, nexps, &e);
+  adjustlocalvars(ls, nvars);
+}
+
+
+static int funcname (LexState *ls, expdesc *v) {
+  /* funcname -> NAME {field} [`:' NAME] */
+  int needself = 0;
+  singlevar(ls, v, 1);
+  while (ls->t.token == '.')
+    luaY_field(ls, v);
+  if (ls->t.token == ':') {
+    needself = 1;
+    luaY_field(ls, v);
+  }
+  return needself;
+}
+
+
+static void funcstat (LexState *ls, int line) {
+  /* funcstat -> FUNCTION funcname body */
+  int needself;
+  expdesc v, b;
+  next(ls);  /* skip FUNCTION */
+  needself = funcname(ls, &v);
+  body(ls, &b, needself, line);
+  luaK_storevar(ls->fs, &v, &b);
+  luaK_fixline(ls->fs, line);  /* definition `happens' in the first line */
+}
+
+
+static void exprstat (LexState *ls) {
+  /* stat -> func | assignment */
+  FuncState *fs = ls->fs;
+  struct LHS_assign v;
+  primaryexp(ls, &v.v);
+  if (v.v.k == VCALL) {  /* stat -> func */
+    luaK_setcallreturns(fs, &v.v, 0);  /* call statement uses no results */
+  }
+  else {  /* stat -> assignment */
+    v.prev = NULL;
+    assignment(ls, &v, 1);
+  }
+}
+
+
+static void retstat (LexState *ls) {
+  /* stat -> RETURN explist */
+  FuncState *fs = ls->fs;
+  expdesc e;
+  int first, nret;  /* registers with returned values */
+  next(ls);  /* skip RETURN */
+  if (block_follow(ls->t.token) || ls->t.token == ';')
+    first = nret = 0;  /* return no values */
+  else {
+    nret = explist1(ls, &e);  /* optional return values */
+    if (e.k == VCALL) {
+      luaK_setcallreturns(fs, &e, LUA_MULTRET);
+      if (nret == 1) {  /* tail call? */
+        SET_OPCODE(getcode(fs,&e), OP_TAILCALL);
+        lua_assert(GETARG_A(getcode(fs,&e)) == fs->nactvar);
+      }
+      first = fs->nactvar;
+      nret = LUA_MULTRET;  /* return all values */
+    }
+    else {
+      if (nret == 1)  /* only one single value? */
+        first = luaK_exp2anyreg(fs, &e);
+      else {
+        luaK_exp2nextreg(fs, &e);  /* values must go to the `stack' */
+        first = fs->nactvar;  /* return all `active' values */
+        lua_assert(nret == fs->freereg - first);
+      }
+    }
+  }
+  luaK_codeABC(fs, OP_RETURN, first, nret+1, 0);
+}
+
+
+static void breakstat (LexState *ls) {
+  /* stat -> BREAK [NAME] */
+  FuncState *fs = ls->fs;
+  BlockCnt *bl = fs->bl;
+  int upval = 0;
+  next(ls);  /* skip BREAK */
+  while (bl && !bl->isbreakable) {
+    upval |= bl->upval;
+    bl = bl->previous;
+  }
+  if (!bl)
+    luaX_syntaxerror(ls, "no loop to break");
+  if (upval)
+    luaK_codeABC(fs, OP_CLOSE, bl->nactvar, 0, 0);
+  luaK_concat(fs, &bl->breaklist, luaK_jump(fs));
+}
+
+
+static int statement (LexState *ls) {
+  int line = ls->linenumber;  /* may be needed for error messages */
+  switch (ls->t.token) {
+    case TK_IF: {  /* stat -> ifstat */
+      ifstat(ls, line);
+      return 0;
+    }
+    case TK_WHILE: {  /* stat -> whilestat */
+      whilestat(ls, line);
+      return 0;
+    }
+    case TK_DO: {  /* stat -> DO block END */
+      next(ls);  /* skip DO */
+      block(ls);
+      check_match(ls, TK_END, TK_DO, line);
+      return 0;
+    }
+    case TK_FOR: {  /* stat -> forstat */
+      forstat(ls, line);
+      return 0;
+    }
+    case TK_REPEAT: {  /* stat -> repeatstat */
+      repeatstat(ls, line);
+      return 0;
+    }
+    case TK_FUNCTION: {
+      funcstat(ls, line);  /* stat -> funcstat */
+      return 0;
+    }
+    case TK_LOCAL: {  /* stat -> localstat */
+      next(ls);  /* skip LOCAL */
+      if (testnext(ls, TK_FUNCTION))  /* local function? */
+        localfunc(ls);
+      else
+        localstat(ls);
+      return 0;
+    }
+    case TK_RETURN: {  /* stat -> retstat */
+      retstat(ls);
+      return 1;  /* must be last statement */
+    }
+    case TK_BREAK: {  /* stat -> breakstat */
+      breakstat(ls);
+      return 1;  /* must be last statement */
+    }
+    default: {
+      exprstat(ls);
+      return 0;  /* to avoid warnings */
+    }
+  }
+}
+
+
+static void chunk (LexState *ls) {
+  /* chunk -> { stat [`;'] } */
+  int islast = 0;
+  enterlevel(ls);
+  while (!islast && !block_follow(ls->t.token)) {
+    islast = statement(ls);
+    testnext(ls, ';');
+    lua_assert(ls->fs->freereg >= ls->fs->nactvar);
+    ls->fs->freereg = ls->fs->nactvar;  /* free registers */
+  }
+  leavelevel(ls);
+}
+
+/* }====================================================================== */
diff -Naur xmoto-0.1.10/src/lua/lparser.h xmoto-0.1.10-patched/src/lua/lparser.h
--- xmoto-0.1.10/src/lua/lparser.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lparser.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,71 @@
+/*
+** $Id: lparser.h,v 1.47 2003/02/11 10:46:24 roberto Exp $
+** Lua Parser
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lparser_h
+#define lparser_h
+
+#include "llimits.h"
+#include "lobject.h"
+#include "ltable.h"
+#include "lzio.h"
+
+
+/*
+** Expression descriptor
+*/
+
+typedef enum {
+  VVOID,	/* no value */
+  VNIL,
+  VTRUE,
+  VFALSE,
+  VK,		/* info = index of constant in `k' */
+  VLOCAL,	/* info = local register */
+  VUPVAL,       /* info = index of upvalue in `upvalues' */
+  VGLOBAL,	/* info = index of table; aux = index of global name in `k' */
+  VINDEXED,	/* info = table register; aux = index register (or `k') */
+  VJMP,		/* info = instruction pc */
+  VRELOCABLE,	/* info = instruction pc */
+  VNONRELOC,	/* info = result register */
+  VCALL		/* info = result register */
+} expkind;
+
+typedef struct expdesc {
+  expkind k;
+  int info, aux;
+  int t;  /* patch list of `exit when true' */
+  int f;  /* patch list of `exit when false' */
+} expdesc;
+
+
+struct BlockCnt;  /* defined in lparser.c */
+
+
+/* state needed to generate code for a given function */
+typedef struct FuncState {
+  Proto *f;  /* current function header */
+  Table *h;  /* table to find (and reuse) elements in `k' */
+  struct FuncState *prev;  /* enclosing function */
+  struct LexState *ls;  /* lexical state */
+  struct lua_State *L;  /* copy of the Lua state */
+  struct BlockCnt *bl;  /* chain of current blocks */
+  int pc;  /* next position to code (equivalent to `ncode') */
+  int lasttarget;   /* `pc' of last `jump target' */
+  int jpc;  /* list of pending jumps to `pc' */
+  int freereg;  /* first free register */
+  int nk;  /* number of elements in `k' */
+  int np;  /* number of elements in `p' */
+  int nlocvars;  /* number of elements in `locvars' */
+  int nactvar;  /* number of active local variables */
+  expdesc upvalues[MAXUPVALUES];  /* upvalues */
+  int actvar[MAXVARS];  /* declared-variable stack */
+} FuncState;
+
+
+Proto *luaY_parser (lua_State *L, ZIO *z, Mbuffer *buff);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lstate.c xmoto-0.1.10-patched/src/lua/lstate.c
--- xmoto-0.1.10/src/lua/lstate.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lstate.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,220 @@
+/*
+** $Id: lstate.c,v 1.123 2003/04/03 13:35:34 roberto Exp $
+** Global State
+** See Copyright Notice in lua.h
+*/
+
+
+#include <stdlib.h>
+
+#define lstate_c
+
+#include "lua.h"
+
+#include "ldebug.h"
+#include "ldo.h"
+#include "lfunc.h"
+#include "lgc.h"
+#include "llex.h"
+#include "lmem.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "ltable.h"
+#include "ltm.h"
+
+
+/*
+** macro to allow the inclusion of user information in Lua state
+*/
+#ifndef LUA_USERSTATE
+#define EXTRASPACE	0
+#else
+union UEXTRASPACE {L_Umaxalign a; LUA_USERSTATE b;};
+#define EXTRASPACE (sizeof(union UEXTRASPACE))
+#endif
+
+
+
+/*
+** you can change this function through the official API:
+** call `lua_setpanicf'
+*/
+static int default_panic (lua_State *L) {
+  UNUSED(L);
+  return 0;
+}
+
+
+static lua_State *mallocstate (lua_State *L) {
+  lu_byte *block = (lu_byte *)luaM_malloc(L, sizeof(lua_State) + EXTRASPACE);
+  if (block == NULL) return NULL;
+  else {
+    block += EXTRASPACE;
+    return cast(lua_State *, block);
+  }
+}
+
+
+static void freestate (lua_State *L, lua_State *L1) {
+  luaM_free(L, cast(lu_byte *, L1) - EXTRASPACE,
+               sizeof(lua_State) + EXTRASPACE);
+}
+
+
+static void stack_init (lua_State *L1, lua_State *L) {
+  L1->stack = luaM_newvector(L, BASIC_STACK_SIZE + EXTRA_STACK, TObject);
+  L1->stacksize = BASIC_STACK_SIZE + EXTRA_STACK;
+  L1->top = L1->stack;
+  L1->stack_last = L1->stack+(L1->stacksize - EXTRA_STACK)-1;
+  L1->base_ci = luaM_newvector(L, BASIC_CI_SIZE, CallInfo);
+  L1->ci = L1->base_ci;
+  L1->ci->state = CI_C;  /*  not a Lua function */
+  setnilvalue(L1->top++);  /* `function' entry for this `ci' */
+  L1->base = L1->ci->base = L1->top;
+  L1->ci->top = L1->top + LUA_MINSTACK;
+  L1->size_ci = BASIC_CI_SIZE;
+  L1->end_ci = L1->base_ci + L1->size_ci;
+}
+
+
+static void freestack (lua_State *L, lua_State *L1) {
+  luaM_freearray(L, L1->base_ci, L1->size_ci, CallInfo);
+  luaM_freearray(L, L1->stack, L1->stacksize, TObject);
+}
+
+
+/*
+** open parts that may cause memory-allocation errors
+*/
+static void f_luaopen (lua_State *L, void *ud) {
+  /* create a new global state */
+  global_State *g = luaM_new(NULL, global_State);
+  UNUSED(ud);
+  if (g == NULL) luaD_throw(L, LUA_ERRMEM);
+  L->l_G = g;
+  g->mainthread = L;
+  g->GCthreshold = 0;  /* mark it as unfinished state */
+  g->strt.size = 0;
+  g->strt.nuse = 0;
+  g->strt.hash = NULL;
+  setnilvalue(defaultmeta(L));
+  setnilvalue(registry(L));
+  luaZ_initbuffer(L, &g->buff);
+  g->panic = default_panic;
+  g->rootgc = NULL;
+  g->rootudata = NULL;
+  g->tmudata = NULL;
+  setnilvalue(gkey(g->dummynode));
+  setnilvalue(gval(g->dummynode));
+  g->dummynode->next = NULL;
+  g->nblocks = sizeof(lua_State) + sizeof(global_State);
+  stack_init(L, L);  /* init stack */
+  /* create default meta table with a dummy table, and then close the loop */
+  defaultmeta(L)->tt = LUA_TTABLE;
+  sethvalue(defaultmeta(L), luaH_new(L, 0, 0));
+  hvalue(defaultmeta(L))->metatable = hvalue(defaultmeta(L));
+  sethvalue(gt(L), luaH_new(L, 0, 4));  /* table of globals */
+  sethvalue(registry(L), luaH_new(L, 4, 4));  /* registry */
+  luaS_resize(L, MINSTRTABSIZE);  /* initial size of string table */
+  luaT_init(L);
+  luaX_init(L);
+  luaS_fix(luaS_newliteral(L, MEMERRMSG));
+  g->GCthreshold = 4*G(L)->nblocks;
+}
+
+
+static void preinit_state (lua_State *L) {
+  L->stack = NULL;
+  L->stacksize = 0;
+  L->errorJmp = NULL;
+  L->hook = NULL;
+  L->hookmask = L->hookinit = 0;
+  L->basehookcount = 0;
+  L->allowhook = 1;
+  resethookcount(L);
+  L->openupval = NULL;
+  L->size_ci = 0;
+  L->nCcalls = 0;
+  L->base_ci = L->ci = NULL;
+  L->errfunc = 0;
+  setnilvalue(gt(L));
+}
+
+
+static void close_state (lua_State *L) {
+  luaF_close(L, L->stack);  /* close all upvalues for this thread */
+  if (G(L)) {  /* close global state */
+    luaC_sweep(L, 1);  /* collect all elements */
+    lua_assert(G(L)->rootgc == NULL);
+    lua_assert(G(L)->rootudata == NULL);
+    luaS_freeall(L);
+    luaZ_freebuffer(L, &G(L)->buff);
+  }
+  freestack(L, L);
+  if (G(L)) {
+    lua_assert(G(L)->nblocks == sizeof(lua_State) + sizeof(global_State));
+    luaM_freelem(NULL, G(L));
+  }
+  freestate(NULL, L);
+}
+
+
+lua_State *luaE_newthread (lua_State *L) {
+  lua_State *L1 = mallocstate(L);
+  luaC_link(L, valtogco(L1), LUA_TTHREAD);
+  preinit_state(L1);
+  L1->l_G = L->l_G;
+  stack_init(L1, L);  /* init stack */
+  setobj2n(gt(L1), gt(L));  /* share table of globals */
+  return L1;
+}
+
+
+void luaE_freethread (lua_State *L, lua_State *L1) {
+  luaF_close(L1, L1->stack);  /* close all upvalues for this thread */
+  lua_assert(L1->openupval == NULL);
+  freestack(L, L1);
+  freestate(L, L1);
+}
+
+
+LUA_API lua_State *lua_open (void) {
+  lua_State *L = mallocstate(NULL);
+  if (L) {  /* allocation OK? */
+    L->tt = LUA_TTHREAD;
+    L->marked = 0;
+    L->next = L->gclist = NULL;
+    preinit_state(L);
+    L->l_G = NULL;
+    if (luaD_rawrunprotected(L, f_luaopen, NULL) != 0) {
+      /* memory allocation error: free partial state */
+      close_state(L);
+      L = NULL;
+    }
+  }
+  lua_userstateopen(L);
+  return L;
+}
+
+
+static void callallgcTM (lua_State *L, void *ud) {
+  UNUSED(ud);
+  luaC_callGCTM(L);  /* call GC metamethods for all udata */
+}
+
+
+LUA_API void lua_close (lua_State *L) {
+  lua_lock(L);
+  L = G(L)->mainthread;  /* only the main thread can be closed */
+  luaF_close(L, L->stack);  /* close all upvalues for this thread */
+  luaC_separateudata(L);  /* separate udata that have GC metamethods */
+  L->errfunc = 0;  /* no error function during GC metamethods */
+  do {  /* repeat until no more errors */
+    L->ci = L->base_ci;
+    L->base = L->top = L->ci->base;
+    L->nCcalls = 0;
+  } while (luaD_rawrunprotected(L, callallgcTM, NULL) != 0);
+  lua_assert(G(L)->tmudata == NULL);
+  close_state(L);
+}
+
diff -Naur xmoto-0.1.10/src/lua/lstate.h xmoto-0.1.10-patched/src/lua/lstate.h
--- xmoto-0.1.10/src/lua/lstate.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lstate.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,195 @@
+/*
+** $Id: lstate.h,v 1.109 2003/02/27 11:52:30 roberto Exp $
+** Global State
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lstate_h
+#define lstate_h
+
+#include "lua.h"
+
+#include "lobject.h"
+#include "ltm.h"
+#include "lzio.h"
+
+
+/*
+** macros for thread synchronization inside Lua core machine:
+** all accesses to the global state and to global objects are synchronized.
+** Because threads can read the stack of other threads
+** (when running garbage collection),
+** a thread must also synchronize any write-access to its own stack.
+** Unsynchronized accesses are allowed only when reading its own stack,
+** or when reading immutable fields from global objects
+** (such as string values and udata values). 
+*/
+#ifndef lua_lock
+#define lua_lock(L)	((void) 0)
+#endif
+
+#ifndef lua_unlock
+#define lua_unlock(L)	((void) 0)
+#endif
+
+
+#ifndef lua_userstateopen
+#define lua_userstateopen(l)
+#endif
+
+
+
+struct lua_longjmp;  /* defined in ldo.c */
+
+
+/* default meta table (both for tables and udata) */
+#define defaultmeta(L)	(&G(L)->_defaultmeta)
+
+/* table of globals */
+#define gt(L)	(&L->_gt)
+
+/* registry */
+#define registry(L)	(&G(L)->_registry)
+
+
+/* extra stack space to handle TM calls and some other extras */
+#define EXTRA_STACK   5
+
+
+#define BASIC_CI_SIZE           8
+
+#define BASIC_STACK_SIZE        (2*LUA_MINSTACK)
+
+
+
+typedef struct stringtable {
+  GCObject **hash;
+  ls_nstr nuse;  /* number of elements */
+  int size;
+} stringtable;
+
+
+/*
+** informations about a call
+*/
+typedef struct CallInfo {
+  StkId base;  /* base for called function */
+  StkId	top;  /* top for this function */
+  int state;  /* bit fields; see below */
+  union {
+    struct {  /* for Lua functions */
+      const Instruction *savedpc;
+      const Instruction **pc;  /* points to `pc' variable in `luaV_execute' */
+      int tailcalls;  /* number of tail calls lost under this entry */
+    } l;
+    struct {  /* for C functions */
+      int dummy;  /* just to avoid an empty struct */
+    } c;
+  } u;
+} CallInfo;
+
+
+/*
+** bit fields for `CallInfo.state'
+*/
+#define CI_C		(1<<0)  /* 1 if function is a C function */
+/* 1 if (Lua) function has an active `luaV_execute' running it */
+#define CI_HASFRAME	(1<<1)
+/* 1 if Lua function is calling another Lua function (and therefore its
+   `pc' is being used by the other, and therefore CI_SAVEDPC is 1 too) */
+#define CI_CALLING	(1<<2)
+#define CI_SAVEDPC	(1<<3)  /* 1 if `savedpc' is updated */
+#define CI_YIELD	(1<<4)  /* 1 if thread is suspended */
+
+
+#define ci_func(ci)	(clvalue((ci)->base - 1))
+
+
+/*
+** `global state', shared by all threads of this state
+*/
+typedef struct global_State {
+  stringtable strt;  /* hash table for strings */
+  GCObject *rootgc;  /* list of (almost) all collectable objects */
+  GCObject *rootudata;   /* (separated) list of all userdata */
+  GCObject *tmudata;  /* list of userdata to be GC */
+  Mbuffer buff;  /* temporary buffer for string concatentation */
+  lu_mem GCthreshold;
+  lu_mem nblocks;  /* number of `bytes' currently allocated */
+  lua_CFunction panic;  /* to be called in unprotected errors */
+  TObject _registry;
+  TObject _defaultmeta;
+  struct lua_State *mainthread;
+  Node dummynode[1];  /* common node array for all empty tables */
+  TString *tmname[TM_N];  /* array with tag-method names */
+} global_State;
+
+
+/*
+** `per thread' state
+*/
+struct lua_State {
+  CommonHeader;
+  StkId top;  /* first free slot in the stack */
+  StkId base;  /* base of current function */
+  global_State *l_G;
+  CallInfo *ci;  /* call info for current function */
+  StkId stack_last;  /* last free slot in the stack */
+  StkId stack;  /* stack base */
+  int stacksize;
+  CallInfo *end_ci;  /* points after end of ci array*/
+  CallInfo *base_ci;  /* array of CallInfo's */
+  unsigned short size_ci;  /* size of array `base_ci' */
+  unsigned short nCcalls;  /* number of nested C calls */
+  lu_byte hookmask;
+  lu_byte allowhook;
+  lu_byte hookinit;
+  int basehookcount;
+  int hookcount;
+  lua_Hook hook;
+  TObject _gt;  /* table of globals */
+  GCObject *openupval;  /* list of open upvalues in this stack */
+  GCObject *gclist;
+  struct lua_longjmp *errorJmp;  /* current error recover point */
+  ptrdiff_t errfunc;  /* current error handling function (stack index) */
+};
+
+
+#define G(L)	(L->l_G)
+
+
+/*
+** Union of all collectable objects
+*/
+union GCObject {
+  GCheader gch;
+  union TString ts;
+  union Udata u;
+  union Closure cl;
+  struct Table h;
+  struct Proto p;
+  struct UpVal uv;
+  struct lua_State th;  /* thread */
+};
+
+
+/* macros to convert a GCObject into a specific value */
+#define gcotots(o)	check_exp((o)->gch.tt == LUA_TSTRING, &((o)->ts))
+#define gcotou(o)	check_exp((o)->gch.tt == LUA_TUSERDATA, &((o)->u))
+#define gcotocl(o)	check_exp((o)->gch.tt == LUA_TFUNCTION, &((o)->cl))
+#define gcotoh(o)	check_exp((o)->gch.tt == LUA_TTABLE, &((o)->h))
+#define gcotop(o)	check_exp((o)->gch.tt == LUA_TPROTO, &((o)->p))
+#define gcotouv(o)	check_exp((o)->gch.tt == LUA_TUPVAL, &((o)->uv))
+#define ngcotouv(o) \
+	check_exp((o) == NULL || (o)->gch.tt == LUA_TUPVAL, &((o)->uv))
+#define gcototh(o)	check_exp((o)->gch.tt == LUA_TTHREAD, &((o)->th))
+
+/* macro to convert any value into a GCObject */
+#define valtogco(v)	(cast(GCObject *, (v)))
+
+
+lua_State *luaE_newthread (lua_State *L);
+void luaE_freethread (lua_State *L, lua_State *L1);
+
+#endif
+
diff -Naur xmoto-0.1.10/src/lua/lstring.c xmoto-0.1.10-patched/src/lua/lstring.c
--- xmoto-0.1.10/src/lua/lstring.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lstring.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,102 @@
+/*
+** $Id: lstring.c,v 1.78 2002/12/04 17:38:31 roberto Exp $
+** String table (keeps all strings handled by Lua)
+** See Copyright Notice in lua.h
+*/
+
+
+#include <string.h>
+
+#define lstring_c
+
+#include "lua.h"
+
+#include "lmem.h"
+#include "lobject.h"
+#include "lstate.h"
+#include "lstring.h"
+
+
+
+void luaS_freeall (lua_State *L) {
+  lua_assert(G(L)->strt.nuse==0);
+  luaM_freearray(L, G(L)->strt.hash, G(L)->strt.size, TString *);
+}
+
+
+void luaS_resize (lua_State *L, int newsize) {
+  GCObject **newhash = luaM_newvector(L, newsize, GCObject *);
+  stringtable *tb = &G(L)->strt;
+  int i;
+  for (i=0; i<newsize; i++) newhash[i] = NULL;
+  /* rehash */
+  for (i=0; i<tb->size; i++) {
+    GCObject *p = tb->hash[i];
+    while (p) {  /* for each node in the list */
+      GCObject *next = p->gch.next;  /* save next */
+      lu_hash h = gcotots(p)->tsv.hash;
+      int h1 = lmod(h, newsize);  /* new position */
+      lua_assert(cast(int, h%newsize) == lmod(h, newsize));
+      p->gch.next = newhash[h1];  /* chain it */
+      newhash[h1] = p;
+      p = next;
+    }
+  }
+  luaM_freearray(L, tb->hash, tb->size, TString *);
+  tb->size = newsize;
+  tb->hash = newhash;
+}
+
+
+static TString *newlstr (lua_State *L, const char *str, size_t l, lu_hash h) {
+  TString *ts = cast(TString *, luaM_malloc(L, sizestring(l)));
+  stringtable *tb;
+  ts->tsv.len = l;
+  ts->tsv.hash = h;
+  ts->tsv.marked = 0;
+  ts->tsv.tt = LUA_TSTRING;
+  ts->tsv.reserved = 0;
+  memcpy(ts+1, str, l*sizeof(char));
+  ((char *)(ts+1))[l] = '\0';  /* ending 0 */
+  tb = &G(L)->strt;
+  h = lmod(h, tb->size);
+  ts->tsv.next = tb->hash[h];  /* chain new entry */
+  tb->hash[h] = valtogco(ts);
+  tb->nuse++;
+  if (tb->nuse > cast(ls_nstr, tb->size) && tb->size <= MAX_INT/2)
+    luaS_resize(L, tb->size*2);  /* too crowded */
+  return ts;
+}
+
+
+TString *luaS_newlstr (lua_State *L, const char *str, size_t l) {
+  GCObject *o;
+  lu_hash h = (lu_hash)l;  /* seed */
+  size_t step = (l>>5)+1;  /* if string is too long, don't hash all its chars */
+  size_t l1;
+  for (l1=l; l1>=step; l1-=step)  /* compute hash */
+    h = h ^ ((h<<5)+(h>>2)+(unsigned char)(str[l1-1]));
+  for (o = G(L)->strt.hash[lmod(h, G(L)->strt.size)];
+       o != NULL;
+       o = o->gch.next) {
+    TString *ts = gcotots(o);
+    if (ts->tsv.len == l && (memcmp(str, getstr(ts), l) == 0))
+      return ts;
+  }
+  return newlstr(L, str, l, h);  /* not found */
+}
+
+
+Udata *luaS_newudata (lua_State *L, size_t s) {
+  Udata *u;
+  u = cast(Udata *, luaM_malloc(L, sizeudata(s)));
+  u->uv.marked = (1<<1);  /* is not finalized */
+  u->uv.tt = LUA_TUSERDATA;
+  u->uv.len = s;
+  u->uv.metatable = hvalue(defaultmeta(L));
+  /* chain it on udata list */
+  u->uv.next = G(L)->rootudata;
+  G(L)->rootudata = valtogco(u);
+  return u;
+}
+
diff -Naur xmoto-0.1.10/src/lua/lstring.h xmoto-0.1.10-patched/src/lua/lstring.h
--- xmoto-0.1.10/src/lua/lstring.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lstring.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,33 @@
+/*
+** $Id: lstring.h,v 1.37 2002/08/16 14:45:55 roberto Exp $
+** String table (keep all strings handled by Lua)
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lstring_h
+#define lstring_h
+
+
+#include "lobject.h"
+#include "lstate.h"
+
+
+
+#define sizestring(l)	(cast(lu_mem, sizeof(union TString))+ \
+                         (cast(lu_mem, l)+1)*sizeof(char))
+
+#define sizeudata(l)	(cast(lu_mem, sizeof(union Udata))+(l))
+
+#define luaS_new(L, s)	(luaS_newlstr(L, s, strlen(s)))
+#define luaS_newliteral(L, s)	(luaS_newlstr(L, "" s, \
+                                 (sizeof(s)/sizeof(char))-1))
+
+#define luaS_fix(s)	((s)->tsv.marked |= (1<<4))
+
+void luaS_resize (lua_State *L, int newsize);
+Udata *luaS_newudata (lua_State *L, size_t s);
+void luaS_freeall (lua_State *L);
+TString *luaS_newlstr (lua_State *L, const char *str, size_t l);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/ltable.c xmoto-0.1.10-patched/src/lua/ltable.c
--- xmoto-0.1.10/src/lua/ltable.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ltable.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,509 @@
+/*
+** $Id: ltable.c,v 1.132 2003/04/03 13:35:34 roberto Exp $
+** Lua tables (hash)
+** See Copyright Notice in lua.h
+*/
+
+
+/*
+** Implementation of tables (aka arrays, objects, or hash tables).
+** Tables keep its elements in two parts: an array part and a hash part.
+** Non-negative integer keys are all candidates to be kept in the array
+** part. The actual size of the array is the largest `n' such that at
+** least half the slots between 0 and n are in use.
+** Hash uses a mix of chained scatter table with Brent's variation.
+** A main invariant of these tables is that, if an element is not
+** in its main position (i.e. the `original' position that its hash gives
+** to it), then the colliding element is in its own main position.
+** In other words, there are collisions only when two elements have the
+** same main position (i.e. the same hash values for that table size).
+** Because of that, the load factor of these tables can be 100% without
+** performance penalties.
+*/
+
+#include <string.h>
+
+#define ltable_c
+
+#include "lua.h"
+
+#include "ldebug.h"
+#include "ldo.h"
+#include "lgc.h"
+#include "lmem.h"
+#include "lobject.h"
+#include "lstate.h"
+#include "ltable.h"
+
+
+/*
+** max size of array part is 2^MAXBITS
+*/
+#if BITS_INT > 26
+#define MAXBITS		24
+#else
+#define MAXBITS		(BITS_INT-2)
+#endif
+
+/* check whether `x' < 2^MAXBITS */
+#define toobig(x)	((((x)-1) >> MAXBITS) != 0)
+
+
+/* function to convert a lua_Number to int (with any rounding method) */
+#ifndef lua_number2int
+#define lua_number2int(i,n)	((i)=(int)(n))
+#endif
+
+
+#define hashpow2(t,n)      (gnode(t, lmod((n), sizenode(t))))
+  
+#define hashstr(t,str)  hashpow2(t, (str)->tsv.hash)
+#define hashboolean(t,p)        hashpow2(t, p)
+
+
+/*
+** for some types, it is better to avoid modulus by power of 2, as
+** they tend to have many 2 factors.
+*/
+#define hashmod(t,n)	(gnode(t, ((n) % ((sizenode(t)-1)|1))))
+
+
+#define hashpointer(t,p)	hashmod(t, IntPoint(p))
+
+
+/*
+** number of ints inside a lua_Number
+*/
+#define numints		cast(int, sizeof(lua_Number)/sizeof(int))
+
+
+/*
+** hash for lua_Numbers
+*/
+static Node *hashnum (const Table *t, lua_Number n) {
+  unsigned int a[numints];
+  int i;
+  n += 1;  /* normalize number (avoid -0) */
+  lua_assert(sizeof(a) <= sizeof(n));
+  memcpy(a, &n, sizeof(a));
+  for (i = 1; i < numints; i++) a[0] += a[i];
+  return hashmod(t, cast(lu_hash, a[0]));
+}
+
+
+
+/*
+** returns the `main' position of an element in a table (that is, the index
+** of its hash value)
+*/
+Node *luaH_mainposition (const Table *t, const TObject *key) {
+  switch (ttype(key)) {
+    case LUA_TNUMBER:
+      return hashnum(t, nvalue(key));
+    case LUA_TSTRING:
+      return hashstr(t, tsvalue(key));
+    case LUA_TBOOLEAN:
+      return hashboolean(t, bvalue(key));
+    case LUA_TLIGHTUSERDATA:
+      return hashpointer(t, pvalue(key));
+    default:
+      return hashpointer(t, gcvalue(key));
+  }
+}
+
+
+/*
+** returns the index for `key' if `key' is an appropriate key to live in
+** the array part of the table, -1 otherwise.
+*/
+static int arrayindex (const TObject *key) {
+  if (ttisnumber(key)) {
+    int k;
+    lua_number2int(k, (nvalue(key)));
+    if (cast(lua_Number, k) == nvalue(key) && k >= 1 && !toobig(k))
+      return k;
+  }
+  return -1;  /* `key' did not match some condition */
+}
+
+
+/*
+** returns the index of a `key' for table traversals. First goes all
+** elements in the array part, then elements in the hash part. The
+** beginning and end of a traversal are signalled by -1.
+*/
+static int luaH_index (lua_State *L, Table *t, StkId key) {
+  int i;
+  if (ttisnil(key)) return -1;  /* first iteration */
+  i = arrayindex(key);
+  if (0 <= i && i <= t->sizearray) {  /* is `key' inside array part? */
+    return i-1;  /* yes; that's the index (corrected to C) */
+  }
+  else {
+    const TObject *v = luaH_get(t, key);
+    if (v == &luaO_nilobject)
+      luaG_runerror(L, "invalid key for `next'");
+    i = cast(int, (cast(const lu_byte *, v) -
+                   cast(const lu_byte *, gval(gnode(t, 0)))) / sizeof(Node));
+    return i + t->sizearray;  /* hash elements are numbered after array ones */
+  }
+}
+
+
+int luaH_next (lua_State *L, Table *t, StkId key) {
+  int i = luaH_index(L, t, key);  /* find original element */
+  for (i++; i < t->sizearray; i++) {  /* try first array part */
+    if (!ttisnil(&t->array[i])) {  /* a non-nil value? */
+      setnvalue(key, cast(lua_Number, i+1));
+      setobj2s(key+1, &t->array[i]);
+      return 1;
+    }
+  }
+  for (i -= t->sizearray; i < sizenode(t); i++) {  /* then hash part */
+    if (!ttisnil(gval(gnode(t, i)))) {  /* a non-nil value? */
+      setobj2s(key, gkey(gnode(t, i)));
+      setobj2s(key+1, gval(gnode(t, i)));
+      return 1;
+    }
+  }
+  return 0;  /* no more elements */
+}
+
+
+/*
+** {=============================================================
+** Rehash
+** ==============================================================
+*/
+
+
+static void computesizes  (int nums[], int ntotal, int *narray, int *nhash) {
+  int i;
+  int a = nums[0];  /* number of elements smaller than 2^i */
+  int na = a;  /* number of elements to go to array part */
+  int n = (na == 0) ? -1 : 0;  /* (log of) optimal size for array part */
+  for (i = 1; a < *narray && *narray >= twoto(i-1); i++) {
+    if (nums[i] > 0) {
+      a += nums[i];
+      if (a >= twoto(i-1)) {  /* more than half elements in use? */
+        n = i;
+        na = a;
+      }
+    }
+  }
+  lua_assert(na <= *narray && *narray <= ntotal);
+  *nhash = ntotal - na;
+  *narray = (n == -1) ? 0 : twoto(n);
+  lua_assert(na <= *narray && na >= *narray/2);
+}
+
+
+static void numuse (const Table *t, int *narray, int *nhash) {
+  int nums[MAXBITS+1];
+  int i, lg;
+  int totaluse = 0;
+  /* count elements in array part */
+  for (i=0, lg=0; lg<=MAXBITS; lg++) {  /* for each slice [2^(lg-1) to 2^lg) */
+    int ttlg = twoto(lg);  /* 2^lg */
+    if (ttlg > t->sizearray) {
+      ttlg = t->sizearray;
+      if (i >= ttlg) break;
+    }
+    nums[lg] = 0;
+    for (; i<ttlg; i++) {
+      if (!ttisnil(&t->array[i])) {
+        nums[lg]++;
+        totaluse++;
+      }
+    }
+  }
+  for (; lg<=MAXBITS; lg++) nums[lg] = 0;  /* reset other counts */
+  *narray = totaluse;  /* all previous uses were in array part */
+  /* count elements in hash part */
+  i = sizenode(t);
+  while (i--) {
+    Node *n = &t->node[i];
+    if (!ttisnil(gval(n))) {
+      int k = arrayindex(gkey(n));
+      if (k >= 0) {  /* is `key' an appropriate array index? */
+        nums[luaO_log2(k-1)+1]++;  /* count as such */
+        (*narray)++;
+      }
+      totaluse++;
+    }
+  }
+  computesizes(nums, totaluse, narray, nhash);
+}
+
+
+static void setarrayvector (lua_State *L, Table *t, int size) {
+  int i;
+  luaM_reallocvector(L, t->array, t->sizearray, size, TObject);
+  for (i=t->sizearray; i<size; i++)
+     setnilvalue(&t->array[i]);
+  t->sizearray = size;
+}
+
+
+static void setnodevector (lua_State *L, Table *t, int lsize) {
+  int i;
+  int size = twoto(lsize);
+  if (lsize > MAXBITS)
+    luaG_runerror(L, "table overflow");
+  if (lsize == 0) {  /* no elements to hash part? */
+    t->node = G(L)->dummynode;  /* use common `dummynode' */
+    lua_assert(ttisnil(gkey(t->node)));  /* assert invariants: */
+    lua_assert(ttisnil(gval(t->node)));
+    lua_assert(t->node->next == NULL);  /* (`dummynode' must be empty) */
+  }
+  else {
+    t->node = luaM_newvector(L, size, Node);
+    for (i=0; i<size; i++) {
+      t->node[i].next = NULL;
+      setnilvalue(gkey(gnode(t, i)));
+      setnilvalue(gval(gnode(t, i)));
+    }
+  }
+  t->lsizenode = cast(lu_byte, lsize);
+  t->firstfree = gnode(t, size-1);  /* first free position to be used */
+}
+
+
+static void resize (lua_State *L, Table *t, int nasize, int nhsize) {
+  int i;
+  int oldasize = t->sizearray;
+  int oldhsize = t->lsizenode;
+  Node *nold;
+  Node temp[1];
+  if (oldhsize)
+    nold = t->node;  /* save old hash ... */
+  else {  /* old hash is `dummynode' */
+    lua_assert(t->node == G(L)->dummynode);
+    temp[0] = t->node[0];  /* copy it to `temp' */
+    nold = temp;
+    setnilvalue(gkey(G(L)->dummynode));  /* restate invariant */
+    setnilvalue(gval(G(L)->dummynode));
+    lua_assert(G(L)->dummynode->next == NULL);
+  }
+  if (nasize > oldasize)  /* array part must grow? */
+    setarrayvector(L, t, nasize);
+  /* create new hash part with appropriate size */
+  setnodevector(L, t, nhsize);  
+  /* re-insert elements */
+  if (nasize < oldasize) {  /* array part must shrink? */
+    t->sizearray = nasize;
+    /* re-insert elements from vanishing slice */
+    for (i=nasize; i<oldasize; i++) {
+      if (!ttisnil(&t->array[i]))
+        setobjt2t(luaH_setnum(L, t, i+1), &t->array[i]);
+    }
+    /* shrink array */
+    luaM_reallocvector(L, t->array, oldasize, nasize, TObject);
+  }
+  /* re-insert elements in hash part */
+  for (i = twoto(oldhsize) - 1; i >= 0; i--) {
+    Node *old = nold+i;
+    if (!ttisnil(gval(old)))
+      setobjt2t(luaH_set(L, t, gkey(old)), gval(old));
+  }
+  if (oldhsize)
+    luaM_freearray(L, nold, twoto(oldhsize), Node);  /* free old array */
+}
+
+
+static void rehash (lua_State *L, Table *t) {
+  int nasize, nhsize;
+  numuse(t, &nasize, &nhsize);  /* compute new sizes for array and hash parts */
+  resize(L, t, nasize, luaO_log2(nhsize)+1);
+}
+
+
+
+/*
+** }=============================================================
+*/
+
+
+Table *luaH_new (lua_State *L, int narray, int lnhash) {
+  Table *t = luaM_new(L, Table);
+  luaC_link(L, valtogco(t), LUA_TTABLE);
+  t->metatable = hvalue(defaultmeta(L));
+  t->flags = cast(lu_byte, ~0);
+  /* temporary values (kept only if some malloc fails) */
+  t->array = NULL;
+  t->sizearray = 0;
+  t->lsizenode = 0;
+  t->node = NULL;
+  setarrayvector(L, t, narray);
+  setnodevector(L, t, lnhash);
+  return t;
+}
+
+
+void luaH_free (lua_State *L, Table *t) {
+  if (t->lsizenode)
+    luaM_freearray(L, t->node, sizenode(t), Node);
+  luaM_freearray(L, t->array, t->sizearray, TObject);
+  luaM_freelem(L, t);
+}
+
+
+#if 0
+/*
+** try to remove an element from a hash table; cannot move any element
+** (because gc can call `remove' during a table traversal)
+*/
+void luaH_remove (Table *t, Node *e) {
+  Node *mp = luaH_mainposition(t, gkey(e));
+  if (e != mp) {  /* element not in its main position? */
+    while (mp->next != e) mp = mp->next;  /* find previous */
+    mp->next = e->next;  /* remove `e' from its list */
+  }
+  else {
+    if (e->next != NULL) ??
+  }
+  lua_assert(ttisnil(gval(node)));
+  setnilvalue(gkey(e));  /* clear node `e' */
+  e->next = NULL;
+}
+#endif
+
+
+/*
+** inserts a new key into a hash table; first, check whether key's main 
+** position is free. If not, check whether colliding node is in its main 
+** position or not: if it is not, move colliding node to an empty place and 
+** put new key in its main position; otherwise (colliding node is in its main 
+** position), new key goes to an empty position. 
+*/
+static TObject *newkey (lua_State *L, Table *t, const TObject *key) {
+  TObject *val;
+  Node *mp = luaH_mainposition(t, key);
+  if (!ttisnil(gval(mp))) {  /* main position is not free? */
+    Node *othern = luaH_mainposition(t, gkey(mp));  /* `mp' of colliding node */
+    Node *n = t->firstfree;  /* get a free place */
+    if (othern != mp) {  /* is colliding node out of its main position? */
+      /* yes; move colliding node into free position */
+      while (othern->next != mp) othern = othern->next;  /* find previous */
+      othern->next = n;  /* redo the chain with `n' in place of `mp' */
+      *n = *mp;  /* copy colliding node into free pos. (mp->next also goes) */
+      mp->next = NULL;  /* now `mp' is free */
+      setnilvalue(gval(mp));
+    }
+    else {  /* colliding node is in its own main position */
+      /* new node will go into free position */
+      n->next = mp->next;  /* chain new position */
+      mp->next = n;
+      mp = n;
+    }
+  }
+  setobj2t(gkey(mp), key);  /* write barrier */
+  lua_assert(ttisnil(gval(mp)));
+  for (;;) {  /* correct `firstfree' */
+    if (ttisnil(gkey(t->firstfree)))
+      return gval(mp);  /* OK; table still has a free place */
+    else if (t->firstfree == t->node) break;  /* cannot decrement from here */
+    else (t->firstfree)--;
+  }
+  /* no more free places; must create one */
+  setbvalue(gval(mp), 0);  /* avoid new key being removed */
+  rehash(L, t);  /* grow table */
+  val = cast(TObject *, luaH_get(t, key));  /* get new position */
+  lua_assert(ttisboolean(val));
+  setnilvalue(val);
+  return val;
+}
+
+
+/*
+** generic search function
+*/
+static const TObject *luaH_getany (Table *t, const TObject *key) {
+  if (ttisnil(key)) return &luaO_nilobject;
+  else {
+    Node *n = luaH_mainposition(t, key);
+    do {  /* check whether `key' is somewhere in the chain */
+      if (luaO_rawequalObj(gkey(n), key)) return gval(n);  /* that's it */
+      else n = n->next;
+    } while (n);
+    return &luaO_nilobject;
+  }
+}
+
+
+/*
+** search function for integers
+*/
+const TObject *luaH_getnum (Table *t, int key) {
+  if (1 <= key && key <= t->sizearray)
+    return &t->array[key-1];
+  else {
+    lua_Number nk = cast(lua_Number, key);
+    Node *n = hashnum(t, nk);
+    do {  /* check whether `key' is somewhere in the chain */
+      if (ttisnumber(gkey(n)) && nvalue(gkey(n)) == nk)
+        return gval(n);  /* that's it */
+      else n = n->next;
+    } while (n);
+    return &luaO_nilobject;
+  }
+}
+
+
+/*
+** search function for strings
+*/
+const TObject *luaH_getstr (Table *t, TString *key) {
+  Node *n = hashstr(t, key);
+  do {  /* check whether `key' is somewhere in the chain */
+    if (ttisstring(gkey(n)) && tsvalue(gkey(n)) == key)
+      return gval(n);  /* that's it */
+    else n = n->next;
+  } while (n);
+  return &luaO_nilobject;
+}
+
+
+/*
+** main search function
+*/
+const TObject *luaH_get (Table *t, const TObject *key) {
+  switch (ttype(key)) {
+    case LUA_TSTRING: return luaH_getstr(t, tsvalue(key));
+    case LUA_TNUMBER: {
+      int k;
+      lua_number2int(k, (nvalue(key)));
+      if (cast(lua_Number, k) == nvalue(key))  /* is an integer index? */
+        return luaH_getnum(t, k);  /* use specialized version */
+      /* else go through */
+    }
+    default: return luaH_getany(t, key);
+  }
+}
+
+
+TObject *luaH_set (lua_State *L, Table *t, const TObject *key) {
+  const TObject *p = luaH_get(t, key);
+  t->flags = 0;
+  if (p != &luaO_nilobject)
+    return cast(TObject *, p);
+  else {
+    if (ttisnil(key)) luaG_runerror(L, "table index is nil");
+    else if (ttisnumber(key) && nvalue(key) != nvalue(key))
+      luaG_runerror(L, "table index is NaN");
+    return newkey(L, t, key);
+  }
+}
+
+
+TObject *luaH_setnum (lua_State *L, Table *t, int key) {
+  const TObject *p = luaH_getnum(t, key);
+  if (p != &luaO_nilobject)
+    return cast(TObject *, p);
+  else {
+    TObject k;
+    setnvalue(&k, cast(lua_Number, key));
+    return newkey(L, t, &k);
+  }
+}
+
diff -Naur xmoto-0.1.10/src/lua/ltable.h xmoto-0.1.10-patched/src/lua/ltable.h
--- xmoto-0.1.10/src/lua/ltable.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ltable.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,31 @@
+/*
+** $Id: ltable.h,v 1.44 2003/03/18 12:50:04 roberto Exp $
+** Lua tables (hash)
+** See Copyright Notice in lua.h
+*/
+
+#ifndef ltable_h
+#define ltable_h
+
+#include "lobject.h"
+
+
+#define gnode(t,i)	(&(t)->node[i])
+#define gkey(n)		(&(n)->i_key)
+#define gval(n)		(&(n)->i_val)
+
+
+const TObject *luaH_getnum (Table *t, int key);
+TObject *luaH_setnum (lua_State *L, Table *t, int key);
+const TObject *luaH_getstr (Table *t, TString *key);
+const TObject *luaH_get (Table *t, const TObject *key);
+TObject *luaH_set (lua_State *L, Table *t, const TObject *key);
+Table *luaH_new (lua_State *L, int narray, int lnhash);
+void luaH_free (lua_State *L, Table *t);
+int luaH_next (lua_State *L, Table *t, StkId key);
+
+/* exported only for debugging */
+Node *luaH_mainposition (const Table *t, const TObject *key);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/ltests.c xmoto-0.1.10-patched/src/lua/ltests.c
--- xmoto-0.1.10/src/lua/ltests.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ltests.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,852 @@
+/*
+** $Id: ltests.c,v 1.158 2003/04/07 14:35:00 roberto Exp $
+** Internal Module for Debugging of the Lua Implementation
+** See Copyright Notice in lua.h
+*/
+
+
+#include <ctype.h>
+#include <limits.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define ltests_c
+
+#include "lua.h"
+
+#include "lapi.h"
+#include "lauxlib.h"
+#include "lcode.h"
+#include "ldebug.h"
+#include "ldo.h"
+#include "lfunc.h"
+#include "lmem.h"
+#include "lopcodes.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "ltable.h"
+#include "lualib.h"
+
+
+
+/*
+** The whole module only makes sense with LUA_DEBUG on
+*/
+#ifdef LUA_DEBUG
+
+
+#define lua_pushintegral(L,i)	lua_pushnumber(L, cast(lua_Number, (i)))
+
+
+static lua_State *lua_state = NULL;
+
+int islocked = 0;
+
+
+#define func_at(L,k)	(L->ci->base+(k) - 1)
+
+
+static void setnameval (lua_State *L, const char *name, int val) {
+  lua_pushstring(L, name);
+  lua_pushintegral(L, val);
+  lua_settable(L, -3);
+}
+
+
+/*
+** {======================================================================
+** Controlled version for realloc.
+** =======================================================================
+*/
+
+#define MARK		0x55  /* 01010101 (a nice pattern) */
+
+#ifndef EXTERNMEMCHECK
+/* full memory check */
+#define HEADER	(sizeof(L_Umaxalign)) /* ensures maximum alignment for HEADER */
+#define MARKSIZE	16  /* size of marks after each block */
+#define blockhead(b)	(cast(char *, b) - HEADER)
+#define setsize(newblock, size)	(*cast(size_t *, newblock) = size)
+#define checkblocksize(b, size) (size == (*cast(size_t *, blockhead(b))))
+#define fillmem(mem,size)	memset(mem, -MARK, size)
+#else
+/* external memory check: don't do it twice */
+#define HEADER		0
+#define MARKSIZE	0
+#define blockhead(b)	(b)
+#define setsize(newblock, size)	/* empty */
+#define checkblocksize(b,size)	(1)
+#define fillmem(mem,size)	/* empty */
+#endif
+
+unsigned long memdebug_numblocks = 0;
+unsigned long memdebug_total = 0;
+unsigned long memdebug_maxmem = 0;
+unsigned long memdebug_memlimit = ULONG_MAX;
+
+
+static void *checkblock (void *block, size_t size) {
+  void *b = blockhead(block);
+  int i;
+  for (i=0;i<MARKSIZE;i++)
+    lua_assert(*(cast(char *, b)+HEADER+size+i) == MARK+i); /* corrupted block? */
+  return b;
+}
+
+
+static void freeblock (void *block, size_t size) {
+  if (block) {
+    lua_assert(checkblocksize(block, size));
+    block = checkblock(block, size);
+    fillmem(block, size+HEADER+MARKSIZE);  /* erase block */
+    free(block);  /* free original block */
+    memdebug_numblocks--;
+    memdebug_total -= size;
+  }
+}
+
+
+void *debug_realloc (void *block, size_t oldsize, size_t size) {
+  lua_assert(oldsize == 0 || checkblocksize(block, oldsize));
+  /* ISO does not specify what realloc(NULL, 0) does */
+  lua_assert(block != NULL || size > 0);
+  if (size == 0) {
+    freeblock(block, oldsize);
+    return NULL;
+  }
+  else if (size > oldsize && memdebug_total+size-oldsize > memdebug_memlimit)
+    return NULL;  /* to test memory allocation errors */
+  else {
+    void *newblock;
+    int i;
+    size_t realsize = HEADER+size+MARKSIZE;
+    size_t commonsize = (oldsize < size) ? oldsize : size;
+    if (realsize < size) return NULL;  /* overflow! */
+    newblock = malloc(realsize);  /* alloc a new block */
+    if (newblock == NULL) return NULL;
+    if (block) {
+      memcpy(cast(char *, newblock)+HEADER, block, commonsize);
+      freeblock(block, oldsize);  /* erase (and check) old copy */
+    }
+    /* initialize new part of the block with something `weird' */
+    fillmem(cast(char *, newblock)+HEADER+commonsize, size-commonsize);
+    memdebug_total += size;
+    if (memdebug_total > memdebug_maxmem)
+      memdebug_maxmem = memdebug_total;
+    memdebug_numblocks++;
+    setsize(newblock, size);
+    for (i=0;i<MARKSIZE;i++)
+      *(cast(char *, newblock)+HEADER+size+i) = cast(char, MARK+i);
+    return cast(char *, newblock)+HEADER;
+  }
+}
+
+
+/* }====================================================================== */
+
+
+
+/*
+** {======================================================
+** Disassembler
+** =======================================================
+*/
+
+
+static char *buildop (Proto *p, int pc, char *buff) {
+  Instruction i = p->code[pc];
+  OpCode o = GET_OPCODE(i);
+  const char *name = luaP_opnames[o];
+  int line = getline(p, pc);
+  sprintf(buff, "(%4d) %4d - ", line, pc);
+  switch (getOpMode(o)) {  
+    case iABC:
+      sprintf(buff+strlen(buff), "%-12s%4d %4d %4d", name,
+              GETARG_A(i), GETARG_B(i), GETARG_C(i));
+      break;
+    case iABx:
+      sprintf(buff+strlen(buff), "%-12s%4d %4d", name, GETARG_A(i), GETARG_Bx(i));
+      break;
+    case iAsBx:
+      sprintf(buff+strlen(buff), "%-12s%4d %4d", name, GETARG_A(i), GETARG_sBx(i));
+      break;
+  }
+  return buff;
+}
+
+
+#if 0
+void luaI_printcode (Proto *pt, int size) {
+  int pc;
+  for (pc=0; pc<size; pc++) {
+    char buff[100];
+    printf("%s\n", buildop(pt, pc, buff));
+  }
+  printf("-------\n");
+}
+#endif
+
+
+static int listcode (lua_State *L) {
+  int pc;
+  Proto *p;
+  luaL_argcheck(L, lua_isfunction(L, 1) && !lua_iscfunction(L, 1),
+                 1, "Lua function expected");
+  p = clvalue(func_at(L, 1))->l.p;
+  lua_newtable(L);
+  setnameval(L, "maxstack", p->maxstacksize);
+  setnameval(L, "numparams", p->numparams);
+  for (pc=0; pc<p->sizecode; pc++) {
+    char buff[100];
+    lua_pushintegral(L, pc+1);
+    lua_pushstring(L, buildop(p, pc, buff));
+    lua_settable(L, -3);
+  }
+  return 1;
+}
+
+
+static int listk (lua_State *L) {
+  Proto *p;
+  int i;
+  luaL_argcheck(L, lua_isfunction(L, 1) && !lua_iscfunction(L, 1),
+                 1, "Lua function expected");
+  p = clvalue(func_at(L, 1))->l.p;
+  lua_newtable(L);
+  for (i=0; i<p->sizek; i++) {
+    lua_pushintegral(L, i+1);
+    luaA_pushobject(L, p->k+i);
+    lua_settable(L, -3);
+  }
+  return 1;
+}
+
+
+static int listlocals (lua_State *L) {
+  Proto *p;
+  int pc = luaL_checkint(L, 2) - 1;
+  int i = 0;
+  const char *name;
+  luaL_argcheck(L, lua_isfunction(L, 1) && !lua_iscfunction(L, 1),
+                 1, "Lua function expected");
+  p = clvalue(func_at(L, 1))->l.p;
+  while ((name = luaF_getlocalname(p, ++i, pc)) != NULL)
+    lua_pushstring(L, name);
+  return i-1;
+}
+
+/* }====================================================== */
+
+
+
+
+static int get_limits (lua_State *L) {
+  lua_newtable(L);
+  setnameval(L, "BITS_INT", BITS_INT);
+  setnameval(L, "LFPF", LFIELDS_PER_FLUSH);
+  setnameval(L, "MAXVARS", MAXVARS);
+  setnameval(L, "MAXPARAMS", MAXPARAMS);
+  setnameval(L, "MAXSTACK", MAXSTACK);
+  setnameval(L, "MAXUPVALUES", MAXUPVALUES);
+  return 1;
+}
+
+
+static int mem_query (lua_State *L) {
+  if (lua_isnone(L, 1)) {
+    lua_pushintegral(L, memdebug_total);
+    lua_pushintegral(L, memdebug_numblocks);
+    lua_pushintegral(L, memdebug_maxmem);
+    return 3;
+  }
+  else {
+    memdebug_memlimit = luaL_checkint(L, 1);
+    return 0;
+  }
+}
+
+
+static int hash_query (lua_State *L) {
+  if (lua_isnone(L, 2)) {
+    luaL_argcheck(L, lua_type(L, 1) == LUA_TSTRING, 1, "string expected");
+    lua_pushintegral(L, tsvalue(func_at(L, 1))->tsv.hash);
+  }
+  else {
+    TObject *o = func_at(L, 1);
+    Table *t;
+    luaL_checktype(L, 2, LUA_TTABLE);
+    t = hvalue(func_at(L, 2));
+    lua_pushintegral(L, luaH_mainposition(t, o) - t->node);
+  }
+  return 1;
+}
+
+
+static int stacklevel (lua_State *L) {
+  unsigned long a = 0;
+  lua_pushintegral(L, (int)(L->top - L->stack));
+  lua_pushintegral(L, (int)(L->stack_last - L->stack));
+  lua_pushintegral(L, (int)(L->ci - L->base_ci));
+  lua_pushintegral(L, (int)(L->end_ci - L->base_ci));
+  lua_pushintegral(L, (unsigned long)&a);
+  return 5;
+}
+
+
+static int table_query (lua_State *L) {
+  const Table *t;
+  int i = luaL_optint(L, 2, -1);
+  luaL_checktype(L, 1, LUA_TTABLE);
+  t = hvalue(func_at(L, 1));
+  if (i == -1) {
+    lua_pushintegral(L, t->sizearray);
+    lua_pushintegral(L, sizenode(t));
+    lua_pushintegral(L, t->firstfree - t->node);
+  }
+  else if (i < t->sizearray) {
+    lua_pushintegral(L, i);
+    luaA_pushobject(L, &t->array[i]);
+    lua_pushnil(L); 
+  }
+  else if ((i -= t->sizearray) < sizenode(t)) {
+    if (!ttisnil(gval(gnode(t, i))) ||
+        ttisnil(gkey(gnode(t, i))) ||
+        ttisnumber(gkey(gnode(t, i)))) {
+      luaA_pushobject(L, gkey(gnode(t, i)));
+    }
+    else
+      lua_pushstring(L, "<undef>");
+    luaA_pushobject(L, gval(gnode(t, i)));
+    if (t->node[i].next)
+      lua_pushintegral(L, t->node[i].next - t->node);
+    else
+      lua_pushnil(L);
+  }
+  return 3;
+}
+
+
+static int string_query (lua_State *L) {
+  stringtable *tb = &G(L)->strt;
+  int s = luaL_optint(L, 2, 0) - 1;
+  if (s==-1) {
+    lua_pushintegral(L ,tb->nuse);
+    lua_pushintegral(L ,tb->size);
+    return 2;
+  }
+  else if (s < tb->size) {
+    GCObject *ts;
+    int n = 0;
+    for (ts = tb->hash[s]; ts; ts = ts->gch.next) {
+      setsvalue2s(L->top, gcotots(ts));
+      incr_top(L);
+      n++;
+    }
+    return n;
+  }
+  return 0;
+}
+
+
+static int tref (lua_State *L) {
+  int level = lua_gettop(L);
+  int lock = luaL_optint(L, 2, 1);
+  luaL_checkany(L, 1);
+  lua_pushvalue(L, 1);
+  lua_pushintegral(L, lua_ref(L, lock));
+  assert(lua_gettop(L) == level+1);  /* +1 for result */
+  return 1;
+}
+
+static int getref (lua_State *L) {
+  int level = lua_gettop(L);
+  lua_getref(L, luaL_checkint(L, 1));
+  assert(lua_gettop(L) == level+1);
+  return 1;
+}
+
+static int unref (lua_State *L) {
+  int level = lua_gettop(L);
+  lua_unref(L, luaL_checkint(L, 1));
+  assert(lua_gettop(L) == level);
+  return 0;
+}
+
+static int metatable (lua_State *L) {
+  luaL_checkany(L, 1);
+  if (lua_isnone(L, 2)) {
+    if (lua_getmetatable(L, 1) == 0)
+      lua_pushnil(L);
+  }
+  else {
+    lua_settop(L, 2);
+    luaL_checktype(L, 2, LUA_TTABLE);
+    lua_setmetatable(L, 1);
+  }
+  return 1;
+}
+
+
+static int upvalue (lua_State *L) {
+  int n = luaL_checkint(L, 2);
+  luaL_checktype(L, 1, LUA_TFUNCTION);
+  if (lua_isnone(L, 3)) {
+    const char *name = lua_getupvalue(L, 1, n);
+    if (name == NULL) return 0;
+    lua_pushstring(L, name);
+    return 2;
+  }
+  else {
+    const char *name = lua_setupvalue(L, 1, n);
+    lua_pushstring(L, name);
+    return 1;
+  }
+}
+
+
+static int newuserdata (lua_State *L) {
+  size_t size = luaL_checkint(L, 1);
+  char *p = cast(char *, lua_newuserdata(L, size));
+  while (size--) *p++ = '\0';
+  return 1;
+}
+
+
+static int pushuserdata (lua_State *L) {
+  lua_pushlightuserdata(L, cast(void *, luaL_checkint(L, 1)));
+  return 1;
+}
+
+
+static int udataval (lua_State *L) {
+  lua_pushintegral(L, cast(int, lua_touserdata(L, 1)));
+  return 1;
+}
+
+
+static int doonnewstack (lua_State *L) {
+  lua_State *L1 = lua_newthread(L);
+  size_t l;
+  const char *s = luaL_checklstring(L, 1, &l);
+  int status = luaL_loadbuffer(L1, s, l, s);
+  if (status == 0)
+    status = lua_pcall(L1, 0, 0, 0);
+  lua_pushintegral(L, status);
+  return 1;
+}
+
+
+static int s2d (lua_State *L) {
+  lua_pushnumber(L, *cast(const double *, luaL_checkstring(L, 1)));
+  return 1;
+}
+
+static int d2s (lua_State *L) {
+  double d = luaL_checknumber(L, 1);
+  lua_pushlstring(L, cast(char *, &d), sizeof(d));
+  return 1;
+}
+
+
+static int newstate (lua_State *L) {
+  lua_State *L1 = lua_open();
+  if (L1) {
+    lua_userstateopen(L1);  /* init lock */
+    lua_pushintegral(L, (unsigned long)L1);
+  }
+  else
+    lua_pushnil(L);
+  return 1;
+}
+
+
+static int loadlib (lua_State *L) {
+  static const luaL_reg libs[] = {
+    {"mathlibopen", luaopen_math},
+    {"strlibopen", luaopen_string},
+    {"iolibopen", luaopen_io},
+    {"tablibopen", luaopen_table},
+    {"dblibopen", luaopen_debug},
+    {"baselibopen", luaopen_base},
+    {NULL, NULL}
+  };
+  lua_State *L1 = cast(lua_State *,
+                       cast(unsigned long, luaL_checknumber(L, 1)));
+  lua_pushvalue(L1, LUA_GLOBALSINDEX);
+  luaL_openlib(L1, NULL, libs, 0);
+  return 0;
+}
+
+static int closestate (lua_State *L) {
+  lua_State *L1 = cast(lua_State *, cast(unsigned long, luaL_checknumber(L, 1)));
+  lua_close(L1);
+  lua_unlock(L);  /* close cannot unlock that */
+  return 0;
+}
+
+static int doremote (lua_State *L) {
+  lua_State *L1 = cast(lua_State *,cast(unsigned long,luaL_checknumber(L, 1)));
+  size_t lcode;
+  const char *code = luaL_checklstring(L, 2, &lcode);
+  int status;
+  lua_settop(L1, 0);
+  status = luaL_loadbuffer(L1, code, lcode, code);
+  if (status == 0)
+    status = lua_pcall(L1, 0, LUA_MULTRET, 0);
+  if (status != 0) {
+    lua_pushnil(L);
+    lua_pushintegral(L, status);
+    lua_pushstring(L, lua_tostring(L1, -1));
+    return 3;
+  }
+  else {
+    int i = 0;
+    while (!lua_isnone(L1, ++i))
+      lua_pushstring(L, lua_tostring(L1, i));
+    lua_pop(L1, i-1);
+    return i-1;
+  }
+}
+
+
+static int log2_aux (lua_State *L) {
+  lua_pushintegral(L, luaO_log2(luaL_checkint(L, 1)));
+  return 1;
+}
+
+static int int2fb_aux (lua_State *L) {
+  int b = luaO_int2fb(luaL_checkint(L, 1));
+  lua_pushintegral(L, b);
+  lua_pushintegral(L, fb2int(b));
+  return 2;
+}
+
+
+static int test_do (lua_State *L) {
+  const char *p = luaL_checkstring(L, 1);
+  if (*p == '@')
+    lua_dofile(L, p+1);
+  else
+    lua_dostring(L, p);
+  return lua_gettop(L);
+}
+
+
+
+/*
+** {======================================================
+** function to test the API with C. It interprets a kind of assembler
+** language with calls to the API, so the test can be driven by Lua code
+** =======================================================
+*/
+
+static const char *const delimits = " \t\n,;";
+
+static void skip (const char **pc) {
+  while (**pc != '\0' && strchr(delimits, **pc)) (*pc)++;
+}
+
+static int getnum_aux (lua_State *L, const char **pc) {
+  int res = 0;
+  int sig = 1;
+  skip(pc);
+  if (**pc == '.') {
+    res = cast(int, lua_tonumber(L, -1));
+    lua_pop(L, 1);
+    (*pc)++;
+    return res;
+  }
+  else if (**pc == '-') {
+    sig = -1;
+    (*pc)++;
+  }
+  while (isdigit(cast(int, **pc))) res = res*10 + (*(*pc)++) - '0';
+  return sig*res;
+}
+  
+static const char *getname_aux (char *buff, const char **pc) {
+  int i = 0;
+  skip(pc);
+  while (**pc != '\0' && !strchr(delimits, **pc))
+    buff[i++] = *(*pc)++;
+  buff[i] = '\0';
+  return buff;
+}
+
+
+#define EQ(s1)	(strcmp(s1, inst) == 0)
+
+#define getnum	(getnum_aux(L, &pc))
+#define getname	(getname_aux(buff, &pc))
+
+
+static int testC (lua_State *L) {
+  char buff[30];
+  const char *pc = luaL_checkstring(L, 1);
+  for (;;) {
+    const char *inst = getname;
+    if EQ("") return 0;
+    else if EQ("isnumber") {
+      lua_pushintegral(L, lua_isnumber(L, getnum));
+    }
+    else if EQ("isstring") {
+      lua_pushintegral(L, lua_isstring(L, getnum));
+    }
+    else if EQ("istable") {
+      lua_pushintegral(L, lua_istable(L, getnum));
+    }
+    else if EQ("iscfunction") {
+      lua_pushintegral(L, lua_iscfunction(L, getnum));
+    }
+    else if EQ("isfunction") {
+      lua_pushintegral(L, lua_isfunction(L, getnum));
+    }
+    else if EQ("isuserdata") {
+      lua_pushintegral(L, lua_isuserdata(L, getnum));
+    }
+    else if EQ("isudataval") {
+      lua_pushintegral(L, lua_islightuserdata(L, getnum));
+    }
+    else if EQ("isnil") {
+      lua_pushintegral(L, lua_isnil(L, getnum));
+    }
+    else if EQ("isnull") {
+      lua_pushintegral(L, lua_isnone(L, getnum));
+    }
+    else if EQ("tonumber") {
+      lua_pushnumber(L, lua_tonumber(L, getnum));
+    }
+    else if EQ("tostring") {
+      const char *s = lua_tostring(L, getnum);
+      lua_pushstring(L, s);
+    }
+    else if EQ("strlen") {
+      lua_pushintegral(L, lua_strlen(L, getnum));
+    }
+    else if EQ("tocfunction") {
+      lua_pushcfunction(L, lua_tocfunction(L, getnum));
+    }
+    else if EQ("return") {
+      return getnum;
+    }
+    else if EQ("gettop") {
+      lua_pushintegral(L, lua_gettop(L));
+    }
+    else if EQ("settop") {
+      lua_settop(L, getnum);
+    }
+    else if EQ("pop") {
+      lua_pop(L, getnum);
+    }
+    else if EQ("pushnum") {
+      lua_pushintegral(L, getnum);
+    }
+    else if EQ("pushnil") {
+      lua_pushnil(L);
+    }
+    else if EQ("pushbool") {
+      lua_pushboolean(L, getnum);
+    }
+    else if EQ("tobool") {
+      lua_pushintegral(L, lua_toboolean(L, getnum));
+    }
+    else if EQ("pushvalue") {
+      lua_pushvalue(L, getnum);
+    }
+    else if EQ("pushcclosure") {
+      lua_pushcclosure(L, testC, getnum);
+    }
+    else if EQ("pushupvalues") {
+      lua_pushupvalues(L);
+    }
+    else if EQ("remove") {
+      lua_remove(L, getnum);
+    }
+    else if EQ("insert") {
+      lua_insert(L, getnum);
+    }
+    else if EQ("replace") {
+      lua_replace(L, getnum);
+    }
+    else if EQ("gettable") {
+      lua_gettable(L, getnum);
+    }
+    else if EQ("settable") {
+      lua_settable(L, getnum);
+    }
+    else if EQ("next") {
+      lua_next(L, -2);
+    }
+    else if EQ("concat") {
+      lua_concat(L, getnum);
+    }
+    else if EQ("lessthan") {
+      int a = getnum;
+      lua_pushboolean(L, lua_lessthan(L, a, getnum));
+    }
+    else if EQ("equal") {
+      int a = getnum;
+      lua_pushboolean(L, lua_equal(L, a, getnum));
+    }
+    else if EQ("rawcall") {
+      int narg = getnum;
+      int nres = getnum;
+      lua_call(L, narg, nres);
+    }
+    else if EQ("call") {
+      int narg = getnum;
+      int nres = getnum;
+      lua_pcall(L, narg, nres, 0);
+    }
+    else if EQ("loadstring") {
+      size_t sl;
+      const char *s = luaL_checklstring(L, getnum, &sl);
+      luaL_loadbuffer(L, s, sl, s);
+    }
+    else if EQ("loadfile") {
+      luaL_loadfile(L, luaL_checkstring(L, getnum));
+    }
+    else if EQ("setmetatable") {
+      lua_setmetatable(L, getnum);
+    }
+    else if EQ("getmetatable") {
+      if (lua_getmetatable(L, getnum) == 0)
+        lua_pushnil(L);
+    }
+    else if EQ("type") {
+      lua_pushstring(L, lua_typename(L, lua_type(L, getnum)));
+    }
+    else if EQ("getn") {
+      int i = getnum;
+      lua_pushintegral(L, luaL_getn(L, i));
+    }
+    else if EQ("setn") {
+      int i = getnum;
+      int n = cast(int, lua_tonumber(L, -1));
+      luaL_setn(L, i, n);
+      lua_pop(L, 1);
+    }
+    else luaL_error(L, "unknown instruction %s", buff);
+  }
+  return 0;
+}
+
+/* }====================================================== */
+
+
+/*
+** {======================================================
+** tests for yield inside hooks
+** =======================================================
+*/
+
+static void yieldf (lua_State *L, lua_Debug *ar) {
+  lua_yield(L, 0);
+}
+
+static int setyhook (lua_State *L) {
+  if (lua_isnoneornil(L, 1))
+    lua_sethook(L, NULL, 0, 0);  /* turn off hooks */
+  else {
+    const char *smask = luaL_checkstring(L, 1);
+    int count = luaL_optint(L, 2, 0);
+    int mask = 0;
+    if (strchr(smask, 'l')) mask |= LUA_MASKLINE;
+    if (count > 0) mask |= LUA_MASKCOUNT;
+    lua_sethook(L, yieldf, mask, count);
+  }
+  return 0;
+}
+
+
+static int coresume (lua_State *L) {
+  int status;
+  lua_State *co = lua_tothread(L, 1);
+  luaL_argcheck(L, co, 1, "coroutine expected");
+  status = lua_resume(co, 0);
+  if (status != 0) {
+    lua_pushboolean(L, 0);
+    lua_insert(L, -2);
+    return 2;  /* return false + error message */
+  }
+  else {
+    lua_pushboolean(L, 1);
+    return 1;
+  }
+}
+
+/* }====================================================== */
+
+
+
+static const struct luaL_reg tests_funcs[] = {
+  {"hash", hash_query},
+  {"limits", get_limits},
+  {"listcode", listcode},
+  {"listk", listk},
+  {"listlocals", listlocals},
+  {"loadlib", loadlib},
+  {"stacklevel", stacklevel},
+  {"querystr", string_query},
+  {"querytab", table_query},
+  {"doit", test_do},
+  {"testC", testC},
+  {"ref", tref},
+  {"getref", getref},
+  {"unref", unref},
+  {"d2s", d2s},
+  {"s2d", s2d},
+  {"metatable", metatable},
+  {"upvalue", upvalue},
+  {"newuserdata", newuserdata},
+  {"pushuserdata", pushuserdata},
+  {"udataval", udataval},
+  {"doonnewstack", doonnewstack},
+  {"newstate", newstate},
+  {"closestate", closestate},
+  {"doremote", doremote},
+  {"log2", log2_aux},
+  {"int2fb", int2fb_aux},
+  {"totalmem", mem_query},
+  {"resume", coresume},
+  {"setyhook", setyhook},
+  {NULL, NULL}
+};
+
+
+static void fim (void) {
+  if (!islocked)
+    lua_close(lua_state);
+  lua_assert(memdebug_numblocks == 0);
+  lua_assert(memdebug_total == 0);
+}
+
+
+static int l_panic (lua_State *L) {
+  UNUSED(L);
+  fprintf(stderr, "unable to recover; exiting\n");
+  return 0;
+}
+
+
+int luaB_opentests (lua_State *L) {
+  lua_atpanic(L, l_panic);
+  lua_userstateopen(L);  /* init lock */
+  lua_state = L;  /* keep first state to be opened */
+  luaL_openlib(L, "T", tests_funcs, 0);
+  atexit(fim);
+  return 0;
+}
+
+
+#undef main
+int main (int argc, char *argv[]) {
+  char *limit = getenv("MEMLIMIT");
+  if (limit)
+    memdebug_memlimit = strtoul(limit, NULL, 10);
+  l_main(argc, argv);
+  return 0;
+}
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/ltm.c xmoto-0.1.10-patched/src/lua/ltm.c
--- xmoto-0.1.10/src/lua/ltm.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ltm.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,70 @@
+/*
+** $Id: ltm.c,v 1.106 2003/04/03 13:35:34 roberto Exp $
+** Tag methods
+** See Copyright Notice in lua.h
+*/
+
+
+#include <string.h>
+
+#define ltm_c
+
+#include "lua.h"
+
+#include "lobject.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "ltable.h"
+#include "ltm.h"
+
+
+
+const char *const luaT_typenames[] = {
+  "nil", "boolean", "userdata", "number",
+  "string", "table", "function", "userdata", "thread"
+};
+
+
+void luaT_init (lua_State *L) {
+  static const char *const luaT_eventname[] = {  /* ORDER TM */
+    "__index", "__newindex",
+    "__gc", "__mode", "__eq",
+    "__add", "__sub", "__mul", "__div",
+    "__pow", "__unm", "__lt", "__le",
+    "__concat", "__call"
+  };
+  int i;
+  for (i=0; i<TM_N; i++) {
+    G(L)->tmname[i] = luaS_new(L, luaT_eventname[i]);
+    luaS_fix(G(L)->tmname[i]);  /* never collect these names */
+  }
+}
+
+
+/*
+** function to be used with macro "fasttm": optimized for absence of
+** tag methods
+*/
+const TObject *luaT_gettm (Table *events, TMS event, TString *ename) {
+  const TObject *tm = luaH_getstr(events, ename);
+  lua_assert(event <= TM_EQ);
+  if (ttisnil(tm)) {  /* no tag method? */
+    events->flags |= cast(lu_byte, 1u<<event);  /* cache this fact */
+    return NULL;
+  }
+  else return tm;
+}
+
+
+const TObject *luaT_gettmbyobj (lua_State *L, const TObject *o, TMS event) {
+  TString *ename = G(L)->tmname[event];
+  switch (ttype(o)) {
+    case LUA_TTABLE:
+      return luaH_getstr(hvalue(o)->metatable, ename);
+    case LUA_TUSERDATA:
+      return luaH_getstr(uvalue(o)->uv.metatable, ename);
+    default:
+      return &luaO_nilobject;
+  }
+}
+
diff -Naur xmoto-0.1.10/src/lua/ltm.h xmoto-0.1.10-patched/src/lua/ltm.h
--- xmoto-0.1.10/src/lua/ltm.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/ltm.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,51 @@
+/*
+** $Id: ltm.h,v 1.41 2002/11/14 11:51:50 roberto Exp $
+** Tag methods
+** See Copyright Notice in lua.h
+*/
+
+#ifndef ltm_h
+#define ltm_h
+
+
+#include "lobject.h"
+
+
+/*
+* WARNING: if you change the order of this enumeration,
+* grep "ORDER TM"
+*/
+typedef enum {
+  TM_INDEX,
+  TM_NEWINDEX,
+  TM_GC,
+  TM_MODE,
+  TM_EQ,  /* last tag method with `fast' access */
+  TM_ADD,
+  TM_SUB,
+  TM_MUL,
+  TM_DIV,
+  TM_POW,
+  TM_UNM,
+  TM_LT,
+  TM_LE,
+  TM_CONCAT,
+  TM_CALL,
+  TM_N		/* number of elements in the enum */
+} TMS;
+
+
+
+#define gfasttm(g,et,e) \
+  (((et)->flags & (1u<<(e))) ? NULL : luaT_gettm(et, e, (g)->tmname[e]))
+
+#define fasttm(l,et,e)	gfasttm(G(l), et, e)
+
+
+const TObject *luaT_gettm (Table *events, TMS event, TString *ename);
+const TObject *luaT_gettmbyobj (lua_State *L, const TObject *o, TMS event);
+void luaT_init (lua_State *L);
+
+extern const char *const luaT_typenames[];
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lua.h xmoto-0.1.10-patched/src/lua/lua.h
--- xmoto-0.1.10/src/lua/lua.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lua.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,391 @@
+/*
+** $Id: lua.h,v 1.175b 2003/03/18 12:31:39 roberto Exp $
+** Lua - An Extensible Extension Language
+** Tecgraf: Computer Graphics Technology Group, PUC-Rio, Brazil
+** http://www.lua.org	mailto:info@lua.org
+** See Copyright Notice at the end of this file
+*/
+
+
+#ifndef lua_h
+#define lua_h
+
+#include <stdarg.h>
+#include <stddef.h>
+
+
+#define LUA_VERSION	"Lua 5.0.2"
+#define LUA_COPYRIGHT	"Copyright (C) 1994-2004 Tecgraf, PUC-Rio"
+#define LUA_AUTHORS 	"R. Ierusalimschy, L. H. de Figueiredo & W. Celes"
+
+
+
+/* option for multiple returns in `lua_pcall' and `lua_call' */
+#define LUA_MULTRET	(-1)
+
+
+/*
+** pseudo-indices
+*/
+#define LUA_REGISTRYINDEX	(-10000)
+#define LUA_GLOBALSINDEX	(-10001)
+#define lua_upvalueindex(i)	(LUA_GLOBALSINDEX-(i))
+
+
+/* error codes for `lua_load' and `lua_pcall' */
+#define LUA_ERRRUN	1
+#define LUA_ERRFILE	2
+#define LUA_ERRSYNTAX	3
+#define LUA_ERRMEM	4
+#define LUA_ERRERR	5
+
+
+typedef struct lua_State lua_State;
+
+typedef int (*lua_CFunction) (lua_State *L);
+
+
+/*
+** functions that read/write blocks when loading/dumping Lua chunks
+*/
+typedef const char * (*lua_Chunkreader) (lua_State *L, void *ud, size_t *sz);
+
+typedef int (*lua_Chunkwriter) (lua_State *L, const void* p,
+                                size_t sz, void* ud);
+
+
+/*
+** basic types
+*/
+#define LUA_TNONE	(-1)
+
+#define LUA_TNIL	0
+#define LUA_TBOOLEAN	1
+#define LUA_TLIGHTUSERDATA	2
+#define LUA_TNUMBER	3
+#define LUA_TSTRING	4
+#define LUA_TTABLE	5
+#define LUA_TFUNCTION	6
+#define LUA_TUSERDATA	7
+#define LUA_TTHREAD	8
+
+
+/* minimum Lua stack available to a C function */
+#define LUA_MINSTACK	20
+
+
+/*
+** generic extra include file
+*/
+#ifdef LUA_USER_H
+#include LUA_USER_H
+#endif
+
+
+/* type of numbers in Lua */
+#ifndef LUA_NUMBER
+typedef double lua_Number;
+#else
+typedef LUA_NUMBER lua_Number;
+#endif
+
+
+/* mark for all API functions */
+#ifndef LUA_API
+#define LUA_API		extern
+#endif
+
+
+/*
+** state manipulation
+*/
+LUA_API lua_State *lua_open (void);
+LUA_API void       lua_close (lua_State *L);
+LUA_API lua_State *lua_newthread (lua_State *L);
+
+LUA_API lua_CFunction lua_atpanic (lua_State *L, lua_CFunction panicf);
+
+
+/*
+** basic stack manipulation
+*/
+LUA_API int   lua_gettop (lua_State *L);
+LUA_API void  lua_settop (lua_State *L, int idx);
+LUA_API void  lua_pushvalue (lua_State *L, int idx);
+LUA_API void  lua_remove (lua_State *L, int idx);
+LUA_API void  lua_insert (lua_State *L, int idx);
+LUA_API void  lua_replace (lua_State *L, int idx);
+LUA_API int   lua_checkstack (lua_State *L, int sz);
+
+LUA_API void  lua_xmove (lua_State *from, lua_State *to, int n);
+
+
+/*
+** access functions (stack -> C)
+*/
+
+LUA_API int             lua_isnumber (lua_State *L, int idx);
+LUA_API int             lua_isstring (lua_State *L, int idx);
+LUA_API int             lua_iscfunction (lua_State *L, int idx);
+LUA_API int             lua_isuserdata (lua_State *L, int idx);
+LUA_API int             lua_type (lua_State *L, int idx);
+LUA_API const char     *lua_typename (lua_State *L, int tp);
+
+LUA_API int            lua_equal (lua_State *L, int idx1, int idx2);
+LUA_API int            lua_rawequal (lua_State *L, int idx1, int idx2);
+LUA_API int            lua_lessthan (lua_State *L, int idx1, int idx2);
+
+LUA_API lua_Number      lua_tonumber (lua_State *L, int idx);
+LUA_API int             lua_toboolean (lua_State *L, int idx);
+LUA_API const char     *lua_tostring (lua_State *L, int idx);
+LUA_API size_t          lua_strlen (lua_State *L, int idx);
+LUA_API lua_CFunction   lua_tocfunction (lua_State *L, int idx);
+LUA_API void	       *lua_touserdata (lua_State *L, int idx);
+LUA_API lua_State      *lua_tothread (lua_State *L, int idx);
+LUA_API const void     *lua_topointer (lua_State *L, int idx);
+
+
+/*
+** push functions (C -> stack)
+*/
+LUA_API void  lua_pushnil (lua_State *L);
+LUA_API void  lua_pushnumber (lua_State *L, lua_Number n);
+LUA_API void  lua_pushlstring (lua_State *L, const char *s, size_t l);
+LUA_API void  lua_pushstring (lua_State *L, const char *s);
+LUA_API const char *lua_pushvfstring (lua_State *L, const char *fmt,
+                                                    va_list argp);
+LUA_API const char *lua_pushfstring (lua_State *L, const char *fmt, ...);
+LUA_API void  lua_pushcclosure (lua_State *L, lua_CFunction fn, int n);
+LUA_API void  lua_pushboolean (lua_State *L, int b);
+LUA_API void  lua_pushlightuserdata (lua_State *L, void *p);
+
+
+/*
+** get functions (Lua -> stack)
+*/
+LUA_API void  lua_gettable (lua_State *L, int idx);
+LUA_API void  lua_rawget (lua_State *L, int idx);
+LUA_API void  lua_rawgeti (lua_State *L, int idx, int n);
+LUA_API void  lua_newtable (lua_State *L);
+LUA_API void *lua_newuserdata (lua_State *L, size_t sz);
+LUA_API int   lua_getmetatable (lua_State *L, int objindex);
+LUA_API void  lua_getfenv (lua_State *L, int idx);
+
+
+/*
+** set functions (stack -> Lua)
+*/
+LUA_API void  lua_settable (lua_State *L, int idx);
+LUA_API void  lua_rawset (lua_State *L, int idx);
+LUA_API void  lua_rawseti (lua_State *L, int idx, int n);
+LUA_API int   lua_setmetatable (lua_State *L, int objindex);
+LUA_API int   lua_setfenv (lua_State *L, int idx);
+
+
+/*
+** `load' and `call' functions (load and run Lua code)
+*/
+LUA_API void  lua_call (lua_State *L, int nargs, int nresults);
+LUA_API int   lua_pcall (lua_State *L, int nargs, int nresults, int errfunc);
+LUA_API int lua_cpcall (lua_State *L, lua_CFunction func, void *ud);
+LUA_API int   lua_load (lua_State *L, lua_Chunkreader reader, void *dt,
+                        const char *chunkname);
+
+LUA_API int lua_dump (lua_State *L, lua_Chunkwriter writer, void *data);
+
+
+/*
+** coroutine functions
+*/
+LUA_API int  lua_yield (lua_State *L, int nresults);
+LUA_API int  lua_resume (lua_State *L, int narg);
+
+/*
+** garbage-collection functions
+*/
+LUA_API int   lua_getgcthreshold (lua_State *L);
+LUA_API int   lua_getgccount (lua_State *L);
+LUA_API void  lua_setgcthreshold (lua_State *L, int newthreshold);
+
+/*
+** miscellaneous functions
+*/
+
+LUA_API const char *lua_version (void);
+
+LUA_API int   lua_error (lua_State *L);
+
+LUA_API int   lua_next (lua_State *L, int idx);
+
+LUA_API void  lua_concat (lua_State *L, int n);
+
+
+
+/* 
+** ===============================================================
+** some useful macros
+** ===============================================================
+*/
+
+#define lua_boxpointer(L,u) \
+	(*(void **)(lua_newuserdata(L, sizeof(void *))) = (u))
+
+#define lua_unboxpointer(L,i)	(*(void **)(lua_touserdata(L, i)))
+
+#define lua_pop(L,n)		lua_settop(L, -(n)-1)
+
+#define lua_register(L,n,f) \
+	(lua_pushstring(L, n), \
+	 lua_pushcfunction(L, f), \
+	 lua_settable(L, LUA_GLOBALSINDEX))
+
+#define lua_pushcfunction(L,f)	lua_pushcclosure(L, f, 0)
+
+#define lua_isfunction(L,n)	(lua_type(L,n) == LUA_TFUNCTION)
+#define lua_istable(L,n)	(lua_type(L,n) == LUA_TTABLE)
+#define lua_islightuserdata(L,n)	(lua_type(L,n) == LUA_TLIGHTUSERDATA)
+#define lua_isnil(L,n)		(lua_type(L,n) == LUA_TNIL)
+#define lua_isboolean(L,n)	(lua_type(L,n) == LUA_TBOOLEAN)
+#define lua_isnone(L,n)		(lua_type(L,n) == LUA_TNONE)
+#define lua_isnoneornil(L, n)	(lua_type(L,n) <= 0)
+
+#define lua_pushliteral(L, s)	\
+	lua_pushlstring(L, "" s, (sizeof(s)/sizeof(char))-1)
+
+
+
+/*
+** compatibility macros and functions
+*/
+
+
+LUA_API int lua_pushupvalues (lua_State *L);
+
+#define lua_getregistry(L)	lua_pushvalue(L, LUA_REGISTRYINDEX)
+#define lua_setglobal(L,s)	\
+   (lua_pushstring(L, s), lua_insert(L, -2), lua_settable(L, LUA_GLOBALSINDEX))
+
+#define lua_getglobal(L,s)	\
+		(lua_pushstring(L, s), lua_gettable(L, LUA_GLOBALSINDEX))
+
+
+/* compatibility with ref system */
+
+/* pre-defined references */
+#define LUA_NOREF	(-2)
+#define LUA_REFNIL	(-1)
+
+#define lua_ref(L,lock)	((lock) ? luaL_ref(L, LUA_REGISTRYINDEX) : \
+      (lua_pushstring(L, "unlocked references are obsolete"), lua_error(L), 0))
+
+#define lua_unref(L,ref)	luaL_unref(L, LUA_REGISTRYINDEX, (ref))
+
+#define lua_getref(L,ref)	lua_rawgeti(L, LUA_REGISTRYINDEX, ref)
+
+
+
+/*
+** {======================================================================
+** useful definitions for Lua kernel and libraries
+** =======================================================================
+*/
+
+/* formats for Lua numbers */
+#ifndef LUA_NUMBER_SCAN
+#define LUA_NUMBER_SCAN		"%lf"
+#endif
+
+#ifndef LUA_NUMBER_FMT
+#define LUA_NUMBER_FMT		"%.14g"
+#endif
+
+/* }====================================================================== */
+
+
+/*
+** {======================================================================
+** Debug API
+** =======================================================================
+*/
+
+
+/*
+** Event codes
+*/
+#define LUA_HOOKCALL	0
+#define LUA_HOOKRET	1
+#define LUA_HOOKLINE	2
+#define LUA_HOOKCOUNT	3
+#define LUA_HOOKTAILRET 4
+
+
+/*
+** Event masks
+*/
+#define LUA_MASKCALL	(1 << LUA_HOOKCALL)
+#define LUA_MASKRET	(1 << LUA_HOOKRET)
+#define LUA_MASKLINE	(1 << LUA_HOOKLINE)
+#define LUA_MASKCOUNT	(1 << LUA_HOOKCOUNT)
+
+typedef struct lua_Debug lua_Debug;  /* activation record */
+
+typedef void (*lua_Hook) (lua_State *L, lua_Debug *ar);
+
+
+LUA_API int lua_getstack (lua_State *L, int level, lua_Debug *ar);
+LUA_API int lua_getinfo (lua_State *L, const char *what, lua_Debug *ar);
+LUA_API const char *lua_getlocal (lua_State *L, const lua_Debug *ar, int n);
+LUA_API const char *lua_setlocal (lua_State *L, const lua_Debug *ar, int n);
+LUA_API const char *lua_getupvalue (lua_State *L, int funcindex, int n);
+LUA_API const char *lua_setupvalue (lua_State *L, int funcindex, int n);
+
+LUA_API int lua_sethook (lua_State *L, lua_Hook func, int mask, int count);
+LUA_API lua_Hook lua_gethook (lua_State *L);
+LUA_API int lua_gethookmask (lua_State *L);
+LUA_API int lua_gethookcount (lua_State *L);
+
+
+#define LUA_IDSIZE	60
+
+struct lua_Debug {
+  int event;
+  const char *name;	/* (n) */
+  const char *namewhat;	/* (n) `global', `local', `field', `method' */
+  const char *what;	/* (S) `Lua', `C', `main', `tail' */
+  const char *source;	/* (S) */
+  int currentline;	/* (l) */
+  int nups;		/* (u) number of upvalues */
+  int linedefined;	/* (S) */
+  char short_src[LUA_IDSIZE]; /* (S) */
+  /* private part */
+  int i_ci;  /* active function */
+};
+
+/* }====================================================================== */
+
+
+/******************************************************************************
+* Copyright (C) 1994-2004 Tecgraf, PUC-Rio.  All rights reserved.
+*
+* Permission is hereby granted, free of charge, to any person obtaining
+* a copy of this software and associated documentation files (the
+* "Software"), to deal in the Software without restriction, including
+* without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to
+* permit persons to whom the Software is furnished to do so, subject to
+* the following conditions:
+*
+* The above copyright notice and this permission notice shall be
+* included in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+******************************************************************************/
+
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lualib.h xmoto-0.1.10-patched/src/lua/lualib.h
--- xmoto-0.1.10/src/lua/lualib.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lualib.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,56 @@
+/*
+** $Id: lualib.h,v 1.28 2003/03/18 12:24:26 roberto Exp $
+** Lua standard libraries
+** See Copyright Notice in lua.h
+*/
+
+
+#ifndef lualib_h
+#define lualib_h
+
+#include "lua.h"
+
+
+#ifndef LUALIB_API
+#define LUALIB_API	LUA_API
+#endif
+
+
+#define LUA_COLIBNAME	"coroutine"
+LUALIB_API int luaopen_base (lua_State *L);
+
+#define LUA_TABLIBNAME	"table"
+LUALIB_API int luaopen_table (lua_State *L);
+
+#define LUA_IOLIBNAME	"io"
+#define LUA_OSLIBNAME	"os"
+LUALIB_API int luaopen_io (lua_State *L);
+
+#define LUA_STRLIBNAME	"string"
+LUALIB_API int luaopen_string (lua_State *L);
+
+#define LUA_MATHLIBNAME	"math"
+LUALIB_API int luaopen_math (lua_State *L);
+
+#define LUA_DBLIBNAME	"debug"
+LUALIB_API int luaopen_debug (lua_State *L);
+
+
+LUALIB_API int luaopen_loadlib (lua_State *L);
+
+
+/* to help testing the libraries */
+#ifndef lua_assert
+#define lua_assert(c)		/* empty */
+#endif
+
+
+/* compatibility code */
+#define lua_baselibopen	luaopen_base
+#define lua_tablibopen	luaopen_table
+#define lua_iolibopen	luaopen_io
+#define lua_strlibopen	luaopen_string
+#define lua_mathlibopen	luaopen_math
+#define lua_dblibopen	luaopen_debug
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lundump.c xmoto-0.1.10-patched/src/lua/lundump.c
--- xmoto-0.1.10/src/lua/lundump.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lundump.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,286 @@
+/*
+** $Id: lundump.c,v 1.49 2003/04/07 20:34:20 lhf Exp $
+** load pre-compiled Lua chunks
+** See Copyright Notice in lua.h
+*/
+
+#define lundump_c
+
+#include "lua.h"
+
+#include "ldebug.h"
+#include "lfunc.h"
+#include "lmem.h"
+#include "lopcodes.h"
+#include "lstring.h"
+#include "lundump.h"
+#include "lzio.h"
+
+#define	LoadByte	(lu_byte) ezgetc
+
+typedef struct {
+ lua_State* L;
+ ZIO* Z;
+ Mbuffer* b;
+ int swap;
+ const char* name;
+} LoadState;
+
+static void unexpectedEOZ (LoadState* S)
+{
+ luaG_runerror(S->L,"unexpected end of file in %s",S->name);
+}
+
+static int ezgetc (LoadState* S)
+{
+ int c=zgetc(S->Z);
+ if (c==EOZ) unexpectedEOZ(S);
+ return c;
+}
+
+static void ezread (LoadState* S, void* b, int n)
+{
+ int r=luaZ_read(S->Z,b,n);
+ if (r!=0) unexpectedEOZ(S);
+}
+
+static void LoadBlock (LoadState* S, void* b, size_t size)
+{
+ if (S->swap)
+ {
+  char* p=(char*) b+size-1;
+  int n=size;
+  while (n--) *p--=(char)ezgetc(S);
+ }
+ else
+  ezread(S,b,size);
+}
+
+static void LoadVector (LoadState* S, void* b, int m, size_t size)
+{
+ if (S->swap)
+ {
+  char* q=(char*) b;
+  while (m--)
+  {
+   char* p=q+size-1;
+   int n=size;
+   while (n--) *p--=(char)ezgetc(S);
+   q+=size;
+  }
+ }
+ else
+  ezread(S,b,m*size);
+}
+
+static int LoadInt (LoadState* S)
+{
+ int x;
+ LoadBlock(S,&x,sizeof(x));
+ if (x<0) luaG_runerror(S->L,"bad integer in %s",S->name);
+ return x;
+}
+
+static size_t LoadSize (LoadState* S)
+{
+ size_t x;
+ LoadBlock(S,&x,sizeof(x));
+ return x;
+}
+
+static lua_Number LoadNumber (LoadState* S)
+{
+ lua_Number x;
+ LoadBlock(S,&x,sizeof(x));
+ return x;
+}
+
+static TString* LoadString (LoadState* S)
+{
+ size_t size=LoadSize(S);
+ if (size==0)
+  return NULL;
+ else
+ {
+  char* s=luaZ_openspace(S->L,S->b,size);
+  ezread(S,s,size);
+  return luaS_newlstr(S->L,s,size-1);		/* remove trailing '\0' */
+ }
+}
+
+static void LoadCode (LoadState* S, Proto* f)
+{
+ int size=LoadInt(S);
+ f->code=luaM_newvector(S->L,size,Instruction);
+ f->sizecode=size;
+ LoadVector(S,f->code,size,sizeof(*f->code));
+}
+
+static void LoadLocals (LoadState* S, Proto* f)
+{
+ int i,n;
+ n=LoadInt(S);
+ f->locvars=luaM_newvector(S->L,n,LocVar);
+ f->sizelocvars=n;
+ for (i=0; i<n; i++)
+ {
+  f->locvars[i].varname=LoadString(S);
+  f->locvars[i].startpc=LoadInt(S);
+  f->locvars[i].endpc=LoadInt(S);
+ }
+}
+
+static void LoadLines (LoadState* S, Proto* f)
+{
+ int size=LoadInt(S);
+ f->lineinfo=luaM_newvector(S->L,size,int);
+ f->sizelineinfo=size;
+ LoadVector(S,f->lineinfo,size,sizeof(*f->lineinfo));
+}
+
+static void LoadUpvalues (LoadState* S, Proto* f)
+{
+ int i,n;
+ n=LoadInt(S);
+ if (n!=0 && n!=f->nups) 
+  luaG_runerror(S->L,"bad nupvalues in %s: read %d; expected %d",
+		S->name,n,f->nups);
+ f->upvalues=luaM_newvector(S->L,n,TString*);
+ f->sizeupvalues=n;
+ for (i=0; i<n; i++) f->upvalues[i]=LoadString(S);
+}
+
+static Proto* LoadFunction (LoadState* S, TString* p);
+
+static void LoadConstants (LoadState* S, Proto* f)
+{
+ int i,n;
+ n=LoadInt(S);
+ f->k=luaM_newvector(S->L,n,TObject);
+ f->sizek=n;
+ for (i=0; i<n; i++)
+ {
+  TObject* o=&f->k[i];
+  int t=LoadByte(S);
+  switch (t)
+  {
+   case LUA_TNUMBER:
+	setnvalue(o,LoadNumber(S));
+	break;
+   case LUA_TSTRING:
+	setsvalue2n(o,LoadString(S));
+	break;
+   case LUA_TNIL:
+   	setnilvalue(o);
+	break;
+   default:
+	luaG_runerror(S->L,"bad constant type (%d) in %s",t,S->name);
+	break;
+  }
+ }
+ n=LoadInt(S);
+ f->p=luaM_newvector(S->L,n,Proto*);
+ f->sizep=n;
+ for (i=0; i<n; i++) f->p[i]=LoadFunction(S,f->source);
+}
+
+static Proto* LoadFunction (LoadState* S, TString* p)
+{
+ Proto* f=luaF_newproto(S->L);
+ f->source=LoadString(S); if (f->source==NULL) f->source=p;
+ f->lineDefined=LoadInt(S);
+ f->nups=LoadByte(S);
+ f->numparams=LoadByte(S);
+ f->is_vararg=LoadByte(S);
+ f->maxstacksize=LoadByte(S);
+ LoadLines(S,f);
+ LoadLocals(S,f);
+ LoadUpvalues(S,f);
+ LoadConstants(S,f);
+ LoadCode(S,f);
+#ifndef TRUST_BINARIES
+ if (!luaG_checkcode(f)) luaG_runerror(S->L,"bad code in %s",S->name);
+#endif
+ return f;
+}
+
+static void LoadSignature (LoadState* S)
+{
+ const char* s=LUA_SIGNATURE;
+ while (*s!=0 && ezgetc(S)==*s)
+  ++s;
+ if (*s!=0) luaG_runerror(S->L,"bad signature in %s",S->name);
+}
+
+static void TestSize (LoadState* S, int s, const char* what)
+{
+ int r=LoadByte(S);
+ if (r!=s)
+  luaG_runerror(S->L,"virtual machine mismatch in %s: "
+	"size of %s is %d but read %d",S->name,what,s,r);
+}
+
+#define TESTSIZE(s,w)	TestSize(S,s,w)
+#define V(v)		v/16,v%16
+
+static void LoadHeader (LoadState* S)
+{
+ int version;
+ lua_Number x,tx=TEST_NUMBER;
+ LoadSignature(S);
+ version=LoadByte(S);
+ if (version>VERSION)
+  luaG_runerror(S->L,"%s too new: "
+	"read version %d.%d; expected at most %d.%d",
+	S->name,V(version),V(VERSION));
+ if (version<VERSION0)				/* check last major change */
+  luaG_runerror(S->L,"%s too old: "
+	"read version %d.%d; expected at least %d.%d",
+	S->name,V(version),V(VERSION0));
+ S->swap=(luaU_endianness()!=LoadByte(S));	/* need to swap bytes? */
+ TESTSIZE(sizeof(int),"int");
+ TESTSIZE(sizeof(size_t), "size_t");
+ TESTSIZE(sizeof(Instruction), "Instruction");
+ TESTSIZE(SIZE_OP, "OP");
+ TESTSIZE(SIZE_A, "A");
+ TESTSIZE(SIZE_B, "B");
+ TESTSIZE(SIZE_C, "C");
+ TESTSIZE(sizeof(lua_Number), "number");
+ x=LoadNumber(S);
+ if ((long)x!=(long)tx)		/* disregard errors in last bits of fraction */
+  luaG_runerror(S->L,"unknown number format in %s",S->name);
+}
+
+static Proto* LoadChunk (LoadState* S)
+{
+ LoadHeader(S);
+ return LoadFunction(S,NULL);
+}
+
+/*
+** load precompiled chunk
+*/
+Proto* luaU_undump (lua_State* L, ZIO* Z, Mbuffer* buff)
+{
+ LoadState S;
+ const char* s=zname(Z);
+ if (*s=='@' || *s=='=')
+  S.name=s+1;
+ else if (*s==LUA_SIGNATURE[0])
+  S.name="binary string";
+ else
+  S.name=s;
+ S.L=L;
+ S.Z=Z;
+ S.b=buff;
+ return LoadChunk(&S);
+}
+
+/*
+** find byte order
+*/
+int luaU_endianness (void)
+{
+ int x=1;
+ return *(char*)&x;
+}
diff -Naur xmoto-0.1.10/src/lua/lundump.h xmoto-0.1.10-patched/src/lua/lundump.h
--- xmoto-0.1.10/src/lua/lundump.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lundump.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,34 @@
+/*
+** $Id: lundump.h,v 1.30 2003/04/07 20:34:20 lhf Exp $
+** load pre-compiled Lua chunks
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lundump_h
+#define lundump_h
+
+#include "lobject.h"
+#include "lzio.h"
+
+/* load one chunk; from lundump.c */
+Proto* luaU_undump (lua_State* L, ZIO* Z, Mbuffer* buff);
+
+/* find byte order; from lundump.c */
+int luaU_endianness (void);
+
+/* dump one chunk; from ldump.c */
+void luaU_dump (lua_State* L, const Proto* Main, lua_Chunkwriter w, void* data);
+
+/* print one chunk; from print.c */
+void luaU_print (const Proto* Main);
+
+/* definitions for headers of binary files */
+#define	LUA_SIGNATURE	"\033Lua"	/* binary files start with "<esc>Lua" */
+#define	VERSION		0x50		/* last format change was in 5.0 */
+#define	VERSION0	0x50		/* last major  change was in 5.0 */
+
+/* a multiple of PI for testing native format */
+/* multiplying by 1E7 gives non-trivial integer values */
+#define	TEST_NUMBER	((lua_Number)3.14159265358979323846E7)
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lvm.c xmoto-0.1.10-patched/src/lua/lvm.c
--- xmoto-0.1.10/src/lua/lvm.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lvm.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,781 @@
+/*
+** $Id: lvm.c,v 1.284b 2003/04/03 13:35:34 roberto Exp $
+** Lua virtual machine
+** See Copyright Notice in lua.h
+*/
+
+
+#include <stdarg.h>
+#include <stdlib.h>
+#include <string.h>
+
+/* needed only when `lua_number2str' uses `sprintf' */
+#include <stdio.h>
+
+#define lvm_c
+
+#include "lua.h"
+
+#include "ldebug.h"
+#include "ldo.h"
+#include "lfunc.h"
+#include "lgc.h"
+#include "lobject.h"
+#include "lopcodes.h"
+#include "lstate.h"
+#include "lstring.h"
+#include "ltable.h"
+#include "ltm.h"
+#include "lvm.h"
+
+
+
+/* function to convert a lua_Number to a string */
+#ifndef lua_number2str
+#define lua_number2str(s,n)     sprintf((s), LUA_NUMBER_FMT, (n))
+#endif
+
+
+/* limit for table tag-method chains (to avoid loops) */
+#define MAXTAGLOOP	100
+
+
+const TObject *luaV_tonumber (const TObject *obj, TObject *n) {
+  lua_Number num;
+  if (ttisnumber(obj)) return obj;
+  if (ttisstring(obj) && luaO_str2d(svalue(obj), &num)) {
+    setnvalue(n, num);
+    return n;
+  }
+  else
+    return NULL;
+}
+
+
+int luaV_tostring (lua_State *L, StkId obj) {
+  if (!ttisnumber(obj))
+    return 0;
+  else {
+    char s[32];  /* 16 digits, sign, point and \0  (+ some extra...) */
+    lua_number2str(s, nvalue(obj));
+    setsvalue2s(obj, luaS_new(L, s));
+    return 1;
+  }
+}
+
+
+static void traceexec (lua_State *L) {
+  lu_byte mask = L->hookmask;
+  if (mask & LUA_MASKCOUNT) {  /* instruction-hook set? */
+    if (L->hookcount == 0) {
+      resethookcount(L);
+      luaD_callhook(L, LUA_HOOKCOUNT, -1);
+      return;
+    }
+  }
+  if (mask & LUA_MASKLINE) {
+    CallInfo *ci = L->ci;
+    Proto *p = ci_func(ci)->l.p;
+    int newline = getline(p, pcRel(*ci->u.l.pc, p));
+    if (!L->hookinit) {
+      luaG_inithooks(L);
+      return;
+    }
+    lua_assert(ci->state & CI_HASFRAME);
+    if (pcRel(*ci->u.l.pc, p) == 0)  /* tracing may be starting now? */
+      ci->u.l.savedpc = *ci->u.l.pc;  /* initialize `savedpc' */
+    /* calls linehook when enters a new line or jumps back (loop) */
+    if (*ci->u.l.pc <= ci->u.l.savedpc ||
+        newline != getline(p, pcRel(ci->u.l.savedpc, p))) {
+      luaD_callhook(L, LUA_HOOKLINE, newline);
+      ci = L->ci;  /* previous call may reallocate `ci' */
+    }
+    ci->u.l.savedpc = *ci->u.l.pc;
+  }
+}
+
+
+static void callTMres (lua_State *L, const TObject *f,
+                       const TObject *p1, const TObject *p2) {
+  setobj2s(L->top, f);  /* push function */
+  setobj2s(L->top+1, p1);  /* 1st argument */
+  setobj2s(L->top+2, p2);  /* 2nd argument */
+  luaD_checkstack(L, 3);  /* cannot check before (could invalidate p1, p2) */
+  L->top += 3;
+  luaD_call(L, L->top - 3, 1);
+  L->top--;  /* result will be in L->top */
+}
+
+
+
+static void callTM (lua_State *L, const TObject *f,
+                    const TObject *p1, const TObject *p2, const TObject *p3) {
+  setobj2s(L->top, f);  /* push function */
+  setobj2s(L->top+1, p1);  /* 1st argument */
+  setobj2s(L->top+2, p2);  /* 2nd argument */
+  setobj2s(L->top+3, p3);  /* 3th argument */
+  luaD_checkstack(L, 4);  /* cannot check before (could invalidate p1...p3) */
+  L->top += 4;
+  luaD_call(L, L->top - 4, 0);
+}
+
+
+static const TObject *luaV_index (lua_State *L, const TObject *t,
+                                  TObject *key, int loop) {
+  const TObject *tm = fasttm(L, hvalue(t)->metatable, TM_INDEX);
+  if (tm == NULL) return &luaO_nilobject;  /* no TM */
+  if (ttisfunction(tm)) {
+    callTMres(L, tm, t, key);
+    return L->top;
+  }
+  else return luaV_gettable(L, tm, key, loop);
+}
+
+static const TObject *luaV_getnotable (lua_State *L, const TObject *t,
+                                       TObject *key, int loop) {
+  const TObject *tm = luaT_gettmbyobj(L, t, TM_INDEX);
+  if (ttisnil(tm))
+    luaG_typeerror(L, t, "index");
+  if (ttisfunction(tm)) {
+    callTMres(L, tm, t, key);
+    return L->top;
+  }
+  else return luaV_gettable(L, tm, key, loop);
+}
+
+
+/*
+** Function to index a table.
+** Receives the table at `t' and the key at `key'.
+** leaves the result at `res'.
+*/
+const TObject *luaV_gettable (lua_State *L, const TObject *t, TObject *key,
+                              int loop) {
+  if (loop > MAXTAGLOOP)
+    luaG_runerror(L, "loop in gettable");
+  if (ttistable(t)) {  /* `t' is a table? */
+    Table *h = hvalue(t);
+    const TObject *v = luaH_get(h, key);  /* do a primitive get */
+    if (!ttisnil(v)) return v;
+    else return luaV_index(L, t, key, loop+1);
+  }
+  else return luaV_getnotable(L, t, key, loop+1);
+}
+
+
+/*
+** Receives table at `t', key at `key' and value at `val'.
+*/
+void luaV_settable (lua_State *L, const TObject *t, TObject *key, StkId val) {
+  const TObject *tm;
+  int loop = 0;
+  do {
+    if (ttistable(t)) {  /* `t' is a table? */
+      Table *h = hvalue(t);
+      TObject *oldval = luaH_set(L, h, key); /* do a primitive set */
+      if (!ttisnil(oldval) ||  /* result is no nil? */
+          (tm = fasttm(L, h->metatable, TM_NEWINDEX)) == NULL) { /* or no TM? */
+        setobj2t(oldval, val);  /* write barrier */
+        return;
+      }
+      /* else will try the tag method */
+    }
+    else if (ttisnil(tm = luaT_gettmbyobj(L, t, TM_NEWINDEX)))
+      luaG_typeerror(L, t, "index");
+    if (ttisfunction(tm)) {
+      callTM(L, tm, t, key, val);
+      return;
+    }
+    t = tm;  /* else repeat with `tm' */ 
+  } while (++loop <= MAXTAGLOOP);
+  luaG_runerror(L, "loop in settable");
+}
+
+
+static int call_binTM (lua_State *L, const TObject *p1, const TObject *p2,
+                       StkId res, TMS event) {
+  ptrdiff_t result = savestack(L, res);
+  const TObject *tm = luaT_gettmbyobj(L, p1, event);  /* try first operand */
+  if (ttisnil(tm))
+    tm = luaT_gettmbyobj(L, p2, event);  /* try second operand */
+  if (!ttisfunction(tm)) return 0;
+  callTMres(L, tm, p1, p2);
+  res = restorestack(L, result);  /* previous call may change stack */
+  setobjs2s(res, L->top);
+  return 1;
+}
+
+
+static const TObject *get_compTM (lua_State *L, Table *mt1, Table *mt2,
+                                  TMS event) {
+  const TObject *tm1 = fasttm(L, mt1, event);
+  const TObject *tm2;
+  if (tm1 == NULL) return NULL;  /* no metamethod */
+  if (mt1 == mt2) return tm1;  /* same metatables => same metamethods */
+  tm2 = fasttm(L, mt2, event);
+  if (tm2 == NULL) return NULL;  /* no metamethod */
+  if (luaO_rawequalObj(tm1, tm2))  /* same metamethods? */
+    return tm1;
+  return NULL;
+}
+
+
+static int call_orderTM (lua_State *L, const TObject *p1, const TObject *p2,
+                         TMS event) {
+  const TObject *tm1 = luaT_gettmbyobj(L, p1, event);
+  const TObject *tm2;
+  if (ttisnil(tm1)) return -1;  /* no metamethod? */
+  tm2 = luaT_gettmbyobj(L, p2, event);
+  if (!luaO_rawequalObj(tm1, tm2))  /* different metamethods? */
+    return -1;
+  callTMres(L, tm1, p1, p2);
+  return !l_isfalse(L->top);
+}
+
+
+static int luaV_strcmp (const TString *ls, const TString *rs) {
+  const char *l = getstr(ls);
+  size_t ll = ls->tsv.len;
+  const char *r = getstr(rs);
+  size_t lr = rs->tsv.len;
+  for (;;) {
+    int temp = strcoll(l, r);
+    if (temp != 0) return temp;
+    else {  /* strings are equal up to a `\0' */
+      size_t len = strlen(l);  /* index of first `\0' in both strings */
+      if (len == lr)  /* r is finished? */
+        return (len == ll) ? 0 : 1;
+      else if (len == ll)  /* l is finished? */
+        return -1;  /* l is smaller than r (because r is not finished) */
+      /* both strings longer than `len'; go on comparing (after the `\0') */
+      len++;
+      l += len; ll -= len; r += len; lr -= len;
+    }
+  }
+}
+
+
+int luaV_lessthan (lua_State *L, const TObject *l, const TObject *r) {
+  int res;
+  if (ttype(l) != ttype(r))
+    return luaG_ordererror(L, l, r);
+  else if (ttisnumber(l))
+    return nvalue(l) < nvalue(r);
+  else if (ttisstring(l))
+    return luaV_strcmp(tsvalue(l), tsvalue(r)) < 0;
+  else if ((res = call_orderTM(L, l, r, TM_LT)) != -1)
+    return res;
+  return luaG_ordererror(L, l, r);
+}
+
+
+static int luaV_lessequal (lua_State *L, const TObject *l, const TObject *r) {
+  int res;
+  if (ttype(l) != ttype(r))
+    return luaG_ordererror(L, l, r);
+  else if (ttisnumber(l))
+    return nvalue(l) <= nvalue(r);
+  else if (ttisstring(l))
+    return luaV_strcmp(tsvalue(l), tsvalue(r)) <= 0;
+  else if ((res = call_orderTM(L, l, r, TM_LE)) != -1)  /* first try `le' */
+    return res;
+  else if ((res = call_orderTM(L, r, l, TM_LT)) != -1)  /* else try `lt' */
+    return !res;
+  return luaG_ordererror(L, l, r);
+}
+
+
+int luaV_equalval (lua_State *L, const TObject *t1, const TObject *t2) {
+  const TObject *tm;
+  lua_assert(ttype(t1) == ttype(t2));
+  switch (ttype(t1)) {
+    case LUA_TNIL: return 1;
+    case LUA_TNUMBER: return nvalue(t1) == nvalue(t2);
+    case LUA_TBOOLEAN: return bvalue(t1) == bvalue(t2);  /* true must be 1 !! */
+    case LUA_TLIGHTUSERDATA: return pvalue(t1) == pvalue(t2);
+    case LUA_TUSERDATA: {
+      if (uvalue(t1) == uvalue(t2)) return 1;
+      tm = get_compTM(L, uvalue(t1)->uv.metatable, uvalue(t2)->uv.metatable,
+                         TM_EQ);
+      break;  /* will try TM */
+    }
+    case LUA_TTABLE: {
+      if (hvalue(t1) == hvalue(t2)) return 1;
+      tm = get_compTM(L, hvalue(t1)->metatable, hvalue(t2)->metatable, TM_EQ);
+      break;  /* will try TM */
+    }
+    default: return gcvalue(t1) == gcvalue(t2);
+  }
+  if (tm == NULL) return 0;  /* no TM? */
+  callTMres(L, tm, t1, t2);  /* call TM */
+  return !l_isfalse(L->top);
+}
+
+
+void luaV_concat (lua_State *L, int total, int last) {
+  do {
+    StkId top = L->base + last + 1;
+    int n = 2;  /* number of elements handled in this pass (at least 2) */
+    if (!tostring(L, top-2) || !tostring(L, top-1)) {
+      if (!call_binTM(L, top-2, top-1, top-2, TM_CONCAT))
+        luaG_concaterror(L, top-2, top-1);
+    } else if (tsvalue(top-1)->tsv.len > 0) {  /* if len=0, do nothing */
+      /* at least two string values; get as many as possible */
+      lu_mem tl = cast(lu_mem, tsvalue(top-1)->tsv.len) +
+                  cast(lu_mem, tsvalue(top-2)->tsv.len);
+      char *buffer;
+      int i;
+      while (n < total && tostring(L, top-n-1)) {  /* collect total length */
+        tl += tsvalue(top-n-1)->tsv.len;
+        n++;
+      }
+      if (tl > MAX_SIZET) luaG_runerror(L, "string size overflow");
+      buffer = luaZ_openspace(L, &G(L)->buff, tl);
+      tl = 0;
+      for (i=n; i>0; i--) {  /* concat all strings */
+        size_t l = tsvalue(top-i)->tsv.len;
+        memcpy(buffer+tl, svalue(top-i), l);
+        tl += l;
+      }
+      setsvalue2s(top-n, luaS_newlstr(L, buffer, tl));
+    }
+    total -= n-1;  /* got `n' strings to create 1 new */
+    last -= n-1;
+  } while (total > 1);  /* repeat until only 1 result left */
+}
+
+
+static void Arith (lua_State *L, StkId ra,
+                   const TObject *rb, const TObject *rc, TMS op) {
+  TObject tempb, tempc;
+  const TObject *b, *c;
+  if ((b = luaV_tonumber(rb, &tempb)) != NULL &&
+      (c = luaV_tonumber(rc, &tempc)) != NULL) {
+    switch (op) {
+      case TM_ADD: setnvalue(ra, nvalue(b) + nvalue(c)); break;
+      case TM_SUB: setnvalue(ra, nvalue(b) - nvalue(c)); break;
+      case TM_MUL: setnvalue(ra, nvalue(b) * nvalue(c)); break;
+      case TM_DIV: setnvalue(ra, nvalue(b) / nvalue(c)); break;
+      case TM_POW: {
+        const TObject *f = luaH_getstr(hvalue(gt(L)), G(L)->tmname[TM_POW]);
+        ptrdiff_t res = savestack(L, ra);
+        if (!ttisfunction(f))
+          luaG_runerror(L, "`__pow' (`^' operator) is not a function");
+        callTMres(L, f, b, c);
+        ra = restorestack(L, res);  /* previous call may change stack */
+        setobjs2s(ra, L->top);
+        break;
+      }
+      default: lua_assert(0); break;
+    }
+  }
+  else if (!call_binTM(L, rb, rc, ra, op))
+    luaG_aritherror(L, rb, rc);
+}
+
+
+
+/*
+** some macros for common tasks in `luaV_execute'
+*/
+
+#define runtime_check(L, c)	{ if (!(c)) return 0; }
+
+#define RA(i)	(base+GETARG_A(i))
+/* to be used after possible stack reallocation */
+#define XRA(i)	(L->base+GETARG_A(i))
+#define RB(i)	(base+GETARG_B(i))
+#define RKB(i)	((GETARG_B(i) < MAXSTACK) ? RB(i) : k+GETARG_B(i)-MAXSTACK)
+#define RC(i)	(base+GETARG_C(i))
+#define RKC(i)	((GETARG_C(i) < MAXSTACK) ? RC(i) : k+GETARG_C(i)-MAXSTACK)
+#define KBx(i)	(k+GETARG_Bx(i))
+
+
+#define dojump(pc, i)	((pc) += (i))
+
+
+StkId luaV_execute (lua_State *L) {
+  LClosure *cl;
+  TObject *k;
+  const Instruction *pc;
+ callentry:  /* entry point when calling new functions */
+  if (L->hookmask & LUA_MASKCALL) {
+    L->ci->u.l.pc = &pc;
+    luaD_callhook(L, LUA_HOOKCALL, -1);
+  }
+ retentry:  /* entry point when returning to old functions */
+  L->ci->u.l.pc = &pc;
+  lua_assert(L->ci->state == CI_SAVEDPC ||
+             L->ci->state == (CI_SAVEDPC | CI_CALLING));
+  L->ci->state = CI_HASFRAME;  /* activate frame */
+  pc = L->ci->u.l.savedpc;
+  cl = &clvalue(L->base - 1)->l;
+  k = cl->p->k;
+  /* main loop of interpreter */
+  for (;;) {
+    const Instruction i = *pc++;
+    StkId base, ra;
+    if ((L->hookmask & (LUA_MASKLINE | LUA_MASKCOUNT)) &&
+        (--L->hookcount == 0 || L->hookmask & LUA_MASKLINE)) {
+      traceexec(L);
+      if (L->ci->state & CI_YIELD) {  /* did hook yield? */
+        L->ci->u.l.savedpc = pc - 1;
+        L->ci->state = CI_YIELD | CI_SAVEDPC;
+        return NULL;
+      }
+    }
+    /* warning!! several calls may realloc the stack and invalidate `ra' */
+    base = L->base;
+    ra = RA(i);
+    lua_assert(L->ci->state & CI_HASFRAME);
+    lua_assert(base == L->ci->base);
+    lua_assert(L->top <= L->stack + L->stacksize && L->top >= base);
+    lua_assert(L->top == L->ci->top ||
+         GET_OPCODE(i) == OP_CALL ||   GET_OPCODE(i) == OP_TAILCALL ||
+         GET_OPCODE(i) == OP_RETURN || GET_OPCODE(i) == OP_SETLISTO);
+    switch (GET_OPCODE(i)) {
+      case OP_MOVE: {
+        setobjs2s(ra, RB(i));
+        break;
+      }
+      case OP_LOADK: {
+        setobj2s(ra, KBx(i));
+        break;
+      }
+      case OP_LOADBOOL: {
+        setbvalue(ra, GETARG_B(i));
+        if (GETARG_C(i)) pc++;  /* skip next instruction (if C) */
+        break;
+      }
+      case OP_LOADNIL: {
+        TObject *rb = RB(i);
+        do {
+          setnilvalue(rb--);
+        } while (rb >= ra);
+        break;
+      }
+      case OP_GETUPVAL: {
+        int b = GETARG_B(i);
+        setobj2s(ra, cl->upvals[b]->v);
+        break;
+      }
+      case OP_GETGLOBAL: {
+        TObject *rb = KBx(i);
+        const TObject *v;
+        lua_assert(ttisstring(rb) && ttistable(&cl->g));
+        v = luaH_getstr(hvalue(&cl->g), tsvalue(rb));
+        if (!ttisnil(v)) { setobj2s(ra, v); }
+        else
+          setobj2s(XRA(i), luaV_index(L, &cl->g, rb, 0));
+        break;
+      }
+      case OP_GETTABLE: {
+        StkId rb = RB(i);
+        TObject *rc = RKC(i);
+        if (ttistable(rb)) {
+          const TObject *v = luaH_get(hvalue(rb), rc);
+          if (!ttisnil(v)) { setobj2s(ra, v); }
+          else
+            setobj2s(XRA(i), luaV_index(L, rb, rc, 0));
+        }
+        else
+          setobj2s(XRA(i), luaV_getnotable(L, rb, rc, 0));
+        break;
+      }
+      case OP_SETGLOBAL: {
+        lua_assert(ttisstring(KBx(i)) && ttistable(&cl->g));
+        luaV_settable(L, &cl->g, KBx(i), ra);
+        break;
+      }
+      case OP_SETUPVAL: {
+        int b = GETARG_B(i);
+        setobj(cl->upvals[b]->v, ra);  /* write barrier */
+        break;
+      }
+      case OP_SETTABLE: {
+        luaV_settable(L, ra, RKB(i), RKC(i));
+        break;
+      }
+      case OP_NEWTABLE: {
+        int b = GETARG_B(i);
+        b = fb2int(b);
+        sethvalue(ra, luaH_new(L, b, GETARG_C(i)));
+        luaC_checkGC(L);
+        break;
+      }
+      case OP_SELF: {
+        StkId rb = RB(i);
+        TObject *rc = RKC(i);
+        runtime_check(L, ttisstring(rc));
+        setobjs2s(ra+1, rb);
+        if (ttistable(rb)) {
+          const TObject *v = luaH_getstr(hvalue(rb), tsvalue(rc));
+          if (!ttisnil(v)) { setobj2s(ra, v); }
+          else
+            setobj2s(XRA(i), luaV_index(L, rb, rc, 0));
+        }
+        else
+          setobj2s(XRA(i), luaV_getnotable(L, rb, rc, 0));
+        break;
+      }
+      case OP_ADD: {
+        TObject *rb = RKB(i);
+        TObject *rc = RKC(i);
+        if (ttisnumber(rb) && ttisnumber(rc)) {
+          setnvalue(ra, nvalue(rb) + nvalue(rc));
+        }
+        else
+          Arith(L, ra, rb, rc, TM_ADD);
+        break;
+      }
+      case OP_SUB: {
+        TObject *rb = RKB(i);
+        TObject *rc = RKC(i);
+        if (ttisnumber(rb) && ttisnumber(rc)) {
+          setnvalue(ra, nvalue(rb) - nvalue(rc));
+        }
+        else
+          Arith(L, ra, rb, rc, TM_SUB);
+        break;
+      }
+      case OP_MUL: {
+        TObject *rb = RKB(i);
+        TObject *rc = RKC(i);
+        if (ttisnumber(rb) && ttisnumber(rc)) {
+          setnvalue(ra, nvalue(rb) * nvalue(rc));
+        }
+        else
+          Arith(L, ra, rb, rc, TM_MUL);
+        break;
+      }
+      case OP_DIV: {
+        TObject *rb = RKB(i);
+        TObject *rc = RKC(i);
+        if (ttisnumber(rb) && ttisnumber(rc)) {
+          setnvalue(ra, nvalue(rb) / nvalue(rc));
+        }
+        else
+          Arith(L, ra, rb, rc, TM_DIV);
+        break;
+      }
+      case OP_POW: {
+        Arith(L, ra, RKB(i), RKC(i), TM_POW);
+        break;
+      }
+      case OP_UNM: {
+        const TObject *rb = RB(i);
+        TObject temp;
+        if (tonumber(rb, &temp)) {
+          setnvalue(ra, -nvalue(rb));
+        }
+        else {
+          setnilvalue(&temp);
+          if (!call_binTM(L, RB(i), &temp, ra, TM_UNM))
+            luaG_aritherror(L, RB(i), &temp);
+        }
+        break;
+      }
+      case OP_NOT: {
+        int res = l_isfalse(RB(i));  /* next assignment may change this value */
+        setbvalue(ra, res);
+        break;
+      }
+      case OP_CONCAT: {
+        int b = GETARG_B(i);
+        int c = GETARG_C(i);
+        luaV_concat(L, c-b+1, c);  /* may change `base' (and `ra') */
+        base = L->base;
+        setobjs2s(RA(i), base+b);
+        luaC_checkGC(L);
+        break;
+      }
+      case OP_JMP: {
+        dojump(pc, GETARG_sBx(i));
+        break;
+      }
+      case OP_EQ: {
+        if (equalobj(L, RKB(i), RKC(i)) != GETARG_A(i)) pc++;
+        else dojump(pc, GETARG_sBx(*pc) + 1);
+        break;
+      }
+      case OP_LT: {
+        if (luaV_lessthan(L, RKB(i), RKC(i)) != GETARG_A(i)) pc++;
+        else dojump(pc, GETARG_sBx(*pc) + 1);
+        break;
+      }
+      case OP_LE: {
+        if (luaV_lessequal(L, RKB(i), RKC(i)) != GETARG_A(i)) pc++;
+        else dojump(pc, GETARG_sBx(*pc) + 1);
+        break;
+      }
+      case OP_TEST: {
+        TObject *rb = RB(i);
+        if (l_isfalse(rb) == GETARG_C(i)) pc++;
+        else {
+          setobjs2s(ra, rb);
+          dojump(pc, GETARG_sBx(*pc) + 1);
+        }
+        break;
+      }
+      case OP_CALL:
+      case OP_TAILCALL: {
+        StkId firstResult;
+        int b = GETARG_B(i);
+        int nresults;
+        if (b != 0) L->top = ra+b;  /* else previous instruction set top */
+        nresults = GETARG_C(i) - 1;
+        firstResult = luaD_precall(L, ra);
+        if (firstResult) {
+          if (firstResult > L->top) {  /* yield? */
+            lua_assert(L->ci->state == (CI_C | CI_YIELD));
+            (L->ci - 1)->u.l.savedpc = pc;
+            (L->ci - 1)->state = CI_SAVEDPC;
+            return NULL;
+          }
+          /* it was a C function (`precall' called it); adjust results */
+          luaD_poscall(L, nresults, firstResult);
+          if (nresults >= 0) L->top = L->ci->top;
+        }
+        else {  /* it is a Lua function */
+          if (GET_OPCODE(i) == OP_CALL) {  /* regular call? */
+            (L->ci-1)->u.l.savedpc = pc;  /* save `pc' to return later */
+            (L->ci-1)->state = (CI_SAVEDPC | CI_CALLING);
+          }
+          else {  /* tail call: put new frame in place of previous one */
+            int aux;
+            base = (L->ci - 1)->base;  /* `luaD_precall' may change the stack */
+            ra = RA(i);
+            if (L->openupval) luaF_close(L, base);
+            for (aux = 0; ra+aux < L->top; aux++)  /* move frame down */
+              setobjs2s(base+aux-1, ra+aux);
+            (L->ci - 1)->top = L->top = base+aux;  /* correct top */
+            lua_assert(L->ci->state & CI_SAVEDPC);
+            (L->ci - 1)->u.l.savedpc = L->ci->u.l.savedpc;
+            (L->ci - 1)->u.l.tailcalls++;  /* one more call lost */
+            (L->ci - 1)->state = CI_SAVEDPC;
+            L->ci--;  /* remove new frame */
+            L->base = L->ci->base;
+          }
+          goto callentry;
+        }
+        break;
+      }
+      case OP_RETURN: {
+        CallInfo *ci = L->ci - 1;  /* previous function frame */
+        int b = GETARG_B(i);
+        if (b != 0) L->top = ra+b-1;
+        lua_assert(L->ci->state & CI_HASFRAME);
+        if (L->openupval) luaF_close(L, base);
+        L->ci->state = CI_SAVEDPC;  /* deactivate current function */
+        L->ci->u.l.savedpc = pc;
+        /* previous function was running `here'? */
+        if (!(ci->state & CI_CALLING)) {
+          lua_assert((ci->state & CI_C) || ci->u.l.pc != &pc);
+          return ra;  /* no: return */
+        }
+        else {  /* yes: continue its execution */
+          int nresults;
+          lua_assert(ttisfunction(ci->base - 1) && (ci->state & CI_SAVEDPC));
+          lua_assert(GET_OPCODE(*(ci->u.l.savedpc - 1)) == OP_CALL);
+          nresults = GETARG_C(*(ci->u.l.savedpc - 1)) - 1;
+          luaD_poscall(L, nresults, ra);
+          if (nresults >= 0) L->top = L->ci->top;
+          goto retentry;
+        }
+      }
+      case OP_FORLOOP: {
+        lua_Number step, idx, limit;
+        const TObject *plimit = ra+1;
+        const TObject *pstep = ra+2;
+        if (!ttisnumber(ra))
+          luaG_runerror(L, "`for' initial value must be a number");
+        if (!tonumber(plimit, ra+1))
+          luaG_runerror(L, "`for' limit must be a number");
+        if (!tonumber(pstep, ra+2))
+          luaG_runerror(L, "`for' step must be a number");
+        step = nvalue(pstep);
+        idx = nvalue(ra) + step;  /* increment index */
+        limit = nvalue(plimit);
+        if (step > 0 ? idx <= limit : idx >= limit) {
+          dojump(pc, GETARG_sBx(i));  /* jump back */
+          chgnvalue(ra, idx);  /* update index */
+        }
+        break;
+      }
+      case OP_TFORLOOP: {
+        int nvar = GETARG_C(i) + 1;
+        StkId cb = ra + nvar + 2;  /* call base */
+        setobjs2s(cb, ra);
+        setobjs2s(cb+1, ra+1);
+        setobjs2s(cb+2, ra+2);
+        L->top = cb+3;  /* func. + 2 args (state and index) */
+        luaD_call(L, cb, nvar);
+        L->top = L->ci->top;
+        ra = XRA(i) + 2;  /* final position of first result */
+        cb = ra + nvar;
+        do {  /* move results to proper positions */
+          nvar--;
+          setobjs2s(ra+nvar, cb+nvar);
+        } while (nvar > 0);
+        if (ttisnil(ra))  /* break loop? */
+          pc++;  /* skip jump (break loop) */
+        else
+          dojump(pc, GETARG_sBx(*pc) + 1);  /* jump back */
+        break;
+      }
+      case OP_TFORPREP: {  /* for compatibility only */
+        if (ttistable(ra)) {
+          setobjs2s(ra+1, ra);
+          setobj2s(ra, luaH_getstr(hvalue(gt(L)), luaS_new(L, "next")));
+        }
+        dojump(pc, GETARG_sBx(i));
+        break;
+      }
+      case OP_SETLIST:
+      case OP_SETLISTO: {
+        int bc;
+        int n;
+        Table *h;
+        runtime_check(L, ttistable(ra));
+        h = hvalue(ra);
+        bc = GETARG_Bx(i);
+        if (GET_OPCODE(i) == OP_SETLIST)
+          n = (bc&(LFIELDS_PER_FLUSH-1)) + 1;
+        else {
+          n = L->top - ra - 1;
+          L->top = L->ci->top;
+        }
+        bc &= ~(LFIELDS_PER_FLUSH-1);  /* bc = bc - bc%FPF */
+        for (; n > 0; n--)
+          setobj2t(luaH_setnum(L, h, bc+n), ra+n);  /* write barrier */
+        break;
+      }
+      case OP_CLOSE: {
+        luaF_close(L, ra);
+        break;
+      }
+      case OP_CLOSURE: {
+        Proto *p;
+        Closure *ncl;
+        int nup, j;
+        p = cl->p->p[GETARG_Bx(i)];
+        nup = p->nups;
+        ncl = luaF_newLclosure(L, nup, &cl->g);
+        ncl->l.p = p;
+        for (j=0; j<nup; j++, pc++) {
+          if (GET_OPCODE(*pc) == OP_GETUPVAL)
+            ncl->l.upvals[j] = cl->upvals[GETARG_B(*pc)];
+          else {
+            lua_assert(GET_OPCODE(*pc) == OP_MOVE);
+            ncl->l.upvals[j] = luaF_findupval(L, base + GETARG_B(*pc));
+          }
+        }
+        setclvalue(ra, ncl);
+        luaC_checkGC(L);
+        break;
+      }
+    }
+  }
+}
+
+
diff -Naur xmoto-0.1.10/src/lua/lvm.h xmoto-0.1.10-patched/src/lua/lvm.h
--- xmoto-0.1.10/src/lua/lvm.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lvm.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,35 @@
+/*
+** $Id: lvm.h,v 1.47 2002/11/14 16:16:21 roberto Exp $
+** Lua virtual machine
+** See Copyright Notice in lua.h
+*/
+
+#ifndef lvm_h
+#define lvm_h
+
+
+#include "ldo.h"
+#include "lobject.h"
+#include "ltm.h"
+
+
+#define tostring(L,o) ((ttype(o) == LUA_TSTRING) || (luaV_tostring(L, o)))
+
+#define tonumber(o,n)	(ttype(o) == LUA_TNUMBER || \
+                         (((o) = luaV_tonumber(o,n)) != NULL))
+
+#define equalobj(L,o1,o2) \
+	(ttype(o1) == ttype(o2) && luaV_equalval(L, o1, o2))
+
+
+int luaV_lessthan (lua_State *L, const TObject *l, const TObject *r);
+int luaV_equalval (lua_State *L, const TObject *t1, const TObject *t2);
+const TObject *luaV_tonumber (const TObject *obj, TObject *n);
+int luaV_tostring (lua_State *L, StkId obj);
+const TObject *luaV_gettable (lua_State *L, const TObject *t, TObject *key,
+                              int loop);
+void luaV_settable (lua_State *L, const TObject *t, TObject *key, StkId val);
+StkId luaV_execute (lua_State *L);
+void luaV_concat (lua_State *L, int total, int last);
+
+#endif
diff -Naur xmoto-0.1.10/src/lua/lzio.c xmoto-0.1.10-patched/src/lua/lzio.c
--- xmoto-0.1.10/src/lua/lzio.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lzio.c	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,81 @@
+/*
+** $Id: lzio.c,v 1.24 2003/03/20 16:00:56 roberto Exp $
+** a generic input stream interface
+** See Copyright Notice in lua.h
+*/
+
+
+#include <string.h>
+
+#define lzio_c
+
+#include "lua.h"
+
+#include "llimits.h"
+#include "lmem.h"
+#include "lzio.h"
+
+
+int luaZ_fill (ZIO *z) {
+  size_t size;
+  const char *buff = z->reader(NULL, z->data, &size);
+  if (buff == NULL || size == 0) return EOZ;
+  z->n = size - 1;
+  z->p = buff;
+  return char2int(*(z->p++));
+}
+
+
+int luaZ_lookahead (ZIO *z) {
+  if (z->n == 0) {
+    int c = luaZ_fill(z);
+    if (c == EOZ) return c;
+    z->n++;
+    z->p--;
+  }
+  return char2int(*z->p);
+}
+
+
+void luaZ_init (ZIO *z, lua_Chunkreader reader, void *data, const char *name) {
+  z->reader = reader;
+  z->data = data;
+  z->name = name;
+  z->n = 0;
+  z->p = NULL;
+}
+
+
+/* --------------------------------------------------------------- read --- */
+size_t luaZ_read (ZIO *z, void *b, size_t n) {
+  while (n) {
+    size_t m;
+    if (z->n == 0) {
+      if (luaZ_fill(z) == EOZ)
+        return n;  /* return number of missing bytes */
+      else {
+        ++z->n;  /* filbuf removed first byte; put back it */
+        --z->p;
+      }
+    }
+    m = (n <= z->n) ? n : z->n;  /* min. between n and z->n */
+    memcpy(b, z->p, m);
+    z->n -= m;
+    z->p += m;
+    b = (char *)b + m;
+    n -= m;
+  }
+  return 0;
+}
+
+/* ------------------------------------------------------------------------ */
+char *luaZ_openspace (lua_State *L, Mbuffer *buff, size_t n) {
+  if (n > buff->buffsize) {
+    if (n < LUA_MINBUFFER) n = LUA_MINBUFFER;
+    luaM_reallocvector(L, buff->buffer, buff->buffsize, n, char);
+    buff->buffsize = n;
+  }
+  return buff->buffer;
+}
+
+
diff -Naur xmoto-0.1.10/src/lua/lzio.h xmoto-0.1.10-patched/src/lua/lzio.h
--- xmoto-0.1.10/src/lua/lzio.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/lua/lzio.h	2005-12-03 11:54:20.000000000 +0100
@@ -0,0 +1,64 @@
+/*
+** $Id: lzio.h,v 1.15 2003/03/20 16:00:56 roberto Exp $
+** Buffered streams
+** See Copyright Notice in lua.h
+*/
+
+
+#ifndef lzio_h
+#define lzio_h
+
+#include "lua.h"
+
+
+#define EOZ	(-1)			/* end of stream */
+
+typedef struct Zio ZIO;
+
+
+#define char2int(c)	cast(int, cast(unsigned char, (c)))
+
+#define zgetc(z)  (((z)->n--)>0 ?  char2int(*(z)->p++) : luaZ_fill(z))
+
+#define zname(z)	((z)->name)
+
+void luaZ_init (ZIO *z, lua_Chunkreader reader, void *data, const char *name);
+size_t luaZ_read (ZIO* z, void* b, size_t n);	/* read next n bytes */
+int luaZ_lookahead (ZIO *z);
+
+
+
+typedef struct Mbuffer {
+  char *buffer;
+  size_t buffsize;
+} Mbuffer;
+
+
+char *luaZ_openspace (lua_State *L, Mbuffer *buff, size_t n);
+
+#define luaZ_initbuffer(L, buff) ((buff)->buffer = NULL, (buff)->buffsize = 0)
+
+#define luaZ_sizebuffer(buff)	((buff)->buffsize)
+#define luaZ_buffer(buff)	((buff)->buffer)
+
+#define luaZ_resizebuffer(L, buff, size) \
+	(luaM_reallocvector(L, (buff)->buffer, (buff)->buffsize, size, char), \
+	(buff)->buffsize = size)
+
+#define luaZ_freebuffer(L, buff)	luaZ_resizebuffer(L, buff, 0)
+
+
+/* --------- Private Part ------------------ */
+
+struct Zio {
+  size_t n;			/* bytes still unread */
+  const char *p;		/* current position in buffer */
+  lua_Chunkreader reader;
+  void* data;			/* additional data */
+  const char *name;
+};
+
+
+int luaZ_fill (ZIO *z);
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/collision.h xmoto-0.1.10-patched/src/ode/collision.h
--- xmoto-0.1.10/src/ode/collision.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/collision.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,189 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COLLISION_H_
+#define _ODE_COLLISION_H_
+
+#include <ode/common.h>
+#include <ode/collision_space.h>
+#include <ode/contact.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ************************************************************************ */
+/* general functions */
+
+void dGeomDestroy (dGeomID);
+void dGeomSetData (dGeomID, void *);
+void *dGeomGetData (dGeomID);
+void dGeomSetBody (dGeomID, dBodyID);
+dBodyID dGeomGetBody (dGeomID);
+void dGeomSetPosition (dGeomID, dReal x, dReal y, dReal z);
+void dGeomSetRotation (dGeomID, const dMatrix3 R);
+void dGeomSetQuaternion (dGeomID, const dQuaternion);
+const dReal * dGeomGetPosition (dGeomID);
+const dReal * dGeomGetRotation (dGeomID);
+void dGeomGetQuaternion (dGeomID, dQuaternion result);
+void dGeomGetAABB (dGeomID, dReal aabb[6]);
+int dGeomIsSpace (dGeomID);
+dSpaceID dGeomGetSpace (dGeomID);
+int dGeomGetClass (dGeomID);
+void dGeomSetCategoryBits (dGeomID, unsigned long bits);
+void dGeomSetCollideBits (dGeomID, unsigned long bits);
+unsigned long dGeomGetCategoryBits (dGeomID);
+unsigned long dGeomGetCollideBits (dGeomID);
+void dGeomEnable (dGeomID);
+void dGeomDisable (dGeomID);
+int dGeomIsEnabled (dGeomID);
+
+/* ************************************************************************ */
+/* collision detection */
+
+int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
+	      int skip);
+void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
+void dSpaceCollide2 (dGeomID o1, dGeomID o2, void *data,
+		     dNearCallback *callback);
+
+/* ************************************************************************ */
+/* standard classes */
+
+/* the maximum number of user classes that are supported */
+enum {
+  dMaxUserClasses = 4
+};
+
+/* class numbers - each geometry object needs a unique number */
+enum {
+  dSphereClass = 0,
+  dBoxClass,
+  dCCylinderClass,
+  dCylinderClass,
+  dPlaneClass,
+  dRayClass,
+  dGeomTransformClass,
+  dTriMeshClass,
+
+  dFirstSpaceClass,
+  dSimpleSpaceClass = dFirstSpaceClass,
+  dHashSpaceClass,
+  dQuadTreeSpaceClass,
+  dLastSpaceClass = dQuadTreeSpaceClass,
+
+  dFirstUserClass,
+  dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
+  dGeomNumClasses
+};
+
+
+dGeomID dCreateSphere (dSpaceID space, dReal radius);
+void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
+dReal dGeomSphereGetRadius (dGeomID sphere);
+dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
+
+dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
+void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
+void dGeomBoxGetLengths (dGeomID box, dVector3 result);
+dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
+
+dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
+void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
+dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
+
+dGeomID dCreateCCylinder (dSpaceID space, dReal radius, dReal length);
+void dGeomCCylinderSetParams (dGeomID ccylinder, dReal radius, dReal length);
+void dGeomCCylinderGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
+dReal dGeomCCylinderPointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
+
+dGeomID dCreateRay (dSpaceID space, dReal length);
+void dGeomRaySetLength (dGeomID ray, dReal length);
+dReal dGeomRayGetLength (dGeomID ray);
+void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
+		  dReal dx, dReal dy, dReal dz);
+void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
+
+/*
+ * Set/get ray flags that influence ray collision detection.
+ * These flags are currently only noticed by the trimesh collider, because
+ * they can make a major differences there.
+ */
+void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
+void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
+void dGeomRaySetClosestHit (dGeomID g, int closestHit);
+int dGeomRayGetClosestHit (dGeomID g);
+
+#include "collision_trimesh.h"
+
+dGeomID dCreateGeomTransform (dSpaceID space);
+void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
+dGeomID dGeomTransformGetGeom (dGeomID g);
+void dGeomTransformSetCleanup (dGeomID g, int mode);
+int dGeomTransformGetCleanup (dGeomID g);
+void dGeomTransformSetInfo (dGeomID g, int mode);
+int dGeomTransformGetInfo (dGeomID g);
+
+/* ************************************************************************ */
+/* utility functions */
+
+void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
+				const dVector3 b1, const dVector3 b2,
+				dVector3 cp1, dVector3 cp2);
+
+int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
+		    const dVector3 side1, const dVector3 _p2,
+		    const dMatrix3 R2, const dVector3 side2);
+
+void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
+void dCloseODE();
+
+/* ************************************************************************ */
+/* custom classes */
+
+typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
+typedef int dColliderFn (dGeomID o1, dGeomID o2,
+			 int flags, dContactGeom *contact, int skip);
+typedef dColliderFn * dGetColliderFnFn (int num);
+typedef void dGeomDtorFn (dGeomID o);
+typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
+
+typedef struct dGeomClass {
+  int bytes;
+  dGetColliderFnFn *collider;
+  dGetAABBFn *aabb;
+  dAABBTestFn *aabb_test;
+  dGeomDtorFn *dtor;
+} dGeomClass;
+
+int dCreateGeomClass (const dGeomClass *classptr);
+void * dGeomGetClassData (dGeomID);
+dGeomID dCreateGeom (int classnum);
+
+/* ************************************************************************ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/collision_space.h xmoto-0.1.10-patched/src/ode/collision_space.h
--- xmoto-0.1.10/src/ode/collision_space.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/collision_space.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,61 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COLLISION_SPACE_H_
+#define _ODE_COLLISION_SPACE_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct dContactGeom;
+
+typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
+
+
+dSpaceID dSimpleSpaceCreate (dSpaceID space);
+dSpaceID dHashSpaceCreate (dSpaceID space);
+dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth);
+
+void dSpaceDestroy (dSpaceID);
+
+void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
+void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);
+
+void dSpaceSetCleanup (dSpaceID space, int mode);
+int dSpaceGetCleanup (dSpaceID space);
+
+void dSpaceAdd (dSpaceID, dGeomID);
+void dSpaceRemove (dSpaceID, dGeomID);
+int dSpaceQuery (dSpaceID, dGeomID);
+void dSpaceClean (dSpaceID);
+int dSpaceGetNumGeoms (dSpaceID);
+dGeomID dSpaceGetGeom (dSpaceID, int i);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/collision_trimesh.h xmoto-0.1.10-patched/src/ode/collision_trimesh.h
--- xmoto-0.1.10/src/ode/collision_trimesh.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/collision_trimesh.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,181 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+ * TriMesh code by Erwin de Vries.
+ *
+ * Trimesh data.
+ * This is where the actual vertexdata (pointers), and BV tree is stored.
+ * Vertices should be single precision!
+ * This should be more sophisticated, so that the user can easyly implement
+ * another collision library, but this is a lot of work, and also costs some
+ * performance because some data has to be copied.
+ */
+
+#ifndef _ODE_COLLISION_TRIMESH_H_
+#define _ODE_COLLISION_TRIMESH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Data storage for triangle meshes.
+ */
+struct dxTriMeshData;
+typedef struct dxTriMeshData* dTriMeshDataID;
+
+/*
+ * These dont make much sense now, but they will later when we add more
+ * features.
+ */
+dTriMeshDataID dGeomTriMeshDataCreate();
+void dGeomTriMeshDataDestroy(dTriMeshDataID g);
+
+enum { TRIMESH_FACE_NORMALS, TRIMESH_LAST_TRANSFORMATION };
+void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* data);
+
+
+/*
+ * Build TriMesh data with single pricision used in vertex data .
+ */
+void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
+                                 const void* Vertices, int VertexStride, int VertexCount, 
+                                 const void* Indices, int IndexCount, int TriStride);
+/* same again with a normals array (used as trimesh-trimesh optimization) */
+void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
+                                  const void* Vertices, int VertexStride, int VertexCount, 
+                                  const void* Indices, int IndexCount, int TriStride,
+                                  const void* Normals);
+/*
+* Build TriMesh data with double pricision used in vertex data .
+*/
+void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, 
+                                 const void* Vertices,  int VertexStride, int VertexCount, 
+                                 const void* Indices, int IndexCount, int TriStride);
+/* same again with a normals array (used as trimesh-trimesh optimization) */
+void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, 
+                                  const void* Vertices,  int VertexStride, int VertexCount, 
+                                  const void* Indices, int IndexCount, int TriStride,
+                                  const void* Normals);
+
+/*
+ * Simple build. Single/double precision based on dSINGLE/dDOUBLE!
+ */
+void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
+                                 const dReal* Vertices, int VertexCount,
+                                 const int* Indices, int IndexCount);
+/* same again with a normals array (used as trimesh-trimesh optimization) */
+void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
+                                  const dReal* Vertices, int VertexCount,
+                                  const int* Indices, int IndexCount,
+                                  const int* Normals);
+/*
+ * Per triangle callback. Allows the user to say if he wants a collision with
+ * a particular triangle.
+ */
+typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
+void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
+dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
+
+/*
+ * Per object callback. Allows the user to get the list of triangles in 1
+ * shot. Maybe we should remove this one.
+ */
+typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
+void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
+dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
+
+/*
+ * Ray callback.
+ * Allows the user to say if a ray collides with a triangle on barycentric
+ * coords. The user can for example sample a texture with alpha transparency
+ * to determine if a collision should occur.
+ */
+typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
+void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
+dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
+
+/*
+ * Trimesh class
+ * Construction. Callbacks are optional.
+ */
+dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
+
+void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
+
+// enable/disable/check temporal coherence
+void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable);
+int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
+
+/*
+ * Clears the internal temporal coherence caches. When a geom has its
+ * collision checked with a trimesh once, data is stored inside the trimesh.
+ * With large worlds with lots of seperate objects this list could get huge.
+ * We should be able to do this automagically.
+ */
+void dGeomTriMeshClearTCCache(dGeomID g);
+
+
+/*
+ * returns the TriMeshDataID
+ */
+dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
+
+/*
+ * Gets a triangle.
+ */
+void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
+
+/*
+ * Gets the point on the requested triangle and the given barycentric
+ * coordinates.
+ */
+void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
+
+/*
+
+This is how the strided data works:
+
+struct StridedVertex{
+	dVector3 Vertex;
+	// Userdata
+};
+int VertexStride = sizeof(StridedVertex);
+
+struct StridedTri{
+	int Indices[3];
+	// Userdata
+};
+int TriStride = sizeof(StridedTri);
+
+*/
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* _ODE_COLLISION_TRIMESH_H_ */
+
diff -Naur xmoto-0.1.10/src/ode/common.h xmoto-0.1.10-patched/src/ode/common.h
--- xmoto-0.1.10/src/ode/common.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/common.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,323 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COMMON_H_
+#define _ODE_COMMON_H_
+
+#include <ode/config.h>
+#include <ode/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* configuration stuff */
+
+/* the efficient alignment. most platforms align data structures to some
+ * number of bytes, but this is not always the most efficient alignment.
+ * for example, many x86 compilers align to 4 bytes, but on a pentium it
+ * is important to align doubles to 8 byte boundaries (for speed), and
+ * the 4 floats in a SIMD register to 16 byte boundaries. many other
+ * platforms have similar behavior. setting a larger alignment can waste
+ * a (very) small amount of memory. NOTE: this number must be a power of
+ * two. this is set to 16 by default.
+ */
+#define EFFICIENT_ALIGNMENT 16
+
+
+/* constants */
+
+/* pi and 1/sqrt(2) are defined here if necessary because they don't get
+ * defined in <math.h> on some platforms (like MS-Windows)
+ */
+
+#ifndef M_PI
+#define M_PI REAL(3.1415926535897932384626433832795029)
+#endif
+#ifndef M_SQRT1_2
+#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
+#endif
+
+
+/* debugging:
+ *   IASSERT  is an internal assertion, i.e. a consistency check. if it fails
+ *            we want to know where.
+ *   UASSERT  is a user assertion, i.e. if it fails a nice error message
+ *            should be printed for the user.
+ *   AASSERT  is an arguments assertion, i.e. if it fails "bad argument(s)"
+ *            is printed.
+ *   DEBUGMSG just prints out a message
+ */
+
+#ifndef dNODEBUG
+#ifdef __GNUC__
+#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
+  "assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
+#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
+  msg " in %s()", __FUNCTION__);
+#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
+  msg " in %s()", __FUNCTION__);
+#else
+#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
+  "assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
+#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
+  msg " (%s:%d)", __FILE__,__LINE__);
+#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
+  msg " (%s:%d)", __FILE__,__LINE__);
+#endif
+#else
+#define dIASSERT(a) ;
+#define dUASSERT(a,msg) ;
+#define dDEBUGMSG(msg) ;
+#endif
+#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
+
+/* floating point data type, vector, matrix and quaternion types */
+
+typedef double dReal;
+
+//#if defined(dSINGLE)
+//typedef float dReal;
+//#elif defined(dDOUBLE)
+//typedef double dReal;
+//#else
+//#error You must #define dSINGLE or dDOUBLE
+//#endif
+
+
+/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
+ * (used to compute matrix leading dimensions)
+ */
+#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
+
+/* these types are mainly just used in headers */
+typedef dReal dVector3[4];
+typedef dReal dVector4[4];
+typedef dReal dMatrix3[4*3];
+typedef dReal dMatrix4[4*4];
+typedef dReal dMatrix6[8*6];
+typedef dReal dQuaternion[4];
+
+
+/* precision dependent scalar math functions */
+
+#if defined(dSINGLE)
+
+#define REAL(x) (x ## f)					/* form a constant */
+#define dRecip(x) ((float)(1.0f/(x)))				/* reciprocal */
+#define dSqrt(x) ((float)sqrtf(float(x)))			/* square root */
+#define dRecipSqrt(x) ((float)(1.0f/sqrtf(float(x))))		/* reciprocal square root */
+#define dSin(x) ((float)sinf(float(x)))				/* sine */
+#define dCos(x) ((float)cosf(float(x)))				/* cosine */
+#define dFabs(x) ((float)fabsf(float(x)))			/* absolute value */
+#define dAtan2(y,x) ((float)atan2f(float(y),float(x)))		/* arc tangent with 2 args */
+#define dFMod(a,b) ((float)fmodf(float(a),float(b)))		/* modulo */
+#define dCopySign(a,b) ((float)copysignf(float(a),float(b)))
+
+#elif defined(dDOUBLE)
+
+#define REAL(x) (x)
+#define dRecip(x) (1.0/(x))
+#define dSqrt(x) sqrt(x)
+#define dRecipSqrt(x) (1.0/sqrt(x))
+#define dSin(x) sin(x)
+#define dCos(x) cos(x)
+#define dFabs(x) fabs(x)
+#define dAtan2(y,x) atan2((y),(x))
+#define dFMod(a,b) (fmod((a),(b)))
+#define dCopySign(a,b) (copysign((a),(b)))
+
+#else
+#error You must #define dSINGLE or dDOUBLE
+#endif
+
+
+/* utility */
+
+
+/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
+
+#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
+
+
+/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
+ * up to 15 bytes per allocation, depending on what alloca() returns.
+ */
+
+#define dALLOCA16(n) \
+  ((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
+
+
+/* internal object types (all prefixed with `dx') */
+
+struct dxWorld;		/* dynamics world */
+struct dxSpace;		/* collision space */
+struct dxBody;		/* rigid body (dynamics object) */
+struct dxGeom;		/* geometry (collision object) */
+struct dxJoint;
+struct dxJointNode;
+struct dxJointGroup;
+
+typedef struct dxWorld *dWorldID;
+typedef struct dxSpace *dSpaceID;
+typedef struct dxBody *dBodyID;
+typedef struct dxGeom *dGeomID;
+typedef struct dxJoint *dJointID;
+typedef struct dxJointGroup *dJointGroupID;
+
+
+/* error numbers */
+
+enum {
+  d_ERR_UNKNOWN = 0,		/* unknown error */
+  d_ERR_IASSERT,		/* internal assertion failed */
+  d_ERR_UASSERT,		/* user assertion failed */
+  d_ERR_LCP			/* user assertion failed */
+};
+
+
+/* joint type numbers */
+
+enum {
+  dJointTypeNone = 0,		/* or "unknown" */
+  dJointTypeBall,
+  dJointTypeHinge,
+  dJointTypeSlider,
+  dJointTypeContact,
+  dJointTypeUniversal,
+  dJointTypeHinge2,
+  dJointTypeFixed,
+  dJointTypeNull,
+  dJointTypeAMotor
+};
+
+
+/* an alternative way of setting joint parameters, using joint parameter
+ * structures and member constants. we don't actually do this yet.
+ */
+
+/*
+typedef struct dLimot {
+  int mode;
+  dReal lostop, histop;
+  dReal vel, fmax;
+  dReal fudge_factor;
+  dReal bounce, soft;
+  dReal suspension_erp, suspension_cfm;
+} dLimot;
+
+enum {
+  dLimotLoStop		= 0x0001,
+  dLimotHiStop		= 0x0002,
+  dLimotVel		= 0x0004,
+  dLimotFMax		= 0x0008,
+  dLimotFudgeFactor	= 0x0010,
+  dLimotBounce		= 0x0020,
+  dLimotSoft		= 0x0040
+};
+*/
+
+
+/* standard joint parameter names. why are these here? - because we don't want
+ * to include all the joint function definitions in joint.cpp. hmmmm.
+ * MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
+ * which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
+ * paste between these two.
+ */
+
+#define D_ALL_PARAM_NAMES(start) \
+  /* parameters for limits and motors */ \
+  dParamLoStop = start, \
+  dParamHiStop, \
+  dParamVel, \
+  dParamFMax, \
+  dParamFudgeFactor, \
+  dParamBounce, \
+  dParamCFM, \
+  dParamStopERP, \
+  dParamStopCFM, \
+  /* parameters for suspension */ \
+  dParamSuspensionERP, \
+  dParamSuspensionCFM,
+
+#define D_ALL_PARAM_NAMES_X(start,x) \
+  /* parameters for limits and motors */ \
+  dParamLoStop ## x = start, \
+  dParamHiStop ## x, \
+  dParamVel ## x, \
+  dParamFMax ## x, \
+  dParamFudgeFactor ## x, \
+  dParamBounce ## x, \
+  dParamCFM ## x, \
+  dParamStopERP ## x, \
+  dParamStopCFM ## x, \
+  /* parameters for suspension */ \
+  dParamSuspensionERP ## x, \
+  dParamSuspensionCFM ## x,
+
+enum {
+  D_ALL_PARAM_NAMES(0)
+  D_ALL_PARAM_NAMES_X(0x100,2)
+  D_ALL_PARAM_NAMES_X(0x200,3)
+
+  /* add a multiple of this constant to the basic parameter numbers to get
+   * the parameters for the second, third etc axes.
+   */
+  dParamGroup=0x100
+};
+
+
+/* angular motor mode numbers */
+
+enum{
+  dAMotorUser = 0,
+  dAMotorEuler = 1
+};
+
+
+/* joint force feedback information */
+
+typedef struct dJointFeedback {
+  dVector3 f1;		/* force applied to body 1 */
+  dVector3 t1;		/* torque applied to body 1 */
+  dVector3 f2;		/* force applied to body 2 */
+  dVector3 t2;		/* torque applied to body 2 */
+} dJointFeedback;
+
+
+/* private functions that must be implemented by the collision library:
+ * (1) indicate that a geom has moved, (2) get the next geom in a body list.
+ * these functions are called whenever the position of geoms connected to a
+ * body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
+ * when the ODE step function updates the body state.
+ */
+
+void dGeomMoved (dGeomID);
+dGeomID dGeomGetBodyNext (dGeomID);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/compatibility.h xmoto-0.1.10-patched/src/ode/compatibility.h
--- xmoto-0.1.10/src/ode/compatibility.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/compatibility.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,40 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_COMPATIBILITY_H_
+#define _ODE_COMPATIBILITY_H_
+
+/*
+ * ODE's backward compatibility system ensures that as ODE's API
+ * evolves, user code will not break.
+ */
+
+/*
+ * These new rotation function names are more consistent with the
+ * rest of the API.
+ */
+#define dQtoR(q,R) dRfromQ((R),(q))
+#define dRtoQ(R,q) dQfromR((q),(R))
+#define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q))
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/config.h xmoto-0.1.10-patched/src/ode/config.h
--- xmoto-0.1.10/src/ode/config.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/config.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,60 @@
+/* per-machine configuration. this file is automatically generated. */
+
+#ifndef _ODE_CONFIG_H_
+#define _ODE_CONFIG_H_
+
+/* standard system headers */
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <string.h>
+#include <stdarg.h>
+#include <malloc.h>
+#include <float.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* is this a pentium on a gcc-based platform? */
+/* #define PENTIUM 1 -- not a pentium */
+
+/* integer types (we assume int >= 32 bits) */
+typedef char int8;
+typedef unsigned char uint8;
+typedef short int16;
+typedef unsigned short uint16;
+typedef int int32;
+typedef unsigned int uint32;
+
+/* an integer type that we can safely cast a pointer to and
+ * from without loss of bits.
+ */
+typedef unsigned int intP;
+
+/* select the base floating point type */
+#define dDOUBLE 1
+
+/* the floating point infinity */
+#define dInfinity DBL_MAX
+
+
+
+
+/* available functions */
+#if defined(_MSC_VER) 
+  #define copysignf _copysign
+  #define copysign _copysign
+  #define snprintf _snprintf
+  #define vsnprintf _vsnprintf
+#else
+  #define copysignf copysign
+  #define copysign copysign
+  #define snprintf snprintf
+  #define vsnprintf vsnprintf
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+#endif
diff -Naur xmoto-0.1.10/src/ode/contact.h xmoto-0.1.10-patched/src/ode/contact.h
--- xmoto-0.1.10/src/ode/contact.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/contact.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,90 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_CONTACT_H_
+#define _ODE_CONTACT_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+enum {
+  dContactMu2		= 0x001,
+  dContactFDir1		= 0x002,
+  dContactBounce	= 0x004,
+  dContactSoftERP	= 0x008,
+  dContactSoftCFM	= 0x010,
+  dContactMotion1	= 0x020,
+  dContactMotion2	= 0x040,
+  dContactSlip1		= 0x080,
+  dContactSlip2		= 0x100,
+
+  dContactApprox0	= 0x0000,
+  dContactApprox1_1	= 0x1000,
+  dContactApprox1_2	= 0x2000,
+  dContactApprox1	= 0x3000
+};
+
+
+typedef struct dSurfaceParameters {
+  /* must always be defined */
+  int mode;
+  dReal mu;
+
+  /* only defined if the corresponding flag is set in mode */
+  dReal mu2;
+  dReal bounce;
+  dReal bounce_vel;
+  dReal soft_erp;
+  dReal soft_cfm;
+  dReal motion1,motion2;
+  dReal slip1,slip2;
+} dSurfaceParameters;
+
+
+/* contact info set by collision functions */
+
+typedef struct dContactGeom {
+  dVector3 pos;
+  dVector3 normal;
+  dReal depth;
+  dGeomID g1,g2;
+} dContactGeom;
+
+
+/* contact info used by contact joint */
+
+typedef struct dContact {
+  dSurfaceParameters surface;
+  dContactGeom geom;
+  dVector3 fdir1;
+} dContact;
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/error.h xmoto-0.1.10-patched/src/ode/error.h
--- xmoto-0.1.10/src/ode/error.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/error.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,63 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* this comes from the `reuse' library. copy any changes back to the source */
+
+#ifndef _ODE_ERROR_H_
+#define _ODE_ERROR_H_
+
+#include <ode/config.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* all user defined error functions have this type. error and debug functions
+ * should not return.
+ */
+typedef void dMessageFunction (int errnum, const char *msg, va_list ap);
+
+/* set a new error, debug or warning handler. if fn is 0, the default handlers
+ * are used.
+ */
+void dSetErrorHandler (dMessageFunction *fn);
+void dSetDebugHandler (dMessageFunction *fn);
+void dSetMessageHandler (dMessageFunction *fn);
+
+/* return the current error, debug or warning handler. if the return value is
+ * 0, the default handlers are in place.
+ */
+dMessageFunction *dGetErrorHandler();
+dMessageFunction *dGetDebugHandler();
+dMessageFunction *dGetMessageHandler();
+
+/* generate a fatal error, debug trap or a message. */
+void dError (int num, const char *msg, ...);
+void dDebug (int num, const char *msg, ...);
+void dMessage (int num, const char *msg, ...);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/export-dif.h xmoto-0.1.10-patched/src/ode/export-dif.h
--- xmoto-0.1.10/src/ode/export-dif.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/export-dif.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,32 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_EXPORT_DIF_
+#define _ODE_EXPORT_DIF_
+
+#include <ode/common.h>
+
+
+void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/mass.h xmoto-0.1.10-patched/src/ode/mass.h
--- xmoto-0.1.10/src/ode/mass.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/mass.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,107 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_MASS_H_
+#define _ODE_MASS_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct dMass;
+typedef struct dMass dMass;
+
+
+void dMassSetZero (dMass *);
+
+void dMassSetParameters (dMass *, dReal themass,
+			 dReal cgx, dReal cgy, dReal cgz,
+			 dReal I11, dReal I22, dReal I33,
+			 dReal I12, dReal I13, dReal I23);
+
+void dMassSetSphere (dMass *, dReal density, dReal radius);
+void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
+
+void dMassSetCappedCylinder (dMass *, dReal density, int direction,
+			     dReal radius, dReal length);
+void dMassSetCappedCylinderTotal (dMass *, dReal total_mass, int direction,
+				  dReal radius, dReal length);
+
+void dMassSetCylinder (dMass *, dReal density, int direction,
+		       dReal radius, dReal length);
+void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
+			    dReal radius, dReal length);
+
+void dMassSetBox (dMass *, dReal density,
+		  dReal lx, dReal ly, dReal lz);
+void dMassSetBoxTotal (dMass *, dReal total_mass,
+		       dReal lx, dReal ly, dReal lz);
+
+void dMassAdjust (dMass *, dReal newmass);
+
+void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
+
+void dMassRotate (dMass *, const dMatrix3 R);
+
+void dMassAdd (dMass *a, const dMass *b);
+
+
+
+struct dMass {
+  dReal mass;
+  dVector4 c;
+  dMatrix3 I;
+
+#ifdef __cplusplus
+  dMass()
+    { dMassSetZero (this); }
+  void setZero()
+    { dMassSetZero (this); }
+  void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
+		      dReal I11, dReal I22, dReal I33,
+		      dReal I12, dReal I13, dReal I23)
+    { dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
+  void setSphere (dReal density, dReal radius)
+    { dMassSetSphere (this,density,radius); }
+  void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
+    { dMassSetCappedCylinder (this,density,direction,a,b); }
+  void setBox (dReal density, dReal lx, dReal ly, dReal lz)
+    { dMassSetBox (this,density,lx,ly,lz); }
+  void adjust (dReal newmass)
+    { dMassAdjust (this,newmass); }
+  void translate (dReal x, dReal y, dReal z)
+    { dMassTranslate (this,x,y,z); }
+  void rotate (const dMatrix3 R)
+    { dMassRotate (this,R); }
+  void add (const dMass *b)
+    { dMassAdd (this,b); }
+#endif
+};
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/matrix.h xmoto-0.1.10-patched/src/ode/matrix.h
--- xmoto-0.1.10/src/ode/matrix.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/matrix.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,194 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* optimized and unoptimized vector and matrix functions */
+
+#ifndef _ODE_MATRIX_H_
+#define _ODE_MATRIX_H_
+
+#include <ode/common.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* set a vector/matrix of size n to all zeros, or to a specific value. */
+
+void dSetZero (dReal *a, int n);
+void dSetValue (dReal *a, int n, dReal value);
+
+
+/* get the dot product of two n*1 vectors. if n <= 0 then
+ * zero will be returned (in which case a and b need not be valid).
+ */
+
+dReal dDot (const dReal *a, const dReal *b, int n);
+
+
+/* get the dot products of (a0,b), (a1,b), etc and return them in outsum.
+ * all vectors are n*1. if n <= 0 then zeroes will be returned (in which case
+ * the input vectors need not be valid). this function is somewhat faster
+ * than calling dDot() for all of the combinations separately.
+ */
+
+/* NOT INCLUDED in the library for now.
+void dMultidot2 (const dReal *a0, const dReal *a1,
+		 const dReal *b, dReal *outsum, int n);
+*/
+
+
+/* matrix multiplication. all matrices are stored in standard row format.
+ * the digit refers to the argument that is transposed:
+ *   0:   A = B  * C   (sizes: A:p*r B:p*q C:q*r)
+ *   1:   A = B' * C   (sizes: A:p*r B:q*p C:q*r)
+ *   2:   A = B  * C'  (sizes: A:p*r B:p*q C:r*q)
+ * case 1,2 are equivalent to saying that the operation is A=B*C but
+ * B or C are stored in standard column format.
+ */
+
+void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
+
+
+/* do an in-place cholesky decomposition on the lower triangle of the n*n
+ * symmetric matrix A (which is stored by rows). the resulting lower triangle
+ * will be such that L*L'=A. return 1 on success and 0 on failure (on failure
+ * the matrix is not positive definite).
+ */
+
+int dFactorCholesky (dReal *A, int n);
+
+
+/* solve for x: L*L'*x = b, and put the result back into x.
+ * L is size n*n, b is size n*1. only the lower triangle of L is considered.
+ */
+
+void dSolveCholesky (const dReal *L, dReal *b, int n);
+
+
+/* compute the inverse of the n*n positive definite matrix A and put it in
+ * Ainv. this is not especially fast. this returns 1 on success (A was
+ * positive definite) or 0 on failure (not PD).
+ */
+
+int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n);
+
+
+/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no).
+ * positive definite means that x'*A*x > 0 for any x. this performs a
+ * cholesky decomposition of A. if the decomposition fails then the matrix
+ * is not positive definite. A is stored by rows. A is not altered.
+ */
+
+int dIsPositiveDefinite (const dReal *A, int n);
+
+
+/* factorize a matrix A into L*D*L', where L is lower triangular with ones on
+ * the diagonal, and D is diagonal.
+ * A is an n*n matrix stored by rows, with a leading dimension of n rounded
+ * up to 4. L is written into the strict lower triangle of A (the ones are not
+ * written) and the reciprocal of the diagonal elements of D are written into
+ * d.
+ */
+void dFactorLDLT (dReal *A, dReal *d, int n, int nskip);
+
+
+/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal,
+ * and x,b are n*1. b is overwritten with x.
+ * the leading dimension of L is `nskip'.
+ */
+void dSolveL1 (const dReal *L, dReal *b, int n, int nskip);
+
+
+/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal,
+ * and x,b are n*1. b is overwritten with x.
+ * the leading dimension of L is `nskip'.
+ */
+void dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
+
+
+/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */
+
+void dVectorScale (dReal *a, const dReal *d, int n);
+
+
+/* given `L', a n*n lower triangular matrix with ones on the diagonal,
+ * and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix
+ * D, solve L*D*L'*x=b where x,b are n*1. x overwrites b.
+ * the leading dimension of L is `nskip'.
+ */
+
+void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip);
+
+
+/* given an L*D*L' factorization of an n*n matrix A, return the updated
+ * factorization L2*D2*L2' of A plus the following "top left" matrix:
+ *
+ *    [ b a' ]     <-- b is a[0]
+ *    [ a 0  ]     <-- a is a[1..n-1]
+ *
+ *   - L has size n*n, its leading dimension is nskip. L is lower triangular
+ *     with ones on the diagonal. only the lower triangle of L is referenced.
+ *   - d has size n. d contains the reciprocal diagonal elements of D.
+ *   - a has size n.
+ * the result is written into L, except that the left column of L and d[0]
+ * are not actually modified. see ldltaddTL.m for further comments. 
+ */
+void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip);
+
+
+/* given an L*D*L' factorization of a permuted matrix A, produce a new
+ * factorization for row and column `r' removed.
+ *   - A has size n1*n1, its leading dimension in nskip. A is symmetric and
+ *     positive definite. only the lower triangle of A is referenced.
+ *     A itself may actually be an array of row pointers.
+ *   - L has size n2*n2, its leading dimension in nskip. L is lower triangular
+ *     with ones on the diagonal. only the lower triangle of L is referenced.
+ *   - d has size n2. d contains the reciprocal diagonal elements of D.
+ *   - p is a permutation vector. it contains n2 indexes into A. each index
+ *     must be in the range 0..n1-1.
+ *   - r is the row/column of L to remove.
+ * the new L will be written within the old L, i.e. will have the same leading
+ * dimension. the last row and column of L, and the last element of d, are
+ * undefined on exit.
+ *
+ * a fast O(n^2) algorithm is used. see ldltremove.m for further comments.
+ */
+void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
+		  int n1, int n2, int r, int nskip);
+
+
+/* given an n*n matrix A (with leading dimension nskip), remove the r'th row
+ * and column by moving elements. the new matrix will have the same leading
+ * dimension. the last row and column of A are untouched on exit.
+ */
+void dRemoveRowCol (dReal *A, int n, int nskip, int r);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/memory.h xmoto-0.1.10-patched/src/ode/memory.h
--- xmoto-0.1.10/src/ode/memory.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/memory.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,59 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* this comes from the `reuse' library. copy any changes back to the source */
+
+#ifndef _ODE_MEMORY_H_
+#define _ODE_MEMORY_H_
+
+#include "ode/config.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* function types to allocate and free memory */
+typedef void * dAllocFunction (size_t size);
+typedef void * dReallocFunction (void *ptr, size_t oldsize, size_t newsize);
+typedef void dFreeFunction (void *ptr, size_t size);
+
+/* set new memory management functions. if fn is 0, the default handlers are
+ * used. */
+void dSetAllocHandler (dAllocFunction *fn);
+void dSetReallocHandler (dReallocFunction *fn);
+void dSetFreeHandler (dFreeFunction *fn);
+
+/* get current memory management functions */
+dAllocFunction *dGetAllocHandler ();
+dReallocFunction *dGetReallocHandler ();
+dFreeFunction *dGetFreeHandler ();
+
+/* allocate and free memory. */
+void * dAlloc (size_t size);
+void * dRealloc (void *ptr, size_t oldsize, size_t newsize);
+void dFree (void *ptr, size_t size);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/misc.h xmoto-0.1.10-patched/src/ode/misc.h
--- xmoto-0.1.10/src/ode/misc.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/misc.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,85 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* miscellaneous math functions. these are mostly useful for testing */
+
+#ifndef _ODE_MISC_H_
+#define _ODE_MISC_H_
+
+#include <ode/common.h>
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* return 1 if the random number generator is working. */
+int dTestRand();
+
+/* return next 32 bit random number. this uses a not-very-random linear
+ * congruential method.
+ */
+unsigned long dRand();
+
+/* get and set the current random number seed. */
+unsigned long  dRandGetSeed();
+void dRandSetSeed (unsigned long s);
+
+/* return a random integer between 0..n-1. the distribution will get worse
+ * as n approaches 2^32.
+ */
+int dRandInt (int n);
+
+/* return a random real number between 0..1 */
+dReal dRandReal();
+
+/* print out a matrix */
+#ifdef __cplusplus
+void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ",
+		   FILE *f=stdout);
+#else
+void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f);
+#endif
+
+/* make a random vector with entries between +/- range. A has n elements. */
+void dMakeRandomVector (dReal *A, int n, dReal range);
+
+/* make a random matrix with entries between +/- range. A has size n*m. */
+void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
+
+/* clear the upper triangle of a square matrix */
+void dClearUpperTriangle (dReal *A, int n);
+
+/* return the maximum element difference between the two n*m matrices */
+dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m);
+
+/* return the maximum element difference between the lower triangle of two
+ * n*n matrices */
+dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/objects.h xmoto-0.1.10-patched/src/ode/objects.h
--- xmoto-0.1.10/src/ode/objects.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/objects.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,264 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_OBJECTS_H_
+#define _ODE_OBJECTS_H_
+
+#include <ode/common.h>
+#include <ode/mass.h>
+#include <ode/contact.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* world */
+
+dWorldID dWorldCreate();
+void dWorldDestroy (dWorldID);
+
+void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
+void dWorldGetGravity (dWorldID, dVector3 gravity);
+void dWorldSetERP (dWorldID, dReal erp);
+dReal dWorldGetERP (dWorldID);
+void dWorldSetCFM (dWorldID, dReal cfm);
+dReal dWorldGetCFM (dWorldID);
+void dWorldStep (dWorldID, dReal stepsize);
+void dWorldImpulseToForce (dWorldID, dReal stepsize,
+			   dReal ix, dReal iy, dReal iz, dVector3 force);
+
+/* World QuickStep functions */
+
+void dWorldQuickStep (dWorldID w, dReal stepsize);
+void dWorldSetQuickStepNumIterations (dWorldID, int num);
+int dWorldGetQuickStepNumIterations (dWorldID);
+void dWorldSetQuickStepW (dWorldID, dReal param);
+dReal dWorldGetQuickStepW (dWorldID);
+
+/* World contact parameter functions */
+
+void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel);
+dReal dWorldGetContactMaxCorrectingVel (dWorldID);
+void dWorldSetContactSurfaceLayer (dWorldID, dReal depth);
+dReal dWorldGetContactSurfaceLayer (dWorldID);
+
+/* StepFast1 functions */
+
+void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations);
+void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth);
+int dWorldGetAutoEnableDepthSF1(dWorldID);
+
+/* Auto-disable functions */
+
+dReal dWorldGetAutoDisableLinearThreshold (dWorldID);
+void  dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold);
+dReal dWorldGetAutoDisableAngularThreshold (dWorldID);
+void  dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold);
+int   dWorldGetAutoDisableSteps (dWorldID);
+void  dWorldSetAutoDisableSteps (dWorldID, int steps);
+dReal dWorldGetAutoDisableTime (dWorldID);
+void  dWorldSetAutoDisableTime (dWorldID, dReal time);
+int   dWorldGetAutoDisableFlag (dWorldID);
+void  dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable);
+
+dReal dBodyGetAutoDisableLinearThreshold (dBodyID);
+void  dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_threshold);
+dReal dBodyGetAutoDisableAngularThreshold (dBodyID);
+void  dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_threshold);
+int   dBodyGetAutoDisableSteps (dBodyID);
+void  dBodySetAutoDisableSteps (dBodyID, int steps);
+dReal dBodyGetAutoDisableTime (dBodyID);
+void  dBodySetAutoDisableTime (dBodyID, dReal time);
+int   dBodyGetAutoDisableFlag (dBodyID);
+void  dBodySetAutoDisableFlag (dBodyID, int do_auto_disable);
+void  dBodySetAutoDisableDefaults (dBodyID);
+
+/* bodies */
+
+dBodyID dBodyCreate (dWorldID);
+void dBodyDestroy (dBodyID);
+
+void  dBodySetData (dBodyID, void *data);
+void *dBodyGetData (dBodyID);
+
+void dBodySetPosition   (dBodyID, dReal x, dReal y, dReal z);
+void dBodySetRotation   (dBodyID, const dMatrix3 R);
+void dBodySetQuaternion (dBodyID, const dQuaternion q);
+void dBodySetLinearVel  (dBodyID, dReal x, dReal y, dReal z);
+void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
+const dReal * dBodyGetPosition   (dBodyID);
+const dReal * dBodyGetRotation   (dBodyID);	/* ptr to 4x3 rot matrix */
+const dReal * dBodyGetQuaternion (dBodyID);
+const dReal * dBodyGetLinearVel  (dBodyID);
+const dReal * dBodyGetAngularVel (dBodyID);
+
+void dBodySetMass (dBodyID, const dMass *mass);
+void dBodyGetMass (dBodyID, dMass *mass);
+
+void dBodyAddForce            (dBodyID, dReal fx, dReal fy, dReal fz);
+void dBodyAddTorque           (dBodyID, dReal fx, dReal fy, dReal fz);
+void dBodyAddRelForce         (dBodyID, dReal fx, dReal fy, dReal fz);
+void dBodyAddRelTorque        (dBodyID, dReal fx, dReal fy, dReal fz);
+void dBodyAddForceAtPos       (dBodyID, dReal fx, dReal fy, dReal fz,
+			                dReal px, dReal py, dReal pz);
+void dBodyAddForceAtRelPos    (dBodyID, dReal fx, dReal fy, dReal fz,
+			                dReal px, dReal py, dReal pz);
+void dBodyAddRelForceAtPos    (dBodyID, dReal fx, dReal fy, dReal fz,
+			                dReal px, dReal py, dReal pz);
+void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
+			                dReal px, dReal py, dReal pz);
+
+const dReal * dBodyGetForce   (dBodyID);
+const dReal * dBodyGetTorque  (dBodyID);
+void dBodySetForce  (dBodyID b, dReal x, dReal y, dReal z);
+void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
+
+void dBodyGetRelPointPos    (dBodyID, dReal px, dReal py, dReal pz,
+			     dVector3 result);
+void dBodyGetRelPointVel    (dBodyID, dReal px, dReal py, dReal pz,
+			     dVector3 result);
+void dBodyGetPointVel       (dBodyID, dReal px, dReal py, dReal pz,
+			     dVector3 result);
+void dBodyGetPosRelPoint    (dBodyID, dReal px, dReal py, dReal pz,
+			     dVector3 result);
+void dBodyVectorToWorld     (dBodyID, dReal px, dReal py, dReal pz,
+			     dVector3 result);
+void dBodyVectorFromWorld   (dBodyID, dReal px, dReal py, dReal pz,
+			     dVector3 result);
+
+void dBodySetFiniteRotationMode (dBodyID, int mode);
+void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
+
+int dBodyGetFiniteRotationMode (dBodyID);
+void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
+
+int dBodyGetNumJoints (dBodyID b);
+dJointID dBodyGetJoint (dBodyID, int index);
+
+void dBodyEnable (dBodyID);
+void dBodyDisable (dBodyID);
+int dBodyIsEnabled (dBodyID);
+
+void dBodySetGravityMode (dBodyID b, int mode);
+int dBodyGetGravityMode (dBodyID b);
+
+
+/* joints */
+
+dJointID dJointCreateBall (dWorldID, dJointGroupID);
+dJointID dJointCreateHinge (dWorldID, dJointGroupID);
+dJointID dJointCreateSlider (dWorldID, dJointGroupID);
+dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
+dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
+dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
+dJointID dJointCreateFixed (dWorldID, dJointGroupID);
+dJointID dJointCreateNull (dWorldID, dJointGroupID);
+dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
+
+void dJointDestroy (dJointID);
+
+dJointGroupID dJointGroupCreate (int max_size);
+void dJointGroupDestroy (dJointGroupID);
+void dJointGroupEmpty (dJointGroupID);
+
+void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
+void dJointSetData (dJointID, void *data);
+void *dJointGetData (dJointID);
+int dJointGetType (dJointID);
+dBodyID dJointGetBody (dJointID, int index);
+
+void dJointSetFeedback (dJointID, dJointFeedback *);
+dJointFeedback *dJointGetFeedback (dJointID);
+
+void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHingeParam (dJointID, int parameter, dReal value);
+void dJointAddHingeTorque(dJointID joint, dReal torque);
+void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
+void dJointSetSliderParam (dJointID, int parameter, dReal value);
+void dJointAddSliderForce(dJointID joint, dReal force);
+void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
+void dJointSetHinge2Param (dJointID, int parameter, dReal value);
+void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
+void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
+void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
+void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
+void dJointSetUniversalParam (dJointID, int parameter, dReal value);
+void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
+void dJointSetFixed (dJointID);
+void dJointSetAMotorNumAxes (dJointID, int num);
+void dJointSetAMotorAxis (dJointID, int anum, int rel,
+			  dReal x, dReal y, dReal z);
+void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
+void dJointSetAMotorParam (dJointID, int parameter, dReal value);
+void dJointSetAMotorMode (dJointID, int mode);
+void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
+
+void dJointGetBallAnchor (dJointID, dVector3 result);
+void dJointGetBallAnchor2 (dJointID, dVector3 result);
+void dJointGetHingeAnchor (dJointID, dVector3 result);
+void dJointGetHingeAnchor2 (dJointID, dVector3 result);
+void dJointGetHingeAxis (dJointID, dVector3 result);
+dReal dJointGetHingeParam (dJointID, int parameter);
+dReal dJointGetHingeAngle (dJointID);
+dReal dJointGetHingeAngleRate (dJointID);
+dReal dJointGetSliderPosition (dJointID);
+dReal dJointGetSliderPositionRate (dJointID);
+void dJointGetSliderAxis (dJointID, dVector3 result);
+dReal dJointGetSliderParam (dJointID, int parameter);
+void dJointGetHinge2Anchor (dJointID, dVector3 result);
+void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
+void dJointGetHinge2Axis1 (dJointID, dVector3 result);
+void dJointGetHinge2Axis2 (dJointID, dVector3 result);
+dReal dJointGetHinge2Param (dJointID, int parameter);
+dReal dJointGetHinge2Angle1 (dJointID);
+dReal dJointGetHinge2Angle1Rate (dJointID);
+dReal dJointGetHinge2Angle2Rate (dJointID);
+void dJointGetUniversalAnchor (dJointID, dVector3 result);
+void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
+void dJointGetUniversalAxis1 (dJointID, dVector3 result);
+void dJointGetUniversalAxis2 (dJointID, dVector3 result);
+dReal dJointGetUniversalParam (dJointID, int parameter);
+dReal dJointGetUniversalAngle1 (dJointID);
+dReal dJointGetUniversalAngle2 (dJointID);
+dReal dJointGetUniversalAngle1Rate (dJointID);
+dReal dJointGetUniversalAngle2Rate (dJointID);
+int dJointGetAMotorNumAxes (dJointID);
+void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
+int dJointGetAMotorAxisRel (dJointID, int anum);
+dReal dJointGetAMotorAngle (dJointID, int anum);
+dReal dJointGetAMotorAngleRate (dJointID, int anum);
+dReal dJointGetAMotorParam (dJointID, int parameter);
+int dJointGetAMotorMode (dJointID);
+
+int dAreConnected (dBodyID, dBodyID);
+int dAreConnectedExcluding (dBodyID, dBodyID, int joint_type);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/odecpp_collision.h xmoto-0.1.10-patched/src/ode/odecpp_collision.h
--- xmoto-0.1.10/src/ode/odecpp_collision.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/odecpp_collision.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,346 @@
+/*************************************************************************
+ *									 *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.	 *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org 	 *
+ *									 *
+ * This library is free software; you can redistribute it and/or	 *
+ * modify it under the terms of EITHER: 				 *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *	 Software Foundation; either version 2.1 of the License, or (at  *
+ *	 your option) any later version. The text of the GNU Lesser	 *
+ *	 General Public License is included with this library in the	 *
+ *	 file LICENSE.TXT.						 *
+ *   (2) The BSD-style license that is included with this library in	 *
+ *	 the file LICENSE-BSD.TXT.					 *
+ *									 *
+ * This library is distributed in the hope that it will be useful,	 *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of	 *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files	 *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.			 *
+ *									 *
+ *************************************************************************/
+
+/* C++ interface for new collision API */
+
+
+#ifndef _ODE_ODECPP_COLLISION_H_
+#define _ODE_ODECPP_COLLISION_H_
+#ifdef __cplusplus
+
+#include <ode/error.h>
+
+
+class dGeom {
+  // intentionally undefined, don't use these
+  dGeom (dGeom &);
+  void operator= (dGeom &);
+
+protected:
+  dGeomID _id;
+
+public:
+  dGeom()
+    { _id = 0; }
+  ~dGeom()
+    { if (_id) dGeomDestroy (_id); }
+
+  dGeomID id() const
+    { return _id; }
+  operator dGeomID() const
+    { return _id; }
+
+  void destroy() {
+    if (_id) dGeomDestroy (_id);
+    _id = 0;
+  }
+
+  int getClass() const
+    { return dGeomGetClass (_id); }
+
+  dSpaceID getSpace() const
+    { return dGeomGetSpace (_id); }
+
+  void setData (void *data)
+    { dGeomSetData (_id,data); }
+  void *getData() const
+    { return dGeomGetData (_id); }
+
+  void setBody (dBodyID b)
+    { dGeomSetBody (_id,b); }
+  dBodyID getBody() const
+    { return dGeomGetBody (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dGeomSetPosition (_id,x,y,z); }
+  const dReal * getPosition() const
+    { return dGeomGetPosition (_id); }
+
+  void setRotation (const dMatrix3 R)
+    { dGeomSetRotation (_id,R); }
+  const dReal * getRotation() const
+    { return dGeomGetRotation (_id); }
+    
+  void setQuaternion (const dQuaternion quat)
+    { dGeomSetQuaternion (_id,quat); }
+  void getQuaternion (dQuaternion quat) const
+    { dGeomGetQuaternion (_id,quat); }
+
+  void getAABB (dReal aabb[6]) const
+    { dGeomGetAABB (_id, aabb); }
+
+  int isSpace()
+    { return dGeomIsSpace (_id); }
+
+  void setCategoryBits (unsigned long bits)
+    { dGeomSetCategoryBits (_id, bits); }
+  void setCollideBits (unsigned long bits)
+    { dGeomSetCollideBits (_id, bits); }
+  unsigned long getCategoryBits()
+    { return dGeomGetCategoryBits (_id); }
+  unsigned long getCollideBits()
+    { return dGeomGetCollideBits (_id); }
+
+  void enable()
+    { dGeomEnable (_id); }
+  void disable()
+    { dGeomDisable (_id); }
+  int isEnabled()
+    { return dGeomIsEnabled (_id); }
+
+  void collide2 (dGeomID g, void *data, dNearCallback *callback)
+    { dSpaceCollide2 (_id,g,data,callback); }
+};
+
+
+class dSpace : public dGeom {
+  // intentionally undefined, don't use these
+  dSpace (dSpace &);
+  void operator= (dSpace &);
+
+protected:
+  // the default constructor is protected so that you
+  // can't instance this class. you must instance one
+  // of its subclasses instead.
+  dSpace () { _id = 0; }
+
+public:
+  dSpaceID id() const
+    { return (dSpaceID) _id; }
+  operator dSpaceID() const
+    { return (dSpaceID) _id; }
+
+  void setCleanup (int mode)
+    { dSpaceSetCleanup (id(), mode); }
+  int getCleanup()
+    { return dSpaceGetCleanup (id()); }
+
+  void add (dGeomID x)
+    { dSpaceAdd (id(), x); }
+  void remove (dGeomID x)
+    { dSpaceRemove (id(), x); }
+  int query (dGeomID x)
+    { return dSpaceQuery (id(),x); }
+
+  int getNumGeoms()
+    { return dSpaceGetNumGeoms (id()); }
+  dGeomID getGeom (int i)
+    { return dSpaceGetGeom (id(),i); }
+
+  void collide (void *data, dNearCallback *callback)
+    { dSpaceCollide (id(),data,callback); }
+};
+
+
+class dSimpleSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dSimpleSpace (dSimpleSpace &);
+  void operator= (dSimpleSpace &);
+
+public:
+  dSimpleSpace (dSpaceID space)
+    { _id = (dGeomID) dSimpleSpaceCreate (space); }
+};
+
+
+class dHashSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dHashSpace (dHashSpace &);
+  void operator= (dHashSpace &);
+
+public:
+  dHashSpace (dSpaceID space)
+    { _id = (dGeomID) dHashSpaceCreate (space); }
+  void setLevels (int minlevel, int maxlevel)
+    { dHashSpaceSetLevels (id(),minlevel,maxlevel); }
+};
+
+
+class dQuadTreeSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dQuadTreeSpace (dQuadTreeSpace &);
+  void operator= (dQuadTreeSpace &);
+
+public:
+  dQuadTreeSpace (dSpaceID space, dVector3 center, dVector3 extents, int depth)
+    { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); }
+};
+
+
+class dSphere : public dGeom {
+  // intentionally undefined, don't use these
+  dSphere (dSphere &);
+  void operator= (dSphere &);
+
+public:
+  dSphere () { }
+  dSphere (dSpaceID space, dReal radius)
+    { _id = dCreateSphere (space, radius); }
+
+  void create (dSpaceID space, dReal radius) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateSphere (space, radius);
+  }
+
+  void setRadius (dReal radius)
+    { dGeomSphereSetRadius (_id, radius); }
+  dReal getRadius() const
+    { return dGeomSphereGetRadius (_id); }
+};
+
+
+class dBox : public dGeom {
+  // intentionally undefined, don't use these
+  dBox (dBox &);
+  void operator= (dBox &);
+
+public:
+  dBox () { }
+  dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
+    { _id = dCreateBox (space,lx,ly,lz); }
+
+  void create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateBox (space,lx,ly,lz);
+  }
+
+  void setLengths (dReal lx, dReal ly, dReal lz)
+    { dGeomBoxSetLengths (_id, lx, ly, lz); }
+  void getLengths (dVector3 result) const
+    { dGeomBoxGetLengths (_id,result); }
+};
+
+
+class dPlane : public dGeom {
+  // intentionally undefined, don't use these
+  dPlane (dPlane &);
+  void operator= (dPlane &);
+
+public:
+  dPlane() { }
+  dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
+    { _id = dCreatePlane (space,a,b,c,d); }
+
+  void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreatePlane (space,a,b,c,d);
+  }
+
+  void setParams (dReal a, dReal b, dReal c, dReal d)
+    { dGeomPlaneSetParams (_id, a, b, c, d); }
+  void getParams (dVector4 result) const
+    { dGeomPlaneGetParams (_id,result); }
+};
+
+
+class dCCylinder : public dGeom {
+  // intentionally undefined, don't use these
+  dCCylinder (dCCylinder &);
+  void operator= (dCCylinder &);
+
+public:
+  dCCylinder() { }
+  dCCylinder (dSpaceID space, dReal radius, dReal length)
+    { _id = dCreateCCylinder (space,radius,length); }
+
+  void create (dSpaceID space, dReal radius, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateCCylinder (space,radius,length);
+  }
+
+  void setParams (dReal radius, dReal length)
+    { dGeomCCylinderSetParams (_id, radius, length); }
+  void getParams (dReal *radius, dReal *length) const
+    { dGeomCCylinderGetParams (_id,radius,length); }
+};
+
+
+class dRay : public dGeom {
+  // intentionally undefined, don't use these
+  dRay (dRay &);
+  void operator= (dRay &);
+
+public:
+  dRay() { }
+  dRay (dSpaceID space, dReal length)
+    { _id = dCreateRay (space,length); }
+
+  void create (dSpaceID space, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateRay (space,length);
+  }
+
+  void setLength (dReal length)
+    { dGeomRaySetLength (_id, length); }
+  dReal getLength()
+    { return dGeomRayGetLength (_id); }
+
+  void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz)
+    { dGeomRaySet (_id, px, py, pz, dx, dy, dz); }
+  void get (dVector3 start, dVector3 dir)
+    { dGeomRayGet (_id, start, dir); }
+
+  void setParams (int firstContact, int backfaceCull)
+    { dGeomRaySetParams (_id, firstContact, backfaceCull); }
+  void getParams (int *firstContact, int *backfaceCull)
+    { dGeomRayGetParams (_id, firstContact, backfaceCull); }
+  void setClosestHit (int closestHit)
+    { dGeomRaySetClosestHit (_id, closestHit); }
+  int getClosestHit()
+    { return dGeomRayGetClosestHit (_id); }
+};
+
+
+class dGeomTransform : public dGeom {
+  // intentionally undefined, don't use these
+  dGeomTransform (dGeomTransform &);
+  void operator= (dGeomTransform &);
+
+public:
+  dGeomTransform() { }
+  dGeomTransform (dSpaceID space)
+    { _id = dCreateGeomTransform (space); }
+
+  void create (dSpaceID space=0) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateGeomTransform (space);
+  }
+
+  void setGeom (dGeomID geom)
+    { dGeomTransformSetGeom (_id, geom); }
+  dGeomID getGeom() const
+    { return dGeomTransformGetGeom (_id); }
+
+  void setCleanup (int mode)
+    { dGeomTransformSetCleanup (_id,mode); }
+  int getCleanup ()
+    { return dGeomTransformGetCleanup (_id); }
+
+  void setInfo (int mode)
+    { dGeomTransformSetInfo (_id,mode); }
+  int getInfo()
+    { return dGeomTransformGetInfo (_id); }
+};
+
+
+#endif
+#endif
diff -Naur xmoto-0.1.10/src/ode/odecpp.h xmoto-0.1.10-patched/src/ode/odecpp.h
--- xmoto-0.1.10/src/ode/odecpp.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/odecpp.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,621 @@
+/*************************************************************************
+ *									 *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.	 *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org 	 *
+ *									 *
+ * This library is free software; you can redistribute it and/or	 *
+ * modify it under the terms of EITHER: 				 *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *	 Software Foundation; either version 2.1 of the License, or (at  *
+ *	 your option) any later version. The text of the GNU Lesser	 *
+ *	 General Public License is included with this library in the	 *
+ *	 file LICENSE.TXT.						 *
+ *   (2) The BSD-style license that is included with this library in	 *
+ *	 the file LICENSE-BSD.TXT.					 *
+ *									 *
+ * This library is distributed in the hope that it will be useful,	 *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of	 *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files	 *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.			 *
+ *									 *
+ *************************************************************************/
+
+/* C++ interface for non-collision stuff */
+
+
+#ifndef _ODE_ODECPP_H_
+#define _ODE_ODECPP_H_
+#ifdef __cplusplus
+
+#include <ode/error.h>
+
+
+class dWorld {
+  dWorldID _id;
+
+  // intentionally undefined, don't use these
+  dWorld (const dWorld &);
+  void operator= (const dWorld &);
+
+public:
+  dWorld()
+    { _id = dWorldCreate(); }
+  ~dWorld()
+    { dWorldDestroy (_id); }
+
+  dWorldID id() const
+    { return _id; }
+  operator dWorldID() const
+    { return _id; }
+
+  void setGravity (dReal x, dReal y, dReal z)
+    { dWorldSetGravity (_id,x,y,z); }
+  void getGravity (dVector3 g) const
+    { dWorldGetGravity (_id,g); }
+
+  void setERP (dReal erp)
+    { dWorldSetERP(_id, erp); }
+  dReal getERP() const
+    { return dWorldGetERP(_id); }
+
+  void setCFM (dReal cfm)
+    { dWorldSetCFM(_id, cfm); }
+  dReal getCFM() const
+    { return dWorldGetCFM(_id); }
+
+  void step (dReal stepsize)
+    { dWorldStep (_id,stepsize); }
+
+  void stepFast1 (dReal stepsize, int maxiterations)
+    { dWorldStepFast1 (_id,stepsize,maxiterations); }
+  void setAutoEnableDepthSF1(dWorldID, int depth)
+    { dWorldSetAutoEnableDepthSF1 (_id, depth); }
+  int getAutoEnableDepthSF1(dWorldID)
+    { return dWorldGetAutoEnableDepthSF1 (_id); }
+
+  void  setAutoDisableLinearThreshold (dReal threshold) 
+    { dWorldSetAutoDisableLinearThreshold (_id,threshold); }
+  dReal getAutoDisableLinearThreshold()
+    { return dWorldGetAutoDisableLinearThreshold (_id); }
+  void setAutoDisableAngularThreshold (dReal threshold)
+    { dWorldSetAutoDisableAngularThreshold (_id,threshold); }
+  dReal getAutoDisableAngularThreshold()
+    { return dWorldGetAutoDisableAngularThreshold (_id); }
+  void setAutoDisableSteps (int steps)
+    { dWorldSetAutoDisableSteps (_id,steps); }
+  int getAutoDisableSteps()
+    { return dWorldGetAutoDisableSteps (_id); }
+  void setAutoDisableTime (dReal time)
+    { dWorldSetAutoDisableTime (_id,time); }
+  dReal getAutoDisableTime()
+    { return dWorldGetAutoDisableTime (_id); }
+  void setAutoDisableFlag (int do_auto_disable)
+    { dWorldSetAutoDisableFlag (_id,do_auto_disable); }
+  int getAutoDisableFlag()
+    { return dWorldGetAutoDisableFlag (_id); }
+
+  void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
+		       dVector3 force)
+    { dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); }
+};
+
+
+class dBody {
+  dBodyID _id;
+
+  // intentionally undefined, don't use these
+  dBody (const dBody &);
+  void operator= (const dBody &);
+
+public:
+  dBody()
+    { _id = 0; }
+  dBody (dWorldID world)
+    { _id = dBodyCreate (world); }
+  ~dBody()
+    { if (_id) dBodyDestroy (_id); }
+
+  void create (dWorldID world) {
+    if (_id) dBodyDestroy (_id);
+    _id = dBodyCreate (world);
+  }
+
+  dBodyID id() const
+    { return _id; }
+  operator dBodyID() const
+    { return _id; }
+
+  void setData (void *data)
+    { dBodySetData (_id,data); }
+  void *getData() const
+    { return dBodyGetData (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dBodySetPosition (_id,x,y,z); }
+  void setRotation (const dMatrix3 R)
+    { dBodySetRotation (_id,R); }
+  void setQuaternion (const dQuaternion q)
+    { dBodySetQuaternion (_id,q); }
+  void setLinearVel  (dReal x, dReal y, dReal z)
+    { dBodySetLinearVel (_id,x,y,z); }
+  void setAngularVel (dReal x, dReal y, dReal z)
+    { dBodySetAngularVel (_id,x,y,z); }
+
+  const dReal * getPosition() const
+    { return dBodyGetPosition (_id); }
+  const dReal * getRotation() const
+    { return dBodyGetRotation (_id); }
+  const dReal * getQuaternion() const
+    { return dBodyGetQuaternion (_id); }
+  const dReal * getLinearVel() const
+    { return dBodyGetLinearVel (_id); }
+  const dReal * getAngularVel() const
+    { return dBodyGetAngularVel (_id); }
+
+  void setMass (const dMass *mass)
+    { dBodySetMass (_id,mass); }
+  void getMass (dMass *mass) const
+    { dBodyGetMass (_id,mass); }
+
+  void addForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddForce (_id, fx, fy, fz); }
+  void addTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddTorque (_id, fx, fy, fz); }
+  void addRelForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelForce (_id, fx, fy, fz); }
+  void addRelTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelTorque (_id, fx, fy, fz); }
+  void addForceAtPos (dReal fx, dReal fy, dReal fz,
+		      dReal px, dReal py, dReal pz)
+    { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
+		      dReal px, dReal py, dReal pz)
+    { dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
+			 dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
+			    dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
+
+  const dReal * getForce() const
+    { return dBodyGetForce(_id); }
+  const dReal * getTorque() const
+    { return dBodyGetTorque(_id); }
+  void setForce (dReal x, dReal y, dReal z)
+    { dBodySetForce (_id,x,y,z); }
+  void setTorque (dReal x, dReal y, dReal z)
+    { dBodySetTorque (_id,x,y,z); }
+
+  void enable()
+    { dBodyEnable (_id); }
+  void disable()
+    { dBodyDisable (_id); }
+  int isEnabled() const
+    { return dBodyIsEnabled (_id); }
+
+  void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetRelPointPos (_id, px, py, pz, result); }
+  void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetRelPointVel (_id, px, py, pz, result); }
+  void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetPointVel (_id,px,py,pz,result); }
+  void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyGetPosRelPoint (_id,px,py,pz,result); }
+  void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyVectorToWorld (_id,px,py,pz,result); }
+  void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dBodyVectorFromWorld (_id,px,py,pz,result); }
+
+  void setFiniteRotationMode (int mode)
+    { dBodySetFiniteRotationMode (_id, mode); }
+  void setFiniteRotationAxis (dReal x, dReal y, dReal z)
+    { dBodySetFiniteRotationAxis (_id, x, y, z); }
+
+  int getFiniteRotationMode() const
+    { return dBodyGetFiniteRotationMode (_id); }
+  void getFiniteRotationAxis (dVector3 result) const
+    { dBodyGetFiniteRotationAxis (_id, result); }
+
+  int getNumJoints() const
+    { return dBodyGetNumJoints (_id); }
+  dJointID getJoint (int index) const
+    { return dBodyGetJoint (_id, index); }
+
+  void setGravityMode (int mode)
+    { dBodySetGravityMode (_id,mode); }
+  int getGravityMode() const
+    { return dBodyGetGravityMode (_id); }
+
+  int isConnectedTo (dBodyID body) const
+    { return dAreConnected (_id, body); }
+
+  void  setAutoDisableLinearThreshold (dReal threshold) 
+    { dBodySetAutoDisableLinearThreshold (_id,threshold); }
+  dReal getAutoDisableLinearThreshold()
+    { return dBodyGetAutoDisableLinearThreshold (_id); }
+  void setAutoDisableAngularThreshold (dReal threshold)
+    { dBodySetAutoDisableAngularThreshold (_id,threshold); }
+  dReal getAutoDisableAngularThreshold()
+    { return dBodyGetAutoDisableAngularThreshold (_id); }
+  void setAutoDisableSteps (int steps)
+    { dBodySetAutoDisableSteps (_id,steps); }
+  int getAutoDisableSteps()
+    { return dBodyGetAutoDisableSteps (_id); }
+  void setAutoDisableTime (dReal time)
+    { dBodySetAutoDisableTime (_id,time); }
+  dReal getAutoDisableTime()
+    { return dBodyGetAutoDisableTime (_id); }
+  void setAutoDisableFlag (int do_auto_disable)
+    { dBodySetAutoDisableFlag (_id,do_auto_disable); }
+  int getAutoDisableFlag()
+    { return dBodyGetAutoDisableFlag (_id); }
+};
+
+
+class dJointGroup {
+  dJointGroupID _id;
+
+  // intentionally undefined, don't use these
+  dJointGroup (const dJointGroup &);
+  void operator= (const dJointGroup &);
+
+public:
+  dJointGroup (int dummy_arg=0)
+    { _id = dJointGroupCreate (0); }
+  ~dJointGroup()
+    { dJointGroupDestroy (_id); }
+  void create (int dummy_arg=0) {
+    if (_id) dJointGroupDestroy (_id);
+    _id = dJointGroupCreate (0);
+  }
+
+  dJointGroupID id() const
+    { return _id; }
+  operator dJointGroupID() const
+    { return _id; }
+
+  void empty()
+    { dJointGroupEmpty (_id); }
+};
+
+
+class dJoint {
+private:
+  // intentionally undefined, don't use these
+  dJoint (const dJoint &) ;
+  void operator= (const dJoint &);
+
+protected:
+  dJointID _id;
+
+public:
+  dJoint()
+    { _id = 0; }
+  ~dJoint()
+    { if (_id) dJointDestroy (_id); }
+
+  dJointID id() const
+    { return _id; }
+  operator dJointID() const
+    { return _id; }
+
+  void attach (dBodyID body1, dBodyID body2)
+    { dJointAttach (_id, body1, body2); }
+
+  void setData (void *data)
+    { dJointSetData (_id, data); }
+  void *getData() const
+    { return dJointGetData (_id); }
+
+  int getType() const
+    { return dJointGetType (_id); }
+
+  dBodyID getBody (int index) const
+    { return dJointGetBody (_id, index); }
+};
+
+
+class dBallJoint : public dJoint {
+private:
+  // intentionally undefined, don't use these
+  dBallJoint (const dBallJoint &);
+  void operator= (const dBallJoint &);
+
+public:
+  dBallJoint() { }
+  dBallJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateBall (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateBall (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetBallAnchor (_id, x, y, z); }
+  void getAnchor (dVector3 result) const
+    { dJointGetBallAnchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetBallAnchor2 (_id, result); }
+} ;
+
+
+class dHingeJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dHingeJoint (const dHingeJoint &);
+  void operator = (const dHingeJoint &);
+
+public:
+  dHingeJoint() { }
+  dHingeJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateHinge (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateHinge (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetHingeAnchor (_id, x, y, z); }
+  void getAnchor (dVector3 result) const
+    { dJointGetHingeAnchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetHingeAnchor2 (_id, result); }
+
+  void setAxis (dReal x, dReal y, dReal z)
+    { dJointSetHingeAxis (_id, x, y, z); }
+  void getAxis (dVector3 result) const
+    { dJointGetHingeAxis (_id, result); }
+
+  dReal getAngle() const
+    { return dJointGetHingeAngle (_id); }
+  dReal getAngleRate() const
+    { return dJointGetHingeAngleRate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetHingeParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetHingeParam (_id, parameter); }
+
+  void addTorque (dReal torque)
+	{ dJointAddHingeTorque(_id, torque); }
+};
+
+
+class dSliderJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dSliderJoint (const dSliderJoint &);
+  void operator = (const dSliderJoint &);
+
+public:
+  dSliderJoint() { }
+  dSliderJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateSlider (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateSlider (world, group);
+  }
+
+  void setAxis (dReal x, dReal y, dReal z)
+    { dJointSetSliderAxis (_id, x, y, z); }
+  void getAxis (dVector3 result) const
+    { dJointGetSliderAxis (_id, result); }
+
+  dReal getPosition() const
+    { return dJointGetSliderPosition (_id); }
+  dReal getPositionRate() const
+    { return dJointGetSliderPositionRate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetSliderParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetSliderParam (_id, parameter); }
+
+  void addForce (dReal force)
+	{ dJointAddSliderForce(_id, force); }
+};
+
+
+class dUniversalJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dUniversalJoint (const dUniversalJoint &);
+  void operator = (const dUniversalJoint &);
+
+public:
+  dUniversalJoint() { }
+  dUniversalJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateUniversal (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateUniversal (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetUniversalAnchor (_id, x, y, z); }
+  void setAxis1 (dReal x, dReal y, dReal z)
+    { dJointSetUniversalAxis1 (_id, x, y, z); }
+  void setAxis2 (dReal x, dReal y, dReal z)
+    { dJointSetUniversalAxis2 (_id, x, y, z); }
+  void setParam (int parameter, dReal value)
+    { dJointSetUniversalParam (_id, parameter, value); }
+
+  void getAnchor (dVector3 result) const
+    { dJointGetUniversalAnchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetUniversalAnchor2 (_id, result); }
+  void getAxis1 (dVector3 result) const
+    { dJointGetUniversalAxis1 (_id, result); }
+  void getAxis2 (dVector3 result) const
+    { dJointGetUniversalAxis2 (_id, result); }
+  dReal getParam (int parameter) const
+    { return dJointGetUniversalParam (_id, parameter); }
+  dReal getAngle1() const
+    { return dJointGetUniversalAngle1 (_id); }
+  dReal getAngle1Rate() const
+    { return dJointGetUniversalAngle1Rate (_id); }
+  dReal getAngle2() const
+    { return dJointGetUniversalAngle2 (_id); }
+  dReal getAngle2Rate() const
+    { return dJointGetUniversalAngle2Rate (_id); }
+
+  void addTorques (dReal torque1, dReal torque2)
+	{ dJointAddUniversalTorques(_id, torque1, torque2); }
+};
+
+
+class dHinge2Joint : public dJoint {
+  // intentionally undefined, don't use these
+  dHinge2Joint (const dHinge2Joint &);
+  void operator = (const dHinge2Joint &);
+
+public:
+  dHinge2Joint() { }
+  dHinge2Joint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateHinge2 (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateHinge2 (world, group);
+  }
+
+  void setAnchor (dReal x, dReal y, dReal z)
+    { dJointSetHinge2Anchor (_id, x, y, z); }
+  void setAxis1 (dReal x, dReal y, dReal z)
+    { dJointSetHinge2Axis1 (_id, x, y, z); }
+  void setAxis2 (dReal x, dReal y, dReal z)
+    { dJointSetHinge2Axis2 (_id, x, y, z); }
+
+  void getAnchor (dVector3 result) const
+    { dJointGetHinge2Anchor (_id, result); }
+  void getAnchor2 (dVector3 result) const
+    { dJointGetHinge2Anchor2 (_id, result); }
+  void getAxis1 (dVector3 result) const
+    { dJointGetHinge2Axis1 (_id, result); }
+  void getAxis2 (dVector3 result) const
+    { dJointGetHinge2Axis2 (_id, result); }
+
+  dReal getAngle1() const
+    { return dJointGetHinge2Angle1 (_id); }
+  dReal getAngle1Rate() const
+    { return dJointGetHinge2Angle1Rate (_id); }
+  dReal getAngle2Rate() const
+    { return dJointGetHinge2Angle2Rate (_id); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetHinge2Param (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetHinge2Param (_id, parameter); }
+
+  void addTorques(dReal torque1, dReal torque2)
+	{ dJointAddHinge2Torques(_id, torque1, torque2); }
+};
+
+
+class dFixedJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dFixedJoint (const dFixedJoint &);
+  void operator = (const dFixedJoint &);
+
+public:
+  dFixedJoint() { }
+  dFixedJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateFixed (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateFixed (world, group);
+  }
+
+  void set()
+    { dJointSetFixed (_id); }
+};
+
+
+class dContactJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dContactJoint (const dContactJoint &);
+  void operator = (const dContactJoint &);
+
+public:
+  dContactJoint() { }
+  dContactJoint (dWorldID world, dJointGroupID group, dContact *contact)
+    { _id = dJointCreateContact (world, group, contact); }
+
+  void create (dWorldID world, dJointGroupID group, dContact *contact) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateContact (world, group, contact);
+  }
+};
+
+
+class dNullJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dNullJoint (const dNullJoint &);
+  void operator = (const dNullJoint &);
+
+public:
+  dNullJoint() { }
+  dNullJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateNull (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateNull (world, group);
+  }
+};
+
+
+class dAMotorJoint : public dJoint {
+  // intentionally undefined, don't use these
+  dAMotorJoint (const dAMotorJoint &);
+  void operator = (const dAMotorJoint &);
+
+public:
+  dAMotorJoint() { }
+  dAMotorJoint (dWorldID world, dJointGroupID group=0)
+    { _id = dJointCreateAMotor (world, group); }
+
+  void create (dWorldID world, dJointGroupID group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateAMotor (world, group);
+  }
+
+  void setMode (int mode)
+    { dJointSetAMotorMode (_id, mode); }
+  int getMode() const
+    { return dJointGetAMotorMode (_id); }
+
+  void setNumAxes (int num)
+    { dJointSetAMotorNumAxes (_id, num); }
+  int getNumAxes() const
+    { return dJointGetAMotorNumAxes (_id); }
+
+  void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
+    { dJointSetAMotorAxis (_id, anum, rel, x, y, z); }
+  void getAxis (int anum, dVector3 result) const
+    { dJointGetAMotorAxis (_id, anum, result); }
+  int getAxisRel (int anum) const
+    { return dJointGetAMotorAxisRel (_id, anum); }
+
+  void setAngle (int anum, dReal angle)
+    { dJointSetAMotorAngle (_id, anum, angle); }
+  dReal getAngle (int anum) const
+    { return dJointGetAMotorAngle (_id, anum); }
+  dReal getAngleRate (int anum)
+    { return dJointGetAMotorAngleRate (_id,anum); }
+
+  void setParam (int parameter, dReal value)
+    { dJointSetAMotorParam (_id, parameter, value); }
+  dReal getParam (int parameter) const
+    { return dJointGetAMotorParam (_id, parameter); }
+
+  void addTorques(dReal torque1, dReal torque2, dReal torque3)
+	{ dJointAddAMotorTorques(_id, torque1, torque2, torque3); }
+};
+
+
+#endif
+#endif
diff -Naur xmoto-0.1.10/src/ode/odecpp_old.h xmoto-0.1.10-patched/src/ode/odecpp_old.h
--- xmoto-0.1.10/src/ode/odecpp_old.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/odecpp_old.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,316 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* this is the old C++ interface, the new C++ interface is not quite
+ * compatible with this. but this file is kept around in case you were
+ * using the old interface.
+ */
+
+#ifndef _ODE_ODECPP_H_
+#define _ODE_ODECPP_H_
+#ifdef __cplusplus
+
+#include <ode/error.h>
+
+
+class dWorld {
+  dWorldID _id;
+
+  dWorld (dWorld &) { dDebug (0,"bad"); }
+  void operator= (dWorld &) { dDebug (0,"bad"); }
+
+public:
+  dWorld()
+    { _id = dWorldCreate(); }
+  ~dWorld()
+    { dWorldDestroy (_id); }
+  dWorldID id()
+    { return _id; }
+
+  void setGravity (dReal x, dReal y, dReal z)
+    { dWorldSetGravity (_id,x,y,z); }
+  void getGravity (dVector3 g)
+    { dWorldGetGravity (_id,g); }
+  void step (dReal stepsize)
+    { dWorldStep (_id,stepsize); }
+};
+
+
+class dBody {
+  dBodyID _id;
+
+  dBody (dBody &) { dDebug (0,"bad"); }
+  void operator= (dBody &) { dDebug (0,"bad"); }
+
+public:
+  dBody()
+    { _id = 0; }
+  dBody (dWorld &world)
+    { _id = dBodyCreate (world.id()); }
+  ~dBody()
+    { dBodyDestroy (_id); }
+  void create (dWorld &world)
+    { if (_id) dBodyDestroy (_id); _id = dBodyCreate (world.id()); }
+  dBodyID id()
+    { return _id; }
+
+  void setData (void *data)
+    { dBodySetData (_id,data); }
+  void *getData()
+    { return dBodyGetData (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dBodySetPosition (_id,x,y,z); }
+  void setRotation (const dMatrix3 R)
+    { dBodySetRotation (_id,R); }
+  void setQuaternion (const dQuaternion q)
+    { dBodySetQuaternion (_id,q); }
+  void setLinearVel  (dReal x, dReal y, dReal z)
+    { dBodySetLinearVel (_id,x,y,z); }
+  void setAngularVel (dReal x, dReal y, dReal z)
+    { dBodySetAngularVel (_id,x,y,z); }
+
+  const dReal * getPosition()
+    { return dBodyGetPosition (_id); }
+  const dReal * getRotation()
+    { return dBodyGetRotation (_id); }
+  const dReal * getQuaternion()
+    { return dBodyGetQuaternion (_id); }
+  const dReal * getLinearVel()
+    { return dBodyGetLinearVel (_id); }
+  const dReal * getAngularVel()
+    { return dBodyGetAngularVel (_id); }
+
+  void setMass (const dMass *mass)
+    { dBodySetMass (_id,mass); }
+  void getMass (dMass *mass)
+    { dBodyGetMass (_id,mass); }
+
+  void addForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddForce (_id, fx, fy, fz); }
+  void addTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddTorque (_id, fx, fy, fz); }
+  void addRelForce (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelForce (_id, fx, fy, fz); }
+  void addRelTorque (dReal fx, dReal fy, dReal fz)
+    { dBodyAddRelTorque (_id, fx, fy, fz); }
+  void addForceAtPos (dReal fx, dReal fy, dReal fz,
+		      dReal px, dReal py, dReal pz)
+    { dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
+			 dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
+  void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
+			    dReal px, dReal py, dReal pz)
+    { dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
+
+  void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result)
+    { dBodyGetRelPointPos (_id, px, py, pz, result); }
+  void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result)
+    { dBodyGetRelPointVel (_id, px, py, pz, result); }
+
+  int isConnectedTo (const dBody &b)
+    { return dAreConnected (_id,b._id); }
+};
+
+
+class dJointGroup {
+  dJointGroupID _id;
+
+  dJointGroup (dJointGroup &) { dDebug (0,"bad"); }
+  void operator= (dJointGroup &) { dDebug (0,"bad"); }
+
+public:
+  dJointGroup()
+    { _id = 0; }
+  dJointGroup (int max_size)
+    { _id = dJointGroupCreate (max_size); }
+  ~dJointGroup()
+    { dJointGroupDestroy (_id); }
+  void create (int max_size)
+    { if (_id) dJointGroupDestroy (_id); _id = dJointGroupCreate (max_size); }
+  dJointGroupID id()
+    { return _id; }
+
+  void empty()
+    { dJointGroupEmpty (_id); }
+};
+
+
+class dJoint {
+  dJointID _id;
+
+  dJoint (dJoint &) { dDebug (0,"bad"); }
+  void operator= (dJoint &) { dDebug (0,"bad"); }
+
+public:
+  dJoint()
+    { _id = 0; }
+  ~dJoint()
+    { dJointDestroy (_id); }
+  dJointID id()
+    { return _id; }
+
+  void createBall (dWorld &world, dJointGroup *group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateBall (world.id(), group ? group->id() : 0);
+  }
+  void createHinge (dWorld &world, dJointGroup *group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateHinge (world.id(), group ? group->id() : 0);
+  }
+  void createSlider (dWorld &world, dJointGroup *group=0) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateSlider (world.id(), group ? group->id() : 0);
+  }
+  void createContact (dWorld &world, dJointGroup *group, dContact *contact) {
+    if (_id) dJointDestroy (_id);
+    _id = dJointCreateContact (world.id(), group ? group->id() : 0, contact);
+  }
+
+  void attach (dBody &body1, dBody &body2)
+    { dJointAttach (_id, body1.id(), body2.id()); }
+
+  void setBallAnchor (dReal x, dReal y, dReal z)
+    { dJointSetBallAnchor (_id, x, y, z); }
+  void setHingeAnchor (dReal x, dReal y, dReal z)
+    { dJointSetHingeAnchor (_id, x, y, z); }
+
+  void setHingeAxis (dReal x, dReal y, dReal z)
+    { dJointSetHingeAxis (_id, x, y, z); }
+  void setSliderAxis (dReal x, dReal y, dReal z)
+    { dJointSetSliderAxis (_id, x, y, z); }
+
+  void getBallAnchor (dVector3 result)
+    { dJointGetBallAnchor (_id, result); }
+  void getHingeAnchor (dVector3 result)
+    { dJointGetHingeAnchor (_id, result); }
+
+  void getHingeAxis (dVector3 result)
+    { dJointGetHingeAxis (_id, result); }
+  void getSliderAxis (dVector3 result)
+    { dJointGetSliderAxis (_id, result); }
+};
+
+
+class dSpace {
+  dSpaceID _id;
+
+  dSpace (dSpace &) { dDebug (0,"bad"); }
+  void operator= (dSpace &) { dDebug (0,"bad"); }
+
+public:
+  dSpace ()
+    { _id = dHashSpaceCreate(); }
+  ~dSpace()
+    { dSpaceDestroy (_id); }
+  dSpaceID id()
+    { return _id; }
+  void collide (void *data, dNearCallback *callback)
+    { dSpaceCollide (_id,data,callback); }
+};
+
+
+class dGeom {
+  dGeomID _id;
+
+  dGeom (dGeom &) { dDebug (0,"bad"); }
+  void operator= (dGeom &) { dDebug (0,"bad"); }
+
+public:
+  dGeom()
+    { _id = 0; }
+  ~dGeom()
+    { dGeomDestroy (_id); }
+  dGeomID id()
+    { return _id; }
+
+  void createSphere (dSpace &space, dReal radius) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateSphere (space.id(),radius);
+  }
+
+  void createBox (dSpace &space, dReal lx, dReal ly, dReal lz) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateBox (space.id(),lx,ly,lz);
+  }
+
+  void createPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreatePlane (space.id(),a,b,c,d);
+  }
+
+  void createCCylinder (dSpace &space, dReal radius, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateCCylinder (space.id(),radius,length);
+  }
+
+  void destroy() {
+    if (_id) dGeomDestroy (_id);
+    _id = 0;
+  }
+
+  int getClass()
+    { return dGeomGetClass (_id); }
+
+  dReal sphereGetRadius()
+    { return dGeomSphereGetRadius (_id); }
+
+  void boxGetLengths (dVector3 result)
+    { dGeomBoxGetLengths (_id,result); }
+
+  void planeGetParams (dVector4 result)
+    { dGeomPlaneGetParams (_id,result); }
+
+  void CCylinderGetParams (dReal *radius, dReal *length)
+    { dGeomCCylinderGetParams (_id,radius,length); }
+
+  void setData (void *data)
+    { dGeomSetData (_id,data); }
+
+  void *getData()
+    { return dGeomGetData (_id); }
+
+  void setBody (dBody &b)
+    { dGeomSetBody (_id,b.id()); }
+  void setBody (dBodyID b)
+    { dGeomSetBody (_id,b); }
+
+  dBodyID getBody()
+    { return dGeomGetBody (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dGeomSetPosition (_id,x,y,z); }
+
+  void setRotation (const dMatrix3 R)
+    { dGeomSetRotation (_id,R); }
+
+  const dReal * getPosition()
+    { return dGeomGetPosition (_id); }
+
+  const dReal * getRotation()
+    { return dGeomGetRotation (_id); }
+};
+
+
+#endif
+#endif
diff -Naur xmoto-0.1.10/src/ode/ode.h xmoto-0.1.10-patched/src/ode/ode.h
--- xmoto-0.1.10/src/ode/ode.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/ode.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,47 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_ODE_H_
+#define _ODE_ODE_H_
+
+/* include *everything* here */
+
+#include <ode/config.h>
+#include <ode/compatibility.h>
+#include <ode/common.h>
+#include <ode/contact.h>
+#include <ode/error.h>
+#include <ode/memory.h>
+#include <ode/odemath.h>
+#include <ode/matrix.h>
+#include <ode/timer.h>
+#include <ode/rotation.h>
+#include <ode/mass.h>
+#include <ode/misc.h>
+#include <ode/objects.h>
+#include <ode/odecpp.h>
+#include <ode/collision_space.h>
+#include <ode/collision.h>
+#include <ode/odecpp_collision.h>
+#include <ode/export-dif.h>
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/odemath.h xmoto-0.1.10-patched/src/ode/odemath.h
--- xmoto-0.1.10/src/ode/odemath.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/odemath.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,240 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_ODEMATH_H_
+#define _ODE_ODEMATH_H_
+
+#include <ode/common.h>
+
+#ifdef __GNUC__
+#define PURE_INLINE extern inline
+#else
+#define PURE_INLINE inline
+#endif
+
+/*
+ * macro to access elements i,j in an NxM matrix A, independent of the
+ * matrix storage convention.
+ */
+#define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
+
+
+/*
+ * 3-way dot product. dDOTpq means that elements of `a' and `b' are spaced
+ * p and q indexes apart respectively. dDOT() means dDOT11.
+ * in C++ we could use function templates to get all the versions of these
+ * functions - but on some compilers this will result in sub-optimal code.
+ */
+
+#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
+
+#ifdef __cplusplus
+
+PURE_INLINE dReal dDOT   (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,1); }
+PURE_INLINE dReal dDOT13 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,3); }
+PURE_INLINE dReal dDOT31 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,1); }
+PURE_INLINE dReal dDOT33 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,3); }
+PURE_INLINE dReal dDOT14 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,4); }
+PURE_INLINE dReal dDOT41 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,1); }
+PURE_INLINE dReal dDOT44 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,4); }
+
+#else
+
+#define dDOT(a,b)   dDOTpq(a,b,1,1)
+#define dDOT13(a,b) dDOTpq(a,b,1,3)
+#define dDOT31(a,b) dDOTpq(a,b,3,1)
+#define dDOT33(a,b) dDOTpq(a,b,3,3)
+#define dDOT14(a,b) dDOTpq(a,b,1,4)
+#define dDOT41(a,b) dDOTpq(a,b,4,1)
+#define dDOT44(a,b) dDOTpq(a,b,4,4)
+
+#endif /* __cplusplus */
+
+
+/*
+ * cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
+ * and `c' are spaced p, q and r indexes apart respectively.
+ * dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
+ * +=, -= etc to get other effects.
+ */
+
+#define dCROSS(a,op,b,c) \
+  (a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
+  (a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
+  (a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]);
+#define dCROSSpqr(a,op,b,c,p,q,r) \
+  (a)[  0] op ((b)[  q]*(c)[2*r] - (b)[2*q]*(c)[  r]); \
+  (a)[  p] op ((b)[2*q]*(c)[  0] - (b)[  0]*(c)[2*r]); \
+  (a)[2*p] op ((b)[  0]*(c)[  r] - (b)[  q]*(c)[  0]);
+#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
+#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
+#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
+#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
+#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
+#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
+#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
+
+
+/*
+ * set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
+ * A is stored by rows, and has `skip' elements per row. the matrix is
+ * assumed to be already zero, so this does not write zero elements!
+ * if (plus,minus) is (+,-) then a positive version will be written.
+ * if (plus,minus) is (-,+) then a negative version will be written.
+ */
+
+#define dCROSSMAT(A,a,skip,plus,minus) \
+  (A)[1] = minus (a)[2]; \
+  (A)[2] = plus (a)[1]; \
+  (A)[(skip)+0] = plus (a)[2]; \
+  (A)[(skip)+2] = minus (a)[0]; \
+  (A)[2*(skip)+0] = minus (a)[1]; \
+  (A)[2*(skip)+1] = plus (a)[0];
+
+
+/*
+ * compute the distance between two 3-vectors
+ */
+
+#ifdef __cplusplus
+PURE_INLINE float dDISTANCE (const float a[3], const float b[3])
+	{ return (float) dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]) ); }
+PURE_INLINE double dDISTANCE (const double a[3], const double b[3])
+	{ return dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]) ); }
+#else
+#define dDISTANCE(a,b) \
+	(dSqrt( ((a)[0]-(b)[0])*((a)[0]-(b)[0]) + ((a)[1]-(b)[1])*((a)[1]-(b)[1]) + ((a)[2]-(b)[2])*((a)[2]-(b)[2]) ))
+#endif
+
+
+/*
+ * special case matrix multipication, with operator selection
+ */
+
+#define dMULTIPLYOP0_331(A,op,B,C) \
+  (A)[0] op dDOT((B),(C)); \
+  (A)[1] op dDOT((B+4),(C)); \
+  (A)[2] op dDOT((B+8),(C));
+#define dMULTIPLYOP1_331(A,op,B,C) \
+  (A)[0] op dDOT41((B),(C)); \
+  (A)[1] op dDOT41((B+1),(C)); \
+  (A)[2] op dDOT41((B+2),(C));
+#define dMULTIPLYOP0_133(A,op,B,C) \
+  (A)[0] op dDOT14((B),(C)); \
+  (A)[1] op dDOT14((B),(C+1)); \
+  (A)[2] op dDOT14((B),(C+2));
+#define dMULTIPLYOP0_333(A,op,B,C) \
+  (A)[0] op dDOT14((B),(C)); \
+  (A)[1] op dDOT14((B),(C+1)); \
+  (A)[2] op dDOT14((B),(C+2)); \
+  (A)[4] op dDOT14((B+4),(C)); \
+  (A)[5] op dDOT14((B+4),(C+1)); \
+  (A)[6] op dDOT14((B+4),(C+2)); \
+  (A)[8] op dDOT14((B+8),(C)); \
+  (A)[9] op dDOT14((B+8),(C+1)); \
+  (A)[10] op dDOT14((B+8),(C+2));
+#define dMULTIPLYOP1_333(A,op,B,C) \
+  (A)[0] op dDOT44((B),(C)); \
+  (A)[1] op dDOT44((B),(C+1)); \
+  (A)[2] op dDOT44((B),(C+2)); \
+  (A)[4] op dDOT44((B+1),(C)); \
+  (A)[5] op dDOT44((B+1),(C+1)); \
+  (A)[6] op dDOT44((B+1),(C+2)); \
+  (A)[8] op dDOT44((B+2),(C)); \
+  (A)[9] op dDOT44((B+2),(C+1)); \
+  (A)[10] op dDOT44((B+2),(C+2));
+#define dMULTIPLYOP2_333(A,op,B,C) \
+  (A)[0] op dDOT((B),(C)); \
+  (A)[1] op dDOT((B),(C+4)); \
+  (A)[2] op dDOT((B),(C+8)); \
+  (A)[4] op dDOT((B+4),(C)); \
+  (A)[5] op dDOT((B+4),(C+4)); \
+  (A)[6] op dDOT((B+4),(C+8)); \
+  (A)[8] op dDOT((B+8),(C)); \
+  (A)[9] op dDOT((B+8),(C+4)); \
+  (A)[10] op dDOT((B+8),(C+8));
+
+#ifdef __cplusplus
+
+#define DECL template <class TA, class TB, class TC> PURE_INLINE void
+
+DECL dMULTIPLY0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,=,B,C) }
+DECL dMULTIPLY1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,=,B,C) }
+DECL dMULTIPLY0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,=,B,C) }
+DECL dMULTIPLY0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,=,B,C) }
+DECL dMULTIPLY1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,=,B,C) }
+DECL dMULTIPLY2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,=,B,C) }
+
+DECL dMULTIPLYADD0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,+=,B,C) }
+DECL dMULTIPLYADD1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,+=,B,C) }
+DECL dMULTIPLYADD0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,+=,B,C) }
+DECL dMULTIPLYADD0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,+=,B,C) }
+DECL dMULTIPLYADD1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,+=,B,C) }
+DECL dMULTIPLYADD2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,+=,B,C) }
+
+#undef DECL
+
+#else
+
+#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
+#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
+#define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C)
+#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
+#define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C)
+#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
+
+#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
+#define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C)
+#define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C)
+#define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C)
+#define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C)
+#define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C)
+
+#endif
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * normalize 3x1 and 4x1 vectors (i.e. scale them to unit length)
+ */
+void dNormalize3 (dVector3 a);
+void dNormalize4 (dVector4 a);
+
+
+/*
+ * given a unit length "normal" vector n, generate vectors p and q vectors
+ * that are an orthonormal basis for the plane space perpendicular to n.
+ * i.e. this makes p,q such that n,p,q are all perpendicular to each other.
+ * q will equal n x p. if n is not unit length then p will be unit length but
+ * q wont be.
+ */
+
+void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/rotation.h xmoto-0.1.10-patched/src/ode/rotation.h
--- xmoto-0.1.10/src/ode/rotation.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/rotation.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,70 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_ROTATION_H_
+#define _ODE_ROTATION_H_
+
+#include <ode/common.h>
+#include <ode/compatibility.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+void dRSetIdentity (dMatrix3 R);
+
+void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
+			 dReal angle);
+
+void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
+
+void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
+		  dReal bx, dReal by, dReal bz);
+
+void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
+
+void dQSetIdentity (dQuaternion q);
+
+void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
+			 dReal angle);
+
+/* Quaternion multiplication, analogous to the matrix multiplication routines. */
+/* qa = rotate by qc, then qb */
+void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by qc, then by inverse of qb */
+void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by inverse of qc, then by qb */
+void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+/* qa = rotate by inverse of qc, then by inverse of qb */
+void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
+
+void dRfromQ (dMatrix3 R, const dQuaternion q);
+void dQfromR (dQuaternion q, const dMatrix3 R);
+void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/array.cpp xmoto-0.1.10-patched/src/ode/s/array.cpp
--- xmoto-0.1.10/src/ode/s/array.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/array.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,80 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/config.h>
+#include <ode/memory.h>
+#include <ode/error.h>
+#include "array.h"
+
+
+static inline int roundUpToPowerOfTwo (int x)
+{
+  int i = 1;
+  while (i < x) i <<= 1;
+  return i;
+}
+
+
+void dArrayBase::_freeAll (int sizeofT)
+{
+  if (_data) {
+    if (_data == this+1) return;	// if constructLocalArray() was called
+    dFree (_data,_anum * sizeofT);
+  }
+}
+
+
+void dArrayBase::_setSize (int newsize, int sizeofT)
+{
+  if (newsize < 0) return;
+  if (newsize > _anum) {
+    if (_data == this+1) {
+      // this is a no-no, because constructLocalArray() was called
+      dDebug (0,"setSize() out of space in LOCAL array");
+    }
+    int newanum = roundUpToPowerOfTwo (newsize);
+    if (_data) _data = dRealloc (_data, _anum*sizeofT, newanum*sizeofT);
+    else _data = dAlloc (newanum*sizeofT);
+    _anum = newanum;
+  }
+  _size = newsize;
+}
+
+
+void * dArrayBase::operator new (size_t size)
+{
+  return dAlloc (size);
+}
+
+
+void dArrayBase::operator delete (void *ptr, size_t size)
+{
+  dFree (ptr,size);
+}
+
+
+void dArrayBase::constructLocalArray (int __anum)
+{
+  _size = 0;
+  _anum = __anum;
+  _data = this+1;
+}
diff -Naur xmoto-0.1.10/src/ode/s/array.h xmoto-0.1.10-patched/src/ode/s/array.h
--- xmoto-0.1.10/src/ode/s/array.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/array.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,135 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* this comes from the `reuse' library. copy any changes back to the source.
+ *
+ * Variable sized array template. The array is always stored in a contiguous
+ * chunk. The array can be resized. A size increase will cause more memory
+ * to be allocated, and may result in relocation of the array memory.
+ * A size decrease has no effect on the memory allocation.
+ *
+ * Array elements with constructors or destructors are not supported!
+ * But if you must have such elements, here's what to know/do:
+ *   - Bitwise copy is used when copying whole arrays.
+ *   - When copying individual items (via push(), insert() etc) the `='
+ *     (equals) operator is used. Thus you should define this operator to do
+ *     a bitwise copy. You should probably also define the copy constructor.
+ */
+
+
+#ifndef _ODE_ARRAY_H_
+#define _ODE_ARRAY_H_
+
+#include <ode/config.h>
+
+
+// this base class has no constructors or destructor, for your convenience.
+
+class dArrayBase {
+protected:
+  int _size;		// number of elements in `data'
+  int _anum;		// allocated number of elements in `data'
+  void *_data;		// array data
+
+  void _freeAll (int sizeofT);
+  void _setSize (int newsize, int sizeofT);
+  // set the array size to `newsize', allocating more memory if necessary.
+  // if newsize>_anum and is a power of two then this is guaranteed to
+  // set _size and _anum to newsize.
+
+public:
+  // not: dArrayBase () { _size=0; _anum=0; _data=0; }
+
+  int size() const { return _size; }
+  int allocatedSize() const { return _anum; }
+  void * operator new (size_t size);
+  void operator delete (void *ptr, size_t size);
+
+  void constructor() { _size=0; _anum=0; _data=0; }
+  // if this structure is allocated with malloc() instead of new, you can
+  // call this to set it up.
+
+  void constructLocalArray (int __anum);
+  // this helper function allows non-reallocating arrays to be constructed
+  // on the stack (or in the heap if necessary). this is something of a
+  // kludge and should be used with extreme care. this function acts like
+  // a constructor - it is called on uninitialized memory that will hold the
+  // Array structure and the data. __anum is the number of elements that
+  // are allocated. the memory MUST be allocated with size:
+  //   sizeof(ArrayBase) + __anum*sizeof(T)
+  // arrays allocated this way will never try to reallocate or free the
+  // memory - that's your job.
+};
+
+
+template <class T> class dArray : public dArrayBase {
+public:
+  void equals (const dArray<T> &x) {
+    setSize (x.size());
+    memcpy (_data,x._data,x._size * sizeof(T));
+  }
+
+  dArray () { constructor(); }
+  dArray (const dArray<T> &x) { constructor(); equals (x); }
+  ~dArray () { _freeAll(sizeof(T)); }
+  void setSize (int newsize) { _setSize (newsize,sizeof(T)); }
+  T *data() const { return (T*) _data; }
+  T & operator[] (int i) const { return ((T*)_data)[i]; }
+  void operator = (const dArray<T> &x) { equals (x); }
+
+  void push (const T item) {
+    if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
+    memcpy (&(((T*)_data)[_size-1]), &item, sizeof(T));
+  }
+
+  void swap (dArray<T> &x) {
+    int tmp1;
+    void *tmp2;
+    tmp1=_size; _size=x._size; x._size=tmp1;
+    tmp1=_anum; _anum=x._anum; x._anum=tmp1;
+    tmp2=_data; _data=x._data; x._data=tmp2;
+  }
+
+  // insert the item at the position `i'. if i<0 then add the item to the
+  // start, if i >= size then add the item to the end of the array.
+  void insert (int i, const T item) {
+    if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
+    if (i >= (_size-1)) i = _size-1;	// add to end
+    else {
+      if (i < 0) i=0;			// add to start
+      int n = _size-1-i;
+      if (n>0) memmove (((T*)_data) + i+1, ((T*)_data) + i, n*sizeof(T));
+    }
+    ((T*)_data)[i] = item;
+  }
+
+  void remove (int i) {
+    if (i >= 0 && i < _size) {	// passing this test guarantees size>0
+      int n = _size-1-i;
+      if (n>0) memmove (((T*)_data) + i, ((T*)_data) + i+1, n*sizeof(T));
+      _size--;
+    }
+  }
+};
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/collision_kernel.cpp xmoto-0.1.10-patched/src/ode/s/collision_kernel.cpp
--- xmoto-0.1.10/src/ode/s/collision_kernel.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_kernel.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,625 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+core collision functions and data structures, plus part of the public API
+for geometry objects
+
+*/
+
+#include <ode/common.h>
+#include <ode/matrix.h>
+#include <ode/rotation.h>
+#include <ode/objects.h>
+#include "collision_kernel.h"
+#include "collision_util.h"
+#include "collision_std.h"
+#include "collision_transform.h"
+#include "collision_trimesh_internal.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
+#endif
+
+//****************************************************************************
+// helper functions for dCollide()ing a space with another geom
+
+// this struct records the parameters passed to dCollideSpaceGeom()
+
+struct SpaceGeomColliderData {
+  int flags;			// space left in contacts array
+  dContactGeom *contact;
+  int skip;
+};
+
+
+static void space_geom_collider (void *data, dxGeom *o1, dxGeom *o2)
+{
+  SpaceGeomColliderData *d = (SpaceGeomColliderData*) data;
+  if (d->flags & NUMC_MASK) {
+    int n = dCollide (o1,o2,d->flags,d->contact,d->skip);
+    d->contact = CONTACT (d->contact,d->skip*n);
+    d->flags -= n;
+  }
+}
+
+
+static int dCollideSpaceGeom (dxGeom *o1, dxGeom *o2, int flags,
+			      dContactGeom *contact, int skip)
+{
+  SpaceGeomColliderData data;
+  data.flags = flags;
+  data.contact = contact;
+  data.skip = skip;
+  dSpaceCollide2 (o1,o2,&data,&space_geom_collider);
+  return (flags & NUMC_MASK) - (data.flags & NUMC_MASK);
+}
+
+//****************************************************************************
+// dispatcher for the N^2 collider functions
+
+// function pointers and modes for n^2 class collider functions
+
+struct dColliderEntry {
+  dColliderFn *fn;	// collider function, 0 = no function available
+  int reverse;		// 1 = reverse o1 and o2
+};
+static dColliderEntry colliders[dGeomNumClasses][dGeomNumClasses];
+static int colliders_initialized = 0;
+
+
+// setCollider() will refuse to write over a collider entry once it has
+// been written.
+
+static void setCollider (int i, int j, dColliderFn *fn)
+{
+  if (colliders[i][j].fn == 0) {
+    colliders[i][j].fn = fn;
+    colliders[i][j].reverse = 0;
+  }
+  if (colliders[j][i].fn == 0) {
+    colliders[j][i].fn = fn;
+    colliders[j][i].reverse = 1;
+  }
+}
+
+
+static void setAllColliders (int i, dColliderFn *fn)
+{
+  for (int j=0; j<dGeomNumClasses; j++) setCollider (i,j,fn);
+}
+
+
+static void initColliders()
+{
+  int i,j;
+
+  if (colliders_initialized) return;
+  colliders_initialized = 1;
+
+  memset (colliders,0,sizeof(colliders));
+
+  // setup space colliders
+  for (i=dFirstSpaceClass; i <= dLastSpaceClass; i++) {
+    for (j=0; j < dGeomNumClasses; j++) {
+      setCollider (i,j,&dCollideSpaceGeom);
+    }
+  }
+
+  setCollider (dSphereClass,dSphereClass,&dCollideSphereSphere);
+  setCollider (dSphereClass,dBoxClass,&dCollideSphereBox);
+  setCollider (dSphereClass,dPlaneClass,&dCollideSpherePlane);
+  setCollider (dBoxClass,dBoxClass,&dCollideBoxBox);
+  setCollider (dBoxClass,dPlaneClass,&dCollideBoxPlane);
+  setCollider (dCCylinderClass,dSphereClass,&dCollideCCylinderSphere);
+  setCollider (dCCylinderClass,dBoxClass,&dCollideCCylinderBox);
+  setCollider (dCCylinderClass,dCCylinderClass,&dCollideCCylinderCCylinder);
+  setCollider (dCCylinderClass,dPlaneClass,&dCollideCCylinderPlane);
+  setCollider (dRayClass,dSphereClass,&dCollideRaySphere);
+  setCollider (dRayClass,dBoxClass,&dCollideRayBox);
+  setCollider (dRayClass,dCCylinderClass,&dCollideRayCCylinder);
+  setCollider (dRayClass,dPlaneClass,&dCollideRayPlane);
+#ifdef dTRIMESH_ENABLED
+  setCollider (dTriMeshClass,dSphereClass,&dCollideSTL);
+  setCollider (dTriMeshClass,dBoxClass,&dCollideBTL);
+  setCollider (dTriMeshClass,dRayClass,&dCollideRTL);
+  setCollider (dTriMeshClass,dTriMeshClass,&dCollideTTL);
+  setCollider (dTriMeshClass,dCCylinderClass,&dCollideCCTL);
+#endif
+  setAllColliders (dGeomTransformClass,&dCollideTransform);
+}
+
+
+int dCollide (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact,
+	      int skip)
+{
+  dAASSERT(o1 && o2 && contact);
+  dUASSERT(colliders_initialized,"colliders array not initialized");
+  dUASSERT(o1->type >= 0 && o1->type < dGeomNumClasses,"bad o1 class number");
+  dUASSERT(o2->type >= 0 && o2->type < dGeomNumClasses,"bad o2 class number");
+
+  // no contacts if both geoms are the same
+  if (o1 == o2) return 0;
+
+  // no contacts if both geoms on the same body, and the body is not 0
+  if (o1->body == o2->body && o1->body) return 0;
+
+  dColliderEntry *ce = &colliders[o1->type][o2->type];
+  int count = 0;
+  if (ce->fn) {
+    if (ce->reverse) {
+      count = (*ce->fn) (o2,o1,flags,contact,skip);
+      for (int i=0; i<count; i++) {
+	dContactGeom *c = CONTACT(contact,skip*i);
+	c->normal[0] = -c->normal[0];
+	c->normal[1] = -c->normal[1];
+	c->normal[2] = -c->normal[2];
+	dxGeom *tmp = c->g1;
+	c->g1 = c->g2;
+	c->g2 = tmp;
+      }
+    }
+    else {
+      count = (*ce->fn) (o1,o2,flags,contact,skip);
+    }
+  }
+  return count;
+}
+
+//****************************************************************************
+// dxGeom
+
+dxGeom::dxGeom (dSpaceID _space, int is_placeable)
+{
+  initColliders();
+
+  // setup body vars. invalid type of -1 must be changed by the constructor.
+  type = -1;
+  gflags = GEOM_DIRTY | GEOM_AABB_BAD | GEOM_ENABLED;
+  if (is_placeable) gflags |= GEOM_PLACEABLE;
+  data = 0;
+  body = 0;
+  body_next = 0;
+  if (is_placeable) {
+    dxPosR *pr = (dxPosR*) dAlloc (sizeof(dxPosR));
+    pos = pr->pos;
+    R = pr->R;
+    dSetZero (pos,4);
+    dRSetIdentity (R);
+  }
+  else {
+    pos = 0;
+    R = 0;
+  }
+
+  // setup space vars
+  next = 0;
+  tome = 0;
+  parent_space = 0;
+  dSetZero (aabb,6);
+  category_bits = ~0;
+  collide_bits = ~0;
+
+  // put this geom in a space if required
+  if (_space) dSpaceAdd (_space,this);
+}
+
+
+dxGeom::~dxGeom()
+{
+  if (parent_space) dSpaceRemove (parent_space,this);
+  if ((gflags & GEOM_PLACEABLE) && !body) dFree (pos,sizeof(dxPosR));
+  bodyRemove();
+}
+
+
+int dxGeom::AABBTest (dxGeom *o, dReal aabb[6])
+{
+  return 1;
+}
+
+
+void dxGeom::bodyRemove()
+{
+  if (body) {
+    // delete this geom from body list
+    dxGeom **last = &body->geom, *g = body->geom;
+    while (g) {
+      if (g == this) {
+	*last = g->body_next;
+	break;
+      }
+      last = &g->body_next;
+      g = g->body_next;
+    }
+    body = 0;
+    body_next = 0;
+  }
+}
+
+//****************************************************************************
+// misc
+
+dxGeom *dGeomGetBodyNext (dxGeom *geom)
+{
+  return geom->body_next;
+}
+
+//****************************************************************************
+// public API for geometry objects
+
+#define CHECK_NOT_LOCKED(space) \
+  dUASSERT (!(space && space->lock_count), \
+	    "invalid operation for geom in locked space");
+
+
+void dGeomDestroy (dxGeom *g)
+{
+  dAASSERT (g);
+  delete g;
+}
+
+
+void dGeomSetData (dxGeom *g, void *data)
+{
+  dAASSERT (g);
+  g->data = data;
+}
+
+
+void *dGeomGetData (dxGeom *g)
+{
+  dAASSERT (g);
+  return g->data;
+}
+
+
+void dGeomSetBody (dxGeom *g, dxBody *b)
+{
+  dAASSERT (g);
+  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
+  CHECK_NOT_LOCKED (g->parent_space);
+
+  if (b) {
+    if (!g->body) dFree (g->pos,sizeof(dxPosR));
+    g->pos = b->pos;
+    g->R = b->R;
+    dGeomMoved (g);
+    if (g->body != b) {
+      g->bodyRemove();
+      g->bodyAdd (b);
+    }
+  }
+  else {
+    if (g->body) {
+      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));
+      g->bodyRemove();
+    }
+    // dGeomMoved() should not be called if the body is being set to 0, as the
+    // new position of the geom is set to the old position of the body, so the
+    // effective position of the geom remains unchanged.
+  }
+}
+
+
+dBodyID dGeomGetBody (dxGeom *g)
+{
+  dAASSERT (g);
+  return g->body;
+}
+
+
+void dGeomSetPosition (dxGeom *g, dReal x, dReal y, dReal z)
+{
+  dAASSERT (g);
+  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
+  CHECK_NOT_LOCKED (g->parent_space);
+  if (g->body) {
+    // this will call dGeomMoved (g), so we don't have to
+    dBodySetPosition (g->body,x,y,z);
+  }
+  else {
+    g->pos[0] = x;
+    g->pos[1] = y;
+    g->pos[2] = z;
+    dGeomMoved (g);
+  }
+}
+
+
+void dGeomSetRotation (dxGeom *g, const dMatrix3 R)
+{
+  dAASSERT (g && R);
+  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
+  CHECK_NOT_LOCKED (g->parent_space);
+  if (g->body) {
+    // this will call dGeomMoved (g), so we don't have to
+    dBodySetRotation (g->body,R);
+  }
+  else {
+    memcpy (g->R,R,sizeof(dMatrix3));
+    dGeomMoved (g);
+  }
+}
+
+
+void dGeomSetQuaternion (dxGeom *g, const dQuaternion quat)
+{
+  dAASSERT (g && quat);
+  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
+  CHECK_NOT_LOCKED (g->parent_space);
+  if (g->body) {
+    // this will call dGeomMoved (g), so we don't have to
+    dBodySetQuaternion (g->body,quat);
+  }
+  else {
+    dQtoR (quat, g->R);
+    dGeomMoved (g);
+  }
+}
+
+
+const dReal * dGeomGetPosition (dxGeom *g)
+{
+  dAASSERT (g);
+  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
+  return g->pos;
+}
+
+
+const dReal * dGeomGetRotation (dxGeom *g)
+{
+  dAASSERT (g);
+  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
+  return g->R;
+}
+
+
+void dGeomGetQuaternion (dxGeom *g, dQuaternion quat)
+{
+  dAASSERT (g);
+  dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
+  if (g->body) {
+    const dReal * body_quat = dBodyGetQuaternion (g->body);
+    quat[0] = body_quat[0];
+    quat[1] = body_quat[1];
+    quat[2] = body_quat[2];
+    quat[3] = body_quat[3];
+  }
+  else {
+    dRtoQ (g->R, quat);
+  }
+}
+
+
+void dGeomGetAABB (dxGeom *g, dReal aabb[6])
+{
+  dAASSERT (g);
+  dAASSERT (aabb);
+  g->recomputeAABB();
+  memcpy (aabb,g->aabb,6 * sizeof(dReal));
+}
+
+
+int dGeomIsSpace (dxGeom *g)
+{
+  dAASSERT (g);
+  return IS_SPACE(g);
+}
+
+
+dSpaceID dGeomGetSpace (dxGeom *g)
+{
+  dAASSERT (g);
+  return g->parent_space;
+}
+
+
+int dGeomGetClass (dxGeom *g)
+{
+  dAASSERT (g);
+  return g->type;
+}
+
+
+void dGeomSetCategoryBits (dxGeom *g, unsigned long bits)
+{
+  dAASSERT (g);
+  CHECK_NOT_LOCKED (g->parent_space);
+  g->category_bits = bits;
+}
+
+
+void dGeomSetCollideBits (dxGeom *g, unsigned long bits)
+{
+  dAASSERT (g);
+  CHECK_NOT_LOCKED (g->parent_space);
+  g->collide_bits = bits;
+}
+
+
+unsigned long dGeomGetCategoryBits (dxGeom *g)
+{
+  dAASSERT (g);
+  return g->category_bits;
+}
+
+
+unsigned long dGeomGetCollideBits (dxGeom *g)
+{
+  dAASSERT (g);
+  return g->collide_bits;
+}
+
+
+void dGeomEnable (dxGeom *g)
+{
+	dAASSERT (g);
+	g->gflags |= GEOM_ENABLED;
+}
+
+void dGeomDisable (dxGeom *g)
+{
+	dAASSERT (g);
+	g->gflags &= ~GEOM_ENABLED;
+}
+
+int dGeomIsEnabled (dxGeom *g)
+{
+	dAASSERT (g);
+	return (g->gflags & GEOM_ENABLED) != 0;
+}
+
+
+//****************************************************************************
+// C interface that lets the user make new classes. this interface is a lot
+// more cumbersome than C++ subclassing, which is what is used internally
+// in ODE. this API is mainly to support legacy code.
+
+static int num_user_classes = 0;
+static dGeomClass user_classes [dMaxUserClasses];
+
+
+struct dxUserGeom : public dxGeom {
+  void *user_data;
+
+  dxUserGeom (int class_num);
+  ~dxUserGeom();
+  void computeAABB();
+  int AABBTest (dxGeom *o, dReal aabb[6]);
+};
+
+
+dxUserGeom::dxUserGeom (int class_num) : dxGeom (0,1)
+{
+  type = class_num;
+  int size = user_classes[type-dFirstUserClass].bytes;
+  user_data = dAlloc (size);
+  memset (user_data,0,size);
+}
+
+
+dxUserGeom::~dxUserGeom()
+{
+  dGeomClass *c = &user_classes[type-dFirstUserClass];
+  if (c->dtor) c->dtor (this);
+  dFree (user_data,c->bytes);
+}
+
+
+void dxUserGeom::computeAABB()
+{
+  user_classes[type-dFirstUserClass].aabb (this,aabb);
+}
+
+
+int dxUserGeom::AABBTest (dxGeom *o, dReal aabb[6])
+{
+  dGeomClass *c = &user_classes[type-dFirstUserClass];
+  if (c->aabb_test) return c->aabb_test (this,o,aabb);
+  else return 1;
+}
+
+
+static int dCollideUserGeomWithGeom (dxGeom *o1, dxGeom *o2, int flags,
+				     dContactGeom *contact, int skip)
+{
+  // this generic collider function is called the first time that a user class
+  // tries to collide against something. it will find out the correct collider
+  // function and then set the colliders array so that the correct function is
+  // called directly the next time around.
+
+  int t1 = o1->type;	// note that o1 is a user geom
+  int t2 = o2->type;	// o2 *may* be a user geom
+
+  // find the collider function to use. if o1 does not know how to collide with
+  // o2, then o2 might know how to collide with o1 (provided that it is a user
+  // geom).
+  dColliderFn *fn = user_classes[t1-dFirstUserClass].collider (t2);
+  int reverse = 0;
+  if (!fn && t2 >= dFirstUserClass && t2 <= dLastUserClass) {
+    fn = user_classes[t2-dFirstUserClass].collider (t1);
+    reverse = 1;
+  }
+
+  // set the colliders array so that the correct function is called directly
+  // the next time around. note that fn can be 0 here if no collider was found,
+  // which means that dCollide() will always return 0 for this case.
+  colliders[t1][t2].fn = fn;
+  colliders[t1][t2].reverse = reverse;
+  colliders[t2][t1].fn = fn;
+  colliders[t2][t1].reverse = !reverse;
+
+  // now call the collider function indirectly through dCollide(), so that
+  // contact reversing is properly handled.
+  return dCollide (o1,o2,flags,contact,skip);
+}
+
+
+int dCreateGeomClass (const dGeomClass *c)
+{
+  dUASSERT(c && c->bytes >= 0 && c->collider && c->aabb,"bad geom class");
+
+  if (num_user_classes >= dMaxUserClasses) {
+    dDebug (0,"too many user classes, you must increase the limit and "
+	      "recompile ODE");
+  }
+  user_classes[num_user_classes] = *c;
+  int class_number = num_user_classes + dFirstUserClass;
+  initColliders();
+  setAllColliders (class_number,&dCollideUserGeomWithGeom);
+
+  num_user_classes++;
+  return class_number;
+}
+
+
+void * dGeomGetClassData (dxGeom *g)
+{
+  dUASSERT (g && g->type >= dFirstUserClass &&
+	    g->type <= dLastUserClass,"not a custom class");
+  dxUserGeom *user = (dxUserGeom*) g;
+  return user->user_data;
+}
+
+
+dGeomID dCreateGeom (int classnum)
+{
+  dUASSERT (classnum >= dFirstUserClass &&
+	    classnum <= dLastUserClass,"not a custom class");
+  return new dxUserGeom (classnum);
+}
+
+//****************************************************************************
+// here is where we deallocate any memory that has been globally
+// allocated, or free other global resources.
+
+void dCloseODE()
+{
+  colliders_initialized = 0;
+  num_user_classes = 0;
+}
diff -Naur xmoto-0.1.10/src/ode/s/collision_kernel.h xmoto-0.1.10-patched/src/ode/s/collision_kernel.h
--- xmoto-0.1.10/src/ode/s/collision_kernel.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_kernel.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,202 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+internal data structures and functions for collision detection.
+
+*/
+
+#ifndef _ODE_COLLISION_KERNEL_H_
+#define _ODE_COLLISION_KERNEL_H_
+
+#include <ode/common.h>
+#include <ode/contact.h>
+#include <ode/collision.h>
+#include "objects.h"
+
+//****************************************************************************
+// constants and macros
+
+// mask for the number-of-contacts field in the dCollide() flags parameter
+#define NUMC_MASK (0xffff)
+
+#define IS_SPACE(geom) \
+  ((geom)->type >= dFirstSpaceClass && (geom)->type <= dLastSpaceClass)
+
+//****************************************************************************
+// 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.
+//
+// GEOM_DIRTY means that the space data structures for this geom are
+// potentially not up to date. NOTE THAT all space parents of a dirty geom
+// are themselves dirty. this is an invariant that must be enforced.
+//
+// GEOM_AABB_BAD means that the cached AABB for this geom is not up to date.
+// note that GEOM_DIRTY does not imply GEOM_AABB_BAD, as the geom might
+// recalculate its own AABB but does not know how to update the space data
+// structures for the space it is in. but GEOM_AABB_BAD implies GEOM_DIRTY.
+// the valid combinations are: 0, GEOM_DIRTY, GEOM_DIRTY|GEOM_AABB_BAD.
+
+enum {
+  GEOM_DIRTY	= 1,	// geom is 'dirty', i.e. position unknown
+  GEOM_AABB_BAD	= 2,	// geom's AABB is not valid
+  GEOM_PLACEABLE = 4,	// geom is placeable
+  GEOM_ENABLED = 8,		// geom is enabled
+
+  // Ray specific
+  RAY_FIRSTCONTACT = 0x10000,
+  RAY_BACKFACECULL = 0x20000,
+  RAY_CLOSEST_HIT  = 0x40000
+};
+
+
+// geometry object base class. pos and R will either point to a separately
+// allocated buffer (if body is 0 - pos points to the dxPosR object) or to
+// the pos and R of the body (if body nonzero).
+// a dGeomID is a pointer to this object.
+
+struct dxGeom : public dBase {
+  int type;		// geom type number, set by subclass constructor
+  int gflags;		// flags used by geom and space
+  void *data;		// user-defined data pointer
+  dBodyID body;		// dynamics body associated with this object (if any)
+  dxGeom *body_next;	// next geom in body's linked list of associated geoms
+  dReal *pos;		// pointer to object's position vector
+  dReal *R;		// pointer to object's rotation matrix
+
+  // information used by spaces
+  dxGeom *next;		// next geom in linked list of geoms
+  dxGeom **tome;	// linked list backpointer
+  dxSpace *parent_space;// the space this geom is contained in, 0 if none
+  dReal aabb[6];	// cached AABB for this space
+  unsigned long category_bits,collide_bits;
+
+  dxGeom (dSpaceID _space, int is_placeable);
+  virtual ~dxGeom();
+
+  virtual void computeAABB()=0;
+  // compute the AABB for this object and put it in aabb. this function
+  // always performs a fresh computation, it does not inspect the
+  // GEOM_AABB_BAD flag.
+
+  virtual int AABBTest (dxGeom *o, dReal aabb[6]);
+  // test whether the given AABB object intersects with this object, return
+  // 1=yes, 0=no. this is used as an early-exit test in the space collision
+  // functions. the default implementation returns 1, which is the correct
+  // behavior if no more detailed implementation can be provided.
+
+  // utility functions
+
+  // compute the AABB only if it is not current. this function manipulates
+  // the GEOM_AABB_BAD flag.
+
+  void recomputeAABB() {
+    if (gflags & GEOM_AABB_BAD) {
+      computeAABB();
+      gflags &= ~GEOM_AABB_BAD;
+    }
+  }
+
+  // add and remove this geom from a linked list maintained by a space.
+
+  void spaceAdd (dxGeom **first_ptr) {
+    next = *first_ptr;
+    tome = first_ptr;
+    if (*first_ptr) (*first_ptr)->tome = &next;
+    *first_ptr = this;
+  }
+  void spaceRemove() {
+    if (next) next->tome = tome;
+    *tome = next;
+  }
+
+  // add and remove this geom from a linked list maintained by a body.
+
+  void bodyAdd (dxBody *b) {
+    body = b;
+    body_next = b->geom;
+    b->geom = this;
+  }
+  void bodyRemove();
+};
+
+//****************************************************************************
+// the base space class
+//
+// the contained geoms are divided into two kinds: clean and dirty.
+// the clean geoms have not moved since they were put in the list,
+// and their AABBs are valid. the dirty geoms have changed position, and
+// their AABBs are may not be valid. the two types are distinguished by the
+// GEOM_DIRTY flag. all dirty geoms come *before* all clean geoms in the list.
+
+struct dxSpace : public dxGeom {
+  int count;			// number of geoms in this space
+  dxGeom *first;		// first geom in list
+  int cleanup;			// cleanup mode, 1=destroy geoms on exit
+
+  // cached state for getGeom()
+  int current_index;		// only valid if current_geom != 0
+  dxGeom *current_geom;		// if 0 then there is no information
+
+  // locking stuff. the space is locked when it is currently traversing its
+  // internal data structures, e.g. in collide() and collide2(). operations
+  // that modify the contents of the space are not permitted when the space
+  // is locked.
+  int lock_count;
+
+  dxSpace (dSpaceID _space);
+  ~dxSpace();
+
+  void computeAABB();
+
+  void setCleanup (int mode);
+  int getCleanup();
+  int query (dxGeom *geom);
+  int getNumGeoms();
+  virtual dxGeom *getGeom (int i);
+
+  virtual void add (dxGeom *);
+  virtual void remove (dxGeom *);
+  virtual void dirty (dxGeom *);
+
+  virtual void cleanGeoms()=0;
+  // turn all dirty geoms into clean geoms by computing their AABBs and any
+  // other space data structures that are required. this should clear the
+  // GEOM_DIRTY and GEOM_AABB_BAD flags of all geoms.
+
+  virtual void collide (void *data, dNearCallback *callback)=0;
+  virtual void collide2 (void *data, dxGeom *geom, dNearCallback *callback)=0;
+};
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/collision_quadtreespace.cpp xmoto-0.1.10-patched/src/ode/s/collision_quadtreespace.cpp
--- xmoto-0.1.10/src/ode/s/collision_quadtreespace.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_quadtreespace.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,583 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// QuadTreeSpace by Erwin de Vries.
+
+#include <ode/common.h>
+#include <ode/matrix.h>
+#include <ode/collision_space.h>
+#include <ode/collision.h>
+#include "collision_kernel.h"
+
+#include "collision_space_internal.h"
+
+
+#define AXIS0 0
+#define AXIS1 1
+#define UP 2
+
+//#define DRAWBLOCKS
+
+const int SPLITAXIS = 2;
+const int SPLITS = SPLITAXIS * SPLITAXIS;
+
+#define GEOM_ENABLED(g) (g)->gflags & GEOM_ENABLED
+
+class Block{
+public:
+	dReal MinX, MaxX;
+	dReal MinZ, MaxZ;
+
+	dGeomID First;
+	int GeomCount;
+
+	Block* Parent;
+	Block* Children;
+
+	void Create(const dVector3 Center, const dVector3 Extents, Block* Parent, int Depth, Block*& Blocks);
+
+	void Collide(void* UserData, dNearCallback* Callback);
+	void Collide(dGeomID Object, dGeomID g, void* UserData, dNearCallback* Callback);
+
+	void CollideLocal(dGeomID Object, void* UserData, dNearCallback* Callback);
+	
+	void AddObject(dGeomID Object);
+	void DelObject(dGeomID Object);
+	void Traverse(dGeomID Object);
+
+	bool Inside(const dReal* AABB);
+	
+	Block* GetBlock(const dReal* AABB);
+	Block* GetBlockChild(const dReal* AABB);
+};
+
+
+#ifdef DRAWBLOCKS
+#include "..\..\Include\drawstuff\\drawstuff.h"
+
+static void DrawBlock(Block* Block){
+	dVector3 v[8];
+	v[0][AXIS0] = Block->MinX;
+	v[0][UP] = REAL(-1.0);
+	v[0][AXIS1] = Block->MinZ;
+	
+	v[1][AXIS0] = Block->MinX;
+	v[1][UP] = REAL(-1.0);
+	v[1][AXIS1] = Block->MaxZ;
+	
+	v[2][AXIS0] = Block->MaxX;
+	v[2][UP] = REAL(-1.0);
+	v[2][AXIS1] = Block->MinZ;
+	
+	v[3][AXIS0] = Block->MaxX;
+	v[3][UP] = REAL(-1.0);
+	v[3][AXIS1] = Block->MaxZ;
+	
+	v[4][AXIS0] = Block->MinX;
+	v[4][UP] = REAL(1.0);
+	v[4][AXIS1] = Block->MinZ;
+	
+	v[5][AXIS0] = Block->MinX;
+	v[5][UP] = REAL(1.0);
+	v[5][AXIS1] = Block->MaxZ;
+	
+	v[6][AXIS0] = Block->MaxX;
+	v[6][UP] = REAL(1.0);
+	v[6][AXIS1] = Block->MinZ;
+	
+	v[7][AXIS0] = Block->MaxX;
+	v[7][UP] = REAL(1.0);
+	v[7][AXIS1] = Block->MaxZ;
+	
+	// Bottom
+	dsDrawLine(v[0], v[1]);
+	dsDrawLine(v[1], v[3]);
+	dsDrawLine(v[3], v[2]);
+	dsDrawLine(v[2], v[0]);
+	
+	// Top
+	dsDrawLine(v[4], v[5]);
+	dsDrawLine(v[5], v[7]);
+	dsDrawLine(v[7], v[6]);
+	dsDrawLine(v[6], v[4]);
+	
+	// Sides
+	dsDrawLine(v[0], v[4]);
+	dsDrawLine(v[1], v[5]);
+	dsDrawLine(v[2], v[6]);
+	dsDrawLine(v[3], v[7]);
+}
+#endif	//DRAWBLOCKS
+
+
+void Block::Create(const dVector3 Center, const dVector3 Extents, Block* Parent, int Depth, Block*& Blocks){
+	GeomCount = 0;
+	First = 0;
+
+	MinX = Center[AXIS0] - Extents[AXIS0];
+	MaxX = Center[AXIS0] + Extents[AXIS0];
+
+	MinZ = Center[AXIS1] - Extents[AXIS1];
+	MaxZ = Center[AXIS1] + Extents[AXIS1];
+
+	this->Parent = Parent;
+	if (Depth > 0){
+		Children = Blocks;
+		Blocks += SPLITS;
+
+		dVector3 ChildExtents;
+		ChildExtents[AXIS0] = Extents[AXIS0] / SPLITAXIS;
+		ChildExtents[AXIS1] = Extents[AXIS1] / SPLITAXIS;
+		ChildExtents[UP] = Extents[UP];
+
+		for (int i = 0; i < SPLITAXIS; i++){
+			for (int j = 0; j < SPLITAXIS; j++){
+				int Index = i * SPLITAXIS + j;
+
+				dVector3 ChildCenter;
+				ChildCenter[AXIS0] = Center[AXIS0] - Extents[AXIS0] + ChildExtents[AXIS0] + i * (ChildExtents[AXIS0] * 2);
+				ChildCenter[AXIS1] = Center[AXIS1] - Extents[AXIS1] + ChildExtents[AXIS1] + j * (ChildExtents[AXIS1] * 2);
+				ChildCenter[UP] = Center[UP];
+				
+				Children[Index].Create(ChildCenter, ChildExtents, this, Depth - 1, Blocks);
+			}
+		}
+	}
+	else Children = 0;
+}
+
+void Block::Collide(void* UserData, dNearCallback* Callback){
+#ifdef DRAWBLOCKS
+	DrawBlock(this);
+#endif
+	// Collide the local list
+	dxGeom* g = First;
+	while (g){
+		if (GEOM_ENABLED(g)){
+			Collide(g, g->next, UserData, Callback);
+		}
+		g = g->next;
+	}
+
+	// Recurse for children
+	if (Children){
+		for (int i = 0; i < SPLITS; i++){
+			if (Children[i].GeomCount <= 1){	// Early out
+				continue;
+			}
+			Children[i].Collide(UserData, Callback);
+		}
+	}
+}
+
+void Block::Collide(dxGeom* g1, dxGeom* g2, void* UserData, dNearCallback* Callback){
+#ifdef DRAWBLOCKS
+	DrawBlock(this);
+#endif
+	// Collide against local list
+	while (g2){
+		if (GEOM_ENABLED(g2)){
+			collideAABBs (g1, g2, UserData, Callback);
+		}
+		g2 = g2->next;
+	}
+
+	// Collide against children
+	if (Children){
+		for (int i = 0; i < SPLITS; i++){
+			// Early out for empty blocks
+			if (Children[i].GeomCount == 0){
+				continue;
+			}
+
+			// Does the geom's AABB collide with the block?
+			// Dont do AABB tests for single geom blocks.
+			if (Children[i].GeomCount == 1 && Children[i].First){
+				//
+			}
+			else if (true){
+				if (g1->aabb[AXIS0 * 2 + 0] > Children[i].MaxX ||
+					g1->aabb[AXIS0 * 2 + 1] < Children[i].MinX ||
+					g1->aabb[AXIS1 * 2 + 0] > Children[i].MaxZ ||
+					g1->aabb[AXIS1 * 2 + 1] < Children[i].MinZ) continue;
+			}
+			Children[i].Collide(g1, Children[i].First, UserData, Callback);
+		}
+	}
+}
+
+void Block::CollideLocal(dxGeom* g1, void* UserData, dNearCallback* Callback){
+	// Collide against local list
+	dxGeom* g2 = First;
+	while (g2){
+		if (GEOM_ENABLED(g2)){
+			collideAABBs (g1, g2, UserData, Callback);
+		}
+		g2 = g2->next;
+	}
+}
+
+void Block::AddObject(dGeomID Object){
+	// Add the geom
+	Object->next = First;
+	First = Object;
+	Object->tome = (dxGeom**)this;
+
+	// Now traverse upwards to tell that we have a geom
+	Block* Block = this;
+	do{
+		Block->GeomCount++;
+		Block = Block->Parent;
+	}
+	while (Block);
+}
+
+void Block::DelObject(dGeomID Object){
+	// Del the geom
+	dxGeom* g = First;
+	dxGeom* Last = 0;
+	while (g){
+		if (g == Object){
+			if (Last){
+				Last->next = g->next;
+			}
+			else First = g->next;
+
+			break;
+		}
+		Last = g;
+		g = g->next;
+	}
+
+	Object->tome = 0;
+
+	// Now traverse upwards to tell that we have lost a geom
+	Block* Block = this;
+	do{
+		Block->GeomCount--;
+		Block = Block->Parent;
+	}
+	while (Block);
+}
+
+void Block::Traverse(dGeomID Object){
+	Block* NewBlock = GetBlock(Object->aabb);
+
+	if (NewBlock != this){
+		// Remove the geom from the old block and add it to the new block.
+		// This could be more optimal, but the loss should be very small.
+		DelObject(Object);
+		NewBlock->AddObject(Object);
+	}
+}
+
+bool Block::Inside(const dReal* AABB){
+	return AABB[AXIS0 * 2 + 0] >= MinX && AABB[AXIS0 * 2 + 1] <= MaxX && AABB[AXIS1 * 2 + 0] >= MinZ && AABB[AXIS1 * 2 + 1] <= MaxZ;
+}
+
+Block* Block::GetBlock(const dReal* AABB){
+	if (Inside(AABB)){
+		return GetBlockChild(AABB);	// Child or this will have a good block
+	}
+	else if (Parent){
+		return Parent->GetBlock(AABB);	// Parent has a good block
+	}
+	else return this;	// We are at the root, so we have little choice
+}
+
+Block* Block::GetBlockChild(const dReal* AABB){
+	if (Children){
+		for (int i = 0; i < SPLITS; i++){
+			if (Children[i].Inside(AABB)){
+				return Children[i].GetBlockChild(AABB);	// Child will have good block
+			}
+		}
+	}
+	return this;	// This is the best block
+}
+
+//****************************************************************************
+// quadtree space
+
+struct dxQuadTreeSpace : public dxSpace{
+	Block* Blocks;	// Blocks[0] is the root
+
+	dArray<dxGeom*> DirtyList;
+
+	dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Extents, int Depth);
+	~dxQuadTreeSpace();
+
+	dxGeom* getGeom(int i);
+	
+	void add(dxGeom* g);
+	void remove(dxGeom* g);
+	void dirty(dxGeom* g);
+
+	void computeAABB();
+	
+	void cleanGeoms();
+	void collide(void* UserData, dNearCallback* Callback);
+	void collide2(void* UserData, dxGeom* g1, dNearCallback* Callback);
+
+	// Temp data
+	Block* CurrentBlock;	// Only used while enumerating
+	int* CurrentChild;	// Only used while enumerating
+	int CurrentLevel;	// Only used while enumerating
+	dxGeom* CurrentObject;	// Only used while enumerating
+	int CurrentIndex;
+};
+
+dxQuadTreeSpace::dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Extents, int Depth) : dxSpace(_space){
+	type = dQuadTreeSpaceClass;
+
+	int BlockCount = 0;
+	for (int i = 0; i <= Depth; i++){
+		BlockCount += (int)pow(SPLITS, i);
+	}
+
+	Blocks = (Block*)dAlloc(BlockCount * sizeof(Block));
+	Block* Blocks = this->Blocks + 1;	// This pointer gets modified!
+
+	this->Blocks[0].Create(Center, Extents, 0, Depth, Blocks);
+
+	CurrentBlock = 0;
+	CurrentChild = (int*)dAlloc((Depth + 1) * sizeof(int));
+	CurrentLevel = 0;
+	CurrentObject = 0;
+	CurrentIndex = -1;
+
+	// Init AABB. We initialize to infinity because it is not illegal for an object to be outside of the tree. Its simply inserted in the root block
+	aabb[0] = -dInfinity;
+	aabb[1] = dInfinity;
+	aabb[2] = -dInfinity;
+	aabb[3] = dInfinity;
+	aabb[4] = -dInfinity;
+	aabb[5] = dInfinity;
+}
+
+dxQuadTreeSpace::~dxQuadTreeSpace(){
+	int Depth = 0;
+	Block* Current = &Blocks[0];
+	while (Current){
+		Depth++;
+		Current = Current->Children;
+	}
+
+	int BlockCount = 0;
+	for (int i = 0; i < Depth; i++){
+		BlockCount += (int)pow(SPLITS, i);
+	}
+
+	dFree(Blocks, BlockCount * sizeof(Block));
+	dFree(CurrentChild, (Depth + 1) * sizeof(int));
+}
+
+dxGeom* dxQuadTreeSpace::getGeom(int Index){
+	dUASSERT(Index >= 0 && Index < count, "index out of range");
+
+	//@@@
+	dDebug (0,"dxQuadTreeSpace::getGeom() not yet implemented");
+
+	return 0;
+
+	// This doesnt work
+
+	/*if (CurrentIndex == Index){
+		// Loop through all objects in the local list
+CHILDRECURSE:
+		if (CurrentObject){
+			dGeomID g = CurrentObject;
+			CurrentObject = CurrentObject->next;
+			CurrentIndex++;
+		
+#ifdef DRAWBLOCKS
+			DrawBlock(CurrentBlock);
+#endif	//DRAWBLOCKS
+			return g;
+		}
+		else{
+			// Now lets loop through our children. Starting at index 0.
+			if (CurrentBlock->Children){
+				CurrentChild[CurrentLevel] = 0;
+PARENTRECURSE:
+				for (int& i = CurrentChild[CurrentLevel]; i < SPLITS; i++){
+					if (CurrentBlock->Children[i].GeomCount == 0){
+						continue;
+					}
+					CurrentBlock = &CurrentBlock->Children[i];
+					CurrentObject = CurrentBlock->First;
+				
+					i++;
+				
+					CurrentLevel++;
+					goto CHILDRECURSE;
+				}
+			}
+		}
+		
+		// Now lets go back to the parent so it can continue processing its other children.
+		if (CurrentBlock->Parent){
+			CurrentBlock = CurrentBlock->Parent;
+			CurrentLevel--;
+			goto PARENTRECURSE;
+		}
+	}
+	else{
+		CurrentBlock = &Blocks[0];
+		CurrentLevel = 0;
+		CurrentObject = CurrentObject;
+		CurrentIndex = 0;
+
+		// Other states are already set
+		CurrentObject = CurrentBlock->First;
+	}
+
+
+	if (current_geom && current_index == Index - 1){
+		//current_geom = current_geom->next; // next
+		current_index = Index;
+		return current_geom;
+	}
+	else for (int i = 0; i < Index; i++){	// this will be verrrrrrry slow
+		getGeom(i);
+	}*/
+
+	return 0;
+}
+
+void dxQuadTreeSpace::add(dxGeom* g){
+	CHECK_NOT_LOCKED (this);
+	dAASSERT(g);
+	dUASSERT(g->parent_space == 0 && g->next == 0, "geom is already in a space");
+
+	g->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
+	DirtyList.push(g);
+
+	// add
+	g->parent_space = this;
+	Blocks[0].GetBlock(g->aabb)->AddObject(g);	// Add to best block
+	count++;
+	
+	// enumerator has been invalidated
+	current_geom = 0;
+	
+	dGeomMoved(this);
+}
+
+void dxQuadTreeSpace::remove(dxGeom* g){
+	CHECK_NOT_LOCKED(this);
+	dAASSERT(g);
+	dUASSERT(g->parent_space == this,"object is not in this space");
+	
+	// remove
+	((Block*)g->tome)->DelObject(g);
+	count--;
+
+	for (int i = 0; i < DirtyList.size(); i++){
+		if (DirtyList[i] == g){
+			DirtyList.remove(i);
+			break;
+		}
+	}
+	
+	// safeguard
+	g->next = 0;
+	g->tome = 0;
+	g->parent_space = 0;
+	
+	// enumerator has been invalidated
+	current_geom = 0;
+	
+	// the bounding box of this space (and that of all the parents) may have
+	// changed as a consequence of the removal.
+	dGeomMoved(this);
+}
+
+void dxQuadTreeSpace::dirty(dxGeom* g){
+	DirtyList.push(g);
+}
+
+void dxQuadTreeSpace::computeAABB(){
+	//
+}
+
+void dxQuadTreeSpace::cleanGeoms(){
+	// compute the AABBs of all dirty geoms, and clear the dirty flags
+	lock_count++;
+	
+	for (int i = 0; i < DirtyList.size(); i++){
+		dxGeom* g = DirtyList[i];
+		if (IS_SPACE(g)){
+			((dxSpace*)g)->cleanGeoms();
+		}
+		g->recomputeAABB();
+		g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
+
+		((Block*)g->tome)->Traverse(g);
+	}
+	DirtyList.setSize(0);
+
+	lock_count--;
+}
+
+void dxQuadTreeSpace::collide(void* UserData, dNearCallback* Callback){
+  dAASSERT(Callback);
+
+  lock_count++;
+  cleanGeoms();
+
+  Blocks[0].Collide(UserData, Callback);
+
+  lock_count--;
+}
+
+void dxQuadTreeSpace::collide2(void* UserData, dxGeom* g1, dNearCallback* Callback){
+  dAASSERT(g1 && Callback);
+
+  lock_count++;
+  cleanGeoms();
+  g1->recomputeAABB();
+
+  if (g1->parent_space == this){
+	  // The block the geom is in
+	  Block* CurrentBlock = (Block*)g1->tome;
+	  
+	  // Collide against block and its children
+	  CurrentBlock->Collide(g1, CurrentBlock->First, UserData, Callback);
+	  
+	  // Collide against parents
+	  while (true){
+		  CurrentBlock = CurrentBlock->Parent;
+		  if (!CurrentBlock){
+			  break;
+		  }
+		  CurrentBlock->CollideLocal(g1, UserData, Callback);
+	  }
+  }
+  else Blocks[0].Collide(g1, Blocks[0].First, UserData, Callback);
+
+  lock_count--;
+}
+
+dSpaceID dQuadTreeSpaceCreate(dxSpace* space, dVector3 Center, dVector3 Extents, int Depth){
+	return new dxQuadTreeSpace(space, Center, Extents, Depth);
+}
diff -Naur xmoto-0.1.10/src/ode/s/collision_space.cpp xmoto-0.1.10-patched/src/ode/s/collision_space.cpp
--- xmoto-0.1.10/src/ode/s/collision_space.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_space.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,785 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+spaces
+
+*/
+
+#include <ode/common.h>
+#include <ode/matrix.h>
+#include <ode/collision_space.h>
+#include <ode/collision.h>
+#include "collision_kernel.h"
+
+#include "collision_space_internal.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
+#endif
+
+//****************************************************************************
+// make the geom dirty by setting the GEOM_DIRTY and GEOM_BAD_AABB flags
+// and moving it to the front of the space's list. all the parents of a
+// dirty geom also become dirty.
+
+void dGeomMoved (dxGeom *geom)
+{
+  dAASSERT (geom);
+  
+  // from the bottom of the space heirarchy up, process all clean geoms
+  // turning them into dirty geoms.
+  dxSpace *parent = geom->parent_space;
+
+  while (parent && (geom->gflags & GEOM_DIRTY)==0) {
+    CHECK_NOT_LOCKED (parent);
+    geom->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
+    parent->dirty (geom);
+    geom = parent;
+    parent = parent->parent_space;
+  }
+
+  // all the remaining dirty geoms must have their AABB_BAD flags set, to
+  // ensure that their AABBs get recomputed
+  while (geom) {
+    geom->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
+    CHECK_NOT_LOCKED (geom->parent_space);
+    geom = geom->parent_space;
+  }
+}
+
+#define GEOM_ENABLED(g) ((g)->gflags & GEOM_ENABLED)
+
+//****************************************************************************
+// dxSpace
+
+dxSpace::dxSpace (dSpaceID _space) : dxGeom (_space,0)
+{
+  count = 0;
+  first = 0;
+  cleanup = 1;
+  current_index = 0;
+  current_geom = 0;
+  lock_count = 0;
+}
+
+
+dxSpace::~dxSpace()
+{
+  CHECK_NOT_LOCKED (this);
+  if (cleanup) {
+    // note that destroying each geom will call remove()
+    dxGeom *g,*n;
+    for (g = first; g; g=n) {
+      n = g->next;
+      dGeomDestroy (g);
+    }
+  }
+  else {
+    dxGeom *g,*n;
+    for (g = first; g; g=n) {
+      n = g->next;
+      remove (g);
+    }
+  }
+}
+
+
+void dxSpace::computeAABB()
+{
+  if (first) {
+    int i;
+    dReal a[6];
+    a[0] = dInfinity;
+    a[1] = -dInfinity;
+    a[2] = dInfinity;
+    a[3] = -dInfinity;
+    a[4] = dInfinity;
+    a[5] = -dInfinity;
+    for (dxGeom *g=first; g; g=g->next) {
+      g->recomputeAABB();
+      for (i=0; i<6; i += 2) if (g->aabb[i] < a[i]) a[i] = g->aabb[i];
+      for (i=1; i<6; i += 2) if (g->aabb[i] > a[i]) a[i] = g->aabb[i];
+    }
+    memcpy(aabb,a,6*sizeof(dReal));
+  }
+  else {
+    dSetZero (aabb,6);
+  }
+}
+
+
+void dxSpace::setCleanup (int mode)
+{
+  cleanup = (mode != 0);
+}
+
+
+int dxSpace::getCleanup()
+{
+  return cleanup;
+}
+
+
+int dxSpace::query (dxGeom *geom)
+{
+  dAASSERT (geom);
+  return (geom->parent_space == this);
+}
+
+
+int dxSpace::getNumGeoms()
+{
+  return count;
+}
+
+
+// the dirty geoms are numbered 0..k, the clean geoms are numbered k+1..count-1
+
+dxGeom *dxSpace::getGeom (int i)
+{
+  dUASSERT (i >= 0 && i < count,"index out of range");
+  if (current_geom && current_index == i-1) {
+    current_geom = current_geom->next;
+    current_index = i;
+    return current_geom;
+  }
+  else {
+    dxGeom *g=first;
+    for (int j=0; j<i; j++) {
+      if (g) g = g->next; else return 0;
+    }
+    current_geom = g;
+    current_index = i;
+    return g;
+  }
+}
+
+
+void dxSpace::add (dxGeom *geom)
+{
+  CHECK_NOT_LOCKED (this);
+  dAASSERT (geom);
+  dUASSERT (geom->parent_space == 0 && geom->next == 0,
+	    "geom is already in a space");
+
+  // add
+  geom->parent_space = this;
+  geom->spaceAdd (&first);
+  count++;
+
+  // enumerator has been invalidated
+  current_geom = 0;
+
+  // new geoms are added to the front of the list and are always
+  // considered to be dirty. as a consequence, this space and all its
+  // parents are dirty too.
+  geom->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
+  dGeomMoved (this);
+}
+
+
+void dxSpace::remove (dxGeom *geom)
+{
+  CHECK_NOT_LOCKED (this);
+  dAASSERT (geom);
+  dUASSERT (geom->parent_space == this,"object is not in this space");
+
+  // remove
+  geom->spaceRemove();
+  count--;
+
+  // safeguard
+  geom->next = 0;
+  geom->tome = 0;
+  geom->parent_space = 0;
+
+  // enumerator has been invalidated
+  current_geom = 0;
+
+  // the bounding box of this space (and that of all the parents) may have
+  // changed as a consequence of the removal.
+  dGeomMoved (this);
+}
+
+
+void dxSpace::dirty (dxGeom *geom)
+{
+  geom->spaceRemove();
+  geom->spaceAdd (&first);
+}
+
+//****************************************************************************
+// simple space - reports all n^2 object intersections
+
+struct dxSimpleSpace : public dxSpace {
+  dxSimpleSpace (dSpaceID _space);
+  void cleanGeoms();
+  void collide (void *data, dNearCallback *callback);
+  void collide2 (void *data, dxGeom *geom, dNearCallback *callback);
+};
+
+
+dxSimpleSpace::dxSimpleSpace (dSpaceID _space) : dxSpace (_space)
+{
+  type = dSimpleSpaceClass;
+}
+
+
+void dxSimpleSpace::cleanGeoms()
+{
+  // compute the AABBs of all dirty geoms, and clear the dirty flags
+  lock_count++;
+  for (dxGeom *g=first; g && (g->gflags & GEOM_DIRTY); g=g->next) {
+    if (IS_SPACE(g)) {
+      ((dxSpace*)g)->cleanGeoms();
+    }
+    g->recomputeAABB();
+    g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
+  }
+  lock_count--;
+}
+
+
+void dxSimpleSpace::collide (void *data, dNearCallback *callback)
+{
+  dAASSERT (callback);
+
+  lock_count++;
+  cleanGeoms();
+
+  // intersect all bounding boxes
+  for (dxGeom *g1=first; g1; g1=g1->next) {
+    if (GEOM_ENABLED(g1)){
+      for (dxGeom *g2=g1->next; g2; g2=g2->next) {
+	if (GEOM_ENABLED(g2)){
+	  collideAABBs (g1,g2,data,callback);
+	}
+      }
+    }
+  }
+
+  lock_count--;
+}
+
+
+void dxSimpleSpace::collide2 (void *data, dxGeom *geom,
+			      dNearCallback *callback)
+{
+  dAASSERT (geom && callback);
+
+  lock_count++;
+  cleanGeoms();
+  geom->recomputeAABB();
+
+  // intersect bounding boxes
+  for (dxGeom *g=first; g; g=g->next) {
+    if (GEOM_ENABLED(g)){
+      collideAABBs (g,geom,data,callback);
+    }
+  }
+
+  lock_count--;
+}
+
+//****************************************************************************
+// utility stuff for hash table space
+
+// kind of silly, but oh well...
+#ifndef MAXINT
+#define MAXINT ((int)((((unsigned int)(-1)) << 1) >> 1))
+#endif
+
+
+// prime[i] is the largest prime smaller than 2^i
+#define NUM_PRIMES 31
+static long int prime[NUM_PRIMES] = {1L,2L,3L,7L,13L,31L,61L,127L,251L,509L,
+  1021L,2039L,4093L,8191L,16381L,32749L,65521L,131071L,262139L,
+  524287L,1048573L,2097143L,4194301L,8388593L,16777213L,33554393L,
+  67108859L,134217689L,268435399L,536870909L,1073741789L};
+
+
+// an axis aligned bounding box in the hash table
+struct dxAABB {
+  dxAABB *next;		// next in the list of all AABBs
+  int level;		// the level this is stored in (cell size = 2^level)
+  int dbounds[6];	// AABB bounds, discretized to cell size
+  dxGeom *geom;		// corresponding geometry object (AABB stored here)
+  int index;		// index of this AABB, starting from 0
+};
+
+
+// a hash table node that represents an AABB that intersects a particular cell
+// at a particular level
+struct Node {
+  Node *next;		// next node in hash table collision list, 0 if none
+  int x,y,z;		// cell position in space, discretized to cell size
+  dxAABB *aabb;		// axis aligned bounding box that intersects this cell
+};
+
+
+// return the `level' of an AABB. the AABB will be put into cells at this
+// level - the cell size will be 2^level. the level is chosen to be the
+// smallest value such that the AABB occupies no more than 8 cells, regardless
+// of its placement. this means that:
+//	size/2 < q <= size
+// where q is the maximum AABB dimension.
+
+static int findLevel (dReal bounds[6])
+{
+  if (bounds[0] <= -dInfinity || bounds[1] >= dInfinity ||
+      bounds[2] <= -dInfinity || bounds[3] >= dInfinity ||
+      bounds[4] <= -dInfinity || bounds[5] >= dInfinity) {
+    return MAXINT;
+  }
+
+  // compute q
+  dReal q,q2;
+  q = bounds[1] - bounds[0];	// x bounds
+  q2 = bounds[3] - bounds[2];	// y bounds
+  if (q2 > q) q = q2;
+  q2 = bounds[5] - bounds[4];	// z bounds
+  if (q2 > q) q = q2;
+
+  // find level such that 0.5 * 2^level < q <= 2^level
+  int level;
+  frexp (q,&level);	// q = (0.5 .. 1.0) * 2^level (definition of frexp)
+  return level;
+}
+
+
+// find a virtual memory address for a cell at the given level and x,y,z
+// position.
+// @@@ currently this is not very sophisticated, e.g. the scaling
+// factors could be better designed to avoid collisions, and they should
+// probably depend on the hash table physical size.
+
+static unsigned long getVirtualAddress (int level, int x, int y, int z)
+{
+  return level*1000 + x*100 + y*10 + z;
+}
+
+//****************************************************************************
+// hash space
+
+struct dxHashSpace : public dxSpace {
+  int global_minlevel;	// smallest hash table level to put AABBs in
+  int global_maxlevel;	// objects that need a level larger than this will be
+			// put in a "big objects" list instead of a hash table
+
+  dxHashSpace (dSpaceID _space);
+  void setLevels (int minlevel, int maxlevel);
+  void getLevels (int *minlevel, int *maxlevel);
+  void cleanGeoms();
+  void collide (void *data, dNearCallback *callback);
+  void collide2 (void *data, dxGeom *geom, dNearCallback *callback);
+};
+
+
+dxHashSpace::dxHashSpace (dSpaceID _space) : dxSpace (_space)
+{
+  type = dHashSpaceClass;
+  global_minlevel = -3;
+  global_maxlevel = 10;
+}
+
+
+void dxHashSpace::setLevels (int minlevel, int maxlevel)
+{
+  dAASSERT (minlevel <= maxlevel);
+  global_minlevel = minlevel;
+  global_maxlevel = maxlevel;
+}
+
+
+void dxHashSpace::getLevels (int *minlevel, int *maxlevel)
+{
+  if (minlevel) *minlevel = global_minlevel;
+  if (maxlevel) *maxlevel = global_maxlevel;
+}
+
+
+void dxHashSpace::cleanGeoms()
+{
+  // compute the AABBs of all dirty geoms, and clear the dirty flags
+  lock_count++;
+  for (dxGeom *g=first; g && (g->gflags & GEOM_DIRTY); g=g->next) {
+    if (IS_SPACE(g)) {
+      ((dxSpace*)g)->cleanGeoms();
+    }
+    g->recomputeAABB();
+    g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
+  }
+  lock_count--;
+}
+
+
+void dxHashSpace::collide (void *data, dNearCallback *callback)
+{
+  dAASSERT(this && callback);
+  dxGeom *geom;
+  dxAABB *aabb;
+  int i,maxlevel;
+
+  // 0 or 1 geoms can't collide with anything
+  if (count < 2) return;
+
+  lock_count++;
+  cleanGeoms();
+
+  // create a list of auxiliary information for all geom axis aligned bounding
+  // boxes. set the level for all AABBs. put AABBs larger than the space's
+  // global_maxlevel in the big_boxes list, check everything else against
+  // that list at the end. for AABBs that are not too big, record the maximum
+  // level that we need.
+
+  int n = 0;			// number of AABBs in main list
+  dxAABB *first_aabb = 0;	// list of AABBs in hash table
+  dxAABB *big_boxes = 0;	// list of AABBs too big for hash table
+  maxlevel = global_minlevel - 1;
+  for (geom = first; geom; geom=geom->next) {
+    if (!GEOM_ENABLED(geom)){
+      continue;
+    }
+    dxAABB *aabb = (dxAABB*) ALLOCA (sizeof(dxAABB));
+    aabb->geom = geom;
+    // compute level, but prevent cells from getting too small
+    int level = findLevel (geom->aabb);
+    if (level < global_minlevel) level = global_minlevel;
+    if (level <= global_maxlevel) {
+      // aabb goes in main list
+      aabb->next = first_aabb;
+      first_aabb = aabb;
+      aabb->level = level;
+      if (level > maxlevel) maxlevel = level;
+      // cellsize = 2^level
+      dReal cellsize = (dReal) ldexp (1.0,level);
+      // discretize AABB position to cell size
+      for (i=0; i < 6; i++) aabb->dbounds[i] = (int)
+			      floor (geom->aabb[i]/cellsize);
+      // set AABB index
+      aabb->index = n;
+      n++;
+    }
+    else {
+      // aabb is too big, put it in the big_boxes list. we don't care about
+      // setting level, dbounds, index, or the maxlevel
+      aabb->next = big_boxes;
+      big_boxes = aabb;
+    }
+  }
+
+  // for `n' objects, an n*n array of bits is used to record if those objects
+  // have been intersection-tested against each other yet. this array can
+  // grow large with high n, but oh well...
+  int tested_rowsize = (n+7) >> 3;	// number of bytes needed for n bits
+  unsigned char *tested = (unsigned char *) alloca (n * tested_rowsize);
+  memset (tested,0,n * tested_rowsize);
+
+  // create a hash table to store all AABBs. each AABB may take up to 8 cells.
+  // we use chaining to resolve collisions, but we use a relatively large table
+  // to reduce the chance of collisions.
+
+  // compute hash table size sz to be a prime > 8*n
+  for (i=0; i<NUM_PRIMES; i++) {
+    if (prime[i] >= (8*n)) break;
+  }
+  if (i >= NUM_PRIMES) i = NUM_PRIMES-1;	// probably pointless
+  int sz = prime[i];
+
+  // allocate and initialize hash table node pointers
+  Node **table = (Node **) ALLOCA (sizeof(Node*) * sz);
+  for (i=0; i<sz; i++) table[i] = 0;
+
+  // add each AABB to the hash table (may need to add it to up to 8 cells)
+  for (aabb=first_aabb; aabb; aabb=aabb->next) {
+    int *dbounds = aabb->dbounds;
+    for (int xi = dbounds[0]; xi <= dbounds[1]; xi++) {
+      for (int yi = dbounds[2]; yi <= dbounds[3]; yi++) {
+	for (int zi = dbounds[4]; zi <= dbounds[5]; zi++) {
+	  // get the hash index
+	  unsigned long hi = getVirtualAddress (aabb->level,xi,yi,zi) % sz;
+	  // add a new node to the hash table
+	  Node *node = (Node*) alloca (sizeof (Node));
+	  node->x = xi;
+	  node->y = yi;
+	  node->z = zi;
+	  node->aabb = aabb;
+	  node->next = table[hi];
+	  table[hi] = node;
+	}
+      }
+    }
+  }
+
+  // now that all AABBs are loaded into the hash table, we do the actual
+  // collision detection. for all AABBs, check for other AABBs in the
+  // same cells for collisions, and then check for other AABBs in all
+  // intersecting higher level cells.
+
+  int db[6];			// discrete bounds at current level
+  for (aabb=first_aabb; aabb; aabb=aabb->next) {
+    // we are searching for collisions with aabb
+    for (i=0; i<6; i++) db[i] = aabb->dbounds[i];
+    for (int level = aabb->level; level <= maxlevel; level++) {
+      for (int xi = db[0]; xi <= db[1]; xi++) {
+	for (int yi = db[2]; yi <= db[3]; yi++) {
+	  for (int zi = db[4]; zi <= db[5]; zi++) {
+	    // get the hash index
+	    unsigned long hi = getVirtualAddress (level,xi,yi,zi) % sz;
+	    // search all nodes at this index
+	    Node *node;
+	    for (node = table[hi]; node; node=node->next) {
+	      // node points to an AABB that may intersect aabb
+	      if (node->aabb == aabb) continue;
+	      if (node->aabb->level == level &&
+		  node->x == xi && node->y == yi && node->z == zi) {
+		// see if aabb and node->aabb have already been tested
+		// against each other
+		unsigned char mask;
+		if (aabb->index <= node->aabb->index) {
+		  i = (aabb->index * tested_rowsize)+(node->aabb->index >> 3);
+		  mask = 1 << (node->aabb->index & 7);
+		}
+		else {
+		  i = (node->aabb->index * tested_rowsize)+(aabb->index >> 3);
+		  mask = 1 << (aabb->index & 7);
+		}
+		dIASSERT (i >= 0 && i < (tested_rowsize*n));
+		if ((tested[i] & mask)==0) {
+		  collideAABBs (aabb->geom,node->aabb->geom,data,callback);
+		}
+		tested[i] |= mask;
+	      }
+	    }
+	  }
+	}
+      }
+      // get the discrete bounds for the next level up
+      for (i=0; i<6; i++) db[i] >>= 1;
+    }
+  }
+
+  // every AABB in the normal list must now be intersected against every
+  // AABB in the big_boxes list. so let's hope there are not too many objects
+  // in the big_boxes list.
+  for (aabb=first_aabb; aabb; aabb=aabb->next) {
+    for (dxAABB *aabb2=big_boxes; aabb2; aabb2=aabb2->next) {
+      collideAABBs (aabb->geom,aabb2->geom,data,callback);
+    }
+  }
+
+  // intersected all AABBs in the big_boxes list together
+  for (aabb=big_boxes; aabb; aabb=aabb->next) {
+    for (dxAABB *aabb2=aabb->next; aabb2; aabb2=aabb2->next) {
+      collideAABBs (aabb->geom,aabb2->geom,data,callback);
+    }
+  }
+
+  lock_count--;
+}
+
+
+void dxHashSpace::collide2 (void *data, dxGeom *geom,
+			    dNearCallback *callback)
+{
+  dAASSERT (geom && callback);
+  
+  // this could take advantage of the hash structure to avoid
+  // O(n2) complexity, but it does not yet.
+  
+  lock_count++;
+  cleanGeoms();
+  geom->recomputeAABB();
+  
+  // intersect bounding boxes
+  for (dxGeom *g=first; g; g=g->next) {
+    collideAABBs (g,geom,data,callback);
+  }
+  
+  lock_count--;
+}
+
+//****************************************************************************
+// space functions
+
+dxSpace *dSimpleSpaceCreate (dxSpace *space)
+{
+  return new dxSimpleSpace (space);
+}
+
+
+dxSpace *dHashSpaceCreate (dxSpace *space)
+{
+  return new dxHashSpace (space);
+}
+
+
+void dHashSpaceSetLevels (dxSpace *space, int minlevel, int maxlevel)
+{
+  dAASSERT (space);
+  dUASSERT (minlevel <= maxlevel,"must have minlevel <= maxlevel");
+  dUASSERT (space->type == dHashSpaceClass,"argument must be a hash space");
+  dxHashSpace *hspace = (dxHashSpace*) space;
+  hspace->setLevels (minlevel,maxlevel);
+}
+
+
+void dHashSpaceGetLevels (dxSpace *space, int *minlevel, int *maxlevel)
+{
+  dAASSERT (space);
+  dUASSERT (space->type == dHashSpaceClass,"argument must be a hash space");
+  dxHashSpace *hspace = (dxHashSpace*) space;
+  hspace->getLevels (minlevel,maxlevel);
+}
+
+
+void dSpaceDestroy (dxSpace *space)
+{
+  dAASSERT (space);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+  dGeomDestroy (space);
+}
+
+
+void dSpaceSetCleanup (dxSpace *space, int mode)
+{
+  dAASSERT (space);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+  space->setCleanup (mode);
+}
+
+
+int dSpaceGetCleanup (dxSpace *space)
+{
+  dAASSERT (space);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+  return space->getCleanup();
+}
+
+
+void dSpaceAdd (dxSpace *space, dxGeom *g)
+{
+  dAASSERT (space);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+  CHECK_NOT_LOCKED (space);
+  space->add (g);
+}
+
+
+void dSpaceRemove (dxSpace *space, dxGeom *g)
+{
+  dAASSERT (space);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+  CHECK_NOT_LOCKED (space);
+  space->remove (g);
+}
+
+
+int dSpaceQuery (dxSpace *space, dxGeom *g)
+{
+  dAASSERT (space);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+  return space->query (g);
+}
+
+void dSpaceClean (dxSpace *space){
+  dAASSERT (space);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+
+  space->cleanGeoms();
+}
+
+int dSpaceGetNumGeoms (dxSpace *space)
+{
+  dAASSERT (space);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+  return space->getNumGeoms();
+}
+
+
+dGeomID dSpaceGetGeom (dxSpace *space, int i)
+{
+  dAASSERT (space);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+  return space->getGeom (i);
+}
+
+
+void dSpaceCollide (dxSpace *space, void *data, dNearCallback *callback)
+{
+  dAASSERT (space && callback);
+  dUASSERT (dGeomIsSpace(space),"argument not a space");
+  space->collide (data,callback);
+}
+
+
+void dSpaceCollide2 (dxGeom *g1, dxGeom *g2, void *data,
+		     dNearCallback *callback)
+{
+  dAASSERT (g1 && g2 && callback);
+  dxSpace *s1,*s2;
+
+  // see if either geom is a space
+  if (IS_SPACE(g1)) s1 = (dxSpace*) g1; else s1 = 0;
+  if (IS_SPACE(g2)) s2 = (dxSpace*) g2; else s2 = 0;
+
+  // handle the four space/geom cases
+  if (s1) {
+    if (s2) {
+      // g1 and g2 are spaces.
+      if (s1==s2) {
+	// collide a space with itself --> interior collision
+	s1->collide (data,callback);
+      }
+      else {
+	// iterate through the space that has the fewest geoms, calling
+	// collide2 in the other space for each one.
+	if (s1->count < s2->count) {
+	  for (dxGeom *g = s1->first; g; g=g->next) {
+	    s2->collide2 (data,g,callback);
+	  }
+	}
+	else {
+	  for (dxGeom *g = s2->first; g; g=g->next) {
+	    s1->collide2 (data,g,callback);
+	  }
+	}
+      }
+    }
+    else {
+      // g1 is a space, g2 is a geom
+      s1->collide2 (data,g2,callback);
+    }
+  }
+  else {
+    if (s2) {
+      // g1 is a geom, g2 is a space
+      s2->collide2 (data,g1,callback);
+    }
+    else {
+      // g1 and g2 are geoms, call the callback directly
+      callback (data,g1,g2);
+    }
+  }
+}
diff -Naur xmoto-0.1.10/src/ode/s/collision_space_internal.h xmoto-0.1.10-patched/src/ode/s/collision_space_internal.h
--- xmoto-0.1.10/src/ode/s/collision_space_internal.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_space_internal.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,84 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+stuff common to all spaces
+
+*/
+
+#ifndef _ODE_COLLISION_SPACE_INTERNAL_H_
+#define _ODE_COLLISION_SPACE_INTERNAL_H_
+
+#define ALLOCA(x) dALLOCA16(x)
+
+#define CHECK_NOT_LOCKED(space) \
+  dUASSERT ((space)==0 || (space)->lock_count==0, \
+	    "invalid operation for locked space");
+
+
+// collide two geoms together. for the hash table space, this is
+// called if the two AABBs inhabit the same hash table cells.
+// this only calls the callback function if the AABBs actually
+// intersect. if a geom has an AABB test function, that is called to
+// provide a further refinement of the intersection.
+//
+// NOTE: this assumes that the geom AABBs are valid on entry
+// and that both geoms are enabled.
+
+static void collideAABBs (dxGeom *g1, dxGeom *g2,
+			  void *data, dNearCallback *callback)
+{
+  dIASSERT((g1->gflags & GEOM_AABB_BAD)==0);
+  dIASSERT((g2->gflags & GEOM_AABB_BAD)==0);
+
+  // no contacts if both geoms on the same body, and the body is not 0
+  if (g1->body == g2->body && g1->body) return;
+
+  // test if the category and collide bitfields match
+  if ( ((g1->category_bits & g2->collide_bits) ||
+	(g2->category_bits & g1->collide_bits)) == 0) {
+    return;
+  }
+
+  // if the bounding boxes are disjoint then don't do anything
+  dReal *bounds1 = g1->aabb;
+  dReal *bounds2 = g2->aabb;
+  if (bounds1[0] > bounds2[1] ||
+      bounds1[1] < bounds2[0] ||
+      bounds1[2] > bounds2[3] ||
+      bounds1[3] < bounds2[2] ||
+      bounds1[4] > bounds2[5] ||
+      bounds1[5] < bounds2[4]) {
+    return;
+  }
+
+  // check if either object is able to prove that it doesn't intersect the
+  // AABB of the other
+  if (g1->AABBTest (g2,bounds2) == 0) return;
+  if (g2->AABBTest (g1,bounds1) == 0) return;
+
+  // the objects might actually intersect - call the space callback function
+  callback (data,g1,g2);
+}
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/collision_std.cpp xmoto-0.1.10-patched/src/ode/s/collision_std.cpp
--- xmoto-0.1.10/src/ode/s/collision_std.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_std.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,1820 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+standard ODE geometry primitives: public API and pairwise collision functions.
+
+the rule is that only the low level primitive collision functions should set
+dContactGeom::g1 and dContactGeom::g2.
+
+*/
+
+#include <ode/common.h>
+#include <ode/collision.h>
+#include <ode/matrix.h>
+#include <ode/rotation.h>
+#include <ode/odemath.h>
+#include "collision_kernel.h"
+#include "collision_std.h"
+#include "collision_util.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
+#endif
+
+//****************************************************************************
+// the basic geometry objects
+
+struct dxSphere : public dxGeom {
+  dReal radius;		// sphere radius
+  dxSphere (dSpaceID space, dReal _radius);
+  void computeAABB();
+};
+
+
+struct dxBox : public dxGeom {
+  dVector3 side;	// side lengths (x,y,z)
+  dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
+  void computeAABB();
+};
+
+
+struct dxCCylinder : public dxGeom {
+  dReal radius,lz;	// radius, length along z axis
+  dxCCylinder (dSpaceID space, dReal _radius, dReal _length);
+  void computeAABB();
+};
+
+
+struct dxPlane : public dxGeom {
+  dReal p[4];
+  dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+  void computeAABB();
+};
+
+
+struct dxRay : public dxGeom {
+  dReal length;
+  dxRay (dSpaceID space, dReal _length);
+  void computeAABB();
+};
+
+//****************************************************************************
+// sphere public API
+
+dxSphere::dxSphere (dSpaceID space, dReal _radius) : dxGeom (space,1)
+{
+  dAASSERT (_radius > 0);
+  type = dSphereClass;
+  radius = _radius;
+}
+
+
+void dxSphere::computeAABB()
+{
+  aabb[0] = pos[0] - radius;
+  aabb[1] = pos[0] + radius;
+  aabb[2] = pos[1] - radius;
+  aabb[3] = pos[1] + radius;
+  aabb[4] = pos[2] - radius;
+  aabb[5] = pos[2] + radius;
+}
+
+
+dGeomID dCreateSphere (dSpaceID space, dReal radius)
+{
+  return new dxSphere (space,radius);
+}
+
+
+void dGeomSphereSetRadius (dGeomID g, dReal radius)
+{
+  dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
+  dAASSERT (radius > 0);
+  dxSphere *s = (dxSphere*) g;
+  s->radius = radius;
+  dGeomMoved (g);
+}
+
+
+dReal dGeomSphereGetRadius (dGeomID g)
+{
+  dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
+  dxSphere *s = (dxSphere*) g;
+  return s->radius;
+}
+
+
+dReal dGeomSpherePointDepth (dGeomID g, dReal x, dReal y, dReal z)
+{
+  dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
+  dxSphere *s = (dxSphere*) g;
+  return s->radius - dSqrt ((x-s->pos[0])*(x-s->pos[0]) +
+			    (y-s->pos[1])*(y-s->pos[1]) +
+			    (z-s->pos[2])*(z-s->pos[2]));
+}
+
+//****************************************************************************
+// box public API
+
+dxBox::dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz) : dxGeom (space,1)
+{
+  dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
+  type = dBoxClass;
+  side[0] = lx;
+  side[1] = ly;
+  side[2] = lz;
+}
+
+
+void dxBox::computeAABB()
+{
+  dReal xrange = REAL(0.5) * (dFabs (R[0] * side[0]) +
+    dFabs (R[1] * side[1]) + dFabs (R[2] * side[2]));
+  dReal yrange = REAL(0.5) * (dFabs (R[4] * side[0]) +
+    dFabs (R[5] * side[1]) + dFabs (R[6] * side[2]));
+  dReal zrange = REAL(0.5) * (dFabs (R[8] * side[0]) +
+    dFabs (R[9] * side[1]) + dFabs (R[10] * side[2]));
+  aabb[0] = pos[0] - xrange;
+  aabb[1] = pos[0] + xrange;
+  aabb[2] = pos[1] - yrange;
+  aabb[3] = pos[1] + yrange;
+  aabb[4] = pos[2] - zrange;
+  aabb[5] = pos[2] + zrange;
+}
+
+
+dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
+{
+  return new dxBox (space,lx,ly,lz);
+}
+
+
+void dGeomBoxSetLengths (dGeomID g, dReal lx, dReal ly, dReal lz)
+{
+  dUASSERT (g && g->type == dBoxClass,"argument not a box");
+  dAASSERT (lx > 0 && ly > 0 && lz > 0);
+  dxBox *b = (dxBox*) g;
+  b->side[0] = lx;
+  b->side[1] = ly;
+  b->side[2] = lz;
+  dGeomMoved (g);
+}
+
+
+void dGeomBoxGetLengths (dGeomID g, dVector3 result)
+{
+  dUASSERT (g && g->type == dBoxClass,"argument not a box");
+  dxBox *b = (dxBox*) g;
+  result[0] = b->side[0];
+  result[1] = b->side[1];
+  result[2] = b->side[2];
+}
+
+
+dReal dGeomBoxPointDepth (dGeomID g, dReal x, dReal y, dReal z)
+{
+  dUASSERT (g && g->type == dBoxClass,"argument not a box");
+  dxBox *b = (dxBox*) g;
+  dVector3 p,q;
+  p[0] = x - b->pos[0];
+  p[1] = y - b->pos[1];
+  p[2] = z - b->pos[2];
+  dMULTIPLY1_331 (q,b->R,p);
+  dReal dx = b->side[0]*REAL(0.5) - dFabs(q[0]);
+  dReal dy = b->side[1]*REAL(0.5) - dFabs(q[1]);
+  dReal dz = b->side[2]*REAL(0.5) - dFabs(q[2]);
+  if (dx < dy) {
+    if (dx < dz) return dx; else return dz;
+  }
+  else {
+    if (dy < dz) return dy; else return dz;
+  }
+}
+
+//****************************************************************************
+// capped cylinder public API
+
+dxCCylinder::dxCCylinder (dSpaceID space, dReal _radius, dReal _length) :
+  dxGeom (space,1)
+{
+  dAASSERT (_radius > 0 && _length > 0);
+  type = dCCylinderClass;
+  radius = _radius;
+  lz = _length;
+}
+
+
+void dxCCylinder::computeAABB()
+{
+  dReal xrange = dFabs(R[2]  * lz) * REAL(0.5) + radius;
+  dReal yrange = dFabs(R[6]  * lz) * REAL(0.5) + radius;
+  dReal zrange = dFabs(R[10] * lz) * REAL(0.5) + radius;
+  aabb[0] = pos[0] - xrange;
+  aabb[1] = pos[0] + xrange;
+  aabb[2] = pos[1] - yrange;
+  aabb[3] = pos[1] + yrange;
+  aabb[4] = pos[2] - zrange;
+  aabb[5] = pos[2] + zrange;
+}
+
+
+dGeomID dCreateCCylinder (dSpaceID space, dReal radius, dReal length)
+{
+  return new dxCCylinder (space,radius,length);
+}
+
+
+void dGeomCCylinderSetParams (dGeomID g, dReal radius, dReal length)
+{
+  dUASSERT (g && g->type == dCCylinderClass,"argument not a ccylinder");
+  dAASSERT (radius > 0 && length > 0);
+  dxCCylinder *c = (dxCCylinder*) g;
+  c->radius = radius;
+  c->lz = length;
+  dGeomMoved (g);
+}
+
+
+void dGeomCCylinderGetParams (dGeomID g, dReal *radius, dReal *length)
+{
+  dUASSERT (g && g->type == dCCylinderClass,"argument not a ccylinder");
+  dxCCylinder *c = (dxCCylinder*) g;
+  *radius = c->radius;
+  *length = c->lz;
+}
+
+
+dReal dGeomCCylinderPointDepth (dGeomID g, dReal x, dReal y, dReal z)
+{
+  dUASSERT (g && g->type == dCCylinderClass,"argument not a ccylinder");
+  dxCCylinder *c = (dxCCylinder*) g;
+  dVector3 a;
+  a[0] = x - c->pos[0];
+  a[1] = y - c->pos[1];
+  a[2] = z - c->pos[2];
+  dReal beta = dDOT14(a,c->R+2);
+  dReal lz2 = c->lz*REAL(0.5);
+  if (beta < -lz2) beta = -lz2;
+  else if (beta > lz2) beta = lz2;
+  a[0] = c->pos[0] + beta*c->R[0*4+2];
+  a[1] = c->pos[1] + beta*c->R[1*4+2];
+  a[2] = c->pos[2] + beta*c->R[2*4+2];
+  return c->radius -
+    dSqrt ((x-a[0])*(x-a[0]) + (y-a[1])*(y-a[1]) + (z-a[2])*(z-a[2]));
+}
+
+//****************************************************************************
+// plane public API
+
+static void make_sure_plane_normal_has_unit_length (dxPlane *g)
+{
+  dReal l = g->p[0]*g->p[0] + g->p[1]*g->p[1] + g->p[2]*g->p[2];
+  if (l > 0) {
+    l = dRecipSqrt(l);
+    g->p[0] *= l;
+    g->p[1] *= l;
+    g->p[2] *= l;
+    g->p[3] *= l;
+  }
+  else {
+    g->p[0] = 1;
+    g->p[1] = 0;
+    g->p[2] = 0;
+    g->p[3] = 0;
+  }
+}
+
+
+dxPlane::dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) :
+  dxGeom (space,0)
+{
+  type = dPlaneClass;
+  p[0] = a;
+  p[1] = b;
+  p[2] = c;
+  p[3] = d;
+  make_sure_plane_normal_has_unit_length (this);
+}
+
+
+void dxPlane::computeAABB()
+{
+  // @@@ planes that have normal vectors aligned along an axis can use a
+  // @@@ less comprehensive (half space) bounding box.
+  aabb[0] = -dInfinity;
+  aabb[1] = dInfinity;
+  aabb[2] = -dInfinity;
+  aabb[3] = dInfinity;
+  aabb[4] = -dInfinity;
+  aabb[5] = dInfinity;
+}
+
+
+dGeomID dCreatePlane (dSpaceID space,
+		      dReal a, dReal b, dReal c, dReal d)
+{
+  return new dxPlane (space,a,b,c,d);
+}
+
+
+void dGeomPlaneSetParams (dGeomID g, dReal a, dReal b, dReal c, dReal d)
+{
+  dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
+  dxPlane *p = (dxPlane*) g;
+  p->p[0] = a;
+  p->p[1] = b;
+  p->p[2] = c;
+  p->p[3] = d;
+  make_sure_plane_normal_has_unit_length (p);
+  dGeomMoved (g);
+}
+
+
+void dGeomPlaneGetParams (dGeomID g, dVector4 result)
+{
+  dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
+  dxPlane *p = (dxPlane*) g;
+  result[0] = p->p[0];
+  result[1] = p->p[1];
+  result[2] = p->p[2];
+  result[3] = p->p[3];
+}
+
+
+dReal dGeomPlanePointDepth (dGeomID g, dReal x, dReal y, dReal z)
+{
+  dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
+  dxPlane *p = (dxPlane*) g;
+  return p->p[3] - p->p[0]*x - p->p[1]*y - p->p[2]*z;
+}
+
+//****************************************************************************
+// ray public API
+
+dxRay::dxRay (dSpaceID space, dReal _length) : dxGeom (space,1)
+{
+  type = dRayClass;
+  length = _length;
+}
+
+
+void dxRay::computeAABB()
+{
+  dVector3 e;
+  e[0] = pos[0] + R[0*4+2]*length;
+  e[1] = pos[1] + R[1*4+2]*length;
+  e[2] = pos[2] + R[2*4+2]*length;
+
+  if (pos[0] < e[0]){
+    aabb[0] = pos[0];
+    aabb[1] = e[0];
+  }
+  else{
+    aabb[0] = e[0];
+    aabb[1] = pos[0];
+  }
+  
+  if (pos[1] < e[1]){
+    aabb[2] = pos[1];
+    aabb[3] = e[1];
+  }
+  else{
+    aabb[2] = e[1];
+    aabb[3] = pos[1];
+  }
+
+  if (pos[2] < e[2]){
+    aabb[4] = pos[2];
+    aabb[5] = e[2];
+  }
+  else{
+    aabb[4] = e[2];
+    aabb[5] = pos[2];
+  }
+}
+
+
+dGeomID dCreateRay (dSpaceID space, dReal length)
+{
+  return new dxRay (space,length);
+}
+
+
+void dGeomRaySetLength (dGeomID g, dReal length)
+{
+  dUASSERT (g && g->type == dRayClass,"argument not a ray");
+  dxRay *r = (dxRay*) g;
+  r->length = length;
+  dGeomMoved (g);
+}
+
+
+dReal dGeomRayGetLength (dGeomID g)
+{
+  dUASSERT (g && g->type == dRayClass,"argument not a ray");
+  dxRay *r = (dxRay*) g;
+  return r->length;
+}
+
+
+void dGeomRaySet (dGeomID g, dReal px, dReal py, dReal pz,
+		  dReal dx, dReal dy, dReal dz)
+{
+  dUASSERT (g && g->type == dRayClass,"argument not a ray");
+  dReal* rot = g->R;
+  dReal* pos = g->pos;
+  pos[0] = px;
+  pos[1] = py;
+  pos[2] = pz;
+
+  rot[0*4+2] = dx;
+  rot[1*4+2] = dy;
+  rot[2*4+2] = dz;
+  dGeomMoved (g);
+}
+
+
+void dGeomRayGet (dGeomID g, dVector3 start, dVector3 dir)
+{
+  dUASSERT (g && g->type == dRayClass,"argument not a ray");
+  start[0] = g->pos[0];
+  start[1] = g->pos[1];
+  start[2] = g->pos[2];
+  dir[0] = g->R[0*4+2];
+  dir[1] = g->R[1*4+2];
+  dir[2] = g->R[2*4+2];
+}
+
+
+void dGeomRaySetParams (dxGeom *g, int FirstContact, int BackfaceCull)
+{
+  dUASSERT (g && g->type == dRayClass,"argument not a ray");
+
+  if (FirstContact){
+    g->gflags |= RAY_FIRSTCONTACT;
+  }
+  else g->gflags &= ~RAY_FIRSTCONTACT;
+
+  if (BackfaceCull){
+    g->gflags |= RAY_BACKFACECULL;
+  }
+  else g->gflags &= ~RAY_BACKFACECULL;
+}
+
+
+void dGeomRayGetParams (dxGeom *g, int *FirstContact, int *BackfaceCull)
+{
+  dUASSERT (g && g->type == dRayClass,"argument not a ray");
+
+  (*FirstContact) = ((g->gflags & RAY_FIRSTCONTACT) != 0);
+  (*BackfaceCull) = ((g->gflags & RAY_BACKFACECULL) != 0);
+}
+
+
+void dGeomRaySetClosestHit (dxGeom *g, int closestHit)
+{
+  dUASSERT (g && g->type == dRayClass,"argument not a ray");
+  if (closestHit){
+    g->gflags |= RAY_CLOSEST_HIT;
+  }
+  else g->gflags &= ~RAY_CLOSEST_HIT;
+}
+
+
+int dGeomRayGetClosestHit (dxGeom *g)
+{
+  dUASSERT (g && g->type == dRayClass,"argument not a ray");
+  return ((g->gflags & RAY_CLOSEST_HIT) != 0);
+}
+
+//****************************************************************************
+// box-box collision utility
+
+
+// find all the intersection points between the 2D rectangle with vertices
+// at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]),
+// (p[2],p[3]),(p[4],p[5]),(p[6],p[7]).
+//
+// the intersection points are returned as x,y pairs in the 'ret' array.
+// the number of intersection points is returned by the function (this will
+// be in the range 0 to 8).
+
+static int intersectRectQuad (dReal h[2], dReal p[8], dReal ret[16])
+{
+  // q (and r) contain nq (and nr) coordinate points for the current (and
+  // chopped) polygons
+  int nq=4,nr;
+  dReal buffer[16];
+  dReal *q = p;
+  dReal *r = ret;
+  for (int dir=0; dir <= 1; dir++) {
+    // direction notation: xy[0] = x axis, xy[1] = y axis
+    for (int sign=-1; sign <= 1; sign += 2) {
+      // chop q along the line xy[dir] = sign*h[dir]
+      dReal *pq = q;
+      dReal *pr = r;
+      nr = 0;
+      for (int i=nq; i > 0; i--) {
+	// go through all points in q and all lines between adjacent points
+	if (sign*pq[dir] < h[dir]) {
+	  // this point is inside the chopping line
+	  pr[0] = pq[0];
+	  pr[1] = pq[1];
+	  pr += 2;
+	  nr++;
+	  if (nr & 8) {
+	    q = r;
+	    goto done;
+	  }
+	}
+	dReal *nextq = (i > 1) ? pq+2 : q;
+	if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) {
+	  // this line crosses the chopping line
+	  pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) /
+	    (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]);
+	  pr[dir] = sign*h[dir];
+	  pr += 2;
+	  nr++;
+	  if (nr & 8) {
+	    q = r;
+	    goto done;
+	  }
+	}
+	pq += 2;
+      }
+      q = r;
+      r = (q==ret) ? buffer : ret;
+      nq = nr;
+    }
+  }
+ done:
+  if (q != ret) memcpy (ret,q,nr*2*sizeof(dReal));
+  return nr;
+}
+
+
+// given n points in the plane (array p, of size 2*n), generate m points that
+// best represent the whole set. the definition of 'best' here is not
+// predetermined - the idea is to select points that give good box-box
+// collision detection behavior. the chosen point indexes are returned in the
+// array iret (of size m). 'i0' is always the first entry in the array.
+// n must be in the range [1..8]. m must be in the range [1..n]. i0 must be
+// in the range [0..n-1].
+
+void cullPoints (int n, dReal p[], int m, int i0, int iret[])
+{
+  // compute the centroid of the polygon in cx,cy
+  int i,j;
+  dReal a,cx,cy,q;
+  if (n==1) {
+    cx = p[0];
+    cy = p[1];
+  }
+  else if (n==2) {
+    cx = REAL(0.5)*(p[0] + p[2]);
+    cy = REAL(0.5)*(p[1] + p[3]);
+  }
+  else {
+    a = 0;
+    cx = 0;
+    cy = 0;
+    for (i=0; i<(n-1); i++) {
+      q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1];
+      a += q;
+      cx += q*(p[i*2]+p[i*2+2]);
+      cy += q*(p[i*2+1]+p[i*2+3]);
+    }
+    q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
+    a = dRecip(REAL(3.0)*(a+q));
+    cx = a*(cx + q*(p[n*2-2]+p[0]));
+    cy = a*(cy + q*(p[n*2-1]+p[1]));
+  }
+
+  // compute the angle of each point w.r.t. the centroid
+  dReal A[8];
+  for (i=0; i<n; i++) A[i] = dAtan2(p[i*2+1]-cy,p[i*2]-cx);
+
+  // search for points that have angles closest to A[i0] + i*(2*pi/m).
+  int avail[8];
+  for (i=0; i<n; i++) avail[i] = 1;
+  avail[i0] = 0;
+  iret[0] = i0;
+  iret++;
+  for (j=1; j<m; j++) {
+    a = dReal(j)*(2*M_PI/m) + A[i0];
+    if (a > M_PI) a -= 2*M_PI;
+    dReal maxdiff=1e9,diff;
+    for (i=0; i<n; i++) {
+      if (avail[i]) {
+	diff = dFabs (A[i]-a);
+	if (diff > M_PI) diff = 2*M_PI - diff;
+	if (diff < maxdiff) {
+	  maxdiff = diff;
+	  *iret = i;
+	}
+      }
+    }
+    avail[*iret] = 0;
+    iret++;
+  }
+}
+
+
+// given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and
+// generate contact points. this returns 0 if there is no contact otherwise
+// it returns the number of contacts generated.
+// `normal' returns the contact normal.
+// `depth' returns the maximum penetration depth along that normal.
+// `return_code' returns a number indicating the type of contact that was
+// detected:
+//        1,2,3 = box 2 intersects with a face of box 1
+//        4,5,6 = box 1 intersects with a face of box 2
+//        7..15 = edge-edge contact
+// `maxc' is the maximum number of contacts allowed to be generated, i.e.
+// the size of the `contact' array.
+// `contact' and `skip' are the contact array information provided to the
+// collision functions. this function only fills in the position and depth
+// fields.
+
+int dBoxBox (const dVector3 p1, const dMatrix3 R1,
+	     const dVector3 side1, const dVector3 p2,
+	     const dMatrix3 R2, const dVector3 side2,
+	     dVector3 normal, dReal *depth, int *return_code,
+	     int maxc, dContactGeom *contact, int skip)
+{
+  const dReal fudge_factor = REAL(1.05);
+  dVector3 p,pp,normalC;
+  const dReal *normalR = 0;
+  dReal A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
+    Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l;
+  int i,j,invert_normal,code;
+
+  // get vector from centers of box 1 to box 2, relative to box 1
+  p[0] = p2[0] - p1[0];
+  p[1] = p2[1] - p1[1];
+  p[2] = p2[2] - p1[2];
+  dMULTIPLY1_331 (pp,R1,p);		// get pp = p relative to body 1
+
+  // get side lengths / 2
+  A[0] = side1[0]*REAL(0.5);
+  A[1] = side1[1]*REAL(0.5);
+  A[2] = side1[2]*REAL(0.5);
+  B[0] = side2[0]*REAL(0.5);
+  B[1] = side2[1]*REAL(0.5);
+  B[2] = side2[2]*REAL(0.5);
+
+  // Rij is R1'*R2, i.e. the relative rotation between R1 and R2
+  R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
+  R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
+  R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
+
+  Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
+  Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
+  Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);
+
+  // for all 15 possible separating axes:
+  //   * see if the axis separates the boxes. if so, return 0.
+  //   * find the depth of the penetration along the separating axis (s2)
+  //   * if this is the largest depth so far, record it.
+  // the normal vector will be set to the separating axis with the smallest
+  // depth. note: normalR is set to point to a column of R1 or R2 if that is
+  // the smallest depth normal so far. otherwise normalR is 0 and normalC is
+  // set to a vector relative to body 1. invert_normal is 1 if the sign of
+  // the normal should be flipped.
+
+#define TST(expr1,expr2,norm,cc) \
+  s2 = dFabs(expr1) - (expr2); \
+  if (s2 > 0) return 0; \
+  if (s2 > s) { \
+    s = s2; \
+    normalR = norm; \
+    invert_normal = ((expr1) < 0); \
+    code = (cc); \
+  }
+
+  s = -dInfinity;
+  invert_normal = 0;
+  code = 0;
+
+  // separating axis = u1,u2,u3
+  TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1);
+  TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2);
+  TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3);
+
+  // separating axis = v1,v2,v3
+  TST (dDOT41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4);
+  TST (dDOT41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5);
+  TST (dDOT41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6);
+
+  // note: cross product axes need to be scaled when s is computed.
+  // normal (n1,n2,n3) is relative to box 1.
+#undef TST
+#define TST(expr1,expr2,n1,n2,n3,cc) \
+  s2 = dFabs(expr1) - (expr2); \
+  if (s2 > 0) return 0; \
+  l = dSqrt ((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
+  if (l > 0) { \
+    s2 /= l; \
+    if (s2*fudge_factor > s) { \
+      s = s2; \
+      normalR = 0; \
+      normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
+      invert_normal = ((expr1) < 0); \
+      code = (cc); \
+    } \
+  }
+
+  // separating axis = u1 x (v1,v2,v3)
+  TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
+  TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
+  TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9);
+
+  // separating axis = u2 x (v1,v2,v3)
+  TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10);
+  TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11);
+  TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12);
+
+  // separating axis = u3 x (v1,v2,v3)
+  TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13);
+  TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14);
+  TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15);
+
+#undef TST
+
+  if (!code) return 0;
+
+  // if we get to this point, the boxes interpenetrate. compute the normal
+  // in global coordinates.
+  if (normalR) {
+    normal[0] = normalR[0];
+    normal[1] = normalR[4];
+    normal[2] = normalR[8];
+  }
+  else {
+    dMULTIPLY0_331 (normal,R1,normalC);
+  }
+  if (invert_normal) {
+    normal[0] = -normal[0];
+    normal[1] = -normal[1];
+    normal[2] = -normal[2];
+  }
+  *depth = -s;
+
+  // compute contact point(s)
+
+  if (code > 6) {
+    // an edge from box 1 touches an edge from box 2.
+    // find a point pa on the intersecting edge of box 1
+    dVector3 pa;
+    dReal sign;
+    for (i=0; i<3; i++) pa[i] = p1[i];
+    for (j=0; j<3; j++) {
+      sign = (dDOT14(normal,R1+j) > 0) ? REAL(1.0) : REAL(-1.0);
+      for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j];
+    }
+
+    // find a point pb on the intersecting edge of box 2
+    dVector3 pb;
+    for (i=0; i<3; i++) pb[i] = p2[i];
+    for (j=0; j<3; j++) {
+      sign = (dDOT14(normal,R2+j) > 0) ? REAL(-1.0) : REAL(1.0);
+      for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j];
+    }
+
+    dReal alpha,beta;
+    dVector3 ua,ub;
+    for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4];
+    for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4];
+
+    dLineClosestApproach (pa,ua,pb,ub,&alpha,&beta);
+    for (i=0; i<3; i++) pa[i] += ua[i]*alpha;
+    for (i=0; i<3; i++) pb[i] += ub[i]*beta;
+
+    for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]);
+    contact[0].depth = *depth;
+    *return_code = code;
+    return 1;
+  }
+
+  // okay, we have a face-something intersection (because the separating
+  // axis is perpendicular to a face). define face 'a' to be the reference
+  // face (i.e. the normal vector is perpendicular to this) and face 'b' to be
+  // the incident face (the closest face of the other box).
+
+  const dReal *Ra,*Rb,*pa,*pb,*Sa,*Sb;
+  if (code <= 3) {
+    Ra = R1;
+    Rb = R2;
+    pa = p1;
+    pb = p2;
+    Sa = A;
+    Sb = B;
+  }
+  else {
+    Ra = R2;
+    Rb = R1;
+    pa = p2;
+    pb = p1;
+    Sa = B;
+    Sb = A;
+  }
+
+  // nr = normal vector of reference face dotted with axes of incident box.
+  // anr = absolute values of nr.
+  dVector3 normal2,nr,anr;
+  if (code <= 3) {
+    normal2[0] = normal[0];
+    normal2[1] = normal[1];
+    normal2[2] = normal[2];
+  }
+  else {
+    normal2[0] = -normal[0];
+    normal2[1] = -normal[1];
+    normal2[2] = -normal[2];
+  }
+  dMULTIPLY1_331 (nr,Rb,normal2);
+  anr[0] = dFabs (nr[0]);
+  anr[1] = dFabs (nr[1]);
+  anr[2] = dFabs (nr[2]);
+
+  // find the largest compontent of anr: this corresponds to the normal
+  // for the indident face. the other axis numbers of the indicent face
+  // are stored in a1,a2.
+  int lanr,a1,a2;
+  if (anr[1] > anr[0]) {
+    if (anr[1] > anr[2]) {
+      a1 = 0;
+      lanr = 1;
+      a2 = 2;
+    }
+    else {
+      a1 = 0;
+      a2 = 1;
+      lanr = 2;
+    }
+  }
+  else {
+    if (anr[0] > anr[2]) {
+      lanr = 0;
+      a1 = 1;
+      a2 = 2;
+    }
+    else {
+      a1 = 0;
+      a2 = 1;
+      lanr = 2;
+    }
+  }
+
+  // compute center point of incident face, in reference-face coordinates
+  dVector3 center;
+  if (nr[lanr] < 0) {
+    for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr];
+  }
+  else {
+    for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr];
+  }
+
+  // find the normal and non-normal axis numbers of the reference box
+  int codeN,code1,code2;
+  if (code <= 3) codeN = code-1; else codeN = code-4;
+  if (codeN==0) {
+    code1 = 1;
+    code2 = 2;
+  }
+  else if (codeN==1) {
+    code1 = 0;
+    code2 = 2;
+  }
+  else {
+    code1 = 0;
+    code2 = 1;
+  }
+
+  // find the four corners of the incident face, in reference-face coordinates
+  dReal quad[8];	// 2D coordinate of incident face (x,y pairs)
+  dReal c1,c2,m11,m12,m21,m22;
+  c1 = dDOT14 (center,Ra+code1);
+  c2 = dDOT14 (center,Ra+code2);
+  // optimize this? - we have already computed this data above, but it is not
+  // stored in an easy-to-index format. for now it's quicker just to recompute
+  // the four dot products.
+  m11 = dDOT44 (Ra+code1,Rb+a1);
+  m12 = dDOT44 (Ra+code1,Rb+a2);
+  m21 = dDOT44 (Ra+code2,Rb+a1);
+  m22 = dDOT44 (Ra+code2,Rb+a2);
+  {
+    dReal k1 = m11*Sb[a1];
+    dReal k2 = m21*Sb[a1];
+    dReal k3 = m12*Sb[a2];
+    dReal k4 = m22*Sb[a2];
+    quad[0] = c1 - k1 - k3;
+    quad[1] = c2 - k2 - k4;
+    quad[2] = c1 - k1 + k3;
+    quad[3] = c2 - k2 + k4;
+    quad[4] = c1 + k1 + k3;
+    quad[5] = c2 + k2 + k4;
+    quad[6] = c1 + k1 - k3;
+    quad[7] = c2 + k2 - k4;
+  }
+
+  // find the size of the reference face
+  dReal rect[2];
+  rect[0] = Sa[code1];
+  rect[1] = Sa[code2];
+
+  // intersect the incident and reference faces
+  dReal ret[16];
+  int n = intersectRectQuad (rect,quad,ret);
+  if (n < 1) return 0;		// this should never happen
+
+  // convert the intersection points into reference-face coordinates,
+  // and compute the contact position and depth for each point. only keep
+  // those points that have a positive (penetrating) depth. delete points in
+  // the 'ret' array as necessary so that 'point' and 'ret' correspond.
+  dReal point[3*8];		// penetrating contact points
+  dReal dep[8];			// depths for those points
+  dReal det1 = dRecip(m11*m22 - m12*m21);
+  m11 *= det1;
+  m12 *= det1;
+  m21 *= det1;
+  m22 *= det1;
+  int cnum = 0;			// number of penetrating contact points found
+  for (j=0; j < n; j++) {
+    dReal k1 =  m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2);
+    dReal k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2);
+    for (i=0; i<3; i++) point[cnum*3+i] =
+			  center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2];
+    dep[cnum] = Sa[codeN] - dDOT(normal2,point+cnum*3);
+    if (dep[cnum] >= 0) {
+      ret[cnum*2] = ret[j*2];
+      ret[cnum*2+1] = ret[j*2+1];
+      cnum++;
+    }
+  }
+  if (cnum < 1) return 0;	// this should never happen
+
+  // we can't generate more contacts than we actually have
+  if (maxc > cnum) maxc = cnum;
+  if (maxc < 1) maxc = 1;
+
+  if (cnum <= maxc) {
+    // we have less contacts than we need, so we use them all
+    for (j=0; j < cnum; j++) {
+      dContactGeom *con = CONTACT(contact,skip*j);
+      for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i];
+      con->depth = dep[j];
+    }
+  }
+  else {
+    // we have more contacts than are wanted, some of them must be culled.
+    // find the deepest point, it is always the first contact.
+    int i1 = 0;
+    dReal maxdepth = dep[0];
+    for (i=1; i<cnum; i++) {
+      if (dep[i] > maxdepth) {
+	maxdepth = dep[i];
+	i1 = i;
+      }
+    }
+
+    int iret[8];
+    cullPoints (cnum,ret,maxc,i1,iret);
+
+    for (j=0; j < maxc; j++) {
+      dContactGeom *con = CONTACT(contact,skip*j);
+      for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
+      con->depth = dep[iret[j]];
+    }
+    cnum = maxc;
+  }
+
+  *return_code = code;
+  return cnum;
+}
+
+//****************************************************************************
+// pairwise collision functions for standard geom types
+
+int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
+			  dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dSphereClass);
+  dIASSERT (o2->type == dSphereClass);
+  dxSphere *sphere1 = (dxSphere*) o1;
+  dxSphere *sphere2 = (dxSphere*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  return dCollideSpheres (o1->pos,sphere1->radius,
+			  o2->pos,sphere2->radius,contact);
+}
+
+
+int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
+		       dContactGeom *contact, int skip)
+{
+  // this is easy. get the sphere center `p' relative to the box, and then clip
+  // that to the boundary of the box (call that point `q'). if q is on the
+  // boundary of the box and |p-q| is <= sphere radius, they touch.
+  // if q is inside the box, the sphere is inside the box, so set a contact
+  // normal to push the sphere to the closest box face.
+
+  dVector3 l,t,p,q,r;
+  dReal depth;
+  int onborder = 0;
+
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dSphereClass);
+  dIASSERT (o2->type == dBoxClass);
+  dxSphere *sphere = (dxSphere*) o1;
+  dxBox *box = (dxBox*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  p[0] = o1->pos[0] - o2->pos[0];
+  p[1] = o1->pos[1] - o2->pos[1];
+  p[2] = o1->pos[2] - o2->pos[2];
+
+  l[0] = box->side[0]*REAL(0.5);
+  t[0] = dDOT14(p,o2->R);
+  if (t[0] < -l[0]) { t[0] = -l[0]; onborder = 1; }
+  if (t[0] >  l[0]) { t[0] =  l[0]; onborder = 1; }
+
+  l[1] = box->side[1]*REAL(0.5);
+  t[1] = dDOT14(p,o2->R+1);
+  if (t[1] < -l[1]) { t[1] = -l[1]; onborder = 1; }
+  if (t[1] >  l[1]) { t[1] =  l[1]; onborder = 1; }
+
+  t[2] = dDOT14(p,o2->R+2);
+  l[2] = box->side[2]*REAL(0.5);
+  if (t[2] < -l[2]) { t[2] = -l[2]; onborder = 1; }
+  if (t[2] >  l[2]) { t[2] =  l[2]; onborder = 1; }
+
+  if (!onborder) {
+    // sphere center inside box. find closest face to `t'
+    dReal min_distance = l[0] - dFabs(t[0]);
+    int mini = 0;
+    for (int i=1; i<3; i++) {
+      dReal face_distance = l[i] - dFabs(t[i]);
+      if (face_distance < min_distance) {
+	min_distance = face_distance;
+	mini = i;
+      }
+    }
+    // contact position = sphere center
+    contact->pos[0] = o1->pos[0];
+    contact->pos[1] = o1->pos[1];
+    contact->pos[2] = o1->pos[2];
+    // contact normal points to closest face
+    dVector3 tmp;
+    tmp[0] = 0;
+    tmp[1] = 0;
+    tmp[2] = 0;
+    tmp[mini] = (t[mini] > 0) ? REAL(1.0) : REAL(-1.0);
+    dMULTIPLY0_331 (contact->normal,o2->R,tmp);
+    // contact depth = distance to wall along normal plus radius
+    contact->depth = min_distance + sphere->radius;
+    return 1;
+  }
+
+  t[3] = 0;			//@@@ hmmm
+  dMULTIPLY0_331 (q,o2->R,t);
+  r[0] = p[0] - q[0];
+  r[1] = p[1] - q[1];
+  r[2] = p[2] - q[2];
+  depth = sphere->radius - dSqrt(dDOT(r,r));
+  if (depth < 0) return 0;
+  contact->pos[0] = q[0] + o2->pos[0];
+  contact->pos[1] = q[1] + o2->pos[1];
+  contact->pos[2] = q[2] + o2->pos[2];
+  contact->normal[0] = r[0];
+  contact->normal[1] = r[1];
+  contact->normal[2] = r[2];
+  dNormalize3 (contact->normal);
+  contact->depth = depth;
+  return 1;
+}
+
+
+int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
+			 dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dSphereClass);
+  dIASSERT (o2->type == dPlaneClass);
+  dxSphere *sphere = (dxSphere*) o1;
+  dxPlane *plane = (dxPlane*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+  dReal k = dDOT (o1->pos,plane->p);
+  dReal depth = plane->p[3] - k + sphere->radius;
+  if (depth >= 0) {
+    contact->normal[0] = plane->p[0];
+    contact->normal[1] = plane->p[1];
+    contact->normal[2] = plane->p[2];
+    contact->pos[0] = o1->pos[0] - plane->p[0] * sphere->radius;
+    contact->pos[1] = o1->pos[1] - plane->p[1] * sphere->radius;
+    contact->pos[2] = o1->pos[2] - plane->p[2] * sphere->radius;
+    contact->depth = depth;
+    return 1;
+  }
+  else return 0;
+}
+
+
+int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
+		    dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dBoxClass);
+  dIASSERT (o2->type == dBoxClass);
+  dVector3 normal;
+  dReal depth;
+  int code;
+  dxBox *b1 = (dxBox*) o1;
+  dxBox *b2 = (dxBox*) o2;
+  int num = dBoxBox (o1->pos,o1->R,b1->side, o2->pos,o2->R,b2->side,
+		     normal,&depth,&code,flags & NUMC_MASK,contact,skip);
+  for (int i=0; i<num; i++) {
+    CONTACT(contact,i*skip)->normal[0] = -normal[0];
+    CONTACT(contact,i*skip)->normal[1] = -normal[1];
+    CONTACT(contact,i*skip)->normal[2] = -normal[2];
+    CONTACT(contact,i*skip)->g1 = o1;
+    CONTACT(contact,i*skip)->g2 = o2;
+  }
+  return num;
+}
+
+
+int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
+		      int flags, dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dBoxClass);
+  dIASSERT (o2->type == dPlaneClass);
+  dxBox *box = (dxBox*) o1;
+  dxPlane *plane = (dxPlane*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+  int ret = 0;
+
+  //@@@ problem: using 4-vector (plane->p) as 3-vector (normal).
+  const dReal *R = o1->R;		// rotation of box
+  const dReal *n = plane->p;		// normal vector
+
+  // project sides lengths along normal vector, get absolute values
+  dReal Q1 = dDOT14(n,R+0);
+  dReal Q2 = dDOT14(n,R+1);
+  dReal Q3 = dDOT14(n,R+2);
+  dReal A1 = box->side[0] * Q1;
+  dReal A2 = box->side[1] * Q2;
+  dReal A3 = box->side[2] * Q3;
+  dReal B1 = dFabs(A1);
+  dReal B2 = dFabs(A2);
+  dReal B3 = dFabs(A3);
+
+  // early exit test
+  dReal depth = plane->p[3] + REAL(0.5)*(B1+B2+B3) - dDOT(n,o1->pos);
+  if (depth < 0) return 0;
+
+  // find number of contacts requested
+  int maxc = flags & NUMC_MASK;
+  if (maxc < 1) maxc = 1;
+  if (maxc > 3) maxc = 3;	// no more than 3 contacts per box allowed
+
+  // find deepest point
+  dVector3 p;
+  p[0] = o1->pos[0];
+  p[1] = o1->pos[1];
+  p[2] = o1->pos[2];
+#define FOO(i,op) \
+  p[0] op REAL(0.5)*box->side[i] * R[0+i]; \
+  p[1] op REAL(0.5)*box->side[i] * R[4+i]; \
+  p[2] op REAL(0.5)*box->side[i] * R[8+i];
+#define BAR(i,iinc) if (A ## iinc > 0) { FOO(i,-=) } else { FOO(i,+=) }
+  BAR(0,1);
+  BAR(1,2);
+  BAR(2,3);
+#undef FOO
+#undef BAR
+
+  // the deepest point is the first contact point
+  contact->pos[0] = p[0];
+  contact->pos[1] = p[1];
+  contact->pos[2] = p[2];
+  contact->normal[0] = n[0];
+  contact->normal[1] = n[1];
+  contact->normal[2] = n[2];
+  contact->depth = depth;
+  ret = 1;		// ret is number of contact points found so far
+  if (maxc == 1) goto done;
+
+  // get the second and third contact points by starting from `p' and going
+  // along the two sides with the smallest projected length.
+
+#define FOO(i,j,op) \
+  CONTACT(contact,i*skip)->pos[0] = p[0] op box->side[j] * R[0+j]; \
+  CONTACT(contact,i*skip)->pos[1] = p[1] op box->side[j] * R[4+j]; \
+  CONTACT(contact,i*skip)->pos[2] = p[2] op box->side[j] * R[8+j];
+#define BAR(ctact,side,sideinc) \
+  depth -= B ## sideinc; \
+  if (depth < 0) goto done; \
+  if (A ## sideinc > 0) { FOO(ctact,side,+) } else { FOO(ctact,side,-) } \
+  CONTACT(contact,ctact*skip)->depth = depth; \
+  ret++;
+
+  CONTACT(contact,skip)->normal[0] = n[0];
+  CONTACT(contact,skip)->normal[1] = n[1];
+  CONTACT(contact,skip)->normal[2] = n[2];
+  if (maxc == 3) {
+    CONTACT(contact,2*skip)->normal[0] = n[0];
+    CONTACT(contact,2*skip)->normal[1] = n[1];
+    CONTACT(contact,2*skip)->normal[2] = n[2];
+  }
+
+  if (B1 < B2) {
+    if (B3 < B1) goto use_side_3; else {
+      BAR(1,0,1);	// use side 1
+      if (maxc == 2) goto done;
+      if (B2 < B3) goto contact2_2; else goto contact2_3;
+    }
+  }
+  else {
+    if (B3 < B2) {
+      use_side_3:	// use side 3
+      BAR(1,2,3);
+      if (maxc == 2) goto done;
+      if (B1 < B2) goto contact2_1; else goto contact2_2;
+    }
+    else {
+      BAR(1,1,2);	// use side 2
+      if (maxc == 2) goto done;
+      if (B1 < B3) goto contact2_1; else goto contact2_3;
+    }
+  }
+
+  contact2_1: BAR(2,0,1); goto done;
+  contact2_2: BAR(2,1,2); goto done;
+  contact2_3: BAR(2,2,3); goto done;
+#undef FOO
+#undef BAR
+
+ done:
+  for (int i=0; i<ret; i++) {
+    CONTACT(contact,i*skip)->g1 = o1;
+    CONTACT(contact,i*skip)->g2 = o2;
+  }
+  return ret;
+}
+
+
+int dCollideCCylinderSphere (dxGeom *o1, dxGeom *o2, int flags,
+			     dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dCCylinderClass);
+  dIASSERT (o2->type == dSphereClass);
+  dxCCylinder *ccyl = (dxCCylinder*) o1;
+  dxSphere *sphere = (dxSphere*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  // find the point on the cylinder axis that is closest to the sphere
+  dReal alpha = 
+    o1->R[2]  * (o2->pos[0] - o1->pos[0]) +
+    o1->R[6]  * (o2->pos[1] - o1->pos[1]) +
+    o1->R[10] * (o2->pos[2] - o1->pos[2]);
+  dReal lz2 = ccyl->lz * REAL(0.5);
+  if (alpha > lz2) alpha = lz2;
+  if (alpha < -lz2) alpha = -lz2;
+
+  // collide the spheres
+  dVector3 p;
+  p[0] = o1->pos[0] + alpha * o1->R[2];
+  p[1] = o1->pos[1] + alpha * o1->R[6];
+  p[2] = o1->pos[2] + alpha * o1->R[10];
+  return dCollideSpheres (p,ccyl->radius,o2->pos,sphere->radius,contact);
+}
+
+
+int dCollideCCylinderBox (dxGeom *o1, dxGeom *o2, int flags,
+			  dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dCCylinderClass);
+  dIASSERT (o2->type == dBoxClass);
+  dxCCylinder *cyl = (dxCCylinder*) o1;
+  dxBox *box = (dxBox*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  // get p1,p2 = cylinder axis endpoints, get radius
+  dVector3 p1,p2;
+  dReal clen = cyl->lz * REAL(0.5);
+  p1[0] = o1->pos[0] + clen * o1->R[2];
+  p1[1] = o1->pos[1] + clen * o1->R[6];
+  p1[2] = o1->pos[2] + clen * o1->R[10];
+  p2[0] = o1->pos[0] - clen * o1->R[2];
+  p2[1] = o1->pos[1] - clen * o1->R[6];
+  p2[2] = o1->pos[2] - clen * o1->R[10];
+  dReal radius = cyl->radius;
+
+  // copy out box center, rotation matrix, and side array
+  dReal *c = o2->pos;
+  dReal *R = o2->R;
+  const dReal *side = box->side;
+
+  // get the closest point between the cylinder axis and the box
+  dVector3 pl,pb;
+  dClosestLineBoxPoints (p1,p2,c,R,side,pl,pb);
+
+  // generate contact point
+  return dCollideSpheres (pl,radius,pb,0,contact);
+}
+
+
+int dCollideCCylinderCCylinder (dxGeom *o1, dxGeom *o2,
+				int flags, dContactGeom *contact, int skip)
+{
+  int i;
+  const dReal tolerance = REAL(1e-5);
+
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dCCylinderClass);
+  dIASSERT (o2->type == dCCylinderClass);
+  dxCCylinder *cyl1 = (dxCCylinder*) o1;
+  dxCCylinder *cyl2 = (dxCCylinder*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  // copy out some variables, for convenience
+  dReal lz1 = cyl1->lz * REAL(0.5);
+  dReal lz2 = cyl2->lz * REAL(0.5);
+  dReal *pos1 = o1->pos;
+  dReal *pos2 = o2->pos;
+  dReal axis1[3],axis2[3];
+  axis1[0] = o1->R[2];
+  axis1[1] = o1->R[6];
+  axis1[2] = o1->R[10];
+  axis2[0] = o2->R[2];
+  axis2[1] = o2->R[6];
+  axis2[2] = o2->R[10];
+
+  // if the cylinder axes are close to parallel, we'll try to detect up to
+  // two contact points along the body of the cylinder. if we can't find any
+  // points then we'll fall back to the closest-points algorithm. note that
+  // we are not treating this special case for reasons of degeneracy, but
+  // because we want two contact points in some situations. the closet-points
+  // algorithm is robust in all casts, but it can return only one contact.
+
+  dVector3 sphere1,sphere2;
+  dReal a1a2 = dDOT (axis1,axis2);
+  dReal det = REAL(1.0)-a1a2*a1a2;
+  if (det < tolerance) {
+    // the cylinder axes (almost) parallel, so we will generate up to two
+    // contacts. alpha1 and alpha2 (line position parameters) are related by:
+    //       alpha2 =   alpha1 + (pos1-pos2)'*axis1   (if axis1==axis2)
+    //    or alpha2 = -(alpha1 + (pos1-pos2)'*axis1)  (if axis1==-axis2)
+    // first compute where the two cylinders overlap in alpha1 space:
+    if (a1a2 < 0) {
+      axis2[0] = -axis2[0];
+      axis2[1] = -axis2[1];
+      axis2[2] = -axis2[2];
+    }
+    dReal q[3];
+    for (i=0; i<3; i++) q[i] = pos1[i]-pos2[i];
+    dReal k = dDOT (axis1,q);
+    dReal a1lo = -lz1;
+    dReal a1hi = lz1;
+    dReal a2lo = -lz2 - k;
+    dReal a2hi = lz2 - k;
+    dReal lo = (a1lo > a2lo) ? a1lo : a2lo;
+    dReal hi = (a1hi < a2hi) ? a1hi : a2hi;
+    if (lo <= hi) {
+      int num_contacts = flags & NUMC_MASK;
+      if (num_contacts >= 2 && lo < hi) {
+	// generate up to two contacts. if one of those contacts is
+	// not made, fall back on the one-contact strategy.
+	for (i=0; i<3; i++) sphere1[i] = pos1[i] + lo*axis1[i];
+	for (i=0; i<3; i++) sphere2[i] = pos2[i] + (lo+k)*axis2[i];
+	int n1 = dCollideSpheres (sphere1,cyl1->radius,
+				  sphere2,cyl2->radius,contact);
+	if (n1) {
+	  for (i=0; i<3; i++) sphere1[i] = pos1[i] + hi*axis1[i];
+	  for (i=0; i<3; i++) sphere2[i] = pos2[i] + (hi+k)*axis2[i];
+	  dContactGeom *c2 = CONTACT(contact,skip);
+	  int n2 = dCollideSpheres (sphere1,cyl1->radius,
+				    sphere2,cyl2->radius, c2);
+	  if (n2) {
+	    c2->g1 = o1;
+	    c2->g2 = o2;
+	    return 2;
+	  }
+	}
+      }
+
+      // just one contact to generate, so put it in the middle of
+      // the range
+      dReal alpha1 = (lo + hi) * REAL(0.5);
+      dReal alpha2 = alpha1 + k;
+      for (i=0; i<3; i++) sphere1[i] = pos1[i] + alpha1*axis1[i];
+      for (i=0; i<3; i++) sphere2[i] = pos2[i] + alpha2*axis2[i];
+      return dCollideSpheres (sphere1,cyl1->radius,
+			      sphere2,cyl2->radius,contact);
+    }
+  }
+	  
+  // use the closest point algorithm
+  dVector3 a1,a2,b1,b2;
+  a1[0] = o1->pos[0] + axis1[0]*lz1;
+  a1[1] = o1->pos[1] + axis1[1]*lz1;
+  a1[2] = o1->pos[2] + axis1[2]*lz1;
+  a2[0] = o1->pos[0] - axis1[0]*lz1;
+  a2[1] = o1->pos[1] - axis1[1]*lz1;
+  a2[2] = o1->pos[2] - axis1[2]*lz1;
+  b1[0] = o2->pos[0] + axis2[0]*lz2;
+  b1[1] = o2->pos[1] + axis2[1]*lz2;
+  b1[2] = o2->pos[2] + axis2[2]*lz2;
+  b2[0] = o2->pos[0] - axis2[0]*lz2;
+  b2[1] = o2->pos[1] - axis2[1]*lz2;
+  b2[2] = o2->pos[2] - axis2[2]*lz2;
+
+  dClosestLineSegmentPoints (a1,a2,b1,b2,sphere1,sphere2);
+  return dCollideSpheres (sphere1,cyl1->radius,sphere2,cyl2->radius,contact);
+}
+
+
+int dCollideCCylinderPlane (dxGeom *o1, dxGeom *o2, int flags,
+			    dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dCCylinderClass);
+  dIASSERT (o2->type == dPlaneClass);
+  dxCCylinder *ccyl = (dxCCylinder*) o1;
+  dxPlane *plane = (dxPlane*) o2;
+
+  // collide the deepest capping sphere with the plane
+  dReal sign = (dDOT14 (plane->p,o1->R+2) > 0) ? REAL(-1.0) : REAL(1.0);
+  dVector3 p;
+  p[0] = o1->pos[0] + o1->R[2]  * ccyl->lz * REAL(0.5) * sign;
+  p[1] = o1->pos[1] + o1->R[6]  * ccyl->lz * REAL(0.5) * sign;
+  p[2] = o1->pos[2] + o1->R[10] * ccyl->lz * REAL(0.5) * sign;
+
+  dReal k = dDOT (p,plane->p);
+  dReal depth = plane->p[3] - k + ccyl->radius;
+  if (depth < 0) return 0;
+  contact->normal[0] = plane->p[0];
+  contact->normal[1] = plane->p[1];
+  contact->normal[2] = plane->p[2];
+  contact->pos[0] = p[0] - plane->p[0] * ccyl->radius;
+  contact->pos[1] = p[1] - plane->p[1] * ccyl->radius;
+  contact->pos[2] = p[2] - plane->p[2] * ccyl->radius;
+  contact->depth = depth;
+
+  int ncontacts = 1;
+  if ((flags & NUMC_MASK) >= 2) {
+    // collide the other capping sphere with the plane
+    p[0] = o1->pos[0] - o1->R[2]  * ccyl->lz * REAL(0.5) * sign;
+    p[1] = o1->pos[1] - o1->R[6]  * ccyl->lz * REAL(0.5) * sign;
+    p[2] = o1->pos[2] - o1->R[10] * ccyl->lz * REAL(0.5) * sign;
+
+    k = dDOT (p,plane->p);
+    depth = plane->p[3] - k + ccyl->radius;
+    if (depth >= 0) {
+      dContactGeom *c2 = CONTACT(contact,skip);
+      c2->normal[0] = plane->p[0];
+      c2->normal[1] = plane->p[1];
+      c2->normal[2] = plane->p[2];
+      c2->pos[0] = p[0] - plane->p[0] * ccyl->radius;
+      c2->pos[1] = p[1] - plane->p[1] * ccyl->radius;
+      c2->pos[2] = p[2] - plane->p[2] * ccyl->radius;
+      c2->depth = depth;
+      ncontacts = 2;
+    }
+  }
+
+  for (int i=0; i < ncontacts; i++) {
+    CONTACT(contact,i*skip)->g1 = o1;
+    CONTACT(contact,i*skip)->g2 = o2;
+  }
+  return ncontacts;
+}
+
+
+// if mode==1 then use the sphere exit contact, not the entry contact
+
+static int ray_sphere_helper (dxRay *ray, dVector3 sphere_pos, dReal radius,
+			      dContactGeom *contact, int mode)
+{
+  dVector3 q;
+  q[0] = ray->pos[0] - sphere_pos[0];
+  q[1] = ray->pos[1] - sphere_pos[1];
+  q[2] = ray->pos[2] - sphere_pos[2];
+  dReal B = dDOT14(q,ray->R+2);
+  dReal C = dDOT(q,q) - radius*radius;
+  // note: if C <= 0 then the start of the ray is inside the sphere
+  dReal k = B*B - C;
+  if (k < 0) return 0;
+  k = dSqrt(k);
+  dReal alpha;
+  if (mode && C >= 0) {
+    alpha = -B + k;
+    if (alpha < 0) return 0;
+  }
+  else {
+    alpha = -B - k;
+    if (alpha < 0) {
+      alpha = -B + k;
+      if (alpha < 0) return 0;
+    }
+  }
+  if (alpha > ray->length) return 0;
+  contact->pos[0] = ray->pos[0] + alpha*ray->R[0*4+2];
+  contact->pos[1] = ray->pos[1] + alpha*ray->R[1*4+2];
+  contact->pos[2] = ray->pos[2] + alpha*ray->R[2*4+2];
+  dReal nsign = (C < 0 || mode) ? REAL(-1.0) : REAL(1.0);
+  contact->normal[0] = nsign*(contact->pos[0] - sphere_pos[0]);
+  contact->normal[1] = nsign*(contact->pos[1] - sphere_pos[1]);
+  contact->normal[2] = nsign*(contact->pos[2] - sphere_pos[2]);
+  dNormalize3 (contact->normal);
+  contact->depth = alpha;
+  return 1;
+}
+
+
+int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags,
+		       dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dRayClass);
+  dIASSERT (o2->type == dSphereClass);
+  dxRay *ray = (dxRay*) o1;
+  dxSphere *sphere = (dxSphere*) o2;
+  contact->g1 = ray;
+  contact->g2 = sphere;
+  return ray_sphere_helper (ray,sphere->pos,sphere->radius,contact,0);
+}
+
+
+int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags,
+		    dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dRayClass);
+  dIASSERT (o2->type == dBoxClass);
+  dxRay *ray = (dxRay*) o1;
+  dxBox *box = (dxBox*) o2;
+
+  contact->g1 = ray;
+  contact->g2 = box;
+
+  int i;
+
+  // compute the start and delta of the ray relative to the box.
+  // we will do all subsequent computations in this box-relative coordinate
+  // system. we have to do a translation and rotation for each point.
+  dVector3 tmp,s,v;
+  tmp[0] = ray->pos[0] - box->pos[0];
+  tmp[1] = ray->pos[1] - box->pos[1];
+  tmp[2] = ray->pos[2] - box->pos[2];
+  dMULTIPLY1_331 (s,box->R,tmp);
+  tmp[0] = ray->R[0*4+2];
+  tmp[1] = ray->R[1*4+2];
+  tmp[2] = ray->R[2*4+2];
+  dMULTIPLY1_331 (v,box->R,tmp);
+
+  // mirror the line so that v has all components >= 0
+  dVector3 sign;
+  for (i=0; i<3; i++) {
+    if (v[i] < 0) {
+      s[i] = -s[i];
+      v[i] = -v[i];
+      sign[i] = 1;
+    }
+    else sign[i] = -1;
+  }
+
+  // compute the half-sides of the box
+  dReal h[3];
+  h[0] = REAL(0.5) * box->side[0];
+  h[1] = REAL(0.5) * box->side[1];
+  h[2] = REAL(0.5) * box->side[2];
+
+  // do a few early exit tests
+  if ((s[0] < -h[0] && v[0] <= 0) || s[0] >  h[0] ||
+      (s[1] < -h[1] && v[1] <= 0) || s[1] >  h[1] ||
+      (s[2] < -h[2] && v[2] <= 0) || s[2] >  h[2] ||
+      (v[0] == 0 && v[1] == 0 && v[2] == 0)) {
+    return 0;
+  }
+
+  // compute the t=[lo..hi] range for where s+v*t intersects the box
+  dReal lo = -dInfinity;
+  dReal hi = dInfinity;
+  int nlo = 0, nhi = 0;
+  for (i=0; i<3; i++) {
+    if (v[i] != 0) {
+      dReal k = (-h[i] - s[i])/v[i];
+      if (k > lo) {
+	lo = k;
+	nlo = i;
+      }
+      k = (h[i] - s[i])/v[i];
+      if (k < hi) {
+	hi = k;
+	nhi = i;
+      }
+    }
+  }
+
+  // check if the ray intersects
+  if (lo > hi) return 0;
+  dReal alpha;
+  int n;
+  if (lo >= 0) {
+    alpha = lo;
+    n = nlo;
+  }
+  else {
+    alpha = hi;
+    n = nhi;
+  }
+  if (alpha < 0 || alpha > ray->length) return 0;
+  contact->pos[0] = ray->pos[0] + alpha*ray->R[0*4+2];
+  contact->pos[1] = ray->pos[1] + alpha*ray->R[1*4+2];
+  contact->pos[2] = ray->pos[2] + alpha*ray->R[2*4+2];
+  contact->normal[0] = box->R[0*4+n] * sign[n];
+  contact->normal[1] = box->R[1*4+n] * sign[n];
+  contact->normal[2] = box->R[2*4+n] * sign[n];
+  contact->depth = alpha;
+  return 1;
+}
+
+
+int dCollideRayCCylinder (dxGeom *o1, dxGeom *o2,
+			  int flags, dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dRayClass);
+  dIASSERT (o2->type == dCCylinderClass);
+  dxRay *ray = (dxRay*) o1;
+  dxCCylinder *ccyl = (dxCCylinder*) o2;
+
+  contact->g1 = ray;
+  contact->g2 = ccyl;
+  dReal lz2 = ccyl->lz * REAL(0.5);
+
+  // compute some useful info
+  dVector3 cs,q,r;
+  dReal C,k;
+  cs[0] = ray->pos[0] - ccyl->pos[0];
+  cs[1] = ray->pos[1] - ccyl->pos[1];
+  cs[2] = ray->pos[2] - ccyl->pos[2];
+  k = dDOT41(ccyl->R+2,cs);	// position of ray start along ccyl axis
+  q[0] = k*ccyl->R[0*4+2] - cs[0];
+  q[1] = k*ccyl->R[1*4+2] - cs[1];
+  q[2] = k*ccyl->R[2*4+2] - cs[2];
+  C = dDOT(q,q) - ccyl->radius*ccyl->radius;
+  // if C < 0 then ray start position within infinite extension of cylinder
+
+  // see if ray start position is inside the capped cylinder
+  int inside_ccyl = 0;
+  if (C < 0) {
+    if (k < -lz2) k = -lz2;
+    else if (k > lz2) k = lz2;
+    r[0] = ccyl->pos[0] + k*ccyl->R[0*4+2];
+    r[1] = ccyl->pos[1] + k*ccyl->R[1*4+2];
+    r[2] = ccyl->pos[2] + k*ccyl->R[2*4+2];
+    if ((ray->pos[0]-r[0])*(ray->pos[0]-r[0]) +
+	(ray->pos[1]-r[1])*(ray->pos[1]-r[1]) +
+	(ray->pos[2]-r[2])*(ray->pos[2]-r[2]) < ccyl->radius*ccyl->radius) {
+      inside_ccyl = 1;
+    }
+  }
+
+  // compute ray collision with infinite cylinder, except for the case where
+  // the ray is outside the capped cylinder but within the infinite cylinder
+  // (it that case the ray can only hit endcaps)
+  if (!inside_ccyl && C < 0) {
+    // set k to cap position to check
+    if (k < 0) k = -lz2; else k = lz2;
+  }
+  else {
+    dReal uv = dDOT44(ccyl->R+2,ray->R+2);
+    r[0] = uv*ccyl->R[0*4+2] - ray->R[0*4+2];
+    r[1] = uv*ccyl->R[1*4+2] - ray->R[1*4+2];
+    r[2] = uv*ccyl->R[2*4+2] - ray->R[2*4+2];
+    dReal A = dDOT(r,r);
+    dReal B = 2*dDOT(q,r);
+    k = B*B-4*A*C;
+    if (k < 0) {
+      // the ray does not intersect the infinite cylinder, but if the ray is
+      // inside and parallel to the cylinder axis it may intersect the end
+      // caps. set k to cap position to check.
+      if (!inside_ccyl) return 0;
+      if (uv < 0) k = -lz2; else k = lz2;
+    }
+    else {
+      k = dSqrt(k);
+      A = dRecip (2*A);
+      dReal alpha = (-B-k)*A;
+      if (alpha < 0) {
+	alpha = (-B+k)*A;
+	if (alpha < 0) return 0;
+      }
+      if (alpha > ray->length) return 0;
+
+      // the ray intersects the infinite cylinder. check to see if the
+      // intersection point is between the caps
+      contact->pos[0] = ray->pos[0] + alpha*ray->R[0*4+2];
+      contact->pos[1] = ray->pos[1] + alpha*ray->R[1*4+2];
+      contact->pos[2] = ray->pos[2] + alpha*ray->R[2*4+2];
+      q[0] = contact->pos[0] - ccyl->pos[0];
+      q[1] = contact->pos[1] - ccyl->pos[1];
+      q[2] = contact->pos[2] - ccyl->pos[2];
+      k = dDOT14(q,ccyl->R+2);
+      dReal nsign = inside_ccyl ? REAL(-1.0) : REAL(1.0);
+      if (k >= -lz2 && k <= lz2) {
+	contact->normal[0] = nsign * (contact->pos[0] -
+				      (ccyl->pos[0] + k*ccyl->R[0*4+2]));
+	contact->normal[1] = nsign * (contact->pos[1] -
+				      (ccyl->pos[1] + k*ccyl->R[1*4+2]));
+	contact->normal[2] = nsign * (contact->pos[2] -
+				      (ccyl->pos[2] + k*ccyl->R[2*4+2]));
+	dNormalize3 (contact->normal);
+	contact->depth = alpha;
+	return 1;
+      }
+
+      // the infinite cylinder intersection point is not between the caps.
+      // set k to cap position to check.
+      if (k < 0) k = -lz2; else k = lz2;
+    }
+  }
+
+  // check for ray intersection with the caps. k must indicate the cap
+  // position to check
+  q[0] = ccyl->pos[0] + k*ccyl->R[0*4+2];
+  q[1] = ccyl->pos[1] + k*ccyl->R[1*4+2];
+  q[2] = ccyl->pos[2] + k*ccyl->R[2*4+2];
+  return ray_sphere_helper (ray,q,ccyl->radius,contact, inside_ccyl);
+}
+
+
+int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags,
+		      dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dRayClass);
+  dIASSERT (o2->type == dPlaneClass);
+  dxRay *ray = (dxRay*) o1;
+  dxPlane *plane = (dxPlane*) o2;
+
+  dReal alpha = plane->p[3] - dDOT (plane->p,ray->pos);
+  // note: if alpha > 0 the starting point is below the plane
+  dReal nsign = (alpha > 0) ? REAL(-1.0) : REAL(1.0);
+  dReal k = dDOT14(plane->p,ray->R+2);
+  if (k==0) return 0;		// ray parallel to plane
+  alpha /= k;
+  if (alpha < 0 || alpha > ray->length) return 0;
+  contact->pos[0] = ray->pos[0] + alpha*ray->R[0*4+2];
+  contact->pos[1] = ray->pos[1] + alpha*ray->R[1*4+2];
+  contact->pos[2] = ray->pos[2] + alpha*ray->R[2*4+2];
+  contact->normal[0] = nsign*plane->p[0];
+  contact->normal[1] = nsign*plane->p[1];
+  contact->normal[2] = nsign*plane->p[2];
+  contact->depth = alpha;
+  contact->g1 = ray;
+  contact->g2 = plane;
+  return 1;
+}
diff -Naur xmoto-0.1.10/src/ode/s/collision_std.h xmoto-0.1.10-patched/src/ode/s/collision_std.h
--- xmoto-0.1.10/src/ode/s/collision_std.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_std.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,68 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+the standard ODE geometry primitives.
+
+*/
+
+#ifndef _ODE_COLLISION_STD_H_
+#define _ODE_COLLISION_STD_H_
+
+#include <ode/common.h>
+#include "collision_kernel.h"
+
+
+// primitive collision functions - these have the dColliderFn interface, i.e.
+// the same interface as dCollide(). the first and second geom arguments must
+// have the specified types.
+
+int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
+			  dContactGeom *contact, int skip);
+int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
+		       dContactGeom *contact, int skip);
+int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
+			 dContactGeom *contact, int skip);
+int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
+		    dContactGeom *contact, int skip);
+int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
+		      int flags, dContactGeom *contact, int skip);
+int dCollideCCylinderSphere (dxGeom *o1, dxGeom *o2, int flags,
+			     dContactGeom *contact, int skip);
+int dCollideCCylinderBox (dxGeom *o1, dxGeom *o2, int flags,
+			  dContactGeom *contact, int skip);
+int dCollideCCylinderCCylinder (dxGeom *o1, dxGeom *o2,
+				int flags, dContactGeom *contact, int skip);
+int dCollideCCylinderPlane (dxGeom *o1, dxGeom *o2, int flags,
+			    dContactGeom *contact, int skip);
+int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags,
+		       dContactGeom *contact, int skip);
+int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags,
+		    dContactGeom *contact, int skip);
+int dCollideRayCCylinder (dxGeom *o1, dxGeom *o2,
+			  int flags, dContactGeom *contact, int skip);
+int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags,
+		      dContactGeom *contact, int skip);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/collision_transform.cpp xmoto-0.1.10-patched/src/ode/s/collision_transform.cpp
--- xmoto-0.1.10/src/ode/s/collision_transform.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_transform.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,231 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+geom transform
+
+*/
+
+#include <ode/collision.h>
+#include <ode/matrix.h>
+#include <ode/rotation.h>
+#include <ode/odemath.h>
+#include "collision_transform.h"
+#include "collision_util.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
+#endif
+
+//****************************************************************************
+// dxGeomTransform class
+
+struct dxGeomTransform : public dxGeom {
+  dxGeom *obj;		// object that is being transformed
+  int cleanup;		// 1 to destroy obj when destroyed
+  int infomode;		// 1 to put Tx geom in dContactGeom g1
+
+  // cached final object transform (body tx + relative tx). this is set by
+  // computeAABB(), and it is valid while the AABB is valid.
+  dVector3 final_pos;
+  dMatrix3 final_R;
+
+  dxGeomTransform (dSpaceID space);
+  ~dxGeomTransform();
+  void computeAABB();
+  void computeFinalTx();
+};
+
+
+dxGeomTransform::dxGeomTransform (dSpaceID space) : dxGeom (space,1)
+{
+  type = dGeomTransformClass;
+  obj = 0;
+  cleanup = 0;
+  infomode = 0;
+  dSetZero (final_pos,4);
+  dRSetIdentity (final_R);
+}
+
+
+dxGeomTransform::~dxGeomTransform()
+{
+  if (obj && cleanup) delete obj;
+}
+
+
+void dxGeomTransform::computeAABB()
+{
+  if (!obj) {
+    dSetZero (aabb,6);
+    return;
+  }
+
+  // backup the relative pos and R pointers of the encapsulated geom object
+  dReal *posbak = obj->pos;
+  dReal *Rbak = obj->R;
+
+  // compute temporary pos and R for the encapsulated geom object
+  computeFinalTx();
+  obj->pos = final_pos;
+  obj->R = final_R;
+
+  // compute the AABB
+  obj->computeAABB();
+  memcpy (aabb,obj->aabb,6*sizeof(dReal));
+
+  // restore the pos and R
+  obj->pos = posbak;
+  obj->R = Rbak;
+}
+
+
+// utility function for dCollideTransform() : compute final pos and R
+// for the encapsulated geom object
+
+void dxGeomTransform::computeFinalTx()
+{
+  dMULTIPLY0_331 (final_pos,R,obj->pos);
+  final_pos[0] += pos[0];
+  final_pos[1] += pos[1];
+  final_pos[2] += pos[2];
+  dMULTIPLY0_333 (final_R,R,obj->R);
+}
+
+//****************************************************************************
+// collider function:
+// this collides a transformed geom with another geom. the other geom can
+// also be a transformed geom, but this case is not handled specially.
+
+int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
+		       dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dGeomTransformClass);
+
+  dxGeomTransform *tr = (dxGeomTransform*) o1;
+  if (!tr->obj) return 0;
+  dUASSERT (tr->obj->parent_space==0,
+	    "GeomTransform encapsulated object must not be in a space");
+  dUASSERT (tr->obj->body==0,
+	    "GeomTransform encapsulated object must not be attached "
+	    "to a body");
+
+  // backup the relative pos and R pointers of the encapsulated geom object,
+  // and the body pointer
+  dReal *posbak = tr->obj->pos;
+  dReal *Rbak = tr->obj->R;
+  dxBody *bodybak = tr->obj->body;
+
+  // compute temporary pos and R for the encapsulated geom object.
+  // note that final_pos and final_R are valid if no GEOM_AABB_BAD flag,
+  // because computeFinalTx() will have already been called in
+  // dxGeomTransform::computeAABB()
+
+  if (tr->gflags & GEOM_AABB_BAD) tr->computeFinalTx();
+  tr->obj->pos = tr->final_pos;
+  tr->obj->R = tr->final_R;
+  tr->obj->body = o1->body;
+
+  // do the collision
+  int n = dCollide (tr->obj,o2,flags,contact,skip);
+
+  // if required, adjust the 'g1' values in the generated contacts so that
+  // thay indicated the GeomTransform object instead of the encapsulated
+  // object.
+  if (tr->infomode) {
+    for (int i=0; i<n; i++) {
+      dContactGeom *c = CONTACT(contact,skip*i);
+      c->g1 = o1;
+    }
+  }
+
+  // restore the pos, R and body
+  tr->obj->pos = posbak;
+  tr->obj->R = Rbak;
+  tr->obj->body = bodybak;
+  return n;
+}
+
+//****************************************************************************
+// public API
+
+dGeomID dCreateGeomTransform (dSpaceID space)
+{
+  return new dxGeomTransform (space);
+}
+
+
+void dGeomTransformSetGeom (dGeomID g, dGeomID obj)
+{
+  dUASSERT (g && g->type == dGeomTransformClass,
+	    "argument not a geom transform");
+  dxGeomTransform *tr = (dxGeomTransform*) g;
+  if (tr->obj && tr->cleanup) delete tr->obj;
+  tr->obj = obj;
+}
+
+
+dGeomID dGeomTransformGetGeom (dGeomID g)
+{
+  dUASSERT (g && g->type == dGeomTransformClass,
+	    "argument not a geom transform");
+  dxGeomTransform *tr = (dxGeomTransform*) g;
+  return tr->obj;
+}
+
+
+void dGeomTransformSetCleanup (dGeomID g, int mode)
+{
+  dUASSERT (g && g->type == dGeomTransformClass,
+	    "argument not a geom transform");
+  dxGeomTransform *tr = (dxGeomTransform*) g;
+  tr->cleanup = mode;
+}
+
+
+int dGeomTransformGetCleanup (dGeomID g)
+{
+  dUASSERT (g && g->type == dGeomTransformClass,
+	    "argument not a geom transform");
+  dxGeomTransform *tr = (dxGeomTransform*) g;
+  return tr->cleanup;
+}
+
+
+void dGeomTransformSetInfo (dGeomID g, int mode)
+{
+  dUASSERT (g && g->type == dGeomTransformClass,
+	    "argument not a geom transform");
+  dxGeomTransform *tr = (dxGeomTransform*) g;
+  tr->infomode = mode;
+}
+
+
+int dGeomTransformGetInfo (dGeomID g)
+{
+  dUASSERT (g && g->type == dGeomTransformClass,
+	    "argument not a geom transform");
+  dxGeomTransform *tr = (dxGeomTransform*) g;
+  return tr->infomode;
+}
diff -Naur xmoto-0.1.10/src/ode/s/collision_transform.h xmoto-0.1.10-patched/src/ode/s/collision_transform.h
--- xmoto-0.1.10/src/ode/s/collision_transform.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_transform.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,40 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+geom transform
+
+*/
+
+#ifndef _ODE_COLLISION_TRANSFORM_H_
+#define _ODE_COLLISION_TRANSFORM_H_
+
+#include <ode/common.h>
+#include "collision_kernel.h"
+
+
+int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
+		       dContactGeom *contact, int skip);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/collision_trimesh_internal.h xmoto-0.1.10-patched/src/ode/s/collision_trimesh_internal.h
--- xmoto-0.1.10/src/ode/s/collision_trimesh_internal.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_trimesh_internal.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,345 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// TriMesh code by Erwin de Vries.
+
+#ifndef _ODE_COLLISION_TRIMESH_INTERNAL_H_
+#define _ODE_COLLISION_TRIMESH_INTERNAL_H_
+
+int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
+int dCollideBTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
+int dCollideRTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
+int dCollideTTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
+int dCollideCCTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
+
+//****************************************************************************
+// dxTriMesh class
+
+#ifdef TRIMESH_INTERNAL
+
+#include "collision_kernel.h"
+#include <ode/collision_trimesh.h>
+
+#define BAN_OPCODE_AUTOLINK
+#include "Opcode.h"
+using namespace Opcode;
+
+struct dxTriMeshData{
+	Model BVTree;
+	MeshInterface Mesh;
+
+    dxTriMeshData();
+    ~dxTriMeshData();
+    
+    void Build(const void* Vertices, int VertexStide, int VertexCount, 
+	       const void* Indices, int IndexCount, int TriStride, 
+	       const void* Normals, 
+	       bool Single);
+    
+        /* aabb in model space */
+        dVector3 AABBCenter;
+        dVector3 AABBExtents;
+
+    /* data for use in collison resolution */
+    const void* Normals;
+    Matrix4x4   last_trans;
+};
+
+
+struct dxTriMesh : public dxGeom{
+	// Callbacks
+	dTriCallback* Callback;
+	dTriArrayCallback* ArrayCallback;
+	dTriRayCallback* RayCallback;
+
+	// Data types
+	dxTriMeshData* Data;
+
+
+	// Colliders
+	static PlanesCollider _PlanesCollider;
+	static SphereCollider _SphereCollider;
+	static OBBCollider _OBBCollider;
+	static RayCollider _RayCollider;
+	static AABBTreeCollider _AABBTreeCollider;
+	static LSSCollider _LSSCollider;
+
+	// Some constants
+	static CollisionFaces Faces;
+
+	// Temporal coherence
+	struct SphereTC : public SphereCache{
+		dxGeom* Geom;
+	};
+	dArray<SphereTC> SphereTCCache;
+	static SphereCache defaultSphereCache;
+
+	struct BoxTC : public OBBCache{
+		dxGeom* Geom;
+	};
+	dArray<BoxTC> BoxTCCache;
+	static OBBCache defaultBoxCache;
+	
+	struct CCylinderTC : public LSSCache{
+		dxGeom* Geom;
+	};
+	dArray<CCylinderTC> CCylinderTCCache;
+	static LSSCache defaultCCylinderCache;
+
+	bool doSphereTC;
+	bool doBoxTC;
+	bool doCCylinderTC;
+
+	// Functions
+	dxTriMesh(dSpaceID Space, dTriMeshDataID Data);
+	~dxTriMesh();
+
+	void ClearTCCache();
+
+	int AABBTest(dxGeom* g, dReal aabb[6]);
+	void computeAABB();
+};
+
+// Fetches a contact
+inline dContactGeom* SAFECONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
+	dIASSERT(Index >= 0 && Index < (Flags & 0x0ffff));
+	return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
+}
+
+// Fetches a triangle
+inline void FetchTriangle(dxTriMesh* TriMesh, int Index, dVector3 Out[3]){
+	VertexPointers VP;
+	TriMesh->Data->Mesh.GetTriangle(VP, Index);
+	for (int i = 0; i < 3; i++){
+		Out[i][0] = VP.Vertex[i]->x;
+		Out[i][1] = VP.Vertex[i]->y;
+		Out[i][2] = VP.Vertex[i]->z;
+		Out[i][3] = 0;
+	}
+}
+
+// Fetches a triangle
+inline void FetchTriangle(dxTriMesh* TriMesh, int Index, const dVector3 Position, const dMatrix3 Rotation, dVector3 Out[3]){
+	VertexPointers VP;
+	TriMesh->Data->Mesh.GetTriangle(VP, Index);
+	for (int i = 0; i < 3; i++){
+		dVector3 v;
+		v[0] = VP.Vertex[i]->x;
+		v[1] = VP.Vertex[i]->y;
+		v[2] = VP.Vertex[i]->z;
+		v[3] = 0;
+
+		dMULTIPLY0_331(Out[i], Rotation, v);
+		Out[i][0] += Position[0];
+		Out[i][1] += Position[1];
+		Out[i][2] += Position[2];
+		Out[i][3] = 0;
+	}
+}
+
+// Creates an OPCODE matrix from an ODE matrix
+inline Matrix4x4& MakeMatrix(const dVector3 Position, const dMatrix3 Rotation, Matrix4x4& Out){
+	Out.m[0][0] = Rotation[0];
+	Out.m[1][0] = Rotation[1];
+	Out.m[2][0] = Rotation[2];
+
+	Out.m[0][1] = Rotation[4];
+	Out.m[1][1] = Rotation[5];
+	Out.m[2][1] = Rotation[6];
+
+	Out.m[0][2] = Rotation[8];
+	Out.m[1][2] = Rotation[9];
+	Out.m[2][2] = Rotation[10];
+
+	Out.m[3][0] = Position[0];
+	Out.m[3][1] = Position[1];
+	Out.m[3][2] = Position[2];
+
+	Out.m[0][3] = 0.0f;
+	Out.m[1][3] = 0.0f;
+	Out.m[2][3] = 0.0f;
+	Out.m[3][3] = 1.0f;
+
+	return Out;
+}
+
+// Outputs a matrix to 3 vectors
+inline void Decompose(const dMatrix3 Matrix, dVector3 Right, dVector3 Up, dVector3 Direction){
+	Right[0] = Matrix[0 * 4 + 0];
+	Right[1] = Matrix[1 * 4 + 0];
+	Right[2] = Matrix[2 * 4 + 0];
+	Right[3] = REAL(0.0);
+	Up[0] = Matrix[0 * 4 + 1];
+	Up[1] = Matrix[1 * 4 + 1];
+	Up[2] = Matrix[2 * 4 + 1];
+	Up[3] = REAL(0.0);
+	Direction[0] = Matrix[0 * 4 + 2];
+	Direction[1] = Matrix[1 * 4 + 2];
+	Direction[2] = Matrix[2 * 4 + 2];
+	Direction[3] = REAL(0.0);
+}
+
+// Outputs a matrix to 3 vectors
+inline void Decompose(const dMatrix3 Matrix, dVector3 Vectors[3]){
+	Decompose(Matrix, Vectors[0], Vectors[1], Vectors[2]);
+}
+
+// Creates an OPCODE matrix from an ODE matrix
+inline Matrix4x4& MakeMatrix(dxGeom* g, Matrix4x4& Out){
+	const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
+	const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
+	return MakeMatrix(Position, Rotation, Out);
+}
+
+// Finds barycentric
+inline void GetPointFromBarycentric(const dVector3 dv[3], dReal u, dReal v, dVector3 Out){
+	dReal w = REAL(1.0) - u - v;
+
+	Out[0] = (dv[0][0] * w) + (dv[1][0] * u) + (dv[2][0] * v);
+	Out[1] = (dv[0][1] * w) + (dv[1][1] * u) + (dv[2][1] * v);
+	Out[2] = (dv[0][2] * w) + (dv[1][2] * u) + (dv[2][2] * v);
+	Out[3] = (dv[0][3] * w) + (dv[1][3] * u) + (dv[2][3] * v);
+}
+
+// Performs a callback
+inline bool Callback(dxTriMesh* TriMesh, dxGeom* Object, int TriIndex){
+	if (TriMesh->Callback != null){
+		return (TriMesh->Callback(TriMesh, Object, TriIndex) != 0);
+	}
+	else return true;
+}
+
+// Some utilities
+template<class T> const T& dcMAX(const T& x, const T& y){
+	return x > y ? x : y;
+}
+
+template<class T> const T& dcMIN(const T& x, const T& y){
+	return x < y ? x : y;
+}
+
+dReal SqrDistancePointTri( const dVector3 p, const dVector3 triOrigin, 
+                           const dVector3 triEdge1, const dVector3 triEdge2,
+                           dReal* pfSParam = 0, dReal* pfTParam = 0 );
+
+dReal SqrDistanceSegments( const dVector3 seg1Origin, const dVector3 seg1Direction, 
+                           const dVector3 seg2Origin, const dVector3 seg2Direction,
+                           dReal* pfSegP0 = 0, dReal* pfSegP1 = 0 );
+
+dReal SqrDistanceSegTri( const dVector3 segOrigin, const dVector3 segEnd, 
+                         const dVector3 triOrigin, 
+                         const dVector3 triEdge1, const dVector3 triEdge2,
+                         dReal* t = 0, dReal* u = 0, dReal* v = 0 );
+
+inline
+void Vector3Subtract( const dVector3 left, const dVector3 right, dVector3 result )
+{
+    result[0] = left[0] - right[0];
+    result[1] = left[1] - right[1];
+    result[2] = left[2] - right[2];
+    result[3] = REAL(0.0);
+}
+
+inline
+void Vector3Add( const dVector3 left, const dVector3 right, dVector3 result )
+{
+    result[0] = left[0] + right[0];
+    result[1] = left[1] + right[1];
+    result[2] = left[2] + right[2];
+    result[3] = REAL(0.0);
+}
+
+inline
+void Vector3Negate( const dVector3 in, dVector3 out )
+{
+    out[0] = -in[0];
+    out[1] = -in[1];
+    out[2] = -in[2];
+    out[3] = REAL(0.0);
+}
+
+inline
+void Vector3Copy( const dVector3 in, dVector3 out )
+{
+    out[0] = in[0];
+    out[1] = in[1];
+    out[2] = in[2];
+    out[3] = REAL(0.0);
+}
+
+inline
+void Vector3Multiply( const dVector3 in, dReal scalar, dVector3 out )
+{
+    out[0] = in[0] * scalar;
+    out[1] = in[1] * scalar;
+    out[2] = in[2] * scalar;
+    out[3] = REAL(0.0);
+}
+
+inline
+void TransformVector3( const dVector3 in, 
+                       const dMatrix3 orientation, const dVector3 position, 
+                       dVector3 out )
+{
+    dMULTIPLY0_331( out, orientation, in );
+    out[0] += position[0];
+    out[1] += position[1];
+    out[2] += position[2];
+}
+
+//------------------------------------------------------------------------------
+/**
+  @brief Check for intersection between triangle and capsule.
+  
+  @param dist [out] Shortest distance squared between the triangle and 
+                    the capsule segment (central axis).
+  @param t    [out] t value of point on segment that's the shortest distance 
+                    away from the triangle, the coordinates of this point 
+                    can be found by (cap.seg.end - cap.seg.start) * t,
+                    or cap.seg.ipol(t).
+  @param u    [out] Barycentric coord on triangle.
+  @param v    [out] Barycentric coord on triangle.
+  @return True if intersection exists.
+  
+  The third Barycentric coord is implicit, ie. w = 1.0 - u - v
+  The Barycentric coords give the location of the point on the triangle
+  closest to the capsule (where the distance between the two shapes
+  is the shortest).
+*/
+inline
+bool IntersectCapsuleTri( const dVector3 segOrigin, const dVector3 segEnd, 
+                          const dReal radius, const dVector3 triOrigin, 
+                          const dVector3 triEdge0, const dVector3 triEdge1,
+                          dReal* dist, dReal* t, dReal* u, dReal* v )
+{
+    dReal sqrDist = SqrDistanceSegTri( segOrigin, segEnd, triOrigin, triEdge0, triEdge1, 
+                                       t, u, v );
+  
+    if ( dist )
+      *dist = sqrDist;
+    
+    return ( sqrDist <= (radius * radius) );
+}
+
+#endif	//TRIMESH_INTERNAL
+
+#endif	//_ODE_COLLISION_TRIMESH_INTERNAL_H_
diff -Naur xmoto-0.1.10/src/ode/s/collision_util.cpp xmoto-0.1.10-patched/src/ode/s/collision_util.cpp
--- xmoto-0.1.10/src/ode/s/collision_util.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_util.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,447 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+some useful collision utility stuff. this includes some API utility
+functions that are defined in the public header files.
+
+*/
+
+#include <ode/common.h>
+#include <ode/collision.h>
+#include <ode/odemath.h>
+#include "collision_util.h"
+
+//****************************************************************************
+
+int dCollideSpheres (dVector3 p1, dReal r1,
+		     dVector3 p2, dReal r2, dContactGeom *c)
+{
+  // printf ("d=%.2f  (%.2f %.2f %.2f) (%.2f %.2f %.2f) r1=%.2f r2=%.2f\n",
+  //	  d,p1[0],p1[1],p1[2],p2[0],p2[1],p2[2],r1,r2);
+
+  dReal d = dDISTANCE (p1,p2);
+  if (d > (r1 + r2)) return 0;
+  if (d <= 0) {
+    c->pos[0] = p1[0];
+    c->pos[1] = p1[1];
+    c->pos[2] = p1[2];
+    c->normal[0] = 1;
+    c->normal[1] = 0;
+    c->normal[2] = 0;
+    c->depth = r1 + r2;
+  }
+  else {
+    dReal d1 = dRecip (d);
+    c->normal[0] = (p1[0]-p2[0])*d1;
+    c->normal[1] = (p1[1]-p2[1])*d1;
+    c->normal[2] = (p1[2]-p2[2])*d1;
+    dReal k = REAL(0.5) * (r2 - r1 - d);
+    c->pos[0] = p1[0] + c->normal[0]*k;
+    c->pos[1] = p1[1] + c->normal[1]*k;
+    c->pos[2] = p1[2] + c->normal[2]*k;
+    c->depth = r1 + r2 - d;
+  }
+  return 1;
+}
+
+
+void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
+			   const dVector3 pb, const dVector3 ub,
+			   dReal *alpha, dReal *beta)
+{
+  dVector3 p;
+  p[0] = pb[0] - pa[0];
+  p[1] = pb[1] - pa[1];
+  p[2] = pb[2] - pa[2];
+  dReal uaub = dDOT(ua,ub);
+  dReal q1 =  dDOT(ua,p);
+  dReal q2 = -dDOT(ub,p);
+  dReal d = 1-uaub*uaub;
+  if (d <= REAL(0.0001)) {
+    // @@@ this needs to be made more robust
+    *alpha = 0;
+    *beta  = 0;
+  }
+  else {
+    d = dRecip(d);
+    *alpha = (q1 + uaub*q2)*d;
+    *beta  = (uaub*q1 + q2)*d;
+  }
+}
+
+
+// given two line segments A and B with endpoints a1-a2 and b1-b2, return the
+// points on A and B that are closest to each other (in cp1 and cp2).
+// in the case of parallel lines where there are multiple solutions, a
+// solution involving the endpoint of at least one line will be returned.
+// this will work correctly for zero length lines, e.g. if a1==a2 and/or
+// b1==b2.
+//
+// the algorithm works by applying the voronoi clipping rule to the features
+// of the line segments. the three features of each line segment are the two
+// endpoints and the line between them. the voronoi clipping rule states that,
+// for feature X on line A and feature Y on line B, the closest points PA and
+// PB between X and Y are globally the closest points if PA is in V(Y) and
+// PB is in V(X), where V(X) is the voronoi region of X.
+
+void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
+				const dVector3 b1, const dVector3 b2,
+				dVector3 cp1, dVector3 cp2)
+{
+  dVector3 a1a2,b1b2,a1b1,a1b2,a2b1,a2b2,n;
+  dReal la,lb,k,da1,da2,da3,da4,db1,db2,db3,db4,det;
+
+#define SET2(a,b) a[0]=b[0]; a[1]=b[1]; a[2]=b[2];
+#define SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2];
+
+  // check vertex-vertex features
+
+  SET3 (a1a2,a2,-,a1);
+  SET3 (b1b2,b2,-,b1);
+  SET3 (a1b1,b1,-,a1);
+  da1 = dDOT(a1a2,a1b1);
+  db1 = dDOT(b1b2,a1b1);
+  if (da1 <= 0 && db1 >= 0) {
+    SET2 (cp1,a1);
+    SET2 (cp2,b1);
+    return;
+  }
+
+  SET3 (a1b2,b2,-,a1);
+  da2 = dDOT(a1a2,a1b2);
+  db2 = dDOT(b1b2,a1b2);
+  if (da2 <= 0 && db2 <= 0) {
+    SET2 (cp1,a1);
+    SET2 (cp2,b2);
+    return;
+  }
+
+  SET3 (a2b1,b1,-,a2);
+  da3 = dDOT(a1a2,a2b1);
+  db3 = dDOT(b1b2,a2b1);
+  if (da3 >= 0 && db3 >= 0) {
+    SET2 (cp1,a2);
+    SET2 (cp2,b1);
+    return;
+  }
+
+  SET3 (a2b2,b2,-,a2);
+  da4 = dDOT(a1a2,a2b2);
+  db4 = dDOT(b1b2,a2b2);
+  if (da4 >= 0 && db4 <= 0) {
+    SET2 (cp1,a2);
+    SET2 (cp2,b2);
+    return;
+  }
+
+  // check edge-vertex features.
+  // if one or both of the lines has zero length, we will never get to here,
+  // so we do not have to worry about the following divisions by zero.
+
+  la = dDOT(a1a2,a1a2);
+  if (da1 >= 0 && da3 <= 0) {
+    k = da1 / la;
+    SET3 (n,a1b1,-,k*a1a2);
+    if (dDOT(b1b2,n) >= 0) {
+      SET3 (cp1,a1,+,k*a1a2);
+      SET2 (cp2,b1);
+      return;
+    }
+  }
+
+  if (da2 >= 0 && da4 <= 0) {
+    k = da2 / la;
+    SET3 (n,a1b2,-,k*a1a2);
+    if (dDOT(b1b2,n) <= 0) {
+      SET3 (cp1,a1,+,k*a1a2);
+      SET2 (cp2,b2);
+      return;
+    }
+  }
+
+  lb = dDOT(b1b2,b1b2);
+  if (db1 <= 0 && db2 >= 0) {
+    k = -db1 / lb;
+    SET3 (n,-a1b1,-,k*b1b2);
+    if (dDOT(a1a2,n) >= 0) {
+      SET2 (cp1,a1);
+      SET3 (cp2,b1,+,k*b1b2);
+      return;
+    }
+  }
+
+  if (db3 <= 0 && db4 >= 0) {
+    k = -db3 / lb;
+    SET3 (n,-a2b1,-,k*b1b2);
+    if (dDOT(a1a2,n) <= 0) {
+      SET2 (cp1,a2);
+      SET3 (cp2,b1,+,k*b1b2);
+      return;
+    }
+  }
+
+  // it must be edge-edge
+
+  k = dDOT(a1a2,b1b2);
+  det = la*lb - k*k;
+  if (det <= 0) {
+    // this should never happen, but just in case...
+    SET2(cp1,a1);
+    SET2(cp2,b1);
+    return;
+  }
+  det = dRecip (det);
+  dReal alpha = (lb*da1 -  k*db1) * det;
+  dReal beta  = ( k*da1 - la*db1) * det;
+  SET3 (cp1,a1,+,alpha*a1a2);
+  SET3 (cp2,b1,+,beta*b1b2);
+
+# undef SET2
+# undef SET3
+}
+
+
+// a simple root finding algorithm is used to find the value of 't' that
+// satisfies:
+//		d|D(t)|^2/dt = 0
+// where:
+//		|D(t)| = |p(t)-b(t)|
+// where p(t) is a point on the line parameterized by t:
+//		p(t) = p1 + t*(p2-p1)
+// and b(t) is that same point clipped to the boundary of the box. in box-
+// relative coordinates d|D(t)|^2/dt is the sum of three x,y,z components
+// each of which looks like this:
+//
+//	    t_lo     /
+//	      ______/    -->t
+//	     /     t_hi
+//	    /
+//
+// t_lo and t_hi are the t values where the line passes through the planes
+// corresponding to the sides of the box. the algorithm computes d|D(t)|^2/dt
+// in a piecewise fashion from t=0 to t=1, stopping at the point where
+// d|D(t)|^2/dt crosses from negative to positive.
+
+void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
+			    const dVector3 c, const dMatrix3 R,
+			    const dVector3 side,
+			    dVector3 lret, dVector3 bret)
+{
+  int i;
+
+  // compute the start and delta of the line p1-p2 relative to the box.
+  // we will do all subsequent computations in this box-relative coordinate
+  // system. we have to do a translation and rotation for each point.
+  dVector3 tmp,s,v;
+  tmp[0] = p1[0] - c[0];
+  tmp[1] = p1[1] - c[1];
+  tmp[2] = p1[2] - c[2];
+  dMULTIPLY1_331 (s,R,tmp);
+  tmp[0] = p2[0] - p1[0];
+  tmp[1] = p2[1] - p1[1];
+  tmp[2] = p2[2] - p1[2];
+  dMULTIPLY1_331 (v,R,tmp);
+
+  // mirror the line so that v has all components >= 0
+  dVector3 sign;
+  for (i=0; i<3; i++) {
+    if (v[i] < 0) {
+      s[i] = -s[i];
+      v[i] = -v[i];
+      sign[i] = -1;
+    }
+    else sign[i] = 1;
+  }
+
+  // compute v^2
+  dVector3 v2;
+  v2[0] = v[0]*v[0];
+  v2[1] = v[1]*v[1];
+  v2[2] = v[2]*v[2];
+
+  // compute the half-sides of the box
+  dReal h[3];
+  h[0] = REAL(0.5) * side[0];
+  h[1] = REAL(0.5) * side[1];
+  h[2] = REAL(0.5) * side[2];
+
+  // region is -1,0,+1 depending on which side of the box planes each
+  // coordinate is on. tanchor is the next t value at which there is a
+  // transition, or the last one if there are no more.
+  int region[3];
+  dReal tanchor[3];
+
+  // find the region and tanchor values for p1
+  for (i=0; i<3; i++) {
+    if (v[i] > 0) {
+      if (s[i] < -h[i]) {
+	region[i] = -1;
+	tanchor[i] = (-h[i]-s[i])/v[i];
+      }
+      else {
+	region[i] = (s[i] > h[i]);
+	tanchor[i] = (h[i]-s[i])/v[i];
+      }
+    }
+    else {
+      region[i] = 0;
+      tanchor[i] = 2;		// this will never be a valid tanchor
+    }
+  }
+
+  // compute d|d|^2/dt for t=0. if it's >= 0 then p1 is the closest point
+  dReal t=0;
+  dReal dd2dt = 0;
+  for (i=0; i<3; i++) dd2dt -= (region[i] ? v2[i] : 0) * tanchor[i];
+  if (dd2dt >= 0) goto got_answer;
+
+  do {
+    // find the point on the line that is at the next clip plane boundary
+    dReal next_t = 1;
+    for (i=0; i<3; i++) {
+      if (tanchor[i] > t && tanchor[i] < 1 && tanchor[i] < next_t)
+        next_t = tanchor[i];
+    }
+
+    // compute d|d|^2/dt for the next t
+    dReal next_dd2dt = 0;
+    for (i=0; i<3; i++) {
+      next_dd2dt += (region[i] ? v2[i] : 0) * (next_t - tanchor[i]);
+    }
+
+    // if the sign of d|d|^2/dt has changed, solution = the crossover point
+    if (next_dd2dt >= 0) {
+      dReal m = (next_dd2dt-dd2dt)/(next_t - t);
+      t -= dd2dt/m;
+      goto got_answer;
+    }
+
+    // advance to the next anchor point / region
+    for (i=0; i<3; i++) {
+      if (tanchor[i] == next_t) {
+	tanchor[i] = (h[i]-s[i])/v[i];
+	region[i]++;
+      }
+    }
+    t = next_t;
+    dd2dt = next_dd2dt;
+  }
+  while (t < 1);
+  t = 1;
+
+  got_answer:
+
+  // compute closest point on the line
+  for (i=0; i<3; i++) lret[i] = p1[i] + t*tmp[i];	// note: tmp=p2-p1
+
+  // compute closest point on the box
+  for (i=0; i<3; i++) {
+    tmp[i] = sign[i] * (s[i] + t*v[i]);
+    if (tmp[i] < -h[i]) tmp[i] = -h[i];
+    else if (tmp[i] > h[i]) tmp[i] = h[i];
+  }
+  dMULTIPLY0_331 (s,R,tmp);
+  for (i=0; i<3; i++) bret[i] = s[i] + c[i];
+}
+
+
+// given boxes (p1,R1,side1) and (p1,R1,side1), return 1 if they intersect
+// or 0 if not.
+
+int dBoxTouchesBox (const dVector3 p1, const dMatrix3 R1,
+		    const dVector3 side1, const dVector3 p2,
+		    const dMatrix3 R2, const dVector3 side2)
+{
+  // two boxes are disjoint if (and only if) there is a separating axis
+  // perpendicular to a face from one box or perpendicular to an edge from
+  // either box. the following tests are derived from:
+  //    "OBB Tree: A Hierarchical Structure for Rapid Interference Detection",
+  //    S.Gottschalk, M.C.Lin, D.Manocha., Proc of ACM Siggraph 1996.
+
+  // Rij is R1'*R2, i.e. the relative rotation between R1 and R2.
+  // Qij is abs(Rij)
+  dVector3 p,pp;
+  dReal A1,A2,A3,B1,B2,B3,R11,R12,R13,R21,R22,R23,R31,R32,R33,
+    Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33;
+
+  // get vector from centers of box 1 to box 2, relative to box 1
+  p[0] = p2[0] - p1[0];
+  p[1] = p2[1] - p1[1];
+  p[2] = p2[2] - p1[2];
+  dMULTIPLY1_331 (pp,R1,p);		// get pp = p relative to body 1
+
+  // get side lengths / 2
+  A1 = side1[0]*REAL(0.5); A2 = side1[1]*REAL(0.5); A3 = side1[2]*REAL(0.5);
+  B1 = side2[0]*REAL(0.5); B2 = side2[1]*REAL(0.5); B3 = side2[2]*REAL(0.5);
+
+  // for the following tests, excluding computation of Rij, in the worst case,
+  // 15 compares, 60 adds, 81 multiplies, and 24 absolutes.
+  // notation: R1=[u1 u2 u3], R2=[v1 v2 v3]
+
+  // separating axis = u1,u2,u3
+  R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
+  Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
+  if (dFabs(pp[0]) > (A1 + B1*Q11 + B2*Q12 + B3*Q13)) return 0;
+  R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
+  Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
+  if (dFabs(pp[1]) > (A2 + B1*Q21 + B2*Q22 + B3*Q23)) return 0;
+  R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
+  Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);
+  if (dFabs(pp[2]) > (A3 + B1*Q31 + B2*Q32 + B3*Q33)) return 0;
+
+  // separating axis = v1,v2,v3
+  if (dFabs(dDOT41(R2+0,p)) > (A1*Q11 + A2*Q21 + A3*Q31 + B1)) return 0;
+  if (dFabs(dDOT41(R2+1,p)) > (A1*Q12 + A2*Q22 + A3*Q32 + B2)) return 0;
+  if (dFabs(dDOT41(R2+2,p)) > (A1*Q13 + A2*Q23 + A3*Q33 + B3)) return 0;
+
+  // separating axis = u1 x (v1,v2,v3)
+  if (dFabs(pp[2]*R21-pp[1]*R31) > A2*Q31 + A3*Q21 + B2*Q13 + B3*Q12) return 0;
+  if (dFabs(pp[2]*R22-pp[1]*R32) > A2*Q32 + A3*Q22 + B1*Q13 + B3*Q11) return 0;
+  if (dFabs(pp[2]*R23-pp[1]*R33) > A2*Q33 + A3*Q23 + B1*Q12 + B2*Q11) return 0;
+
+  // separating axis = u2 x (v1,v2,v3)
+  if (dFabs(pp[0]*R31-pp[2]*R11) > A1*Q31 + A3*Q11 + B2*Q23 + B3*Q22) return 0;
+  if (dFabs(pp[0]*R32-pp[2]*R12) > A1*Q32 + A3*Q12 + B1*Q23 + B3*Q21) return 0;
+  if (dFabs(pp[0]*R33-pp[2]*R13) > A1*Q33 + A3*Q13 + B1*Q22 + B2*Q21) return 0;
+
+  // separating axis = u3 x (v1,v2,v3)
+  if (dFabs(pp[1]*R11-pp[0]*R21) > A1*Q21 + A2*Q11 + B2*Q33 + B3*Q32) return 0;
+  if (dFabs(pp[1]*R12-pp[0]*R22) > A1*Q22 + A2*Q12 + B1*Q33 + B3*Q31) return 0;
+  if (dFabs(pp[1]*R13-pp[0]*R23) > A1*Q23 + A2*Q13 + B1*Q32 + B2*Q31) return 0;
+
+  return 1;
+}
+
+//****************************************************************************
+// other utility functions
+
+void dInfiniteAABB (dxGeom *geom, dReal aabb[6])
+{
+  aabb[0] = -dInfinity;
+  aabb[1] = dInfinity;
+  aabb[2] = -dInfinity;
+  aabb[3] = dInfinity;
+  aabb[4] = -dInfinity;
+  aabb[5] = dInfinity;
+}
diff -Naur xmoto-0.1.10/src/ode/s/collision_util.h xmoto-0.1.10-patched/src/ode/s/collision_util.h
--- xmoto-0.1.10/src/ode/s/collision_util.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/collision_util.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,72 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+some useful collision utility stuff.
+
+*/
+
+#ifndef _ODE_COLLISION_UTIL_H_
+#define _ODE_COLLISION_UTIL_H_
+
+#include <ode/common.h>
+#include <ode/contact.h>
+
+
+// given a pointer `p' to a dContactGeom, return the dContactGeom at
+// p + skip bytes.
+#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
+
+
+// if the spheres (p1,r1) and (p2,r2) collide, set the contact `c' and
+// return 1, else return 0.
+
+int dCollideSpheres (dVector3 p1, dReal r1,
+		     dVector3 p2, dReal r2, dContactGeom *c);
+
+
+// given two lines
+//    qa = pa + alpha* ua
+//    qb = pb + beta * ub
+// where pa,pb are two points, ua,ub are two unit length vectors, and alpha,
+// beta go from [-inf,inf], return alpha and beta such that qa and qb are
+// as close as possible
+
+void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
+			   const dVector3 pb, const dVector3 ub,
+			   dReal *alpha, dReal *beta);
+
+
+// given a line segment p1-p2 and a box (center 'c', rotation 'R', side length
+// vector 'side'), compute the points of closest approach between the box
+// and the line. return these points in 'lret' (the point on the line) and
+// 'bret' (the point on the box). if the line actually penetrates the box
+// then the solution is not unique, but only one solution will be returned.
+// in this case the solution points will coincide.
+
+void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
+			    const dVector3 c, const dMatrix3 R,
+			    const dVector3 side,
+			    dVector3 lret, dVector3 bret);
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/error.cpp xmoto-0.1.10-patched/src/ode/s/error.cpp
--- xmoto-0.1.10/src/ode/s/error.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/error.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,165 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/config.h>
+#include <ode/error.h>
+
+
+static dMessageFunction *error_function = 0;
+static dMessageFunction *debug_function = 0;
+static dMessageFunction *message_function = 0;
+
+
+extern "C" void dSetErrorHandler (dMessageFunction *fn)
+{
+  error_function = fn;
+}
+
+
+extern "C" void dSetDebugHandler (dMessageFunction *fn)
+{
+  debug_function = fn;
+}
+
+
+extern "C" void dSetMessageHandler (dMessageFunction *fn)
+{
+  message_function = fn;
+}
+
+
+extern "C" dMessageFunction *dGetErrorHandler()
+{
+  return error_function;
+}
+
+
+extern "C" dMessageFunction *dGetDebugHandler()
+{
+  return debug_function;
+}
+
+
+extern "C" dMessageFunction *dGetMessageHandler()
+{
+  return message_function;
+}
+
+
+static void printMessage (int num, const char *msg1, const char *msg2,
+			  va_list ap)
+{
+  fflush (stderr);
+  fflush (stdout);
+  if (num) fprintf (stderr,"\n%s %d: ",msg1,num);
+  else fprintf (stderr,"\n%s: ",msg1);
+  vfprintf (stderr,msg2,ap);
+  fprintf (stderr,"\n");
+  fflush (stderr);
+}
+
+//****************************************************************************
+// unix
+
+#ifndef WIN32
+
+extern "C" void dError (int num, const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  if (error_function) error_function (num,msg,ap);
+  else printMessage (num,"ODE Error",msg,ap);
+  exit (1);
+}
+
+
+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 printMessage (num,"ODE INTERNAL ERROR",msg,ap);
+  // *((char *)0) = 0;   ... commit SEGVicide
+  abort();
+}
+
+
+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
+
+//****************************************************************************
+// windows
+
+#ifdef WIN32
+
+#include "windows.h"
+
+
+extern "C" void dError (int num, const char *msg, ...)
+{
+  va_list ap;
+  va_start (ap,msg);
+  if (error_function) error_function (num,msg,ap);
+  else {
+    char s[1000],title[100];
+    snprintf (title,sizeof(title),"ODE Error %d",num);
+    vsnprintf (s,sizeof(s),msg,ap);
+    s[sizeof(s)-1] = 0;
+    MessageBox(0,s,title,MB_OK | MB_ICONWARNING);
+  }
+  exit (1);
+}
+
+
+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);
+    s[sizeof(s)-1] = 0;
+    MessageBox(0,s,title,MB_OK | MB_ICONSTOP);
+  }
+  abort();
+}
+
+
+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
diff -Naur xmoto-0.1.10/src/ode/s/export-dif.cpp xmoto-0.1.10-patched/src/ode/s/export-dif.cpp
--- xmoto-0.1.10/src/ode/s/export-dif.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/export-dif.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,533 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+ * Export a DIF (Dynamics Interchange Format) file.
+ */
+
+
+// @@@ TODO:
+//	* export all spaces, and geoms in spaces, not just ones attached to bodies
+//	  (separate export function?)
+//	* say the space each geom is in, so reader can construct space heirarchy
+//	* limot --> separate out into limits and motors?
+//	* make sure ODE-specific parameters divided out
+
+
+#include "ode/ode.h"
+#include "objects.h"
+#include "joint.h"
+#include "collision_kernel.h"
+
+//***************************************************************************
+// utility
+
+struct PrintingContext {
+	FILE *file;		// file to write to
+	int precision;		// digits of precision to print
+	int indent;		// number of levels of indent
+
+	void printIndent();
+	void printReal (dReal x);
+	void print (const char *name, int x);
+	void print (const char *name, dReal x);
+	void print (const char *name, const dReal *x, int n=3);
+	void print (const char *name, const char *x=0);
+	void printNonzero (const char *name, dReal x);
+	void printNonzero (const char *name, const dReal x[3]);
+};
+
+
+void PrintingContext::printIndent()
+{
+	for (int i=0; i<indent; i++) fputc ('\t',file);
+}
+
+
+void PrintingContext::print (const char *name, int x)
+{
+	printIndent();
+	fprintf (file,"%s = %d,\n",name,x);
+}
+
+
+void PrintingContext::printReal (dReal x)
+{
+	if (x==dInfinity) {
+		fprintf (file,"inf");
+	}
+	else if (x==-dInfinity) {
+		fprintf (file,"-inf");
+	}
+	else {
+		fprintf (file,"%.*g",precision,x);
+	}
+}
+
+
+void PrintingContext::print (const char *name, dReal x)
+{
+	printIndent();
+	fprintf (file,"%s = ",name);
+	printReal (x);
+	fprintf (file,",\n");
+}
+
+
+void PrintingContext::print (const char *name, const dReal *x, int n)
+{
+	printIndent();
+	fprintf (file,"%s = {",name);
+	for (int i=0; i<n; i++) {
+		printReal (x[i]);
+		if (i < n-1) fputc (',',file);
+	}
+	fprintf (file,"},\n");
+}
+
+
+void PrintingContext::print (const char *name, const char *x)
+{
+	printIndent();
+	if (x) {
+		fprintf (file,"%s = \"%s\",\n",name,x);
+	}
+	else {
+		fprintf (file,"%s\n",name);
+	}
+}
+
+
+void PrintingContext::printNonzero (const char *name, dReal x)
+{
+	if (x != 0) print (name,x);
+}
+
+
+void PrintingContext::printNonzero (const char *name, const dReal x[3])
+{
+	if (x[0] != 0 && x[1] != 0 && x[2] != 0) print (name,x);
+}
+
+//***************************************************************************
+// joints
+
+
+static void printLimot (PrintingContext &c, dxJointLimitMotor &limot, int num)
+{
+	if (num >= 0) {
+		c.printIndent();
+		fprintf (c.file,"limit%d = {\n",num);
+	}
+	else {
+		c.print ("limit = {");
+	}
+	c.indent++;
+	c.print ("low_stop",limot.lostop);
+	c.print ("high_stop",limot.histop);
+	c.printNonzero ("bounce",limot.bounce);
+	c.print ("ODE = {");
+	c.indent++;
+	c.printNonzero ("stop_erp",limot.stop_erp);
+	c.printNonzero ("stop_cfm",limot.stop_cfm);
+	c.indent--;
+	c.print ("},");
+	c.indent--;
+	c.print ("},");
+
+	if (num >= 0) {
+		c.printIndent();
+		fprintf (c.file,"motor%d = {\n",num);
+	}
+	else {
+		c.print ("motor = {");
+	}
+	c.indent++;
+	c.printNonzero ("vel",limot.vel);
+	c.printNonzero ("fmax",limot.fmax);
+	c.print ("ODE = {");
+	c.indent++;
+	c.printNonzero ("fudge_factor",limot.fudge_factor);
+	c.printNonzero ("normal_cfm",limot.normal_cfm);
+	c.indent--;
+	c.print ("},");
+	c.indent--;
+	c.print ("},");
+}
+
+
+static const char *getJointName (dxJoint *j)
+{
+	switch (j->vtable->typenum) {
+		case dJointTypeBall: return "ball";
+		case dJointTypeHinge: return "hinge";
+		case dJointTypeSlider: return "slider";
+		case dJointTypeContact: return "contact";
+		case dJointTypeUniversal: return "universal";
+		case dJointTypeHinge2: return "ODE_hinge2";
+		case dJointTypeFixed: return "fixed";
+		case dJointTypeNull: return "null";
+		case dJointTypeAMotor: return "ODE_angular_motor";
+	}
+	return "unknown";
+}
+
+
+static void printBall (PrintingContext &c, dxJoint *j)
+{
+	dxJointBall *b = (dxJointBall*) j;
+	c.print ("anchor1",b->anchor1);
+	c.print ("anchor2",b->anchor2);
+}
+
+
+static void printHinge (PrintingContext &c, dxJoint *j)
+{
+	dxJointHinge *h = (dxJointHinge*) j;
+	c.print ("anchor1",h->anchor1);
+	c.print ("anchor2",h->anchor2);
+	c.print ("axis1",h->axis1);
+	c.print ("axis2",h->axis2);
+	c.print ("qrel",h->qrel,4);
+	printLimot (c,h->limot,-1);
+}
+
+
+static void printSlider (PrintingContext &c, dxJoint *j)
+{
+	dxJointSlider *s = (dxJointSlider*) j;
+	c.print ("axis1",s->axis1);
+	c.print ("qrel",s->qrel,4);
+	c.print ("offset",s->offset);
+	printLimot (c,s->limot,-1);
+}
+
+
+static void printContact (PrintingContext &c, dxJoint *j)
+{
+	dxJointContact *ct = (dxJointContact*) j;
+	int mode = ct->contact.surface.mode;
+	c.print ("pos",ct->contact.geom.pos);
+	c.print ("normal",ct->contact.geom.normal);
+	c.print ("depth",ct->contact.geom.depth);
+	//@@@ may want to write the geoms g1 and g2 that are involved, for debugging.
+	//    to do this we must have written out all geoms in all spaces, not just
+	//    geoms that are attached to bodies.
+	c.print ("mu",ct->contact.surface.mu);
+	if (mode & dContactMu2) c.print ("mu2",ct->contact.surface.mu2);
+	if (mode & dContactBounce) c.print ("bounce",ct->contact.surface.bounce);
+	if (mode & dContactBounce) c.print ("bounce_vel",ct->contact.surface.bounce_vel);
+	if (mode & dContactSoftERP) c.print ("soft_ERP",ct->contact.surface.soft_erp);
+	if (mode & dContactSoftCFM) c.print ("soft_CFM",ct->contact.surface.soft_cfm);
+	if (mode & dContactMotion1) c.print ("motion1",ct->contact.surface.motion1);
+	if (mode & dContactMotion2) c.print ("motion2",ct->contact.surface.motion2);
+	if (mode & dContactSlip1) c.print ("slip1",ct->contact.surface.slip1);
+	if (mode & dContactSlip2) c.print ("slip2",ct->contact.surface.slip2);
+	int fa = 0;		// friction approximation code
+	if (mode & dContactApprox1_1) fa |= 1;
+	if (mode & dContactApprox1_2) fa |= 2;
+	if (fa) c.print ("friction_approximation",fa);
+	if (mode & dContactFDir1) c.print ("fdir1",ct->contact.fdir1);
+}
+
+
+static void printUniversal (PrintingContext &c, dxJoint *j)
+{
+	dxJointUniversal *u = (dxJointUniversal*) j;
+	c.print ("anchor1",u->anchor1);
+	c.print ("anchor2",u->anchor2);
+	c.print ("axis1",u->axis1);
+	c.print ("axis2",u->axis2);
+	c.print ("qrel1",u->qrel1,4);
+	c.print ("qrel2",u->qrel2,4);
+	printLimot (c,u->limot1,1);
+	printLimot (c,u->limot2,2);
+}
+
+
+static void printHinge2 (PrintingContext &c, dxJoint *j)
+{
+	dxJointHinge2 *h = (dxJointHinge2*) j;
+	c.print ("anchor1",h->anchor1);
+	c.print ("anchor2",h->anchor2);
+	c.print ("axis1",h->axis1);
+	c.print ("axis2",h->axis2);
+	c.print ("v1",h->v1);	//@@@ much better to write out 'qrel' here, if it's available
+	c.print ("v2",h->v2);
+	c.print ("susp_erp",h->susp_erp);
+	c.print ("susp_cfm",h->susp_cfm);
+	printLimot (c,h->limot1,1);
+	printLimot (c,h->limot2,2);
+}
+
+
+static void printFixed (PrintingContext &c, dxJoint *j)
+{
+	dxJointFixed *f = (dxJointFixed*) j;
+	c.print ("qrel",f->qrel);
+	c.print ("offset",f->offset);
+}
+
+
+static void printAMotor (PrintingContext &c, dxJoint *j)
+{
+	dxJointAMotor *a = (dxJointAMotor*) j;
+	c.print ("num",a->num);
+	c.print ("mode",a->mode);
+	c.printIndent();
+	fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]);
+	c.print ("axis1",a->axis[0]);
+	c.print ("axis2",a->axis[1]);
+	c.print ("axis3",a->axis[2]);
+	for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1);
+	c.print ("angle1",a->angle[0]);
+	c.print ("angle2",a->angle[1]);
+	c.print ("angle3",a->angle[2]);
+}
+
+//***************************************************************************
+// geometry
+
+static void printGeom (PrintingContext &c, dxGeom *g);
+
+static void printSphere (PrintingContext &c, dxGeom *g)
+{
+	c.print ("type","sphere");
+	c.print ("radius",dGeomSphereGetRadius (g));
+}
+
+
+static void printBox (PrintingContext &c, dxGeom *g)
+{
+	dVector3 sides;
+	dGeomBoxGetLengths (g,sides);
+	c.print ("type","box");
+	c.print ("sides",sides);
+}
+
+
+
+static void printCCylinder (PrintingContext &c, dxGeom *g)
+{
+	dReal radius,length;
+	dGeomCCylinderGetParams (g,&radius,&length);
+	c.print ("type","capsule");
+	c.print ("radius",radius);
+	c.print ("length",length);
+}
+
+
+static void printPlane (PrintingContext &c, dxGeom *g)
+{
+	dVector4 e;
+	dGeomPlaneGetParams (g,e);
+	c.print ("type","plane");
+	c.print ("normal",e);
+	c.print ("d",e[3]);
+}
+
+
+
+static void printRay (PrintingContext &c, dxGeom *g)
+{
+	dReal length = dGeomRayGetLength (g);
+	c.print ("type","ray");
+	c.print ("length",length);
+}
+
+
+
+static void printGeomTransform (PrintingContext &c, dxGeom *g)
+{
+	dxGeom *g2 = dGeomTransformGetGeom (g);
+	const dReal *pos = dGeomGetPosition (g2);
+	dQuaternion q;
+	dGeomGetQuaternion (g2,q);
+	c.print ("type","transform");
+	c.print ("pos",pos);
+	c.print ("q",q,4);
+	c.print ("geometry = {");
+	c.indent++;
+	printGeom (c,g2);
+	c.indent--;
+	c.print ("}");
+}
+
+
+
+static void printTriMesh (PrintingContext &c, dxGeom *g)
+{
+	c.print ("type","trimesh");
+	//@@@ i don't think that the trimesh accessor functions are really
+	//    sufficient to read out all the triangle data, and anyway we
+	//    should have a method of not duplicating trimesh data that is
+	//    shared.
+}
+
+
+static void printGeom (PrintingContext &c, dxGeom *g)
+{
+	unsigned long category = dGeomGetCategoryBits (g);
+	if (category != (unsigned long)(~0)) {
+		c.printIndent();
+		fprintf (c.file,"category_bits = %lu\n",category);
+	}
+	unsigned long collide = dGeomGetCollideBits (g);
+	if (collide != (unsigned long)(~0)) {
+		c.printIndent();
+		fprintf (c.file,"collide_bits = %lu\n",collide);
+	}
+	if (!dGeomIsEnabled (g)) {
+		c.print ("disabled",1);
+	}
+	switch (g->type) {
+		case dSphereClass: printSphere (c,g); break;
+		case dBoxClass: printBox (c,g); break;
+		case dCCylinderClass: printCCylinder (c,g); break;
+		case dPlaneClass: printPlane (c,g); break;
+		case dRayClass: printRay (c,g); break;
+		case dGeomTransformClass: printGeomTransform (c,g); break;
+		case dTriMeshClass: printTriMesh (c,g); break;
+	}
+}
+
+//***************************************************************************
+// world
+
+void dWorldExportDIF (dWorldID w, FILE *file, const char *prefix)
+{
+	PrintingContext c;
+	c.file = file;
+#if defined(dSINGLE)
+	c.precision = 7;
+#else
+	c.precision = 15;
+#endif
+	c.indent = 1;
+
+	fprintf (file,"-- Dynamics Interchange Format v0.1\n\n%sworld = dynamics.world {\n",prefix);
+	c.print ("gravity",w->gravity);
+	c.print ("ODE = {");
+	c.indent++;
+	c.print ("ERP",w->global_erp);
+	c.print ("CFM",w->global_cfm);
+	c.print ("auto_disable = {");
+	c.indent++;
+	c.print ("linear_threshold",w->adis.linear_threshold);
+	c.print ("angular_threshold",w->adis.angular_threshold);
+	c.print ("idle_time",w->adis.idle_time);
+	c.print ("idle_steps",w->adis.idle_steps);
+	fprintf (file,"\t\t},\n\t},\n}\n");
+	c.indent -= 3;
+
+	// bodies
+	int num = 0;
+	fprintf (file,"%sbody = {}\n",prefix);
+	for (dxBody *b=w->firstbody; b; b=(dxBody*)b->next) {
+		b->tag = num;
+		fprintf (file,"%sbody[%d] = dynamics.body {\n\tworld = %sworld,\n",prefix,num,prefix);
+		c.indent++;
+		c.print ("pos",b->pos);
+		c.print ("q",b->q,4);
+		c.print ("lvel",b->lvel);
+		c.print ("avel",b->avel);
+		c.print ("mass",b->mass.mass);
+		fprintf (file,"\tI = {{");
+		for (int i=0; i<3; i++) {
+			for (int j=0; j<3; j++) {
+				c.printReal (b->mass.I[i*4+j]);
+				if (j < 2) fputc (',',file);
+			}
+			if (i < 2) fprintf (file,"},{");
+		}
+		fprintf (file,"}},\n");
+		c.printNonzero ("com",b->mass.c);
+		c.print ("ODE = {");
+		c.indent++;
+		if (b->flags & dxBodyFlagFiniteRotation) c.print ("finite_rotation",1);
+		if (b->flags & dxBodyDisabled) c.print ("disabled",1);
+		if (b->flags & dxBodyNoGravity) c.print ("no_gravity",1);
+		if (b->flags & dxBodyAutoDisable) {
+			c.print ("auto_disable = {");
+			c.indent++;
+			c.print ("linear_threshold",b->adis.linear_threshold);
+			c.print ("angular_threshold",b->adis.angular_threshold);
+			c.print ("idle_time",b->adis.idle_time);
+			c.print ("idle_steps",b->adis.idle_steps);
+			c.print ("time_left",b->adis_timeleft);
+			c.print ("steps_left",b->adis_stepsleft);
+			c.indent--;
+			c.print ("},");
+		}
+		c.printNonzero ("facc",b->facc);
+		c.printNonzero ("tacc",b->tacc);
+		if (b->flags & dxBodyFlagFiniteRotationAxis) {
+			c.print ("finite_rotation_axis",b->finite_rot_axis);
+		}
+		c.indent--;
+		c.print ("},");
+		if (b->geom) {
+			c.print ("geometry = {");
+			c.indent++;
+			for (dxGeom *g=b->geom; g; g=g->body_next) {
+				c.print ("{");
+				c.indent++;
+				printGeom (c,g);
+				c.indent--;
+				c.print ("},");
+			}
+			c.indent--;
+			c.print ("},");
+		}
+		c.indent--;
+		c.print ("}");
+		num++;
+	}
+
+	// joints
+	num = 0;
+	fprintf (file,"%sjoint = {}\n",prefix);
+	for (dxJoint *j=w->firstjoint; j; j=(dxJoint*)j->next) {
+		c.indent++;
+		const char *name = getJointName (j);
+		fprintf (file,
+			"%sjoint[%d] = dynamics.%s_joint {\n"
+			"\tworld = %sworld,\n"
+			"\tbody = {%sbody[%d]"
+			,prefix,num,name,prefix,prefix,j->node[0].body->tag);
+		if (j->node[1].body) fprintf (file,",%sbody[%d]",prefix,j->node[1].body->tag);
+		fprintf (file,"},\n");
+		switch (j->vtable->typenum) {
+			case dJointTypeBall: printBall (c,j); break;
+			case dJointTypeHinge: printHinge (c,j); break;
+			case dJointTypeSlider: printSlider (c,j); break;
+			case dJointTypeContact: printContact (c,j); break;
+			case dJointTypeUniversal: printUniversal (c,j); break;
+			case dJointTypeHinge2: printHinge2 (c,j); break;
+			case dJointTypeFixed: printFixed (c,j); break;
+			case dJointTypeAMotor: printAMotor (c,j); break;
+		}		
+		c.indent--;
+		c.print ("}");
+		num++;
+	}
+}
diff -Naur xmoto-0.1.10/src/ode/s/fastdot.c xmoto-0.1.10-patched/src/ode/s/fastdot.c
--- xmoto-0.1.10/src/ode/s/fastdot.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/fastdot.c	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,30 @@
+/* generated code, do not edit. */
+
+#include "ode/matrix.h"
+
+
+dReal dDot (const dReal *a, const dReal *b, int n)
+{  
+  dReal p0,q0,m0,p1,q1,m1,sum;
+  sum = 0;
+  n -= 2;
+  while (n >= 0) {
+    p0 = a[0]; q0 = b[0];
+    m0 = p0 * q0;
+    p1 = a[1]; q1 = b[1];
+    m1 = p1 * q1;
+    sum += m0;
+    sum += m1;
+    a += 2;
+    b += 2;
+    n -= 2;
+  }
+  n += 2;
+  while (n > 0) {
+    sum += (*a) * (*b);
+    a++;
+    b++;
+    n--;
+  }
+  return sum;
+}
diff -Naur xmoto-0.1.10/src/ode/s/fastldlt.c xmoto-0.1.10-patched/src/ode/s/fastldlt.c
--- xmoto-0.1.10/src/ode/s/fastldlt.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/fastldlt.c	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,381 @@
+/* generated code, do not edit. */
+
+#include "ode/matrix.h"
+
+/* solve L*X=B, with B containing 1 right hand sides.
+ * L is an n*n lower triangular matrix with ones on the diagonal.
+ * L is stored by rows and its leading dimension is lskip.
+ * B is an n*1 matrix that contains the right hand sides.
+ * B is stored by columns and its leading dimension is also lskip.
+ * B is overwritten with X.
+ * this processes blocks of 2*2.
+ * if this is in the factorizer source file, n must be a multiple of 2.
+ */
+
+static void dSolveL1_1 (const dReal *L, dReal *B, int n, int lskip1)
+{  
+  /* declare variables - Z matrix, p and q vectors, etc */
+  dReal Z11,m11,Z21,m21,p1,q1,p2,*ex;
+  const dReal *ell;
+  int i,j;
+  /* compute all 2 x 1 blocks of X */
+  for (i=0; i < n; i+=2) {
+    /* compute all 2 x 1 block of X, from rows i..i+2-1 */
+    /* set the Z matrix to 0 */
+    Z11=0;
+    Z21=0;
+    ell = L + i*lskip1;
+    ex = B;
+    /* the inner loop that computes outer products and adds them to Z */
+    for (j=i-2; j >= 0; j -= 2) {
+      /* compute outer product and add it to the Z matrix */
+      p1=ell[0];
+      q1=ex[0];
+      m11 = p1 * q1;
+      p2=ell[lskip1];
+      m21 = p2 * q1;
+      Z11 += m11;
+      Z21 += m21;
+      /* compute outer product and add it to the Z matrix */
+      p1=ell[1];
+      q1=ex[1];
+      m11 = p1 * q1;
+      p2=ell[1+lskip1];
+      m21 = p2 * q1;
+      /* advance pointers */
+      ell += 2;
+      ex += 2;
+      Z11 += m11;
+      Z21 += m21;
+      /* end of inner loop */
+    }
+    /* compute left-over iterations */
+    j += 2;
+    for (; j > 0; j--) {
+      /* compute outer product and add it to the Z matrix */
+      p1=ell[0];
+      q1=ex[0];
+      m11 = p1 * q1;
+      p2=ell[lskip1];
+      m21 = p2 * q1;
+      /* advance pointers */
+      ell += 1;
+      ex += 1;
+      Z11 += m11;
+      Z21 += m21;
+    }
+    /* finish computing the X(i) block */
+    Z11 = ex[0] - Z11;
+    ex[0] = Z11;
+    p1 = ell[lskip1];
+    Z21 = ex[1] - Z21 - p1*Z11;
+    ex[1] = Z21;
+    /* end of outer loop */
+  }
+}
+
+/* solve L*X=B, with B containing 2 right hand sides.
+ * L is an n*n lower triangular matrix with ones on the diagonal.
+ * L is stored by rows and its leading dimension is lskip.
+ * B is an n*2 matrix that contains the right hand sides.
+ * B is stored by columns and its leading dimension is also lskip.
+ * B is overwritten with X.
+ * this processes blocks of 2*2.
+ * if this is in the factorizer source file, n must be a multiple of 2.
+ */
+
+static void dSolveL1_2 (const dReal *L, dReal *B, int n, int lskip1)
+{  
+  /* declare variables - Z matrix, p and q vectors, etc */
+  dReal Z11,m11,Z12,m12,Z21,m21,Z22,m22,p1,q1,p2,q2,*ex;
+  const dReal *ell;
+  int i,j;
+  /* compute all 2 x 2 blocks of X */
+  for (i=0; i < n; i+=2) {
+    /* compute all 2 x 2 block of X, from rows i..i+2-1 */
+    /* set the Z matrix to 0 */
+    Z11=0;
+    Z12=0;
+    Z21=0;
+    Z22=0;
+    ell = L + i*lskip1;
+    ex = B;
+    /* the inner loop that computes outer products and adds them to Z */
+    for (j=i-2; j >= 0; j -= 2) {
+      /* compute outer product and add it to the Z matrix */
+      p1=ell[0];
+      q1=ex[0];
+      m11 = p1 * q1;
+      q2=ex[lskip1];
+      m12 = p1 * q2;
+      p2=ell[lskip1];
+      m21 = p2 * q1;
+      m22 = p2 * q2;
+      Z11 += m11;
+      Z12 += m12;
+      Z21 += m21;
+      Z22 += m22;
+      /* compute outer product and add it to the Z matrix */
+      p1=ell[1];
+      q1=ex[1];
+      m11 = p1 * q1;
+      q2=ex[1+lskip1];
+      m12 = p1 * q2;
+      p2=ell[1+lskip1];
+      m21 = p2 * q1;
+      m22 = p2 * q2;
+      /* advance pointers */
+      ell += 2;
+      ex += 2;
+      Z11 += m11;
+      Z12 += m12;
+      Z21 += m21;
+      Z22 += m22;
+      /* end of inner loop */
+    }
+    /* compute left-over iterations */
+    j += 2;
+    for (; j > 0; j--) {
+      /* compute outer product and add it to the Z matrix */
+      p1=ell[0];
+      q1=ex[0];
+      m11 = p1 * q1;
+      q2=ex[lskip1];
+      m12 = p1 * q2;
+      p2=ell[lskip1];
+      m21 = p2 * q1;
+      m22 = p2 * q2;
+      /* advance pointers */
+      ell += 1;
+      ex += 1;
+      Z11 += m11;
+      Z12 += m12;
+      Z21 += m21;
+      Z22 += m22;
+    }
+    /* finish computing the X(i) block */
+    Z11 = ex[0] - Z11;
+    ex[0] = Z11;
+    Z12 = ex[lskip1] - Z12;
+    ex[lskip1] = Z12;
+    p1 = ell[lskip1];
+    Z21 = ex[1] - Z21 - p1*Z11;
+    ex[1] = Z21;
+    Z22 = ex[1+lskip1] - Z22 - p1*Z12;
+    ex[1+lskip1] = Z22;
+    /* end of outer loop */
+  }
+}
+
+
+void dFactorLDLT (dReal *A, dReal *d, int n, int nskip1)
+{  
+  int i,j;
+  dReal sum,*ell,*dee,dd,p1,p2,q1,q2,Z11,m11,Z21,m21,Z22,m22;
+  if (n < 1) return;
+  
+  for (i=0; i<=n-2; i += 2) {
+    /* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */
+    dSolveL1_2 (A,A+i*nskip1,i,nskip1);
+    /* scale the elements in a 2 x i block at A(i,0), and also */
+    /* compute Z = the outer product matrix that we'll need. */
+    Z11 = 0;
+    Z21 = 0;
+    Z22 = 0;
+    ell = A+i*nskip1;
+    dee = d;
+    for (j=i-6; j >= 0; j -= 6) {
+      p1 = ell[0];
+      p2 = ell[nskip1];
+      dd = dee[0];
+      q1 = p1*dd;
+      q2 = p2*dd;
+      ell[0] = q1;
+      ell[nskip1] = q2;
+      m11 = p1*q1;
+      m21 = p2*q1;
+      m22 = p2*q2;
+      Z11 += m11;
+      Z21 += m21;
+      Z22 += m22;
+      p1 = ell[1];
+      p2 = ell[1+nskip1];
+      dd = dee[1];
+      q1 = p1*dd;
+      q2 = p2*dd;
+      ell[1] = q1;
+      ell[1+nskip1] = q2;
+      m11 = p1*q1;
+      m21 = p2*q1;
+      m22 = p2*q2;
+      Z11 += m11;
+      Z21 += m21;
+      Z22 += m22;
+      p1 = ell[2];
+      p2 = ell[2+nskip1];
+      dd = dee[2];
+      q1 = p1*dd;
+      q2 = p2*dd;
+      ell[2] = q1;
+      ell[2+nskip1] = q2;
+      m11 = p1*q1;
+      m21 = p2*q1;
+      m22 = p2*q2;
+      Z11 += m11;
+      Z21 += m21;
+      Z22 += m22;
+      p1 = ell[3];
+      p2 = ell[3+nskip1];
+      dd = dee[3];
+      q1 = p1*dd;
+      q2 = p2*dd;
+      ell[3] = q1;
+      ell[3+nskip1] = q2;
+      m11 = p1*q1;
+      m21 = p2*q1;
+      m22 = p2*q2;
+      Z11 += m11;
+      Z21 += m21;
+      Z22 += m22;
+      p1 = ell[4];
+      p2 = ell[4+nskip1];
+      dd = dee[4];
+      q1 = p1*dd;
+      q2 = p2*dd;
+      ell[4] = q1;
+      ell[4+nskip1] = q2;
+      m11 = p1*q1;
+      m21 = p2*q1;
+      m22 = p2*q2;
+      Z11 += m11;
+      Z21 += m21;
+      Z22 += m22;
+      p1 = ell[5];
+      p2 = ell[5+nskip1];
+      dd = dee[5];
+      q1 = p1*dd;
+      q2 = p2*dd;
+      ell[5] = q1;
+      ell[5+nskip1] = q2;
+      m11 = p1*q1;
+      m21 = p2*q1;
+      m22 = p2*q2;
+      Z11 += m11;
+      Z21 += m21;
+      Z22 += m22;
+      ell += 6;
+      dee += 6;
+    }
+    /* compute left-over iterations */
+    j += 6;
+    for (; j > 0; j--) {
+      p1 = ell[0];
+      p2 = ell[nskip1];
+      dd = dee[0];
+      q1 = p1*dd;
+      q2 = p2*dd;
+      ell[0] = q1;
+      ell[nskip1] = q2;
+      m11 = p1*q1;
+      m21 = p2*q1;
+      m22 = p2*q2;
+      Z11 += m11;
+      Z21 += m21;
+      Z22 += m22;
+      ell++;
+      dee++;
+    }
+    /* solve for diagonal 2 x 2 block at A(i,i) */
+    Z11 = ell[0] - Z11;
+    Z21 = ell[nskip1] - Z21;
+    Z22 = ell[1+nskip1] - Z22;
+    dee = d + i;
+    /* factorize 2 x 2 block Z,dee */
+    /* factorize row 1 */
+    dee[0] = dRecip(Z11);
+    /* factorize row 2 */
+    sum = 0;
+    q1 = Z21;
+    q2 = q1 * dee[0];
+    Z21 = q2;
+    sum += q1*q2;
+    dee[1] = dRecip(Z22 - sum);
+    /* done factorizing 2 x 2 block */
+    ell[nskip1] = Z21;
+  }
+  /* compute the (less than 2) rows at the bottom */
+  switch (n-i) {
+    case 0:
+    break;
+    
+    case 1:
+    dSolveL1_1 (A,A+i*nskip1,i,nskip1);
+    /* scale the elements in a 1 x i block at A(i,0), and also */
+    /* compute Z = the outer product matrix that we'll need. */
+    Z11 = 0;
+    ell = A+i*nskip1;
+    dee = d;
+    for (j=i-6; j >= 0; j -= 6) {
+      p1 = ell[0];
+      dd = dee[0];
+      q1 = p1*dd;
+      ell[0] = q1;
+      m11 = p1*q1;
+      Z11 += m11;
+      p1 = ell[1];
+      dd = dee[1];
+      q1 = p1*dd;
+      ell[1] = q1;
+      m11 = p1*q1;
+      Z11 += m11;
+      p1 = ell[2];
+      dd = dee[2];
+      q1 = p1*dd;
+      ell[2] = q1;
+      m11 = p1*q1;
+      Z11 += m11;
+      p1 = ell[3];
+      dd = dee[3];
+      q1 = p1*dd;
+      ell[3] = q1;
+      m11 = p1*q1;
+      Z11 += m11;
+      p1 = ell[4];
+      dd = dee[4];
+      q1 = p1*dd;
+      ell[4] = q1;
+      m11 = p1*q1;
+      Z11 += m11;
+      p1 = ell[5];
+      dd = dee[5];
+      q1 = p1*dd;
+      ell[5] = q1;
+      m11 = p1*q1;
+      Z11 += m11;
+      ell += 6;
+      dee += 6;
+    }
+    /* compute left-over iterations */
+    j += 6;
+    for (; j > 0; j--) {
+      p1 = ell[0];
+      dd = dee[0];
+      q1 = p1*dd;
+      ell[0] = q1;
+      m11 = p1*q1;
+      Z11 += m11;
+      ell++;
+      dee++;
+    }
+    /* solve for diagonal 1 x 1 block at A(i,i) */
+    Z11 = ell[0] - Z11;
+    dee = d + i;
+    /* factorize 1 x 1 block Z,dee */
+    /* factorize row 1 */
+    dee[0] = dRecip(Z11);
+    /* done factorizing 1 x 1 block */
+    break;
+    
+    default: *((char*)0)=0;  /* this should never happen! */
+  }
+}
diff -Naur xmoto-0.1.10/src/ode/s/fastlsolve.c xmoto-0.1.10-patched/src/ode/s/fastlsolve.c
--- xmoto-0.1.10/src/ode/s/fastlsolve.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/fastlsolve.c	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,298 @@
+/* generated code, do not edit. */
+
+#include "ode/matrix.h"
+
+/* solve L*X=B, with B containing 1 right hand sides.
+ * L is an n*n lower triangular matrix with ones on the diagonal.
+ * L is stored by rows and its leading dimension is lskip.
+ * B is an n*1 matrix that contains the right hand sides.
+ * B is stored by columns and its leading dimension is also lskip.
+ * B is overwritten with X.
+ * this processes blocks of 4*4.
+ * if this is in the factorizer source file, n must be a multiple of 4.
+ */
+
+void dSolveL1 (const dReal *L, dReal *B, int n, int lskip1)
+{  
+  /* declare variables - Z matrix, p and q vectors, etc */
+  dReal Z11,Z21,Z31,Z41,p1,q1,p2,p3,p4,*ex;
+  const dReal *ell;
+  int lskip2,lskip3,i,j;
+  /* compute lskip values */
+  lskip2 = 2*lskip1;
+  lskip3 = 3*lskip1;
+  /* compute all 4 x 1 blocks of X */
+  for (i=0; i <= n-4; i+=4) {
+    /* compute all 4 x 1 block of X, from rows i..i+4-1 */
+    /* set the Z matrix to 0 */
+    Z11=0;
+    Z21=0;
+    Z31=0;
+    Z41=0;
+    ell = L + i*lskip1;
+    ex = B;
+    /* the inner loop that computes outer products and adds them to Z */
+    for (j=i-12; j >= 0; j -= 12) {
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[0];
+      p2=ell[lskip1];
+      p3=ell[lskip2];
+      p4=ell[lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[1];
+      q1=ex[1];
+      p2=ell[1+lskip1];
+      p3=ell[1+lskip2];
+      p4=ell[1+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[2];
+      q1=ex[2];
+      p2=ell[2+lskip1];
+      p3=ell[2+lskip2];
+      p4=ell[2+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[3];
+      q1=ex[3];
+      p2=ell[3+lskip1];
+      p3=ell[3+lskip2];
+      p4=ell[3+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[4];
+      q1=ex[4];
+      p2=ell[4+lskip1];
+      p3=ell[4+lskip2];
+      p4=ell[4+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[5];
+      q1=ex[5];
+      p2=ell[5+lskip1];
+      p3=ell[5+lskip2];
+      p4=ell[5+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[6];
+      q1=ex[6];
+      p2=ell[6+lskip1];
+      p3=ell[6+lskip2];
+      p4=ell[6+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[7];
+      q1=ex[7];
+      p2=ell[7+lskip1];
+      p3=ell[7+lskip2];
+      p4=ell[7+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[8];
+      q1=ex[8];
+      p2=ell[8+lskip1];
+      p3=ell[8+lskip2];
+      p4=ell[8+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[9];
+      q1=ex[9];
+      p2=ell[9+lskip1];
+      p3=ell[9+lskip2];
+      p4=ell[9+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[10];
+      q1=ex[10];
+      p2=ell[10+lskip1];
+      p3=ell[10+lskip2];
+      p4=ell[10+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* load p and q values */
+      p1=ell[11];
+      q1=ex[11];
+      p2=ell[11+lskip1];
+      p3=ell[11+lskip2];
+      p4=ell[11+lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* advance pointers */
+      ell += 12;
+      ex += 12;
+      /* end of inner loop */
+    }
+    /* compute left-over iterations */
+    j += 12;
+    for (; j > 0; j--) {
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[0];
+      p2=ell[lskip1];
+      p3=ell[lskip2];
+      p4=ell[lskip3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      Z21 += p2 * q1;
+      Z31 += p3 * q1;
+      Z41 += p4 * q1;
+      /* advance pointers */
+      ell += 1;
+      ex += 1;
+    }
+    /* finish computing the X(i) block */
+    Z11 = ex[0] - Z11;
+    ex[0] = Z11;
+    p1 = ell[lskip1];
+    Z21 = ex[1] - Z21 - p1*Z11;
+    ex[1] = Z21;
+    p1 = ell[lskip2];
+    p2 = ell[1+lskip2];
+    Z31 = ex[2] - Z31 - p1*Z11 - p2*Z21;
+    ex[2] = Z31;
+    p1 = ell[lskip3];
+    p2 = ell[1+lskip3];
+    p3 = ell[2+lskip3];
+    Z41 = ex[3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
+    ex[3] = Z41;
+    /* end of outer loop */
+  }
+  /* compute rows at end that are not a multiple of block size */
+  for (; i < n; i++) {
+    /* compute all 1 x 1 block of X, from rows i..i+1-1 */
+    /* set the Z matrix to 0 */
+    Z11=0;
+    ell = L + i*lskip1;
+    ex = B;
+    /* the inner loop that computes outer products and adds them to Z */
+    for (j=i-12; j >= 0; j -= 12) {
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[0];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[1];
+      q1=ex[1];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[2];
+      q1=ex[2];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[3];
+      q1=ex[3];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[4];
+      q1=ex[4];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[5];
+      q1=ex[5];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[6];
+      q1=ex[6];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[7];
+      q1=ex[7];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[8];
+      q1=ex[8];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[9];
+      q1=ex[9];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[10];
+      q1=ex[10];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* load p and q values */
+      p1=ell[11];
+      q1=ex[11];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* advance pointers */
+      ell += 12;
+      ex += 12;
+      /* end of inner loop */
+    }
+    /* compute left-over iterations */
+    j += 12;
+    for (; j > 0; j--) {
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[0];
+      /* compute outer product and add it to the Z matrix */
+      Z11 += p1 * q1;
+      /* advance pointers */
+      ell += 1;
+      ex += 1;
+    }
+    /* finish computing the X(i) block */
+    Z11 = ex[0] - Z11;
+    ex[0] = Z11;
+  }
+}
diff -Naur xmoto-0.1.10/src/ode/s/fastltsolve.c xmoto-0.1.10-patched/src/ode/s/fastltsolve.c
--- xmoto-0.1.10/src/ode/s/fastltsolve.c	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/fastltsolve.c	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,199 @@
+/* generated code, do not edit. */
+
+#include "ode/matrix.h"
+
+/* solve L^T * x=b, with b containing 1 right hand side.
+ * L is an n*n lower triangular matrix with ones on the diagonal.
+ * L is stored by rows and its leading dimension is lskip.
+ * b is an n*1 matrix that contains the right hand side.
+ * b is overwritten with x.
+ * this processes blocks of 4.
+ */
+
+void dSolveL1T (const dReal *L, dReal *B, int n, int lskip1)
+{  
+  /* declare variables - Z matrix, p and q vectors, etc */
+  dReal Z11,m11,Z21,m21,Z31,m31,Z41,m41,p1,q1,p2,p3,p4,*ex;
+  const dReal *ell;
+  int lskip2,lskip3,i,j;
+  /* special handling for L and B because we're solving L1 *transpose* */
+  L = L + (n-1)*(lskip1+1);
+  B = B + n-1;
+  lskip1 = -lskip1;
+  /* compute lskip values */
+  lskip2 = 2*lskip1;
+  lskip3 = 3*lskip1;
+  /* compute all 4 x 1 blocks of X */
+  for (i=0; i <= n-4; i+=4) {
+    /* compute all 4 x 1 block of X, from rows i..i+4-1 */
+    /* set the Z matrix to 0 */
+    Z11=0;
+    Z21=0;
+    Z31=0;
+    Z41=0;
+    ell = L - i;
+    ex = B;
+    /* the inner loop that computes outer products and adds them to Z */
+    for (j=i-4; j >= 0; j -= 4) {
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[0];
+      p2=ell[-1];
+      p3=ell[-2];
+      p4=ell[-3];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      m21 = p2 * q1;
+      m31 = p3 * q1;
+      m41 = p4 * q1;
+      ell += lskip1;
+      Z11 += m11;
+      Z21 += m21;
+      Z31 += m31;
+      Z41 += m41;
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[-1];
+      p2=ell[-1];
+      p3=ell[-2];
+      p4=ell[-3];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      m21 = p2 * q1;
+      m31 = p3 * q1;
+      m41 = p4 * q1;
+      ell += lskip1;
+      Z11 += m11;
+      Z21 += m21;
+      Z31 += m31;
+      Z41 += m41;
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[-2];
+      p2=ell[-1];
+      p3=ell[-2];
+      p4=ell[-3];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      m21 = p2 * q1;
+      m31 = p3 * q1;
+      m41 = p4 * q1;
+      ell += lskip1;
+      Z11 += m11;
+      Z21 += m21;
+      Z31 += m31;
+      Z41 += m41;
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[-3];
+      p2=ell[-1];
+      p3=ell[-2];
+      p4=ell[-3];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      m21 = p2 * q1;
+      m31 = p3 * q1;
+      m41 = p4 * q1;
+      ell += lskip1;
+      ex -= 4;
+      Z11 += m11;
+      Z21 += m21;
+      Z31 += m31;
+      Z41 += m41;
+      /* end of inner loop */
+    }
+    /* compute left-over iterations */
+    j += 4;
+    for (; j > 0; j--) {
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[0];
+      p2=ell[-1];
+      p3=ell[-2];
+      p4=ell[-3];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      m21 = p2 * q1;
+      m31 = p3 * q1;
+      m41 = p4 * q1;
+      ell += lskip1;
+      ex -= 1;
+      Z11 += m11;
+      Z21 += m21;
+      Z31 += m31;
+      Z41 += m41;
+    }
+    /* finish computing the X(i) block */
+    Z11 = ex[0] - Z11;
+    ex[0] = Z11;
+    p1 = ell[-1];
+    Z21 = ex[-1] - Z21 - p1*Z11;
+    ex[-1] = Z21;
+    p1 = ell[-2];
+    p2 = ell[-2+lskip1];
+    Z31 = ex[-2] - Z31 - p1*Z11 - p2*Z21;
+    ex[-2] = Z31;
+    p1 = ell[-3];
+    p2 = ell[-3+lskip1];
+    p3 = ell[-3+lskip2];
+    Z41 = ex[-3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
+    ex[-3] = Z41;
+    /* end of outer loop */
+  }
+  /* compute rows at end that are not a multiple of block size */
+  for (; i < n; i++) {
+    /* compute all 1 x 1 block of X, from rows i..i+1-1 */
+    /* set the Z matrix to 0 */
+    Z11=0;
+    ell = L - i;
+    ex = B;
+    /* the inner loop that computes outer products and adds them to Z */
+    for (j=i-4; j >= 0; j -= 4) {
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[0];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      ell += lskip1;
+      Z11 += m11;
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[-1];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      ell += lskip1;
+      Z11 += m11;
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[-2];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      ell += lskip1;
+      Z11 += m11;
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[-3];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      ell += lskip1;
+      ex -= 4;
+      Z11 += m11;
+      /* end of inner loop */
+    }
+    /* compute left-over iterations */
+    j += 4;
+    for (; j > 0; j--) {
+      /* load p and q values */
+      p1=ell[0];
+      q1=ex[0];
+      /* compute outer product and add it to the Z matrix */
+      m11 = p1 * q1;
+      ell += lskip1;
+      ex -= 1;
+      Z11 += m11;
+    }
+    /* finish computing the X(i) block */
+    Z11 = ex[0] - Z11;
+    ex[0] = Z11;
+  }
+}
diff -Naur xmoto-0.1.10/src/ode/s/joint.cpp xmoto-0.1.10-patched/src/ode/s/joint.cpp
--- xmoto-0.1.10/src/ode/s/joint.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/joint.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,2685 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+design note: the general principle for giving a joint the option of connecting
+to the static environment (i.e. the absolute frame) is to check the second
+body (joint->node[1].body), and if it is zero then behave as if its body
+transform is the identity.
+
+*/
+
+#include <ode/odemath.h>
+#include <ode/rotation.h>
+#include <ode/matrix.h>
+#include "joint.h"
+
+//****************************************************************************
+// externs
+
+extern "C" void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz);
+extern "C" void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz);
+
+//****************************************************************************
+// utility
+
+// set three "ball-and-socket" rows in the constraint equation, and the
+// corresponding right hand side.
+
+static inline void setBall (dxJoint *joint, dxJoint::Info2 *info,
+			    dVector3 anchor1, dVector3 anchor2)
+{
+  // anchor points in global coordinates with respect to body PORs.
+  dVector3 a1,a2;
+
+  int s = info->rowskip;
+
+  // set jacobian
+  info->J1l[0] = 1;
+  info->J1l[s+1] = 1;
+  info->J1l[2*s+2] = 1;
+  dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1);
+  dCROSSMAT (info->J1a,a1,s,-,+);
+  if (joint->node[1].body) {
+    info->J2l[0] = -1;
+    info->J2l[s+1] = -1;
+    info->J2l[2*s+2] = -1;
+    dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2);
+    dCROSSMAT (info->J2a,a2,s,+,-);
+  }
+
+  // set right hand side
+  dReal k = info->fps * info->erp;
+  if (joint->node[1].body) {
+    for (int j=0; j<3; j++) {
+      info->c[j] = k * (a2[j] + joint->node[1].body->pos[j] -
+			a1[j] - joint->node[0].body->pos[j]);
+    }
+  }
+  else {
+    for (int j=0; j<3; j++) {
+      info->c[j] = k * (anchor2[j] - a1[j] -
+			joint->node[0].body->pos[j]);
+    }
+  }
+}
+
+
+// this is like setBall(), except that `axis' is a unit length vector
+// (in global coordinates) that should be used for the first jacobian
+// position row (the other two row vectors will be derived from this).
+// `erp1' is the erp value to use along the axis.
+
+static inline void setBall2 (dxJoint *joint, dxJoint::Info2 *info,
+			    dVector3 anchor1, dVector3 anchor2,
+			    dVector3 axis, dReal erp1)
+{
+  // anchor points in global coordinates with respect to body PORs.
+  dVector3 a1,a2;
+
+  int i,s = info->rowskip;
+
+  // get vectors normal to the axis. in setBall() axis,q1,q2 is [1 0 0],
+  // [0 1 0] and [0 0 1], which makes everything much easier.
+  dVector3 q1,q2;
+  dPlaneSpace (axis,q1,q2);
+
+  // set jacobian
+  for (i=0; i<3; i++) info->J1l[i] = axis[i];
+  for (i=0; i<3; i++) info->J1l[s+i] = q1[i];
+  for (i=0; i<3; i++) info->J1l[2*s+i] = q2[i];
+  dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1);
+  dCROSS (info->J1a,=,a1,axis);
+  dCROSS (info->J1a+s,=,a1,q1);
+  dCROSS (info->J1a+2*s,=,a1,q2);
+  if (joint->node[1].body) {
+    for (i=0; i<3; i++) info->J2l[i] = -axis[i];
+    for (i=0; i<3; i++) info->J2l[s+i] = -q1[i];
+    for (i=0; i<3; i++) info->J2l[2*s+i] = -q2[i];
+    dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2);
+    dCROSS (info->J2a,= -,a2,axis);
+    dCROSS (info->J2a+s,= -,a2,q1);
+    dCROSS (info->J2a+2*s,= -,a2,q2);
+  }
+
+  // set right hand side - measure error along (axis,q1,q2)
+  dReal k1 = info->fps * erp1;
+  dReal k = info->fps * info->erp;
+
+  for (i=0; i<3; i++) a1[i] += joint->node[0].body->pos[i];
+  if (joint->node[1].body) {
+    for (i=0; i<3; i++) a2[i] += joint->node[1].body->pos[i];
+    info->c[0] = k1 * (dDOT(axis,a2) - dDOT(axis,a1));
+    info->c[1] = k * (dDOT(q1,a2) - dDOT(q1,a1));
+    info->c[2] = k * (dDOT(q2,a2) - dDOT(q2,a1));
+  }
+  else {
+    info->c[0] = k1 * (dDOT(axis,anchor2) - dDOT(axis,a1));
+    info->c[1] = k * (dDOT(q1,anchor2) - dDOT(q1,a1));
+    info->c[2] = k * (dDOT(q2,anchor2) - dDOT(q2,a1));
+  }
+}
+
+
+// set three orientation rows in the constraint equation, and the
+// corresponding right hand side.
+
+static void setFixedOrientation(dxJoint *joint, dxJoint::Info2 *info, dQuaternion qrel, int start_row)
+{
+  int s = info->rowskip;
+  int start_index = start_row * s;
+
+  // 3 rows to make body rotations equal
+  info->J1a[start_index] = 1;
+  info->J1a[start_index + s + 1] = 1;
+  info->J1a[start_index + s*2+2] = 1;
+  if (joint->node[1].body) {
+    info->J2a[start_index] = -1;
+    info->J2a[start_index + s+1] = -1;
+    info->J2a[start_index + s*2+2] = -1;
+  }
+
+  // compute the right hand side. the first three elements will result in
+  // relative angular velocity of the two bodies - this is set to bring them
+  // back into alignment. the correcting angular velocity is
+  //   |angular_velocity| = angle/time = erp*theta / stepsize
+  //                      = (erp*fps) * theta
+  //    angular_velocity  = |angular_velocity| * u
+  //                      = (erp*fps) * theta * u
+  // where rotation along unit length axis u by theta brings body 2's frame
+  // to qrel with respect to body 1's frame. using a small angle approximation
+  // for sin(), this gives
+  //    angular_velocity  = (erp*fps) * 2 * v
+  // where the quaternion of the relative rotation between the two bodies is
+  //    q = [cos(theta/2) sin(theta/2)*u] = [s v]
+
+  // get qerr = relative rotation (rotation error) between two bodies
+  dQuaternion qerr,e;
+  if (joint->node[1].body) {
+    dQuaternion qq;
+    dQMultiply1 (qq,joint->node[0].body->q,joint->node[1].body->q);
+    dQMultiply2 (qerr,qq,qrel);
+  }
+  else {
+    dQMultiply3 (qerr,joint->node[0].body->q,qrel);
+  }
+  if (qerr[0] < 0) {
+    qerr[1] = -qerr[1];		// adjust sign of qerr to make theta small
+    qerr[2] = -qerr[2];
+    qerr[3] = -qerr[3];
+  }
+  dMULTIPLY0_331 (e,joint->node[0].body->R,qerr+1); // @@@ bad SIMD padding!
+  dReal k = info->fps * info->erp;
+  info->c[start_row] = 2*k * e[0];
+  info->c[start_row+1] = 2*k * e[1];
+  info->c[start_row+2] = 2*k * e[2];
+}
+
+
+// compute anchor points relative to bodies
+
+static void setAnchors (dxJoint *j, dReal x, dReal y, dReal z,
+			dVector3 anchor1, dVector3 anchor2)
+{
+  if (j->node[0].body) {
+    dReal q[4];
+    q[0] = x - j->node[0].body->pos[0];
+    q[1] = y - j->node[0].body->pos[1];
+    q[2] = z - j->node[0].body->pos[2];
+    q[3] = 0;
+    dMULTIPLY1_331 (anchor1,j->node[0].body->R,q);
+    if (j->node[1].body) {
+      q[0] = x - j->node[1].body->pos[0];
+      q[1] = y - j->node[1].body->pos[1];
+      q[2] = z - j->node[1].body->pos[2];
+      q[3] = 0;
+      dMULTIPLY1_331 (anchor2,j->node[1].body->R,q);
+    }
+    else {
+      anchor2[0] = x;
+      anchor2[1] = y;
+      anchor2[2] = z;
+    }
+  }
+  anchor1[3] = 0;
+  anchor2[3] = 0;
+}
+
+
+// compute axes relative to bodies. either axis1 or axis2 can be 0.
+
+static void setAxes (dxJoint *j, dReal x, dReal y, dReal z,
+		     dVector3 axis1, dVector3 axis2)
+{
+  if (j->node[0].body) {
+    dReal q[4];
+    q[0] = x;
+    q[1] = y;
+    q[2] = z;
+    q[3] = 0;
+    dNormalize3 (q);
+    if (axis1) {
+      dMULTIPLY1_331 (axis1,j->node[0].body->R,q);
+      axis1[3] = 0;
+    }
+    if (axis2) {
+      if (j->node[1].body) {
+	dMULTIPLY1_331 (axis2,j->node[1].body->R,q);
+      }
+      else {
+	axis2[0] = x;
+	axis2[1] = y;
+	axis2[2] = z;
+      }
+      axis2[3] = 0;
+    }
+  }
+}
+
+
+static void getAnchor (dxJoint *j, dVector3 result, dVector3 anchor1)
+{
+  if (j->node[0].body) {
+    dMULTIPLY0_331 (result,j->node[0].body->R,anchor1);
+    result[0] += j->node[0].body->pos[0];
+    result[1] += j->node[0].body->pos[1];
+    result[2] += j->node[0].body->pos[2];
+  }
+}
+
+
+static void getAnchor2 (dxJoint *j, dVector3 result, dVector3 anchor2)
+{
+  if (j->node[1].body) {
+    dMULTIPLY0_331 (result,j->node[1].body->R,anchor2);
+    result[0] += j->node[1].body->pos[0];
+    result[1] += j->node[1].body->pos[1];
+    result[2] += j->node[1].body->pos[2];
+  }
+  else {
+    result[0] = anchor2[0];
+    result[1] = anchor2[1];
+    result[2] = anchor2[2];
+  }
+}
+
+
+static void getAxis (dxJoint *j, dVector3 result, dVector3 axis1)
+{
+  if (j->node[0].body) {
+    dMULTIPLY0_331 (result,j->node[0].body->R,axis1);
+  }
+}
+
+
+static void getAxis2 (dxJoint *j, dVector3 result, dVector3 axis2)
+{
+  if (j->node[1].body) {
+    dMULTIPLY0_331 (result,j->node[1].body->R,axis2);
+  }
+  else {
+    result[0] = axis2[0];
+    result[1] = axis2[1];
+    result[2] = axis2[2];
+  }
+}
+
+
+static dReal getHingeAngleFromRelativeQuat (dQuaternion qrel, dVector3 axis)
+{
+  // the angle between the two bodies is extracted from the quaternion that
+  // represents the relative rotation between them. recall that a quaternion
+  // q is:
+  //    [s,v] = [ cos(theta/2) , sin(theta/2) * u ]
+  // where s is a scalar and v is a 3-vector. u is a unit length axis and
+  // theta is a rotation along that axis. we can get theta/2 by:
+  //    theta/2 = atan2 ( sin(theta/2) , cos(theta/2) )
+  // but we can't get sin(theta/2) directly, only its absolute value, i.e.:
+  //    |v| = |sin(theta/2)| * |u|
+  //        = |sin(theta/2)|
+  // using this value will have a strange effect. recall that there are two
+  // quaternion representations of a given rotation, q and -q. typically as
+  // a body rotates along the axis it will go through a complete cycle using
+  // one representation and then the next cycle will use the other
+  // representation. this corresponds to u pointing in the direction of the
+  // hinge axis and then in the opposite direction. the result is that theta
+  // will appear to go "backwards" every other cycle. here is a fix: if u
+  // points "away" from the direction of the hinge (motor) axis (i.e. more
+  // than 90 degrees) then use -q instead of q. this represents the same
+  // rotation, but results in the cos(theta/2) value being sign inverted.
+
+  // extract the angle from the quaternion. cost2 = cos(theta/2),
+  // sint2 = |sin(theta/2)|
+  dReal cost2 = qrel[0];
+  dReal sint2 = dSqrt (qrel[1]*qrel[1]+qrel[2]*qrel[2]+qrel[3]*qrel[3]);
+  dReal theta = (dDOT(qrel+1,axis) >= 0) ?	// @@@ padding assumptions
+    (2 * dAtan2(sint2,cost2)) :		// if u points in direction of axis
+    (2 * dAtan2(sint2,-cost2));		// if u points in opposite direction
+
+  // the angle we get will be between 0..2*pi, but we want to return angles
+  // between -pi..pi
+  if (theta > M_PI) theta -= 2*M_PI;
+
+  // the angle we've just extracted has the wrong sign
+  theta = -theta;
+
+  return theta;
+}
+
+
+// given two bodies (body1,body2), the hinge axis that they are connected by
+// w.r.t. body1 (axis), and the initial relative orientation between them
+// (q_initial), return the relative rotation angle. the initial relative
+// orientation corresponds to an angle of zero. if body2 is 0 then measure the
+// angle between body1 and the static frame.
+//
+// this will not return the correct angle if the bodies rotate along any axis
+// other than the given hinge axis.
+
+static dReal getHingeAngle (dxBody *body1, dxBody *body2, dVector3 axis,
+			    dQuaternion q_initial)
+{
+  // get qrel = relative rotation between the two bodies
+  dQuaternion qrel;
+  if (body2) {
+    dQuaternion qq;
+    dQMultiply1 (qq,body1->q,body2->q);
+    dQMultiply2 (qrel,qq,q_initial);
+  }
+  else {
+    // pretend body2->q is the identity
+    dQMultiply3 (qrel,body1->q,q_initial);
+  }
+
+  return getHingeAngleFromRelativeQuat (qrel,axis);
+}
+
+//****************************************************************************
+// dxJointLimitMotor
+
+void dxJointLimitMotor::init (dxWorld *world)
+{
+  vel = 0;
+  fmax = 0;
+  lostop = -dInfinity;
+  histop = dInfinity;
+  fudge_factor = 1;
+  normal_cfm = world->global_cfm;
+  stop_erp = world->global_erp;
+  stop_cfm = world->global_cfm;
+  bounce = 0;
+  limit = 0;
+  limit_err = 0;
+}
+
+
+void dxJointLimitMotor::set (int num, dReal value)
+{
+  switch (num) {
+  case dParamLoStop:
+    if (value <= histop) lostop = value;
+    break;
+  case dParamHiStop:
+    if (value >= lostop) histop = value;
+    break;
+  case dParamVel:
+    vel = value;
+    break;
+  case dParamFMax:
+    if (value >= 0) fmax = value;
+    break;
+  case dParamFudgeFactor:
+    if (value >= 0 && value <= 1) fudge_factor = value;
+    break;
+  case dParamBounce:
+    bounce = value;
+    break;
+  case dParamCFM:
+    normal_cfm = value;
+    break;
+  case dParamStopERP:
+    stop_erp = value;
+    break;
+  case dParamStopCFM:
+    stop_cfm = value;
+    break;
+  }
+}
+
+
+dReal dxJointLimitMotor::get (int num)
+{
+  switch (num) {
+  case dParamLoStop: return lostop;
+  case dParamHiStop: return histop;
+  case dParamVel: return vel;
+  case dParamFMax: return fmax;
+  case dParamFudgeFactor: return fudge_factor;
+  case dParamBounce: return bounce;
+  case dParamCFM: return normal_cfm;
+  case dParamStopERP: return stop_erp;
+  case dParamStopCFM: return stop_cfm;
+  default: return 0;
+  }
+}
+
+
+int dxJointLimitMotor::testRotationalLimit (dReal angle)
+{
+  if (angle <= lostop) {
+    limit = 1;
+    limit_err = angle - lostop;
+    return 1;
+  }
+  else if (angle >= histop) {
+    limit = 2;
+    limit_err = angle - histop;
+    return 1;
+  }
+  else {
+    limit = 0;
+    return 0;
+  }
+}
+
+
+int dxJointLimitMotor::addLimot (dxJoint *joint,
+				 dxJoint::Info2 *info, int row,
+				 dVector3 ax1, int rotational)
+{
+  int srow = row * info->rowskip;
+
+  // if the joint is powered, or has joint limits, add in the extra row
+  int powered = fmax > 0;
+  if (powered || limit) {
+    dReal *J1 = rotational ? info->J1a : info->J1l;
+    dReal *J2 = rotational ? info->J2a : info->J2l;
+
+    J1[srow+0] = ax1[0];
+    J1[srow+1] = ax1[1];
+    J1[srow+2] = ax1[2];
+    if (joint->node[1].body) {
+      J2[srow+0] = -ax1[0];
+      J2[srow+1] = -ax1[1];
+      J2[srow+2] = -ax1[2];
+    }
+
+    // linear limot torque decoupling step:
+    //
+    // if this is a linear limot (e.g. from a slider), we have to be careful
+    // that the linear constraint forces (+/- ax1) applied to the two bodies
+    // do not create a torque couple. in other words, the points that the
+    // constraint force is applied at must lie along the same ax1 axis.
+    // a torque couple will result in powered or limited slider-jointed free
+    // bodies from gaining angular momentum.
+    // the solution used here is to apply the constraint forces at the point
+    // halfway between the body centers. there is no penalty (other than an
+    // extra tiny bit of computation) in doing this adjustment. note that we
+    // only need to do this if the constraint connects two bodies.
+
+    dVector3 ltd;	// Linear Torque Decoupling vector (a torque)
+    if (!rotational && joint->node[1].body) {
+      dVector3 c;
+      c[0]=REAL(0.5)*(joint->node[1].body->pos[0]-joint->node[0].body->pos[0]);
+      c[1]=REAL(0.5)*(joint->node[1].body->pos[1]-joint->node[0].body->pos[1]);
+      c[2]=REAL(0.5)*(joint->node[1].body->pos[2]-joint->node[0].body->pos[2]);
+      dCROSS (ltd,=,c,ax1);
+      info->J1a[srow+0] = ltd[0];
+      info->J1a[srow+1] = ltd[1];
+      info->J1a[srow+2] = ltd[2];
+      info->J2a[srow+0] = ltd[0];
+      info->J2a[srow+1] = ltd[1];
+      info->J2a[srow+2] = ltd[2];
+    }
+
+    // if we're limited low and high simultaneously, the joint motor is
+    // ineffective
+    if (limit && (lostop == histop)) powered = 0;
+
+    if (powered) {
+      info->cfm[row] = normal_cfm;
+      if (! limit) {
+	info->c[row] = vel;
+	info->lo[row] = -fmax;
+	info->hi[row] = fmax;
+      }
+      else {
+	// the joint is at a limit, AND is being powered. if the joint is
+	// being powered into the limit then we apply the maximum motor force
+	// in that direction, because the motor is working against the
+	// immovable limit. if the joint is being powered away from the limit
+	// then we have problems because actually we need *two* lcp
+	// constraints to handle this case. so we fake it and apply some
+	// fraction of the maximum force. the fraction to use can be set as
+	// a fudge factor.
+
+	dReal fm = fmax;
+	if (vel > 0) fm = -fm;
+
+	// if we're powering away from the limit, apply the fudge factor
+	if ((limit==1 && vel > 0) || (limit==2 && vel < 0)) fm *= fudge_factor;
+
+	if (rotational) {
+	  dBodyAddTorque (joint->node[0].body,-fm*ax1[0],-fm*ax1[1],
+			  -fm*ax1[2]);
+	  if (joint->node[1].body)
+	    dBodyAddTorque (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]);
+	}
+	else {
+	  dBodyAddForce (joint->node[0].body,-fm*ax1[0],-fm*ax1[1],-fm*ax1[2]);
+	  if (joint->node[1].body) {
+	    dBodyAddForce (joint->node[1].body,fm*ax1[0],fm*ax1[1],fm*ax1[2]);
+
+	    // linear limot torque decoupling step: refer to above discussion
+	    dBodyAddTorque (joint->node[0].body,-fm*ltd[0],-fm*ltd[1],
+			    -fm*ltd[2]);
+	    dBodyAddTorque (joint->node[1].body,-fm*ltd[0],-fm*ltd[1],
+			    -fm*ltd[2]);
+	  }
+	}
+      }
+    }
+
+    if (limit) {
+      dReal k = info->fps * stop_erp;
+      info->c[row] = -k * limit_err;
+      info->cfm[row] = stop_cfm;
+
+      if (lostop == histop) {
+	// limited low and high simultaneously
+	info->lo[row] = -dInfinity;
+	info->hi[row] = dInfinity;
+      }
+      else {
+	if (limit == 1) {
+	  // low limit
+	  info->lo[row] = 0;
+	  info->hi[row] = dInfinity;
+	}
+	else {
+	  // high limit
+	  info->lo[row] = -dInfinity;
+	  info->hi[row] = 0;
+	}
+
+	// deal with bounce
+	if (bounce > 0) {
+	  // calculate joint velocity
+	  dReal vel;
+	  if (rotational) {
+	    vel = dDOT(joint->node[0].body->avel,ax1);
+	    if (joint->node[1].body)
+	      vel -= dDOT(joint->node[1].body->avel,ax1);
+	  }
+	  else {
+	    vel = dDOT(joint->node[0].body->lvel,ax1);
+	    if (joint->node[1].body)
+	      vel -= dDOT(joint->node[1].body->lvel,ax1);
+	  }
+
+	  // only apply bounce if the velocity is incoming, and if the
+	  // resulting c[] exceeds what we already have.
+	  if (limit == 1) {
+	    // low limit
+	    if (vel < 0) {
+	      dReal newc = -bounce * vel;
+	      if (newc > info->c[row]) info->c[row] = newc;
+	    }
+	  }
+	  else {
+	    // high limit - all those computations are reversed
+	    if (vel > 0) {
+	      dReal newc = -bounce * vel;
+	      if (newc < info->c[row]) info->c[row] = newc;
+	    }
+	  }
+	}
+      }
+    }
+    return 1;
+  }
+  else return 0;
+}
+
+//****************************************************************************
+// ball and socket
+
+static void ballInit (dxJointBall *j)
+{
+  dSetZero (j->anchor1,4);
+  dSetZero (j->anchor2,4);
+}
+
+
+static void ballGetInfo1 (dxJointBall *j, dxJoint::Info1 *info)
+{
+  info->m = 3;
+  info->nub = 3;
+}
+
+
+static void ballGetInfo2 (dxJointBall *joint, dxJoint::Info2 *info)
+{
+  setBall (joint,info,joint->anchor1,joint->anchor2);
+}
+
+
+extern "C" void dJointSetBallAnchor (dxJointBall *joint,
+				     dReal x, dReal y, dReal z)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
+  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
+}
+
+
+extern "C" void dJointGetBallAnchor (dxJointBall *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
+  if (joint->flags & dJOINT_REVERSE)
+    getAnchor2 (joint,result,joint->anchor2);
+  else
+    getAnchor (joint,result,joint->anchor1);
+}
+
+
+extern "C" void dJointGetBallAnchor2 (dxJointBall *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dball_vtable,"joint is not a ball");
+  if (joint->flags & dJOINT_REVERSE)
+    getAnchor (joint,result,joint->anchor1);
+  else
+    getAnchor2 (joint,result,joint->anchor2);
+}
+
+
+dxJoint::Vtable __dball_vtable = {
+  sizeof(dxJointBall),
+  (dxJoint::init_fn*) ballInit,
+  (dxJoint::getInfo1_fn*) ballGetInfo1,
+  (dxJoint::getInfo2_fn*) ballGetInfo2,
+  dJointTypeBall};
+
+//****************************************************************************
+// hinge
+
+static void hingeInit (dxJointHinge *j)
+{
+  dSetZero (j->anchor1,4);
+  dSetZero (j->anchor2,4);
+  dSetZero (j->axis1,4);
+  j->axis1[0] = 1;
+  dSetZero (j->axis2,4);
+  j->axis2[0] = 1;
+  dSetZero (j->qrel,4);
+  j->limot.init (j->world);
+}
+
+
+static void hingeGetInfo1 (dxJointHinge *j, dxJoint::Info1 *info)
+{
+  info->nub = 5;
+
+  // see if joint is powered
+  if (j->limot.fmax > 0)
+    info->m = 6;	// powered hinge needs an extra constraint row
+  else info->m = 5;
+
+  // see if we're at a joint limit.
+  if ((j->limot.lostop >= -M_PI || j->limot.histop <= M_PI) &&
+       j->limot.lostop <= j->limot.histop) {
+    dReal angle = getHingeAngle (j->node[0].body,j->node[1].body,j->axis1,
+				 j->qrel);
+    if (j->limot.testRotationalLimit (angle)) info->m = 6;
+  }
+}
+
+
+static void hingeGetInfo2 (dxJointHinge *joint, dxJoint::Info2 *info)
+{
+  // set the three ball-and-socket rows
+  setBall (joint,info,joint->anchor1,joint->anchor2);
+
+  // set the two hinge rows. the hinge axis should be the only unconstrained
+  // rotational axis, the angular velocity of the two bodies perpendicular to
+  // the hinge axis should be equal. thus the constraint equations are
+  //    p*w1 - p*w2 = 0
+  //    q*w1 - q*w2 = 0
+  // where p and q are unit vectors normal to the hinge axis, and w1 and w2
+  // are the angular velocity vectors of the two bodies.
+
+  dVector3 ax1;  // length 1 joint axis in global coordinates, from 1st body
+  dVector3 p,q;  // plane space vectors for ax1
+  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
+  dPlaneSpace (ax1,p,q);
+
+  int s3=3*info->rowskip;
+  int s4=4*info->rowskip;
+
+  info->J1a[s3+0] = p[0];
+  info->J1a[s3+1] = p[1];
+  info->J1a[s3+2] = p[2];
+  info->J1a[s4+0] = q[0];
+  info->J1a[s4+1] = q[1];
+  info->J1a[s4+2] = q[2];
+
+  if (joint->node[1].body) {
+    info->J2a[s3+0] = -p[0];
+    info->J2a[s3+1] = -p[1];
+    info->J2a[s3+2] = -p[2];
+    info->J2a[s4+0] = -q[0];
+    info->J2a[s4+1] = -q[1];
+    info->J2a[s4+2] = -q[2];
+  }
+
+  // compute the right hand side of the constraint equation. set relative
+  // body velocities along p and q to bring the hinge back into alignment.
+  // if ax1,ax2 are the unit length hinge axes as computed from body1 and
+  // body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
+  // if `theta' is the angle between ax1 and ax2, we need an angular velocity
+  // along u to cover angle erp*theta in one step :
+  //   |angular_velocity| = angle/time = erp*theta / stepsize
+  //                      = (erp*fps) * theta
+  //    angular_velocity  = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
+  //                      = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
+  // ...as ax1 and ax2 are unit length. if theta is smallish,
+  // theta ~= sin(theta), so
+  //    angular_velocity  = (erp*fps) * (ax1 x ax2)
+  // ax1 x ax2 is in the plane space of ax1, so we project the angular
+  // velocity to p and q to find the right hand side.
+
+  dVector3 ax2,b;
+  if (joint->node[1].body) {
+    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
+  }
+  else {
+    ax2[0] = joint->axis2[0];
+    ax2[1] = joint->axis2[1];
+    ax2[2] = joint->axis2[2];
+  }
+  dCROSS (b,=,ax1,ax2);
+  dReal k = info->fps * info->erp;
+  info->c[3] = k * dDOT(b,p);
+  info->c[4] = k * dDOT(b,q);
+
+  // if the hinge is powered, or has joint limits, add in the stuff
+  joint->limot.addLimot (joint,info,5,ax1,1);
+}
+
+
+// compute initial relative rotation body1 -> body2, or env -> body1
+
+static void hingeComputeInitialRelativeRotation (dxJointHinge *joint)
+{
+  if (joint->node[0].body) {
+    if (joint->node[1].body) {
+      dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
+    }
+    else {
+      // set joint->qrel to the transpose of the first body q
+      joint->qrel[0] = joint->node[0].body->q[0];
+      for (int i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
+    }
+  }
+}
+
+
+extern "C" void dJointSetHingeAnchor (dxJointHinge *joint,
+				      dReal x, dReal y, dReal z)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
+  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
+  hingeComputeInitialRelativeRotation (joint);
+}
+
+
+extern "C" void dJointSetHingeAxis (dxJointHinge *joint,
+				    dReal x, dReal y, dReal z)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
+  setAxes (joint,x,y,z,joint->axis1,joint->axis2);
+  hingeComputeInitialRelativeRotation (joint);
+}
+
+
+extern "C" void dJointGetHingeAnchor (dxJointHinge *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
+  if (joint->flags & dJOINT_REVERSE)
+    getAnchor2 (joint,result,joint->anchor2);
+  else
+    getAnchor (joint,result,joint->anchor1);
+}
+
+
+extern "C" void dJointGetHingeAnchor2 (dxJointHinge *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
+  if (joint->flags & dJOINT_REVERSE)
+    getAnchor (joint,result,joint->anchor1);
+  else
+    getAnchor2 (joint,result,joint->anchor2);
+}
+
+
+extern "C" void dJointGetHingeAxis (dxJointHinge *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
+  getAxis (joint,result,joint->axis1);
+}
+
+
+extern "C" void dJointSetHingeParam (dxJointHinge *joint,
+				     int parameter, dReal value)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
+  joint->limot.set (parameter,value);
+}
+
+
+extern "C" dReal dJointGetHingeParam (dxJointHinge *joint, int parameter)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
+  return joint->limot.get (parameter);
+}
+
+
+extern "C" dReal dJointGetHingeAngle (dxJointHinge *joint)
+{
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a hinge");
+  if (joint->node[0].body) {
+    dReal ang = getHingeAngle (joint->node[0].body,joint->node[1].body,joint->axis1,
+			  joint->qrel);
+	if (joint->flags & dJOINT_REVERSE)
+	   return -ang;
+	else
+	   return ang;
+  }
+  else return 0;
+}
+
+
+extern "C" dReal dJointGetHingeAngleRate (dxJointHinge *joint)
+{
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge");
+  if (joint->node[0].body) {
+    dVector3 axis;
+    dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1);
+    dReal rate = dDOT(axis,joint->node[0].body->avel);
+    if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
+    if (joint->flags & dJOINT_REVERSE) rate = - rate;
+    return rate;
+  }
+  else return 0;
+}
+
+
+extern "C" void dJointAddHingeTorque (dxJointHinge *joint, dReal torque)
+{
+  dVector3 axis;
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge");
+
+  if (joint->flags & dJOINT_REVERSE)
+    torque = -torque;
+
+  getAxis (joint,axis,joint->axis1);
+  axis[0] *= torque;
+  axis[1] *= torque;
+  axis[2] *= torque;
+
+  if (joint->node[0].body != 0)
+    dBodyAddTorque (joint->node[0].body, axis[0], axis[1], axis[2]);
+  if (joint->node[1].body != 0)
+    dBodyAddTorque(joint->node[1].body, -axis[0], -axis[1], -axis[2]);
+}
+
+
+dxJoint::Vtable __dhinge_vtable = {
+  sizeof(dxJointHinge),
+  (dxJoint::init_fn*) hingeInit,
+  (dxJoint::getInfo1_fn*) hingeGetInfo1,
+  (dxJoint::getInfo2_fn*) hingeGetInfo2,
+  dJointTypeHinge};
+
+//****************************************************************************
+// slider
+
+static void sliderInit (dxJointSlider *j)
+{
+  dSetZero (j->axis1,4);
+  j->axis1[0] = 1;
+  dSetZero (j->qrel,4);
+  dSetZero (j->offset,4);
+  j->limot.init (j->world);
+}
+
+
+extern "C" dReal dJointGetSliderPosition (dxJointSlider *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
+
+  // get axis1 in global coordinates
+  dVector3 ax1,q;
+  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
+
+  if (joint->node[1].body) {
+    // get body2 + offset point in global coordinates
+    dMULTIPLY0_331 (q,joint->node[1].body->R,joint->offset);
+    for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] - q[i] -
+			      joint->node[1].body->pos[i];
+  }
+  else {
+    for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] -
+			      joint->offset[i];
+
+  }
+  return dDOT(ax1,q);
+}
+
+
+extern "C" dReal dJointGetSliderPositionRate (dxJointSlider *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
+
+  // get axis1 in global coordinates
+  dVector3 ax1;
+  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
+
+  if (joint->node[1].body) {
+    return dDOT(ax1,joint->node[0].body->lvel) -
+      dDOT(ax1,joint->node[1].body->lvel);
+  }
+  else {
+    return dDOT(ax1,joint->node[0].body->lvel);
+  }
+}
+
+
+static void sliderGetInfo1 (dxJointSlider *j, dxJoint::Info1 *info)
+{
+  info->nub = 5;
+
+  // see if joint is powered
+  if (j->limot.fmax > 0)
+    info->m = 6;	// powered slider needs an extra constraint row
+  else info->m = 5;
+
+  // see if we're at a joint limit.
+  j->limot.limit = 0;
+  if ((j->limot.lostop > -dInfinity || j->limot.histop < dInfinity) &&
+      j->limot.lostop <= j->limot.histop) {
+    // measure joint position
+    dReal pos = dJointGetSliderPosition (j);
+    if (pos <= j->limot.lostop) {
+      j->limot.limit = 1;
+      j->limot.limit_err = pos - j->limot.lostop;
+      info->m = 6;
+    }
+    else if (pos >= j->limot.histop) {
+      j->limot.limit = 2;
+      j->limot.limit_err = pos - j->limot.histop;
+      info->m = 6;
+    }
+  }
+}
+
+
+static void sliderGetInfo2 (dxJointSlider *joint, dxJoint::Info2 *info)
+{
+  int i,s = info->rowskip;
+  int s3=3*s,s4=4*s;
+
+  // pull out pos and R for both bodies. also get the `connection'
+  // vector pos2-pos1.
+
+  dReal *pos1,*pos2,*R1,*R2;
+  dVector3 c;
+  pos1 = joint->node[0].body->pos;
+  R1 = joint->node[0].body->R;
+  if (joint->node[1].body) {
+    pos2 = joint->node[1].body->pos;
+    R2 = joint->node[1].body->R;
+    for (i=0; i<3; i++) c[i] = pos2[i] - pos1[i];
+  }
+  else {
+    pos2 = 0;
+    R2 = 0;
+  }
+
+  // 3 rows to make body rotations equal
+  setFixedOrientation(joint, info, joint->qrel, 0);
+
+  // remaining two rows. we want: vel2 = vel1 + w1 x c ... but this would
+  // result in three equations, so we project along the planespace vectors
+  // so that sliding along the slider axis is disregarded. for symmetry we
+  // also substitute (w1+w2)/2 for w1, as w1 is supposed to equal w2.
+
+  dVector3 ax1;	// joint axis in global coordinates (unit length)
+  dVector3 p,q;	// plane space of ax1
+  dMULTIPLY0_331 (ax1,R1,joint->axis1);
+  dPlaneSpace (ax1,p,q);
+  if (joint->node[1].body) {
+    dVector3 tmp;
+    dCROSS (tmp, = REAL(0.5) * ,c,p);
+    for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i];
+    for (i=0; i<3; i++) info->J2a[s3+i] = tmp[i];
+    dCROSS (tmp, = REAL(0.5) * ,c,q);
+    for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i];
+    for (i=0; i<3; i++) info->J2a[s4+i] = tmp[i];
+    for (i=0; i<3; i++) info->J2l[s3+i] = -p[i];
+    for (i=0; i<3; i++) info->J2l[s4+i] = -q[i];
+  }
+  for (i=0; i<3; i++) info->J1l[s3+i] = p[i];
+  for (i=0; i<3; i++) info->J1l[s4+i] = q[i];
+
+  // compute last two elements of right hand side. we want to align the offset
+  // point (in body 2's frame) with the center of body 1.
+  dReal k = info->fps * info->erp;
+  if (joint->node[1].body) {
+    dVector3 ofs;		// offset point in global coordinates
+    dMULTIPLY0_331 (ofs,R2,joint->offset);
+    for (i=0; i<3; i++) c[i] += ofs[i];
+    info->c[3] = k * dDOT(p,c);
+    info->c[4] = k * dDOT(q,c);
+  }
+  else {
+    dVector3 ofs;		// offset point in global coordinates
+    for (i=0; i<3; i++) ofs[i] = joint->offset[i] - pos1[i];
+    info->c[3] = k * dDOT(p,ofs);
+    info->c[4] = k * dDOT(q,ofs);
+  }
+
+  // if the slider is powered, or has joint limits, add in the extra row
+  joint->limot.addLimot (joint,info,5,ax1,0);
+}
+
+
+extern "C" void dJointSetSliderAxis (dxJointSlider *joint,
+				     dReal x, dReal y, dReal z)
+{
+  int i;
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
+  setAxes (joint,x,y,z,joint->axis1,0);
+
+  // compute initial relative rotation body1 -> body2, or env -> body1
+  // also compute center of body1 w.r.t body 2
+  if (joint->node[1].body) {
+    dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
+    dVector3 c;
+    for (i=0; i<3; i++)
+      c[i] = joint->node[0].body->pos[i] - joint->node[1].body->pos[i];
+    dMULTIPLY1_331 (joint->offset,joint->node[1].body->R,c);
+  }
+  else {
+    // set joint->qrel to the transpose of the first body's q
+    joint->qrel[0] = joint->node[0].body->q[0];
+    for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
+    for (i=0; i<3; i++) joint->offset[i] = joint->node[0].body->pos[i];
+  }
+}
+
+
+extern "C" void dJointGetSliderAxis (dxJointSlider *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
+  getAxis (joint,result,joint->axis1);
+}
+
+
+extern "C" void dJointSetSliderParam (dxJointSlider *joint,
+				      int parameter, dReal value)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
+  joint->limot.set (parameter,value);
+}
+
+
+extern "C" dReal dJointGetSliderParam (dxJointSlider *joint, int parameter)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
+  return joint->limot.get (parameter);
+}
+
+
+extern "C" void dJointAddSliderForce (dxJointSlider *joint, dReal force)
+{
+  dVector3 axis;
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dslider_vtable,"joint is not a slider");
+
+  if (joint->flags & dJOINT_REVERSE)
+    force -= force;
+
+  getAxis (joint,axis,joint->axis1);
+  axis[0] *= force;
+  axis[1] *= force;
+  axis[2] *= force;
+
+  if (joint->node[0].body != 0)
+    dBodyAddForce (joint->node[0].body,axis[0],axis[1],axis[2]);
+  if (joint->node[1].body != 0)
+    dBodyAddForce(joint->node[1].body, -axis[0], -axis[1], -axis[2]);
+}
+
+
+dxJoint::Vtable __dslider_vtable = {
+  sizeof(dxJointSlider),
+  (dxJoint::init_fn*) sliderInit,
+  (dxJoint::getInfo1_fn*) sliderGetInfo1,
+  (dxJoint::getInfo2_fn*) sliderGetInfo2,
+  dJointTypeSlider};
+
+//****************************************************************************
+// contact
+
+static void contactInit (dxJointContact *j)
+{
+  // default frictionless contact. hmmm, this info gets overwritten straight
+  // away anyway, so why bother?
+#if 0 /* so don't bother ;) */
+  j->contact.surface.mode = 0;
+  j->contact.surface.mu = 0;
+  dSetZero (j->contact.geom.pos,4);
+  dSetZero (j->contact.geom.normal,4);
+  j->contact.geom.depth = 0;
+#endif
+}
+
+
+static void contactGetInfo1 (dxJointContact *j, dxJoint::Info1 *info)
+{
+  // make sure mu's >= 0, then calculate number of constraint rows and number
+  // of unbounded rows.
+  int m = 1, nub=0;
+  if (j->contact.surface.mu < 0) j->contact.surface.mu = 0;
+  if (j->contact.surface.mode & dContactMu2) {
+    if (j->contact.surface.mu > 0) m++;
+    if (j->contact.surface.mu2 < 0) j->contact.surface.mu2 = 0;
+    if (j->contact.surface.mu2 > 0) m++;
+    if (j->contact.surface.mu  == dInfinity) nub ++;
+    if (j->contact.surface.mu2 == dInfinity) nub ++;
+  }
+  else {
+    if (j->contact.surface.mu > 0) m += 2;
+    if (j->contact.surface.mu == dInfinity) nub += 2;
+  }
+
+  j->the_m = m;
+  info->m = m;
+  info->nub = nub;
+}
+
+
+static void contactGetInfo2 (dxJointContact *j, dxJoint::Info2 *info)
+{
+  int i,s = info->rowskip;
+  int s2 = 2*s;
+
+  // get normal, with sign adjusted for body1/body2 polarity
+  dVector3 normal;
+  if (j->flags & dJOINT_REVERSE) {
+    normal[0] = - j->contact.geom.normal[0];
+    normal[1] = - j->contact.geom.normal[1];
+    normal[2] = - j->contact.geom.normal[2];
+  }
+  else {
+    normal[0] = j->contact.geom.normal[0];
+    normal[1] = j->contact.geom.normal[1];
+    normal[2] = j->contact.geom.normal[2];
+  }
+  normal[3] = 0;	// @@@ hmmm
+
+  // c1,c2 = contact points with respect to body PORs
+  dVector3 c1,c2;
+  for (i=0; i<3; i++) c1[i] = j->contact.geom.pos[i] - j->node[0].body->pos[i];
+
+  // set jacobian for normal
+  info->J1l[0] = normal[0];
+  info->J1l[1] = normal[1];
+  info->J1l[2] = normal[2];
+  dCROSS (info->J1a,=,c1,normal);
+  if (j->node[1].body) {
+    for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] -
+			  j->node[1].body->pos[i];
+    info->J2l[0] = -normal[0];
+    info->J2l[1] = -normal[1];
+    info->J2l[2] = -normal[2];
+    dCROSS (info->J2a,= -,c2,normal);
+  }
+
+  // set right hand side and cfm value for normal
+  dReal erp = info->erp;
+  if (j->contact.surface.mode & dContactSoftERP)
+    erp = j->contact.surface.soft_erp;
+  dReal k = info->fps * erp;
+  dReal depth = j->contact.geom.depth - j->world->contactp.min_depth;
+  if (depth < 0) depth = 0;
+  dReal maxvel = j->world->contactp.max_vel;
+  if (k*depth > maxvel) info->c[0] = maxvel; else info->c[0] = k*depth;
+  if (j->contact.surface.mode & dContactSoftCFM)
+    info->cfm[0] = j->contact.surface.soft_cfm;
+
+  // deal with bounce
+  if (j->contact.surface.mode & dContactBounce) {
+    // calculate outgoing velocity (-ve for incoming contact)
+    dReal outgoing = dDOT(info->J1l,j->node[0].body->lvel) +
+      dDOT(info->J1a,j->node[0].body->avel);
+    if (j->node[1].body) {
+      outgoing += dDOT(info->J2l,j->node[1].body->lvel) +
+	dDOT(info->J2a,j->node[1].body->avel);
+    }
+    // only apply bounce if the outgoing velocity is greater than the
+    // threshold, and if the resulting c[0] exceeds what we already have.
+    if (j->contact.surface.bounce_vel >= 0 &&
+	(-outgoing) > j->contact.surface.bounce_vel) {
+      dReal newc = - j->contact.surface.bounce * outgoing;
+      if (newc > info->c[0]) info->c[0] = newc;
+    }
+  }
+
+  // set LCP limits for normal
+  info->lo[0] = 0;
+  info->hi[0] = dInfinity;
+
+  // now do jacobian for tangential forces
+  dVector3 t1,t2;	// two vectors tangential to normal
+
+  // first friction direction
+  if (j->the_m >= 2) {
+    if (j->contact.surface.mode & dContactFDir1) {	// use fdir1 ?
+      t1[0] = j->contact.fdir1[0];
+      t1[1] = j->contact.fdir1[1];
+      t1[2] = j->contact.fdir1[2];
+      dCROSS (t2,=,normal,t1);
+    }
+    else {
+      dPlaneSpace (normal,t1,t2);
+    }
+    info->J1l[s+0] = t1[0];
+    info->J1l[s+1] = t1[1];
+    info->J1l[s+2] = t1[2];
+    dCROSS (info->J1a+s,=,c1,t1);
+    if (j->node[1].body) {
+      info->J2l[s+0] = -t1[0];
+      info->J2l[s+1] = -t1[1];
+      info->J2l[s+2] = -t1[2];
+      dCROSS (info->J2a+s,= -,c2,t1);
+    }
+    // set right hand side
+    if (j->contact.surface.mode & dContactMotion1) {
+      info->c[1] = j->contact.surface.motion1;
+    }
+    // set LCP bounds and friction index. this depends on the approximation
+    // mode
+    info->lo[1] = -j->contact.surface.mu;
+    info->hi[1] = j->contact.surface.mu;
+    if (j->contact.surface.mode & dContactApprox1_1) info->findex[1] = 0;
+
+    // set slip (constraint force mixing)
+    if (j->contact.surface.mode & dContactSlip1)
+      info->cfm[1] = j->contact.surface.slip1;
+  }
+
+  // second friction direction
+  if (j->the_m >= 3) {
+    info->J1l[s2+0] = t2[0];
+    info->J1l[s2+1] = t2[1];
+    info->J1l[s2+2] = t2[2];
+    dCROSS (info->J1a+s2,=,c1,t2);
+    if (j->node[1].body) {
+      info->J2l[s2+0] = -t2[0];
+      info->J2l[s2+1] = -t2[1];
+      info->J2l[s2+2] = -t2[2];
+      dCROSS (info->J2a+s2,= -,c2,t2);
+    }
+    // set right hand side
+    if (j->contact.surface.mode & dContactMotion2) {
+      info->c[2] = j->contact.surface.motion2;
+    }
+    // set LCP bounds and friction index. this depends on the approximation
+    // mode
+    if (j->contact.surface.mode & dContactMu2) {
+      info->lo[2] = -j->contact.surface.mu2;
+      info->hi[2] = j->contact.surface.mu2;
+    }
+    else {
+      info->lo[2] = -j->contact.surface.mu;
+      info->hi[2] = j->contact.surface.mu;
+    }
+    if (j->contact.surface.mode & dContactApprox1_2) info->findex[2] = 0;
+
+    // set slip (constraint force mixing)
+    if (j->contact.surface.mode & dContactSlip2)
+      info->cfm[2] = j->contact.surface.slip2;
+  }
+}
+
+
+dxJoint::Vtable __dcontact_vtable = {
+  sizeof(dxJointContact),
+  (dxJoint::init_fn*) contactInit,
+  (dxJoint::getInfo1_fn*) contactGetInfo1,
+  (dxJoint::getInfo2_fn*) contactGetInfo2,
+  dJointTypeContact};
+
+//****************************************************************************
+// hinge 2. note that this joint must be attached to two bodies for it to work
+
+static dReal measureHinge2Angle (dxJointHinge2 *joint)
+{
+  dVector3 a1,a2;
+  dMULTIPLY0_331 (a1,joint->node[1].body->R,joint->axis2);
+  dMULTIPLY1_331 (a2,joint->node[0].body->R,a1);
+  dReal x = dDOT(joint->v1,a2);
+  dReal y = dDOT(joint->v2,a2);
+  return -dAtan2 (y,x);
+}
+
+
+static void hinge2Init (dxJointHinge2 *j)
+{
+  dSetZero (j->anchor1,4);
+  dSetZero (j->anchor2,4);
+  dSetZero (j->axis1,4);
+  j->axis1[0] = 1;
+  dSetZero (j->axis2,4);
+  j->axis2[1] = 1;
+  j->c0 = 0;
+  j->s0 = 0;
+
+  dSetZero (j->v1,4);
+  j->v1[0] = 1;
+  dSetZero (j->v2,4);
+  j->v2[1] = 1;
+
+  j->limot1.init (j->world);
+  j->limot2.init (j->world);
+
+  j->susp_erp = j->world->global_erp;
+  j->susp_cfm = j->world->global_cfm;
+
+  j->flags |= dJOINT_TWOBODIES;
+}
+
+
+static void hinge2GetInfo1 (dxJointHinge2 *j, dxJoint::Info1 *info)
+{
+  info->m = 4;
+  info->nub = 4;
+
+  // see if we're powered or at a joint limit for axis 1
+  int atlimit=0;
+  if ((j->limot1.lostop >= -M_PI || j->limot1.histop <= M_PI) &&
+      j->limot1.lostop <= j->limot1.histop) {
+    dReal angle = measureHinge2Angle (j);
+    if (j->limot1.testRotationalLimit (angle)) atlimit = 1;
+  }
+  if (atlimit || j->limot1.fmax > 0) info->m++;
+
+  // see if we're powering axis 2 (we currently never limit this axis)
+  j->limot2.limit = 0;
+  if (j->limot2.fmax > 0) info->m++;
+}
+
+
+// macro that computes ax1,ax2 = axis 1 and 2 in global coordinates (they are
+// relative to body 1 and 2 initially) and then computes the constrained
+// rotational axis as the cross product of ax1 and ax2.
+// the sin and cos of the angle between axis 1 and 2 is computed, this comes
+// from dot and cross product rules.
+
+#define HINGE2_GET_AXIS_INFO(axis,sin_angle,cos_angle) \
+  dVector3 ax1,ax2; \
+  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); \
+  dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); \
+  dCROSS (axis,=,ax1,ax2); \
+  sin_angle = dSqrt (axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2]); \
+  cos_angle = dDOT (ax1,ax2);
+
+
+static void hinge2GetInfo2 (dxJointHinge2 *joint, dxJoint::Info2 *info)
+{
+  // get information we need to set the hinge row
+  dReal s,c;
+  dVector3 q;
+  HINGE2_GET_AXIS_INFO (q,s,c);
+  dNormalize3 (q);		// @@@ quicker: divide q by s ?
+
+  // set the three ball-and-socket rows (aligned to the suspension axis ax1)
+  setBall2 (joint,info,joint->anchor1,joint->anchor2,ax1,joint->susp_erp);
+
+  // set the hinge row
+  int s3=3*info->rowskip;
+  info->J1a[s3+0] = q[0];
+  info->J1a[s3+1] = q[1];
+  info->J1a[s3+2] = q[2];
+  if (joint->node[1].body) {
+    info->J2a[s3+0] = -q[0];
+    info->J2a[s3+1] = -q[1];
+    info->J2a[s3+2] = -q[2];
+  }
+
+  // compute the right hand side for the constrained rotational DOF.
+  // axis 1 and axis 2 are separated by an angle `theta'. the desired
+  // separation angle is theta0. sin(theta0) and cos(theta0) are recorded
+  // in the joint structure. the correcting angular velocity is:
+  //   |angular_velocity| = angle/time = erp*(theta0-theta) / stepsize
+  //                      = (erp*fps) * (theta0-theta)
+  // (theta0-theta) can be computed using the following small-angle-difference
+  // approximation:
+  //   theta0-theta ~= tan(theta0-theta)
+  //                 = sin(theta0-theta)/cos(theta0-theta)
+  //                 = (c*s0 - s*c0) / (c*c0 + s*s0)
+  //                 = c*s0 - s*c0         assuming c*c0 + s*s0 ~= 1
+  // where c = cos(theta), s = sin(theta)
+  //       c0 = cos(theta0), s0 = sin(theta0)
+
+  dReal k = info->fps * info->erp;
+  info->c[3] = k * (joint->c0 * s - joint->s0 * c);
+
+  // if the axis1 hinge is powered, or has joint limits, add in more stuff
+  int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1);
+
+  // if the axis2 hinge is powered, add in more stuff
+  joint->limot2.addLimot (joint,info,row,ax2,1);
+
+  // set parameter for the suspension
+  info->cfm[0] = joint->susp_cfm;
+}
+
+
+// compute vectors v1 and v2 (embedded in body1), used to measure angle
+// between body 1 and body 2
+
+static void makeHinge2V1andV2 (dxJointHinge2 *joint)
+{
+  if (joint->node[0].body) {
+    // get axis 1 and 2 in global coords
+    dVector3 ax1,ax2,v;
+    dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
+    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
+
+    // don't do anything if the axis1 or axis2 vectors are zero or the same
+    if ((ax1[0]==0 && ax1[1]==0 && ax1[2]==0) ||
+	(ax2[0]==0 && ax2[1]==0 && ax2[2]==0) ||
+	(ax1[0]==ax2[0] && ax1[1]==ax2[1] && ax1[2]==ax2[2])) return;
+
+    // modify axis 2 so it's perpendicular to axis 1
+    dReal k = dDOT(ax1,ax2);
+    for (int i=0; i<3; i++) ax2[i] -= k*ax1[i];
+    dNormalize3 (ax2);
+
+    // make v1 = modified axis2, v2 = axis1 x (modified axis2)
+    dCROSS (v,=,ax1,ax2);
+    dMULTIPLY1_331 (joint->v1,joint->node[0].body->R,ax2);
+    dMULTIPLY1_331 (joint->v2,joint->node[0].body->R,v);
+  }
+}
+
+
+extern "C" void dJointSetHinge2Anchor (dxJointHinge2 *joint,
+				       dReal x, dReal y, dReal z)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
+  makeHinge2V1andV2 (joint);
+}
+
+
+extern "C" void dJointSetHinge2Axis1 (dxJointHinge2 *joint,
+				      dReal x, dReal y, dReal z)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if (joint->node[0].body) {
+    dReal q[4];
+    q[0] = x;
+    q[1] = y;
+    q[2] = z;
+    q[3] = 0;
+    dNormalize3 (q);
+    dMULTIPLY1_331 (joint->axis1,joint->node[0].body->R,q);
+    joint->axis1[3] = 0;
+
+    // compute the sin and cos of the angle between axis 1 and axis 2
+    dVector3 ax;
+    HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0);
+  }
+  makeHinge2V1andV2 (joint);
+}
+
+
+extern "C" void dJointSetHinge2Axis2 (dxJointHinge2 *joint,
+				      dReal x, dReal y, dReal z)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if (joint->node[1].body) {
+    dReal q[4];
+    q[0] = x;
+    q[1] = y;
+    q[2] = z;
+    q[3] = 0;
+    dNormalize3 (q);
+    dMULTIPLY1_331 (joint->axis2,joint->node[1].body->R,q);
+    joint->axis1[3] = 0;
+
+    // compute the sin and cos of the angle between axis 1 and axis 2
+    dVector3 ax;
+    HINGE2_GET_AXIS_INFO(ax,joint->s0,joint->c0);
+  }
+  makeHinge2V1andV2 (joint);
+}
+
+
+extern "C" void dJointSetHinge2Param (dxJointHinge2 *joint,
+				      int parameter, dReal value)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if ((parameter & 0xff00) == 0x100) {
+    joint->limot2.set (parameter & 0xff,value);
+  }
+  else {
+    if (parameter == dParamSuspensionERP) joint->susp_erp = value;
+    else if (parameter == dParamSuspensionCFM) joint->susp_cfm = value;
+    else joint->limot1.set (parameter,value);
+  }
+}
+
+
+extern "C" void dJointGetHinge2Anchor (dxJointHinge2 *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if (joint->flags & dJOINT_REVERSE)
+    getAnchor2 (joint,result,joint->anchor2);
+  else
+    getAnchor (joint,result,joint->anchor1);
+}
+
+
+extern "C" void dJointGetHinge2Anchor2 (dxJointHinge2 *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if (joint->flags & dJOINT_REVERSE)
+    getAnchor (joint,result,joint->anchor1);
+  else
+    getAnchor2 (joint,result,joint->anchor2);
+}
+
+
+extern "C" void dJointGetHinge2Axis1 (dxJointHinge2 *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if (joint->node[0].body) {
+    dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis1);
+  }
+}
+
+
+extern "C" void dJointGetHinge2Axis2 (dxJointHinge2 *joint, dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if (joint->node[1].body) {
+    dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis2);
+  }
+}
+
+
+extern "C" dReal dJointGetHinge2Param (dxJointHinge2 *joint, int parameter)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if ((parameter & 0xff00) == 0x100) {
+    return joint->limot2.get (parameter & 0xff);
+  }
+  else {
+    if (parameter == dParamSuspensionERP) return joint->susp_erp;
+    else if (parameter == dParamSuspensionCFM) return joint->susp_cfm;
+    else return joint->limot1.get (parameter);
+  }
+}
+
+
+extern "C" dReal dJointGetHinge2Angle1 (dxJointHinge2 *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if (joint->node[0].body) return measureHinge2Angle (joint);
+  else return 0;
+}
+
+
+extern "C" dReal dJointGetHinge2Angle1Rate (dxJointHinge2 *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if (joint->node[0].body) {
+    dVector3 axis;
+    dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1);
+    dReal rate = dDOT(axis,joint->node[0].body->avel);
+    if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
+    return rate;
+  }
+  else return 0;
+}
+
+
+extern "C" dReal dJointGetHinge2Angle2Rate (dxJointHinge2 *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+  if (joint->node[0].body && joint->node[1].body) {
+    dVector3 axis;
+    dMULTIPLY0_331 (axis,joint->node[1].body->R,joint->axis2);
+    dReal rate = dDOT(axis,joint->node[0].body->avel);
+    if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
+    return rate;
+  }
+  else return 0;
+}
+
+
+extern "C" void dJointAddHinge2Torques (dxJointHinge2 *joint, dReal torque1, dReal torque2)
+{
+  dVector3 axis1, axis2;
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
+
+  if (joint->node[0].body && joint->node[1].body) {
+    dMULTIPLY0_331 (axis1,joint->node[0].body->R,joint->axis1);
+    dMULTIPLY0_331 (axis2,joint->node[1].body->R,joint->axis2);
+    axis1[0] = axis1[0] * torque1 + axis2[0] * torque2;
+    axis1[1] = axis1[1] * torque1 + axis2[1] * torque2;
+    axis1[2] = axis1[2] * torque1 + axis2[2] * torque2;
+    dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]);
+    dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]);
+  }
+}
+
+
+dxJoint::Vtable __dhinge2_vtable = {
+  sizeof(dxJointHinge2),
+  (dxJoint::init_fn*) hinge2Init,
+  (dxJoint::getInfo1_fn*) hinge2GetInfo1,
+  (dxJoint::getInfo2_fn*) hinge2GetInfo2,
+  dJointTypeHinge2};
+
+//****************************************************************************
+// universal
+
+// I just realized that the universal joint is equivalent to a hinge 2 joint with
+// perfectly stiff suspension.  By comparing the hinge 2 implementation to
+// the universal implementation, you may be able to improve this
+// implementation (or, less likely, the hinge2 implementation).
+
+static void universalInit (dxJointUniversal *j)
+{
+  dSetZero (j->anchor1,4);
+  dSetZero (j->anchor2,4);
+  dSetZero (j->axis1,4);
+  j->axis1[0] = 1;
+  dSetZero (j->axis2,4);
+  j->axis2[1] = 1;
+  dSetZero(j->qrel1,4);
+  dSetZero(j->qrel2,4);
+  j->limot1.init (j->world);
+  j->limot2.init (j->world);
+}
+
+
+static void getUniversalAxes(dxJointUniversal *joint, dVector3 ax1, dVector3 ax2)
+{
+  // This says "ax1 = joint->node[0].body->R * joint->axis1"
+  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
+
+  if (joint->node[1].body) {
+    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
+  }
+  else {
+    ax2[0] = joint->axis2[0];
+    ax2[1] = joint->axis2[1];
+    ax2[2] = joint->axis2[2];
+  }
+}
+
+
+static dReal getUniversalAngle1(dxJointUniversal *joint)
+{
+  if (joint->node[0].body) {
+    // length 1 joint axis in global coordinates, from each body
+    dVector3 ax1, ax2;
+    dMatrix3 R;
+    dQuaternion qcross, qq, qrel;
+
+    getUniversalAxes (joint,ax1,ax2);
+
+    // It should be possible to get both angles without explicitly
+    // constructing the rotation matrix of the cross.  Basically,
+    // orientation of the cross about axis1 comes from body 2,
+    // about axis 2 comes from body 1, and the perpendicular
+    // axis can come from the two bodies somehow.  (We don't really
+    // want to assume it's 90 degrees, because in general the
+    // constraints won't be perfectly satisfied, or even very well
+    // satisfied.)
+    //
+    // However, we'd need a version of getHingeAngleFromRElativeQuat()
+    // that CAN handle when its relative quat is rotated along a direction
+    // other than the given axis.  What I have here works,
+    // although it's probably much slower than need be.
+
+    dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]);
+    dRtoQ (R,qcross);
+
+    // This code is essential the same as getHingeAngle(), see the comments
+    // there for details.
+
+    // get qrel = relative rotation between node[0] and the cross
+    dQMultiply1 (qq,joint->node[0].body->q,qcross);
+    dQMultiply2 (qrel,qq,joint->qrel1);
+
+    return getHingeAngleFromRelativeQuat(qrel, joint->axis1);
+  }
+  return 0;
+}
+
+
+static dReal getUniversalAngle2(dxJointUniversal *joint)
+{
+  if (joint->node[0].body) {
+    // length 1 joint axis in global coordinates, from each body
+    dVector3 ax1, ax2;
+    dMatrix3 R;
+    dQuaternion qcross, qq, qrel;
+
+    getUniversalAxes (joint,ax1,ax2);
+
+    // It should be possible to get both angles without explicitly
+    // constructing the rotation matrix of the cross.  Basically,
+    // orientation of the cross about axis1 comes from body 2,
+    // about axis 2 comes from body 1, and the perpendicular
+    // axis can come from the two bodies somehow.  (We don't really
+    // want to assume it's 90 degrees, because in general the
+    // constraints won't be perfectly satisfied, or even very well
+    // satisfied.)
+    //
+    // However, we'd need a version of getHingeAngleFromRElativeQuat()
+    // that CAN handle when its relative quat is rotated along a direction
+    // other than the given axis.  What I have here works,
+    // although it's probably much slower than need be.
+
+    dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]);
+    dRtoQ(R, qcross);
+
+    if (joint->node[1].body) {
+      dQMultiply1 (qq, joint->node[1].body->q, qcross);
+      dQMultiply2 (qrel,qq,joint->qrel2);
+    }
+    else {
+      // pretend joint->node[1].body->q is the identity
+      dQMultiply2 (qrel,qcross, joint->qrel2);
+    }
+
+    return - getHingeAngleFromRelativeQuat(qrel, joint->axis2);
+  }
+  return 0;
+}
+
+
+static void universalGetInfo1 (dxJointUniversal *j, dxJoint::Info1 *info)
+{
+  info->nub = 4;
+  info->m = 4;
+
+  // see if we're powered or at a joint limit.
+  bool constraint1 = j->limot1.fmax > 0;
+  bool constraint2 = j->limot2.fmax > 0;
+
+  bool limiting1 = (j->limot1.lostop >= -M_PI || j->limot1.histop <= M_PI) &&
+       j->limot1.lostop <= j->limot1.histop;
+  bool limiting2 = (j->limot2.lostop >= -M_PI || j->limot2.histop <= M_PI) &&
+       j->limot2.lostop <= j->limot2.histop;
+
+  // We need to call testRotationLimit() even if we're motored, since it
+  // records the result.
+  if (limiting1 || limiting2) {
+    dReal angle1, angle2;
+    angle1 = getUniversalAngle1(j);
+    angle2 = getUniversalAngle2(j);
+    if (limiting1 && j->limot1.testRotationalLimit (angle1)) constraint1 = true;
+    if (limiting2 && j->limot2.testRotationalLimit (angle2)) constraint2 = true;
+  }
+  if (constraint1)
+    info->m++;
+  if (constraint2)
+    info->m++;
+}
+
+
+static void universalGetInfo2 (dxJointUniversal *joint, dxJoint::Info2 *info)
+{
+  // set the three ball-and-socket rows
+  setBall (joint,info,joint->anchor1,joint->anchor2);
+
+  // set the universal joint row. the angular velocity about an axis
+  // perpendicular to both joint axes should be equal. thus the constraint
+  // equation is
+  //    p*w1 - p*w2 = 0
+  // where p is a vector normal to both joint axes, and w1 and w2
+  // are the angular velocity vectors of the two bodies.
+
+  // length 1 joint axis in global coordinates, from each body
+  dVector3 ax1, ax2;
+  dVector3 ax2_temp;
+  // length 1 vector perpendicular to ax1 and ax2. Neither body can rotate
+  // about this.
+  dVector3 p;
+  dReal k;
+
+  getUniversalAxes(joint, ax1, ax2);
+  k = dDOT(ax1, ax2);
+  ax2_temp[0] = ax2[0] - k*ax1[0];
+  ax2_temp[1] = ax2[1] - k*ax1[1];
+  ax2_temp[2] = ax2[2] - k*ax1[2];
+  dCROSS(p, =, ax1, ax2_temp);
+  dNormalize3(p);
+
+  int s3=3*info->rowskip;
+
+  info->J1a[s3+0] = p[0];
+  info->J1a[s3+1] = p[1];
+  info->J1a[s3+2] = p[2];
+
+  if (joint->node[1].body) {
+    info->J2a[s3+0] = -p[0];
+    info->J2a[s3+1] = -p[1];
+    info->J2a[s3+2] = -p[2];
+  }
+
+  // compute the right hand side of the constraint equation. set relative
+  // body velocities along p to bring the axes back to perpendicular.
+  // If ax1, ax2 are unit length joint axes as computed from body1 and
+  // body2, we need to rotate both bodies along the axis p.  If theta
+  // is the angle between ax1 and ax2, we need an angular velocity
+  // along p to cover the angle erp * (theta - Pi/2) in one step:
+  //
+  //   |angular_velocity| = angle/time = erp*(theta - Pi/2) / stepsize
+  //                      = (erp*fps) * (theta - Pi/2)
+  //
+  // if theta is close to Pi/2,
+  // theta - Pi/2 ~= cos(theta), so
+  //    |angular_velocity|  ~= (erp*fps) * (ax1 dot ax2)
+
+  info->c[3] = info->fps * info->erp * - dDOT(ax1, ax2);
+
+  // if the first angle is powered, or has joint limits, add in the stuff
+  int row = 4 + joint->limot1.addLimot (joint,info,4,ax1,1);
+
+  // if the second angle is powered, or has joint limits, add in more stuff
+  joint->limot2.addLimot (joint,info,row,ax2,1);
+}
+
+
+static void universalComputeInitialRelativeRotations (dxJointUniversal *joint)
+{
+  if (joint->node[0].body) {
+    dVector3 ax1, ax2;
+    dMatrix3 R;
+    dQuaternion qcross;
+
+    getUniversalAxes(joint, ax1, ax2);
+
+    // Axis 1.
+    dRFrom2Axes(R, ax1[0], ax1[1], ax1[2], ax2[0], ax2[1], ax2[2]);
+    dRtoQ(R, qcross);
+    dQMultiply1 (joint->qrel1, joint->node[0].body->q, qcross);
+
+    // Axis 2.
+    dRFrom2Axes(R, ax2[0], ax2[1], ax2[2], ax1[0], ax1[1], ax1[2]);
+    dRtoQ(R, qcross);
+    if (joint->node[1].body) {
+      dQMultiply1 (joint->qrel2, joint->node[1].body->q, qcross);
+    }
+    else {
+      // set joint->qrel to qcross
+      for (int i=0; i<4; i++) joint->qrel2[i] = qcross[i];
+    }
+  }
+}
+
+
+extern "C" void dJointSetUniversalAnchor (dxJointUniversal *joint,
+					  dReal x, dReal y, dReal z)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  setAnchors (joint,x,y,z,joint->anchor1,joint->anchor2);
+  universalComputeInitialRelativeRotations(joint);
+}
+
+
+extern "C" void dJointSetUniversalAxis1 (dxJointUniversal *joint,
+					 dReal x, dReal y, dReal z)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if (joint->flags & dJOINT_REVERSE)
+    setAxes (joint,x,y,z,NULL,joint->axis2);
+  else
+    setAxes (joint,x,y,z,joint->axis1,NULL);
+  universalComputeInitialRelativeRotations(joint);
+}
+
+
+extern "C" void dJointSetUniversalAxis2 (dxJointUniversal *joint,
+					 dReal x, dReal y, dReal z)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if (joint->flags & dJOINT_REVERSE)
+    setAxes (joint,x,y,z,joint->axis1,NULL);
+  else
+    setAxes (joint,x,y,z,NULL,joint->axis2);
+  universalComputeInitialRelativeRotations(joint);
+}
+
+
+extern "C" void dJointGetUniversalAnchor (dxJointUniversal *joint,
+					  dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if (joint->flags & dJOINT_REVERSE)
+    getAnchor2 (joint,result,joint->anchor2);
+  else
+    getAnchor (joint,result,joint->anchor1);
+}
+
+
+extern "C" void dJointGetUniversalAnchor2 (dxJointUniversal *joint,
+					  dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if (joint->flags & dJOINT_REVERSE)
+    getAnchor (joint,result,joint->anchor1);
+  else
+    getAnchor2 (joint,result,joint->anchor2);
+}
+
+
+extern "C" void dJointGetUniversalAxis1 (dxJointUniversal *joint,
+					 dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if (joint->flags & dJOINT_REVERSE)
+    getAxis2 (joint,result,joint->axis2);
+  else
+    getAxis (joint,result,joint->axis1);
+}
+
+
+extern "C" void dJointGetUniversalAxis2 (dxJointUniversal *joint,
+					 dVector3 result)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(result,"bad result argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if (joint->flags & dJOINT_REVERSE)
+    getAxis (joint,result,joint->axis1);
+  else
+    getAxis2 (joint,result,joint->axis2);
+}
+
+
+extern "C" void dJointSetUniversalParam (dxJointUniversal *joint,
+				     int parameter, dReal value)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if ((parameter & 0xff00) == 0x100) {
+    joint->limot2.set (parameter & 0xff,value);
+  }
+  else {
+    joint->limot1.set (parameter,value);
+  }
+}
+
+
+extern "C" dReal dJointGetUniversalParam (dxJointUniversal *joint, int parameter)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if ((parameter & 0xff00) == 0x100) {
+    return joint->limot2.get (parameter & 0xff);
+  }
+  else {
+    return joint->limot1.get (parameter);
+  }
+}
+
+
+extern "C" dReal dJointGetUniversalAngle1 (dxJointUniversal *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if (joint->flags & dJOINT_REVERSE)
+    return getUniversalAngle2 (joint);
+  else
+    return getUniversalAngle1 (joint);
+}
+
+
+extern "C" dReal dJointGetUniversalAngle2 (dxJointUniversal *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+  if (joint->flags & dJOINT_REVERSE)
+    return getUniversalAngle1 (joint);
+  else
+    return getUniversalAngle2 (joint);
+}
+
+
+extern "C" dReal dJointGetUniversalAngle1Rate (dxJointUniversal *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+
+  if (joint->node[0].body) {
+    dVector3 axis;
+
+    if (joint->flags & dJOINT_REVERSE)
+      getAxis2 (joint,axis,joint->axis2);
+    else
+      getAxis (joint,axis,joint->axis1);
+
+    dReal rate = dDOT(axis, joint->node[0].body->avel);
+    if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel);
+    return rate;
+  }
+  return 0;
+}
+
+
+extern "C" dReal dJointGetUniversalAngle2Rate (dxJointUniversal *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+
+  if (joint->node[0].body) {
+    dVector3 axis;
+
+    if (joint->flags & dJOINT_REVERSE)
+      getAxis (joint,axis,joint->axis1);
+    else
+      getAxis2 (joint,axis,joint->axis2);
+
+    dReal rate = dDOT(axis, joint->node[0].body->avel);
+    if (joint->node[1].body) rate -= dDOT(axis, joint->node[1].body->avel);
+    return rate;
+  }
+  return 0;
+}
+
+
+extern "C" void dJointAddUniversalTorques (dxJointUniversal *joint, dReal torque1, dReal torque2)
+{
+  dVector3 axis1, axis2;
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__duniversal_vtable,"joint is not a universal");
+
+  if (joint->flags & dJOINT_REVERSE) {
+    dReal temp = torque1;
+    torque1 = - torque2;
+    torque2 = - temp;
+  }
+
+  getAxis (joint,axis1,joint->axis1);
+  getAxis2 (joint,axis2,joint->axis2);
+  axis1[0] = axis1[0] * torque1 + axis2[0] * torque2;
+  axis1[1] = axis1[1] * torque1 + axis2[1] * torque2;
+  axis1[2] = axis1[2] * torque1 + axis2[2] * torque2;
+
+  if (joint->node[0].body != 0)
+    dBodyAddTorque (joint->node[0].body,axis1[0],axis1[1],axis1[2]);
+  if (joint->node[1].body != 0)
+    dBodyAddTorque(joint->node[1].body, -axis1[0], -axis1[1], -axis1[2]);
+}
+
+
+
+
+
+dxJoint::Vtable __duniversal_vtable = {
+  sizeof(dxJointUniversal),
+  (dxJoint::init_fn*) universalInit,
+  (dxJoint::getInfo1_fn*) universalGetInfo1,
+  (dxJoint::getInfo2_fn*) universalGetInfo2,
+  dJointTypeUniversal};
+
+//****************************************************************************
+// angular motor
+
+static void amotorInit (dxJointAMotor *j)
+{
+  int i;
+  j->num = 0;
+  j->mode = dAMotorUser;
+  for (i=0; i<3; i++) {
+    j->rel[i] = 0;
+    dSetZero (j->axis[i],4);
+    j->limot[i].init (j->world);
+    j->angle[i] = 0;
+  }
+  dSetZero (j->reference1,4);
+  dSetZero (j->reference2,4);
+}
+
+
+// compute the 3 axes in global coordinates
+
+static void amotorComputeGlobalAxes (dxJointAMotor *joint, dVector3 ax[3])
+{
+  if (joint->mode == dAMotorEuler) {
+    // special handling for euler mode
+    dMULTIPLY0_331 (ax[0],joint->node[0].body->R,joint->axis[0]);
+    if (joint->node[1].body) {
+      dMULTIPLY0_331 (ax[2],joint->node[1].body->R,joint->axis[2]);
+    }
+    else {
+      ax[2][0] = joint->axis[2][0];
+      ax[2][1] = joint->axis[2][1];
+      ax[2][2] = joint->axis[2][2];
+    }
+    dCROSS (ax[1],=,ax[2],ax[0]);
+    dNormalize3 (ax[1]);
+  }
+  else {
+    for (int i=0; i < joint->num; i++) {
+      if (joint->rel[i] == 1) {
+	// relative to b1
+	dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]);
+      }
+      if (joint->rel[i] == 2) {
+	// relative to b2
+        dIASSERT(joint->node[1].body);
+	dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]);
+      }
+      else {
+	// global - just copy it
+	ax[i][0] = joint->axis[i][0];
+	ax[i][1] = joint->axis[i][1];
+	ax[i][2] = joint->axis[i][2];
+      }
+    }
+  }
+}
+
+
+static void amotorComputeEulerAngles (dxJointAMotor *joint, dVector3 ax[3])
+{
+  // assumptions:
+  //   global axes already calculated --> ax
+  //   axis[0] is relative to body 1 --> global ax[0]
+  //   axis[2] is relative to body 2 --> global ax[2]
+  //   ax[1] = ax[2] x ax[0]
+  //   original ax[0] and ax[2] are perpendicular
+  //   reference1 is perpendicular to ax[0] (in body 1 frame)
+  //   reference2 is perpendicular to ax[2] (in body 2 frame)
+  //   all ax[] and reference vectors are unit length
+
+  // calculate references in global frame
+  dVector3 ref1,ref2;
+  dMULTIPLY0_331 (ref1,joint->node[0].body->R,joint->reference1);
+  if (joint->node[1].body) {
+    dMULTIPLY0_331 (ref2,joint->node[1].body->R,joint->reference2);
+  }
+  else {
+    ref2[0] = joint->reference2[0];
+    ref2[1] = joint->reference2[1];
+    ref2[2] = joint->reference2[2];
+  }
+
+  // get q perpendicular to both ax[0] and ref1, get first euler angle
+  dVector3 q;
+  dCROSS (q,=,ax[0],ref1);
+  joint->angle[0] = -dAtan2 (dDOT(ax[2],q),dDOT(ax[2],ref1));
+
+  // get q perpendicular to both ax[0] and ax[1], get second euler angle
+  dCROSS (q,=,ax[0],ax[1]);
+  joint->angle[1] = -dAtan2 (dDOT(ax[2],ax[0]),dDOT(ax[2],q));
+
+  // get q perpendicular to both ax[1] and ax[2], get third euler angle
+  dCROSS (q,=,ax[1],ax[2]);
+  joint->angle[2] = -dAtan2 (dDOT(ref2,ax[1]), dDOT(ref2,q));
+}
+
+
+// set the reference vectors as follows:
+//   * reference1 = current axis[2] relative to body 1
+//   * reference2 = current axis[0] relative to body 2
+// this assumes that:
+//    * axis[0] is relative to body 1
+//    * axis[2] is relative to body 2
+
+static void amotorSetEulerReferenceVectors (dxJointAMotor *j)
+{
+  if (j->node[0].body && j->node[1].body) {
+    dVector3 r;		// axis[2] and axis[0] in global coordinates
+    dMULTIPLY0_331 (r,j->node[1].body->R,j->axis[2]);
+    dMULTIPLY1_331 (j->reference1,j->node[0].body->R,r);
+    dMULTIPLY0_331 (r,j->node[0].body->R,j->axis[0]);
+    dMULTIPLY1_331 (j->reference2,j->node[1].body->R,r);
+  }
+  else if (j->node[0].body) {
+     dMULTIPLY1_331 (j->reference1,j->node[0].body->R,j->axis[2]);
+     dMULTIPLY0_331 (j->reference2,j->node[0].body->R,j->axis[0]);
+  }
+}
+
+
+static void amotorGetInfo1 (dxJointAMotor *j, dxJoint::Info1 *info)
+{
+  info->m = 0;
+  info->nub = 0;
+
+  // compute the axes and angles, if in euler mode
+  if (j->mode == dAMotorEuler) {
+    dVector3 ax[3];
+    amotorComputeGlobalAxes (j,ax);
+    amotorComputeEulerAngles (j,ax);
+  }
+
+  // see if we're powered or at a joint limit for each axis
+  for (int i=0; i < j->num; i++) {
+    if (j->limot[i].testRotationalLimit (j->angle[i]) ||
+	j->limot[i].fmax > 0) {
+      info->m++;
+    }
+  }
+}
+
+
+static void amotorGetInfo2 (dxJointAMotor *joint, dxJoint::Info2 *info)
+{
+  int i;
+
+  // compute the axes (if not global)
+  dVector3 ax[3];
+  amotorComputeGlobalAxes (joint,ax);
+
+  // in euler angle mode we do not actually constrain the angular velocity
+  // along the axes axis[0] and axis[2] (although we do use axis[1]) :
+  //
+  //    to get			constrain w2-w1 along		...not
+  //    ------			---------------------		------
+  //    d(angle[0])/dt = 0	ax[1] x ax[2]			ax[0]
+  //    d(angle[1])/dt = 0	ax[1]
+  //    d(angle[2])/dt = 0	ax[0] x ax[1]			ax[2]
+  //
+  // constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0.
+  // to prove the result for angle[0], write the expression for angle[0] from
+  // GetInfo1 then take the derivative. to prove this for angle[2] it is
+  // easier to take the euler rate expression for d(angle[2])/dt with respect
+  // to the components of w and set that to 0.
+
+  dVector3 *axptr[3];
+  axptr[0] = &ax[0];
+  axptr[1] = &ax[1];
+  axptr[2] = &ax[2];
+
+  dVector3 ax0_cross_ax1;
+  dVector3 ax1_cross_ax2;
+  if (joint->mode == dAMotorEuler) {
+    dCROSS (ax0_cross_ax1,=,ax[0],ax[1]);
+    axptr[2] = &ax0_cross_ax1;
+    dCROSS (ax1_cross_ax2,=,ax[1],ax[2]);
+    axptr[0] = &ax1_cross_ax2;
+  }
+
+  int row=0;
+  for (i=0; i < joint->num; i++) {
+    row += joint->limot[i].addLimot (joint,info,row,*(axptr[i]),1);
+  }
+}
+
+
+extern "C" void dJointSetAMotorNumAxes (dxJointAMotor *joint, int num)
+{
+  dAASSERT(joint && num >= 0 && num <= 3);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  if (joint->mode == dAMotorEuler) {
+    joint->num = 3;
+  }
+  else {
+    if (num < 0) num = 0;
+    if (num > 3) num = 3;
+    joint->num = num;
+  }
+}
+
+
+extern "C" void dJointSetAMotorAxis (dxJointAMotor *joint, int anum, int rel,
+				     dReal x, dReal y, dReal z)
+{
+  dAASSERT(joint && anum >= 0 && anum <= 2 && rel >= 0 && rel <= 2);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  dUASSERT(!(!joint->node[1].body &&  (joint->flags & dJOINT_REVERSE) && rel == 1),"no first body, can't set axis rel=1");
+  dUASSERT(!(!joint->node[1].body && !(joint->flags & dJOINT_REVERSE) && rel == 2),"no second body, can't set axis rel=2");
+  if (anum < 0) anum = 0;
+  if (anum > 2) anum = 2;
+
+  // adjust rel to match the internal body order
+  if (!joint->node[1].body && rel==2) rel = 1;
+
+  joint->rel[anum] = rel;
+
+  // x,y,z is always in global coordinates regardless of rel, so we may have
+  // to convert it to be relative to a body
+  dVector3 r;
+  r[0] = x;
+  r[1] = y;
+  r[2] = z;
+  r[3] = 0;
+  if (rel > 0) {
+    if (rel==1) {
+      dMULTIPLY1_331 (joint->axis[anum],joint->node[0].body->R,r);
+    }
+    else {
+      dIASSERT (joint->node[1].body);
+      dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->R,r);
+    }
+  }
+  else {
+    joint->axis[anum][0] = r[0];
+    joint->axis[anum][1] = r[1];
+    joint->axis[anum][2] = r[2];
+  }
+  dNormalize3 (joint->axis[anum]);
+  if (joint->mode == dAMotorEuler) amotorSetEulerReferenceVectors (joint);
+}
+
+
+extern "C" void dJointSetAMotorAngle (dxJointAMotor *joint, int anum,
+				      dReal angle)
+{
+  dAASSERT(joint && anum >= 0 && anum < 3);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  if (joint->mode == dAMotorUser) {
+    if (anum < 0) anum = 0;
+    if (anum > 3) anum = 3;
+    joint->angle[anum] = angle;
+  }
+}
+
+
+extern "C" void dJointSetAMotorParam (dxJointAMotor *joint, int parameter,
+				      dReal value)
+{
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  int anum = parameter >> 8;
+  if (anum < 0) anum = 0;
+  if (anum > 2) anum = 2;
+  parameter &= 0xff;
+  joint->limot[anum].set (parameter, value);
+}
+
+
+extern "C" void dJointSetAMotorMode (dxJointAMotor *joint, int mode)
+{
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  joint->mode = mode;
+  if (joint->mode == dAMotorEuler) {
+    joint->num = 3;
+    amotorSetEulerReferenceVectors (joint);
+  }
+}
+
+
+extern "C" int dJointGetAMotorNumAxes (dxJointAMotor *joint)
+{
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  return joint->num;
+}
+
+
+extern "C" void dJointGetAMotorAxis (dxJointAMotor *joint, int anum,
+				     dVector3 result)
+{
+  dAASSERT(joint && anum >= 0 && anum < 3);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  if (anum < 0) anum = 0;
+  if (anum > 2) anum = 2;
+  if (joint->rel[anum] > 0) {
+    if (joint->rel[anum]==1) {
+      dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis[anum]);
+    }
+    else {
+      dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis[anum]);
+    }
+  }
+  else {
+    result[0] = joint->axis[anum][0];
+    result[1] = joint->axis[anum][1];
+    result[2] = joint->axis[anum][2];
+  }
+}
+
+
+extern "C" int dJointGetAMotorAxisRel (dxJointAMotor *joint, int anum)
+{
+  dAASSERT(joint && anum >= 0 && anum < 3);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  if (anum < 0) anum = 0;
+  if (anum > 2) anum = 2;
+  return joint->rel[anum];
+}
+
+
+extern "C" dReal dJointGetAMotorAngle (dxJointAMotor *joint, int anum)
+{
+  dAASSERT(joint && anum >= 0 && anum < 3);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  if (anum < 0) anum = 0;
+  if (anum > 3) anum = 3;
+  return joint->angle[anum];
+}
+
+
+extern "C" dReal dJointGetAMotorAngleRate (dxJointAMotor *joint, int anum)
+{
+  // @@@
+  dDebug (0,"not yet implemented");
+  return 0;
+}
+
+
+extern "C" dReal dJointGetAMotorParam (dxJointAMotor *joint, int parameter)
+{
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  int anum = parameter >> 8;
+  if (anum < 0) anum = 0;
+  if (anum > 2) anum = 2;
+  parameter &= 0xff;
+  return joint->limot[anum].get (parameter);
+}
+
+
+extern "C" int dJointGetAMotorMode (dxJointAMotor *joint)
+{
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+  return joint->mode;
+}
+
+
+extern "C" void dJointAddAMotorTorques (dxJointAMotor *joint, dReal torque1, dReal torque2, dReal torque3)
+{
+  dVector3 axes[3];
+  dAASSERT(joint);
+  dUASSERT(joint->vtable == &__damotor_vtable,"joint is not an amotor");
+
+  if (joint->num == 0)
+    return;
+  dUASSERT((joint->flags & dJOINT_REVERSE) == 0, "dJointAddAMotorTorques not yet implemented for reverse AMotor joints");
+
+  amotorComputeGlobalAxes (joint,axes);
+  axes[0][0] *= torque1;
+  axes[0][1] *= torque1;
+  axes[0][2] *= torque1;
+  if (joint->num >= 2) {
+    axes[0][0] += axes[1][0] * torque2;
+    axes[0][1] += axes[1][0] * torque2;
+    axes[0][2] += axes[1][0] * torque2;
+    if (joint->num >= 3) {
+      axes[0][0] += axes[2][0] * torque3;
+      axes[0][1] += axes[2][0] * torque3;
+      axes[0][2] += axes[2][0] * torque3;
+    }
+  }
+
+  if (joint->node[0].body != 0)
+    dBodyAddTorque (joint->node[0].body,axes[0][0],axes[0][1],axes[0][2]);
+  if (joint->node[1].body != 0)
+    dBodyAddTorque(joint->node[1].body, -axes[0][0], -axes[0][1], -axes[0][2]);
+}
+
+
+dxJoint::Vtable __damotor_vtable = {
+  sizeof(dxJointAMotor),
+  (dxJoint::init_fn*) amotorInit,
+  (dxJoint::getInfo1_fn*) amotorGetInfo1,
+  (dxJoint::getInfo2_fn*) amotorGetInfo2,
+  dJointTypeAMotor};
+
+//****************************************************************************
+// fixed joint
+
+static void fixedInit (dxJointFixed *j)
+{
+  dSetZero (j->offset,4);
+  dSetZero (j->qrel,4);
+}
+
+
+static void fixedGetInfo1 (dxJointFixed *j, dxJoint::Info1 *info)
+{
+  info->m = 6;
+  info->nub = 6;
+}
+
+
+static void fixedGetInfo2 (dxJointFixed *joint, dxJoint::Info2 *info)
+{
+  int s = info->rowskip;
+
+  // Three rows for orientation
+  setFixedOrientation(joint, info, joint->qrel, 3);
+
+  // Three rows for position.
+  // set jacobian
+  info->J1l[0] = 1;
+  info->J1l[s+1] = 1;
+  info->J1l[2*s+2] = 1;
+
+  dVector3 ofs;
+  dMULTIPLY0_331 (ofs,joint->node[0].body->R,joint->offset);
+  if (joint->node[1].body) {
+    dCROSSMAT (info->J1a,ofs,s,+,-);
+    info->J2l[0] = -1;
+    info->J2l[s+1] = -1;
+    info->J2l[2*s+2] = -1;
+  }
+
+  // set right hand side for the first three rows (linear)
+  dReal k = info->fps * info->erp;
+  if (joint->node[1].body) {
+    for (int j=0; j<3; j++)
+      info->c[j] = k * (joint->node[1].body->pos[j] -
+			joint->node[0].body->pos[j] + ofs[j]);
+  }
+  else {
+    for (int j=0; j<3; j++)
+      info->c[j] = k * (joint->offset[j] - joint->node[0].body->pos[j]);
+  }
+}
+
+
+extern "C" void dJointSetFixed (dxJointFixed *joint)
+{
+  dUASSERT(joint,"bad joint argument");
+  dUASSERT(joint->vtable == &__dfixed_vtable,"joint is not fixed");
+  int i;
+
+  // This code is taken from sJointSetSliderAxis(), we should really put the
+  // common code in its own function.
+  // compute the offset between the bodies
+  if (joint->node[0].body) {
+    if (joint->node[1].body) {
+      dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
+      dReal ofs[4];
+      for (i=0; i<4; i++) ofs[i] = joint->node[0].body->pos[i];
+      for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->pos[i];
+      dMULTIPLY1_331 (joint->offset,joint->node[0].body->R,ofs);
+    }
+    else {
+      // set joint->qrel to the transpose of the first body's q
+      joint->qrel[0] = joint->node[0].body->q[0];
+      for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
+      for (i=0; i<4; i++) joint->offset[i] = joint->node[0].body->pos[i];
+    }
+  }
+}
+
+
+dxJoint::Vtable __dfixed_vtable = {
+  sizeof(dxJointFixed),
+  (dxJoint::init_fn*) fixedInit,
+  (dxJoint::getInfo1_fn*) fixedGetInfo1,
+  (dxJoint::getInfo2_fn*) fixedGetInfo2,
+  dJointTypeFixed};
+
+//****************************************************************************
+// null joint
+
+static void nullGetInfo1 (dxJointNull *j, dxJoint::Info1 *info)
+{
+  info->m = 0;
+  info->nub = 0;
+}
+
+
+static void nullGetInfo2 (dxJointNull *joint, dxJoint::Info2 *info)
+{
+  dDebug (0,"this should never get called");
+}
+
+
+dxJoint::Vtable __dnull_vtable = {
+  sizeof(dxJointNull),
+  (dxJoint::init_fn*) 0,
+  (dxJoint::getInfo1_fn*) nullGetInfo1,
+  (dxJoint::getInfo2_fn*) nullGetInfo2,
+  dJointTypeNull};
diff -Naur xmoto-0.1.10/src/ode/s/joint.h xmoto-0.1.10-patched/src/ode/s/joint.h
--- xmoto-0.1.10/src/ode/s/joint.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/joint.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,267 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_JOINT_H_
+#define _ODE_JOINT_H_
+
+
+#include "objects.h"
+#include <ode/contact.h>
+#include "obstack.h"
+
+
+// joint flags
+enum {
+  // if this flag is set, the joint was allocated in a joint group
+  dJOINT_INGROUP = 1,
+
+  // if this flag is set, the joint was attached with arguments (0,body).
+  // our convention is to treat all attaches as (body,0), i.e. so node[0].body
+  // is always nonzero, so this flag records the fact that the arguments were
+  // swapped.
+  dJOINT_REVERSE = 2,
+
+  // if this flag is set, the joint can not have just one body attached to it,
+  // it must have either zero or two bodies attached.
+  dJOINT_TWOBODIES = 4
+};
+
+
+// there are two of these nodes in the joint, one for each connection to a
+// body. these are node of a linked list kept by each body of it's connecting
+// joints. but note that the body pointer in each node points to the body that
+// makes use of the *other* node, not this node. this trick makes it a bit
+// easier to traverse the body/joint graph.
+
+struct dxJointNode {
+  dxJoint *joint;		// pointer to enclosing dxJoint object
+  dxBody *body;			// *other* body this joint is connected to
+  dxJointNode *next;		// next node in body's list of connected joints
+};
+
+
+struct dxJoint : public dObject {
+  // naming convention: the "first" body this is connected to is node[0].body,
+  // and the "second" body is node[1].body. if this joint is only connected
+  // to one body then the second body is 0.
+
+  // info returned by getInfo1 function. the constraint dimension is m (<=6).
+  // i.e. that is the total number of rows in the jacobian. `nub' is the
+  // number of unbounded variables (which have lo,hi = -/+ infinity).
+
+  struct Info1 {
+    int m,nub;
+  };
+
+  // info returned by getInfo2 function
+
+  struct Info2 {
+    // integrator parameters: frames per second (1/stepsize), default error
+    // reduction parameter (0..1).
+    dReal fps,erp;
+
+    // for the first and second body, pointers to two (linear and angular)
+    // n*3 jacobian sub matrices, stored by rows. these matrices will have
+    // been initialized to 0 on entry. if the second body is zero then the
+    // J2xx pointers may be 0.
+    dReal *J1l,*J1a,*J2l,*J2a;
+
+    // elements to jump from one row to the next in J's
+    int rowskip;
+
+    // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
+    // "constraint force mixing" vector. c is set to zero on entry, cfm is
+    // set to a constant value (typically very small or zero) value on entry.
+    dReal *c,*cfm;
+
+    // lo and hi limits for variables (set to -/+ infinity on entry).
+    dReal *lo,*hi;
+
+    // findex vector for variables. see the LCP solver interface for a
+    // description of what this does. this is set to -1 on entry.
+    // note that the returned indexes are relative to the first index of
+    // the constraint.
+    int *findex;
+  };
+
+  // virtual function table: size of the joint structure, function pointers.
+  // we do it this way instead of using C++ virtual functions because
+  // sometimes we need to allocate joints ourself within a memory pool.
+
+  typedef void init_fn (dxJoint *joint);
+  typedef void getInfo1_fn (dxJoint *joint, Info1 *info);
+  typedef void getInfo2_fn (dxJoint *joint, Info2 *info);
+  struct Vtable {
+    int size;
+    init_fn *init;
+    getInfo1_fn *getInfo1;
+    getInfo2_fn *getInfo2;
+    int typenum;		// a dJointTypeXXX type number
+  };
+
+  Vtable *vtable;		// virtual function table
+  int flags;			// dJOINT_xxx flags
+  dxJointNode node[2];		// connections to bodies. node[1].body can be 0
+  dJointFeedback *feedback;	// optional feedback structure
+  dReal lambda[6];		// lambda generated by last step
+};
+
+
+// joint group. NOTE: any joints in the group that have their world destroyed
+// will have their world pointer set to 0.
+
+struct dxJointGroup : public dBase {
+  int num;		// number of joints on the stack
+  dObStack stack;	// a stack of (possibly differently sized) dxJoint
+};			// objects.
+
+
+// common limit and motor information for a single joint axis of movement
+struct dxJointLimitMotor {
+  dReal vel,fmax;		// powered joint: velocity, max force
+  dReal lostop,histop;		// joint limits, relative to initial position
+  dReal fudge_factor;		// when powering away from joint limits
+  dReal normal_cfm;		// cfm to use when not at a stop
+  dReal stop_erp,stop_cfm;	// erp and cfm for when at joint limit
+  dReal bounce;			// restitution factor
+  // variables used between getInfo1() and getInfo2()
+  int limit;			// 0=free, 1=at lo limit, 2=at hi limit
+  dReal limit_err;		// if at limit, amount over limit
+
+  void init (dxWorld *);
+  void set (int num, dReal value);
+  dReal get (int num);
+  int testRotationalLimit (dReal angle);
+  int addLimot (dxJoint *joint, dxJoint::Info2 *info, int row,
+		dVector3 ax1, int rotational);
+};
+
+
+// ball and socket
+
+struct dxJointBall : public dxJoint {
+  dVector3 anchor1;		// anchor w.r.t first body
+  dVector3 anchor2;		// anchor w.r.t second body
+};
+extern struct dxJoint::Vtable __dball_vtable;
+
+
+// hinge
+
+struct dxJointHinge : public dxJoint {
+  dVector3 anchor1;		// anchor w.r.t first body
+  dVector3 anchor2;		// anchor w.r.t second body
+  dVector3 axis1;		// axis w.r.t first body
+  dVector3 axis2;		// axis w.r.t second body
+  dQuaternion qrel;		// initial relative rotation body1 -> body2
+  dxJointLimitMotor limot;	// limit and motor information
+};
+extern struct dxJoint::Vtable __dhinge_vtable;
+
+
+// universal
+
+struct dxJointUniversal : public dxJoint {
+  dVector3 anchor1;		// anchor w.r.t first body
+  dVector3 anchor2;		// anchor w.r.t second body
+  dVector3 axis1;		// axis w.r.t first body
+  dVector3 axis2;		// axis w.r.t second body
+  dQuaternion qrel1;	// initial relative rotation body1 -> virtual cross piece
+  dQuaternion qrel2;    // initial relative rotation virtual cross piece -> body2
+  dxJointLimitMotor limot1;	// limit and motor information for axis1
+  dxJointLimitMotor limot2;	// limit and motor information for axis2
+};
+extern struct dxJoint::Vtable __duniversal_vtable;
+
+
+// slider. if body2 is 0 then qrel is the absolute rotation of body1 and
+// offset is the position of body1 center along axis1.
+
+struct dxJointSlider : public dxJoint {
+  dVector3 axis1;		// axis w.r.t first body
+  dQuaternion qrel;		// initial relative rotation body1 -> body2
+  dVector3 offset;		// point relative to body2 that should be
+				// aligned with body1 center along axis1
+  dxJointLimitMotor limot;	// limit and motor information
+};
+extern struct dxJoint::Vtable __dslider_vtable;
+
+
+// contact
+
+struct dxJointContact : public dxJoint {
+  int the_m;			// number of rows computed by getInfo1
+  dContact contact;
+};
+extern struct dxJoint::Vtable __dcontact_vtable;
+
+
+// hinge 2
+
+struct dxJointHinge2 : public dxJoint {
+  dVector3 anchor1;		// anchor w.r.t first body
+  dVector3 anchor2;		// anchor w.r.t second body
+  dVector3 axis1;		// axis 1 w.r.t first body
+  dVector3 axis2;		// axis 2 w.r.t second body
+  dReal c0,s0;			// cos,sin of desired angle between axis 1,2
+  dVector3 v1,v2;		// angle ref vectors embedded in first body
+  dxJointLimitMotor limot1;	// limit+motor info for axis 1
+  dxJointLimitMotor limot2;	// limit+motor info for axis 2
+  dReal susp_erp,susp_cfm;	// suspension parameters (erp,cfm)
+};
+extern struct dxJoint::Vtable __dhinge2_vtable;
+
+
+// angular motor
+
+struct dxJointAMotor : public dxJoint {
+  int num;			// number of axes (0..3)
+  int mode;			// a dAMotorXXX constant
+  int rel[3];			// what the axes are relative to (global,b1,b2)
+  dVector3 axis[3];		// three axes
+  dxJointLimitMotor limot[3];	// limit+motor info for axes
+  dReal angle[3];		// user-supplied angles for axes
+  // these vectors are used for calculating euler angles
+  dVector3 reference1;		// original axis[2], relative to body 1
+  dVector3 reference2;		// original axis[0], relative to body 2
+};
+extern struct dxJoint::Vtable __damotor_vtable;
+
+
+// fixed
+
+struct dxJointFixed : public dxJoint {
+  dQuaternion qrel;		// initial relative rotation body1 -> body2
+  dVector3 offset;		// relative offset between the bodies
+};
+extern struct dxJoint::Vtable __dfixed_vtable;
+
+
+// null joint, for testing only
+
+struct dxJointNull : public dxJoint {
+};
+extern struct dxJoint::Vtable __dnull_vtable;
+
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/lcp.cpp xmoto-0.1.10-patched/src/ode/s/lcp.cpp
--- xmoto-0.1.10/src/ode/s/lcp.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/lcp.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,1472 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+
+THE ALGORITHM
+-------------
+
+solve A*x = b+w, with x and w subject to certain LCP conditions.
+each x(i),w(i) must lie on one of the three line segments in the following
+diagram. each line segment corresponds to one index set :
+
+     w(i)
+     /|\      |           :
+      |       |           :
+      |       |i in N     :
+  w>0 |       |state[i]=0 :
+      |       |           :
+      |       |           :  i in C
+  w=0 +       +-----------------------+
+      |                   :           |
+      |                   :           |
+  w<0 |                   :           |i in N
+      |                   :           |state[i]=1
+      |                   :           |
+      |                   :           |
+      +-------|-----------|-----------|----------> x(i)
+             lo           0           hi
+
+the Dantzig algorithm proceeds as follows:
+  for i=1:n
+    * if (x(i),w(i)) is not on the line, push x(i) and w(i) positive or
+      negative towards the line. as this is done, the other (x(j),w(j))
+      for j<i are constrained to be on the line. if any (x,w) reaches the
+      end of a line segment then it is switched between index sets.
+    * i is added to the appropriate index set depending on what line segment
+      it hits.
+
+we restrict lo(i) <= 0 and hi(i) >= 0. this makes the algorithm a bit
+simpler, because the starting point for x(i),w(i) is always on the dotted
+line x=0 and x will only ever increase in one direction, so it can only hit
+two out of the three line segments.
+
+
+NOTES
+-----
+
+this is an implementation of "lcp_dantzig2_ldlt.m" and "lcp_dantzig_lohi.m".
+the implementation is split into an LCP problem object (dLCP) and an LCP
+driver function. most optimization occurs in the dLCP object.
+
+a naive implementation of the algorithm requires either a lot of data motion
+or a lot of permutation-array lookup, because we are constantly re-ordering
+rows and columns. to avoid this and make a more optimized algorithm, a
+non-trivial data structure is used to represent the matrix A (this is
+implemented in the fast version of the dLCP object).
+
+during execution of this algorithm, some indexes in A are clamped (set C),
+some are non-clamped (set N), and some are "don't care" (where x=0).
+A,x,b,w (and other problem vectors) are permuted such that the clamped
+indexes are first, the unclamped indexes are next, and the don't-care
+indexes are last. this permutation is recorded in the array `p'.
+initially p = 0..n-1, and as the rows and columns of A,x,b,w are swapped,
+the corresponding elements of p are swapped.
+
+because the C and N elements are grouped together in the rows of A, we can do
+lots of work with a fast dot product function. if A,x,etc were not permuted
+and we only had a permutation array, then those dot products would be much
+slower as we would have a permutation array lookup in some inner loops.
+
+A is accessed through an array of row pointers, so that element (i,j) of the
+permuted matrix is A[i][j]. this makes row swapping fast. for column swapping
+we still have to actually move the data.
+
+during execution of this algorithm we maintain an L*D*L' factorization of
+the clamped submatrix of A (call it `AC') which is the top left nC*nC
+submatrix of A. there are two ways we could arrange the rows/columns in AC.
+
+(1) AC is always permuted such that L*D*L' = AC. this causes a problem
+    when a row/column is removed from C, because then all the rows/columns of A
+    between the deleted index and the end of C need to be rotated downward.
+    this results in a lot of data motion and slows things down.
+(2) L*D*L' is actually a factorization of a *permutation* of AC (which is
+    itself a permutation of the underlying A). this is what we do - the
+    permutation is recorded in the vector C. call this permutation A[C,C].
+    when a row/column is removed from C, all we have to do is swap two
+    rows/columns and manipulate C.
+
+*/
+
+#include <ode/common.h>
+#include "lcp.h"
+#include <ode/matrix.h>
+#include <ode/misc.h>
+#include "mat.h"		// for testing
+#include <ode/timer.h>		// for testing
+
+//***************************************************************************
+// code generation parameters
+
+// LCP debugging (mosty for fast dLCP) - this slows things down a lot
+//#define DEBUG_LCP
+
+//#define dLCP_SLOW		// use slow dLCP object
+#define dLCP_FAST		// use fast dLCP object
+
+// option 1 : matrix row pointers (less data copying)
+#define ROWPTRS
+#define ATYPE dReal **
+#define AROW(i) (A[i])
+
+// option 2 : no matrix row pointers (slightly faster inner loops)
+//#define NOROWPTRS
+//#define ATYPE dReal *
+//#define AROW(i) (A+(i)*nskip)
+
+// misc defines
+#define ALLOCA dALLOCA16
+//#define dDot myDot
+#define NUB_OPTIMIZATIONS
+
+//***************************************************************************
+
+// an alternative inline dot product, for speed comparisons
+
+static inline dReal myDot (dReal *a, dReal *b, int n)
+{
+  dReal sum=0;
+  while (n > 0) {
+    sum += (*a) * (*b);
+    a++;
+    b++;
+    n--;
+  }
+  return sum;
+}
+
+
+// swap row/column i1 with i2 in the n*n matrix A. the leading dimension of
+// A is nskip. this only references and swaps the lower triangle.
+// if `do_fast_row_swaps' is nonzero and row pointers are being used, then
+// rows will be swapped by exchanging row pointers. otherwise the data will
+// be copied.
+
+static void swapRowsAndCols (ATYPE A, int n, int i1, int i2, int nskip,
+			     int do_fast_row_swaps)
+{
+  int i;
+  dIASSERT (A && n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n &&
+	    nskip >= n && i1 < i2);
+
+# ifdef ROWPTRS
+  for (i=i1+1; i<i2; i++) A[i1][i] = A[i][i1];
+  for (i=i1+1; i<i2; i++) A[i][i1] = A[i2][i];
+  A[i1][i2] = A[i1][i1];
+  A[i1][i1] = A[i2][i1];
+  A[i2][i1] = A[i2][i2];
+  // swap rows, by swapping row pointers
+  if (do_fast_row_swaps) {
+    dReal *tmpp;
+    tmpp = A[i1];
+    A[i1] = A[i2];
+    A[i2] = tmpp;
+  }
+  else {
+    dReal *tmprow = (dReal*) ALLOCA (n * sizeof(dReal));
+    memcpy (tmprow,A[i1],n * sizeof(dReal));
+    memcpy (A[i1],A[i2],n * sizeof(dReal));
+    memcpy (A[i2],tmprow,n * sizeof(dReal));
+  }
+  // swap columns the hard way
+  for (i=i2+1; i<n; i++) {
+    dReal tmp = A[i][i1];
+    A[i][i1] = A[i][i2];
+    A[i][i2] = tmp;
+  }
+# else
+  dReal tmp,*tmprow = (dReal*) ALLOCA (n * sizeof(dReal));
+  if (i1 > 0) {
+    memcpy (tmprow,A+i1*nskip,i1*sizeof(dReal));
+    memcpy (A+i1*nskip,A+i2*nskip,i1*sizeof(dReal));
+    memcpy (A+i2*nskip,tmprow,i1*sizeof(dReal));
+  }
+  for (i=i1+1; i<i2; i++) {
+    tmp = A[i2*nskip+i];
+    A[i2*nskip+i] = A[i*nskip+i1];
+    A[i*nskip+i1] = tmp;
+  }
+  tmp = A[i1*nskip+i1];
+  A[i1*nskip+i1] = A[i2*nskip+i2];
+  A[i2*nskip+i2] = tmp;
+  for (i=i2+1; i<n; i++) {
+    tmp = A[i*nskip+i1];
+    A[i*nskip+i1] = A[i*nskip+i2];
+    A[i*nskip+i2] = tmp;
+  }
+# endif
+}
+
+
+// swap two indexes in the n*n LCP problem. i1 must be <= i2.
+
+static void swapProblem (ATYPE A, dReal *x, dReal *b, dReal *w, dReal *lo,
+			 dReal *hi, int *p, int *state, int *findex,
+			 int n, int i1, int i2, int nskip,
+			 int do_fast_row_swaps)
+{
+  dReal tmp;
+  int tmpi;
+  dIASSERT (n>0 && i1 >=0 && i2 >= 0 && i1 < n && i2 < n && nskip >= n &&
+	    i1 <= i2);
+  if (i1==i2) return;
+  swapRowsAndCols (A,n,i1,i2,nskip,do_fast_row_swaps);
+  tmp = x[i1];
+  x[i1] = x[i2];
+  x[i2] = tmp;
+  tmp = b[i1];
+  b[i1] = b[i2];
+  b[i2] = tmp;
+  tmp = w[i1];
+  w[i1] = w[i2];
+  w[i2] = tmp;
+  tmp = lo[i1];
+  lo[i1] = lo[i2];
+  lo[i2] = tmp;
+  tmp = hi[i1];
+  hi[i1] = hi[i2];
+  hi[i2] = tmp;
+  tmpi = p[i1];
+  p[i1] = p[i2];
+  p[i2] = tmpi;
+  tmpi = state[i1];
+  state[i1] = state[i2];
+  state[i2] = tmpi;
+  if (findex) {
+    tmpi = findex[i1];
+    findex[i1] = findex[i2];
+    findex[i2] = tmpi;
+  }
+}
+
+
+// for debugging - check that L,d is the factorization of A[C,C].
+// A[C,C] has size nC*nC and leading dimension nskip.
+// L has size nC*nC and leading dimension nskip.
+// d has size nC.
+
+#ifdef DEBUG_LCP
+
+static void checkFactorization (ATYPE A, dReal *_L, dReal *_d,
+				int nC, int *C, int nskip)
+{
+  int i,j;
+  if (nC==0) return;
+
+  // get A1=A, copy the lower triangle to the upper triangle, get A2=A[C,C]
+  dMatrix A1 (nC,nC);
+  for (i=0; i<nC; i++) {
+    for (j=0; j<=i; j++) A1(i,j) = A1(j,i) = AROW(i)[j];
+  }
+  dMatrix A2 = A1.select (nC,C,nC,C);
+
+  // printf ("A1=\n"); A1.print(); printf ("\n");
+  // printf ("A2=\n"); A2.print(); printf ("\n");
+
+  // compute A3 = L*D*L'
+  dMatrix L (nC,nC,_L,nskip,1);
+  dMatrix D (nC,nC);
+  for (i=0; i<nC; i++) D(i,i) = 1/_d[i];
+  L.clearUpperTriangle();
+  for (i=0; i<nC; i++) L(i,i) = 1;
+  dMatrix A3 = L * D * L.transpose();
+
+  // printf ("L=\n"); L.print(); printf ("\n");
+  // printf ("D=\n"); D.print(); printf ("\n");
+  // printf ("A3=\n"); A2.print(); printf ("\n");
+
+  // compare A2 and A3
+  dReal diff = A2.maxDifference (A3);
+  if (diff > 1e-8)
+    dDebug (0,"L*D*L' check, maximum difference = %.6e\n",diff);
+}
+
+#endif
+
+
+// for debugging
+
+#ifdef DEBUG_LCP
+
+static void checkPermutations (int i, int n, int nC, int nN, int *p, int *C)
+{
+  int j,k;
+  dIASSERT (nC>=0 && nN>=0 && (nC+nN)==i && i < n);
+  for (k=0; k<i; k++) dIASSERT (p[k] >= 0 && p[k] < i);
+  for (k=i; k<n; k++) dIASSERT (p[k] == k);
+  for (j=0; j<nC; j++) {
+    int C_is_bad = 1;
+    for (k=0; k<nC; k++) if (C[k]==j) C_is_bad = 0;
+    dIASSERT (C_is_bad==0);
+  }
+}
+
+#endif
+
+//***************************************************************************
+// dLCP manipulator object. this represents an n*n LCP problem.
+//
+// two index sets C and N are kept. each set holds a subset of
+// the variable indexes 0..n-1. an index can only be in one set.
+// initially both sets are empty.
+//
+// the index set C is special: solutions to A(C,C)\A(C,i) can be generated.
+
+#ifdef dLCP_SLOW
+
+// simple but slow implementation of dLCP, for testing the LCP drivers.
+
+#include "array.h"
+
+struct dLCP {
+  int n,nub,nskip;
+  dReal *Adata,*x,*b,*w,*lo,*hi;	// LCP problem data
+  ATYPE A;				// A rows
+  dArray<int> C,N;			// index sets
+  int last_i_for_solve1;		// last i value given to solve1
+
+  dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
+	dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
+	dReal *_Dell, dReal *_ell, dReal *_tmp,
+	int *_state, int *_findex, int *_p, int *_C, dReal **Arows);
+  // the constructor is given an initial problem description (A,x,b,w) and
+  // space for other working data (which the caller may allocate on the stack).
+  // some of this data is specific to the fast dLCP implementation.
+  // the matrices A and L have size n*n, vectors have size n*1.
+  // A represents a symmetric matrix but only the lower triangle is valid.
+  // `nub' is the number of unbounded indexes at the start. all the indexes
+  // 0..nub-1 will be put into C.
+
+  ~dLCP();
+
+  int getNub() { return nub; }
+  // return the value of `nub'. the constructor may want to change it,
+  // so the caller should find out its new value.
+
+  // transfer functions: transfer index i to the given set (C or N). indexes
+  // less than `nub' can never be given. A,x,b,w,etc may be permuted by these
+  // functions, the caller must be robust to this.
+
+  void transfer_i_to_C (int i);
+    // this assumes C and N span 1:i-1. this also assumes that solve1() has
+    // been recently called for the same i without any other transfer
+    // functions in between (thereby allowing some data reuse for the fast
+    // implementation).
+  void transfer_i_to_N (int i);
+    // this assumes C and N span 1:i-1.
+  void transfer_i_from_N_to_C (int i);
+  void transfer_i_from_C_to_N (int i);
+
+  int numC();
+  int numN();
+  // return the number of indexes in set C/N
+
+  int indexC (int i);
+  int indexN (int i);
+  // return index i in set C/N.
+
+  // accessor and arithmetic functions. Aij translates as A(i,j), etc.
+  // make sure that only the lower triangle of A is ever referenced.
+
+  dReal Aii (int i);
+  dReal AiC_times_qC (int i, dReal *q);
+  dReal AiN_times_qN (int i, dReal *q);			// for all Nj
+  void pN_equals_ANC_times_qC (dReal *p, dReal *q);	// for all Nj
+  void pN_plusequals_ANi (dReal *p, int i, int sign=1);
+    // for all Nj. sign = +1,-1. assumes i > maximum index in N.
+  void pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q);
+  void pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q); // for all Nj
+  void solve1 (dReal *a, int i, int dir=1, int only_transfer=0);
+    // get a(C) = - dir * A(C,C) \ A(C,i). dir must be +/- 1.
+    // the fast version of this function computes some data that is needed by
+    // transfer_i_to_C(). if only_transfer is nonzero then this function
+    // *only* computes that data, it does not set a(C).
+
+  void unpermute();
+  // call this at the end of the LCP function. if the x/w values have been
+  // permuted then this will unscramble them.
+};
+
+
+dLCP::dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
+	    dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
+	    dReal *_Dell, dReal *_ell, dReal *_tmp,
+	    int *_state, int *_findex, int *_p, int *_C, dReal **Arows)
+{
+  dUASSERT (_findex==0,"slow dLCP object does not support findex array");
+
+  n = _n;
+  nub = _nub;
+  Adata = _Adata;
+  A = 0;
+  x = _x;
+  b = _b;
+  w = _w;
+  lo = _lo;
+  hi = _hi;
+  nskip = dPAD(n);
+  dSetZero (x,n);
+  last_i_for_solve1 = -1;
+
+  int i,j;
+  C.setSize (n);
+  N.setSize (n);
+  for (int i=0; i<n; i++) {
+    C[i] = 0;
+    N[i] = 0;
+  }
+
+# ifdef ROWPTRS
+  // make matrix row pointers
+  A = Arows;
+  for (i=0; i<n; i++) A[i] = Adata + i*nskip;
+# else
+  A = Adata;
+# endif
+
+  // lets make A symmetric
+  for (i=0; i<n; i++) {
+    for (j=i+1; j<n; j++) AROW(i)[j] = AROW(j)[i];
+  }
+
+  // if nub>0, put all indexes 0..nub-1 into C and solve for x
+  if (nub > 0) {
+    for (i=0; i<nub; i++) memcpy (_L+i*nskip,AROW(i),(i+1)*sizeof(dReal));
+    dFactorLDLT (_L,_d,nub,nskip);
+    memcpy (x,b,nub*sizeof(dReal));
+    dSolveLDLT (_L,_d,x,nub,nskip);
+    dSetZero (_w,nub);
+    for (i=0; i<nub; i++) C[i] = 1;
+  }
+}
+
+
+dLCP::~dLCP()
+{
+}
+
+
+void dLCP::transfer_i_to_C (int i)
+{
+  if (i < nub) dDebug (0,"bad i");
+  if (C[i]) dDebug (0,"i already in C");
+  if (N[i]) dDebug (0,"i already in N");
+  for (int k=0; k<i; k++) {
+    if (!(C[k] ^ N[k])) dDebug (0,"assumptions for C and N violated");
+  }
+  for (int k=i; k<n; k++)
+    if (C[k] || N[k]) dDebug (0,"assumptions for C and N violated");
+  if (i != last_i_for_solve1) dDebug (0,"assumptions for i violated");
+  last_i_for_solve1 = -1;
+  C[i] = 1;
+}
+
+
+void dLCP::transfer_i_to_N (int i)
+{
+  if (i < nub) dDebug (0,"bad i");
+  if (C[i]) dDebug (0,"i already in C");
+  if (N[i]) dDebug (0,"i already in N");
+  for (int k=0; k<i; k++)
+    if (!C[k] && !N[k]) dDebug (0,"assumptions for C and N violated");
+  for (int k=i; k<n; k++)
+    if (C[k] || N[k]) dDebug (0,"assumptions for C and N violated");
+  last_i_for_solve1 = -1;
+  N[i] = 1;
+}
+
+
+void dLCP::transfer_i_from_N_to_C (int i)
+{
+  if (i < nub) dDebug (0,"bad i");
+  if (C[i]) dDebug (0,"i already in C");
+  if (!N[i]) dDebug (0,"i not in N");
+  last_i_for_solve1 = -1;
+  N[i] = 0;
+  C[i] = 1;
+}
+
+
+void dLCP::transfer_i_from_C_to_N (int i)
+{
+  if (i < nub) dDebug (0,"bad i");
+  if (N[i]) dDebug (0,"i already in N");
+  if (!C[i]) dDebug (0,"i not in C");
+  last_i_for_solve1 = -1;
+  C[i] = 0;
+  N[i] = 1;
+}
+
+
+int dLCP::numC()
+{
+  int i,count=0;
+  for (i=0; i<n; i++) if (C[i]) count++;
+  return count;
+}
+
+
+int dLCP::numN()
+{
+  int i,count=0;
+  for (i=0; i<n; i++) if (N[i]) count++;
+  return count;
+}
+
+
+int dLCP::indexC (int i)
+{
+  int k,count=0;
+  for (k=0; k<n; k++) {
+    if (C[k]) {
+      if (count==i) return k;
+      count++;
+    }
+  }
+  dDebug (0,"bad index C (%d)",i);
+  return 0;
+}
+
+
+int dLCP::indexN (int i)
+{
+  int k,count=0;
+  for (k=0; k<n; k++) {
+    if (N[k]) {
+      if (count==i) return k;
+      count++;
+    }
+  }
+  dDebug (0,"bad index into N");
+  return 0;
+}
+
+
+dReal dLCP::Aii (int i)
+{
+  return AROW(i)[i];
+}
+
+
+dReal dLCP::AiC_times_qC (int i, dReal *q)
+{
+  dReal sum = 0;
+  for (int k=0; k<n; k++) if (C[k]) sum += AROW(i)[k] * q[k];
+  return sum;
+}
+
+
+dReal dLCP::AiN_times_qN (int i, dReal *q)
+{
+  dReal sum = 0;
+  for (int k=0; k<n; k++) if (N[k]) sum += AROW(i)[k] * q[k];
+  return sum;
+}
+
+
+void dLCP::pN_equals_ANC_times_qC (dReal *p, dReal *q)
+{
+  dReal sum;
+  for (int ii=0; ii<n; ii++) if (N[ii]) {
+    sum = 0;
+    for (int jj=0; jj<n; jj++) if (C[jj]) sum += AROW(ii)[jj] * q[jj];
+    p[ii] = sum;
+  }
+}
+
+
+void dLCP::pN_plusequals_ANi (dReal *p, int i, int sign)
+{
+  int k;
+  for (k=0; k<n; k++) if (N[k] && k >= i) dDebug (0,"N assumption violated");
+  if (sign > 0) {
+    for (k=0; k<n; k++) if (N[k]) p[k] += AROW(i)[k];
+  }
+  else {
+    for (k=0; k<n; k++) if (N[k]) p[k] -= AROW(i)[k];
+  }
+}
+
+
+void dLCP::pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q)
+{
+  for (int k=0; k<n; k++) if (C[k]) p[k] += s*q[k];
+}
+
+
+void dLCP::pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q)
+{
+  for (int k=0; k<n; k++) if (N[k]) p[k] += s*q[k];
+}
+
+
+void dLCP::solve1 (dReal *a, int i, int dir, int only_transfer)
+{
+  dReal *AA = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
+  dReal *dd = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *bb = (dReal*) ALLOCA (n*sizeof(dReal));
+  int ii,jj,AAi,AAj;
+
+  last_i_for_solve1 = i;
+  AAi = 0;
+  for (ii=0; ii<n; ii++) if (C[ii]) {
+    AAj = 0;
+    for (jj=0; jj<n; jj++) if (C[jj]) {
+      AA[AAi*nskip+AAj] = AROW(ii)[jj];
+      AAj++;
+    }
+    bb[AAi] = AROW(i)[ii];
+    AAi++;
+  }
+  if (AAi==0) return;
+
+  dFactorLDLT (AA,dd,AAi,nskip);
+  dSolveLDLT (AA,dd,bb,AAi,nskip);
+
+  AAi=0;
+  if (dir > 0) {
+    for (ii=0; ii<n; ii++) if (C[ii]) a[ii] = -bb[AAi++];
+  }
+  else {
+    for (ii=0; ii<n; ii++) if (C[ii]) a[ii] = bb[AAi++];
+  }
+}
+
+
+void dLCP::unpermute()
+{
+}
+
+#endif // dLCP_SLOW
+
+//***************************************************************************
+// fast implementation of dLCP. see the above definition of dLCP for
+// interface comments.
+//
+// `p' records the permutation of A,x,b,w,etc. p is initially 1:n and is
+// permuted as the other vectors/matrices are permuted.
+//
+// A,x,b,w,lo,hi,state,findex,p,c are permuted such that sets C,N have
+// contiguous indexes. the don't-care indexes follow N.
+//
+// an L*D*L' factorization is maintained of A(C,C), and whenever indexes are
+// added or removed from the set C the factorization is updated.
+// thus L*D*L'=A[C,C], i.e. a permuted top left nC*nC submatrix of A.
+// the leading dimension of the matrix L is always `nskip'.
+//
+// at the start there may be other indexes that are unbounded but are not
+// included in `nub'. dLCP will permute the matrix so that absolutely all
+// unbounded vectors are at the start. thus there may be some initial
+// permutation.
+//
+// the algorithms here assume certain patterns, particularly with respect to
+// index transfer.
+
+#ifdef dLCP_FAST
+
+struct dLCP {
+  int n,nskip,nub;
+  ATYPE A;				// A rows
+  dReal *Adata,*x,*b,*w,*lo,*hi;	// permuted LCP problem data
+  dReal *L,*d;				// L*D*L' factorization of set C
+  dReal *Dell,*ell,*tmp;
+  int *state,*findex,*p,*C;
+  int nC,nN;				// size of each index set
+
+  dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
+	dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
+	dReal *_Dell, dReal *_ell, dReal *_tmp,
+	int *_state, int *_findex, int *_p, int *_C, dReal **Arows);
+  int getNub() { return nub; }
+  void transfer_i_to_C (int i);
+  void transfer_i_to_N (int i)
+    { nN++; }			// because we can assume C and N span 1:i-1
+  void transfer_i_from_N_to_C (int i);
+  void transfer_i_from_C_to_N (int i);
+  int numC() { return nC; }
+  int numN() { return nN; }
+  int indexC (int i) { return i; }
+  int indexN (int i) { return i+nC; }
+  dReal Aii (int i) { return AROW(i)[i]; }
+  dReal AiC_times_qC (int i, dReal *q) { return dDot (AROW(i),q,nC); }
+  dReal AiN_times_qN (int i, dReal *q) { return dDot (AROW(i)+nC,q+nC,nN); }
+  void pN_equals_ANC_times_qC (dReal *p, dReal *q);
+  void pN_plusequals_ANi (dReal *p, int i, int sign=1);
+  void pC_plusequals_s_times_qC (dReal *p, dReal s, dReal *q)
+    { for (int i=0; i<nC; i++) p[i] += s*q[i]; }
+  void pN_plusequals_s_times_qN (dReal *p, dReal s, dReal *q)
+    { for (int i=0; i<nN; i++) p[i+nC] += s*q[i+nC]; }
+  void solve1 (dReal *a, int i, int dir=1, int only_transfer=0);
+  void unpermute();
+};
+
+
+dLCP::dLCP (int _n, int _nub, dReal *_Adata, dReal *_x, dReal *_b, dReal *_w,
+	    dReal *_lo, dReal *_hi, dReal *_L, dReal *_d,
+	    dReal *_Dell, dReal *_ell, dReal *_tmp,
+	    int *_state, int *_findex, int *_p, int *_C, dReal **Arows)
+{
+  n = _n;
+  nub = _nub;
+  Adata = _Adata;
+  A = 0;
+  x = _x;
+  b = _b;
+  w = _w;
+  lo = _lo;
+  hi = _hi;
+  L = _L;
+  d = _d;
+  Dell = _Dell;
+  ell = _ell;
+  tmp = _tmp;
+  state = _state;
+  findex = _findex;
+  p = _p;
+  C = _C;
+  nskip = dPAD(n);
+  dSetZero (x,n);
+
+  int k;
+
+# ifdef ROWPTRS
+  // make matrix row pointers
+  A = Arows;
+  for (k=0; k<n; k++) A[k] = Adata + k*nskip;
+# else
+  A = Adata;
+# endif
+
+  nC = 0;
+  nN = 0;
+  for (k=0; k<n; k++) p[k]=k;		// initially unpermuted
+
+  /*
+  // for testing, we can do some random swaps in the area i > nub
+  if (nub < n) {
+    for (k=0; k<100; k++) {
+      int i1,i2;
+      do {
+	i1 = dRandInt(n-nub)+nub;
+	i2 = dRandInt(n-nub)+nub;
+      }
+      while (i1 > i2); 
+      //printf ("--> %d %d\n",i1,i2);
+      swapProblem (A,x,b,w,lo,hi,p,state,findex,n,i1,i2,nskip,0);
+    }
+  }
+  */
+
+  // permute the problem so that *all* the unbounded variables are at the
+  // start, i.e. look for unbounded variables not included in `nub'. we can
+  // potentially push up `nub' this way and get a bigger initial factorization.
+  // note that when we swap rows/cols here we must not just swap row pointers,
+  // as the initial factorization relies on the data being all in one chunk.
+  // variables that have findex >= 0 are *not* considered to be unbounded even
+  // if lo=-inf and hi=inf - this is because these limits may change during the
+  // solution process.
+
+  for (k=nub; k<n; k++) {
+    if (findex && findex[k] >= 0) continue;
+    if (lo[k]==-dInfinity && hi[k]==dInfinity) {
+      swapProblem (A,x,b,w,lo,hi,p,state,findex,n,nub,k,nskip,0);
+      nub++;
+    }
+  }
+
+  // if there are unbounded variables at the start, factorize A up to that
+  // point and solve for x. this puts all indexes 0..nub-1 into C.
+  if (nub > 0) {
+    for (k=0; k<nub; k++) memcpy (L+k*nskip,AROW(k),(k+1)*sizeof(dReal));
+    dFactorLDLT (L,d,nub,nskip);
+    memcpy (x,b,nub*sizeof(dReal));
+    dSolveLDLT (L,d,x,nub,nskip);
+    dSetZero (w,nub);
+    for (k=0; k<nub; k++) C[k] = k;
+    nC = nub;
+  }
+
+  // permute the indexes > nub such that all findex variables are at the end
+  if (findex) {
+    int num_at_end = 0;
+    for (k=n-1; k >= nub; k--) {
+      if (findex[k] >= 0) {
+	swapProblem (A,x,b,w,lo,hi,p,state,findex,n,k,n-1-num_at_end,nskip,1);
+	num_at_end++;
+      }
+    }
+  }
+
+  // print info about indexes
+  /*
+  for (k=0; k<n; k++) {
+    if (k<nub) printf ("C");
+    else if (lo[k]==-dInfinity && hi[k]==dInfinity) printf ("c");
+    else printf (".");
+  }
+  printf ("\n");
+  */
+}
+
+
+void dLCP::transfer_i_to_C (int i)
+{
+  int j;
+  if (nC > 0) {
+    // ell,Dell were computed by solve1(). note, ell = D \ L1solve (L,A(i,C))
+    for (j=0; j<nC; j++) L[nC*nskip+j] = ell[j];
+    d[nC] = dRecip (AROW(i)[i] - dDot(ell,Dell,nC));
+  }
+  else {
+    d[0] = dRecip (AROW(i)[i]);
+  }
+  swapProblem (A,x,b,w,lo,hi,p,state,findex,n,nC,i,nskip,1);
+  C[nC] = nC;
+  nC++;
+
+# ifdef DEBUG_LCP
+  checkFactorization (A,L,d,nC,C,nskip);
+  if (i < (n-1)) checkPermutations (i+1,n,nC,nN,p,C);
+# endif
+}
+
+
+void dLCP::transfer_i_from_N_to_C (int i)
+{
+  int j;
+  if (nC > 0) {
+    dReal *aptr = AROW(i);
+#   ifdef NUB_OPTIMIZATIONS
+    // if nub>0, initial part of aptr unpermuted
+    for (j=0; j<nub; j++) Dell[j] = aptr[j];
+    for (j=nub; j<nC; j++) Dell[j] = aptr[C[j]];
+#   else
+    for (j=0; j<nC; j++) Dell[j] = aptr[C[j]];
+#   endif
+    dSolveL1 (L,Dell,nC,nskip);
+    for (j=0; j<nC; j++) ell[j] = Dell[j] * d[j];
+    for (j=0; j<nC; j++) L[nC*nskip+j] = ell[j];
+    d[nC] = dRecip (AROW(i)[i] - dDot(ell,Dell,nC));
+  }
+  else {
+    d[0] = dRecip (AROW(i)[i]);
+  }
+  swapProblem (A,x,b,w,lo,hi,p,state,findex,n,nC,i,nskip,1);
+  C[nC] = nC;
+  nN--;
+  nC++;
+
+  // @@@ TO DO LATER
+  // if we just finish here then we'll go back and re-solve for
+  // delta_x. but actually we can be more efficient and incrementally
+  // update delta_x here. but if we do this, we wont have ell and Dell
+  // to use in updating the factorization later.
+
+# ifdef DEBUG_LCP
+  checkFactorization (A,L,d,nC,C,nskip);
+# endif
+}
+
+
+void dLCP::transfer_i_from_C_to_N (int i)
+{
+  // remove a row/column from the factorization, and adjust the
+  // indexes (black magic!)
+  int j,k;
+  for (j=0; j<nC; j++) if (C[j]==i) {
+    dLDLTRemove (A,C,L,d,n,nC,j,nskip);
+    for (k=0; k<nC; k++) if (C[k]==nC-1) {
+      C[k] = C[j];
+      if (j < (nC-1)) memmove (C+j,C+j+1,(nC-j-1)*sizeof(int));
+      break;
+    }
+    dIASSERT (k < nC);
+    break;
+  }
+  dIASSERT (j < nC);
+  swapProblem (A,x,b,w,lo,hi,p,state,findex,n,i,nC-1,nskip,1);
+  nC--;
+  nN++;
+
+# ifdef DEBUG_LCP
+  checkFactorization (A,L,d,nC,C,nskip);
+# endif
+}
+
+
+void dLCP::pN_equals_ANC_times_qC (dReal *p, dReal *q)
+{
+  // we could try to make this matrix-vector multiplication faster using
+  // outer product matrix tricks, e.g. with the dMultidotX() functions.
+  // but i tried it and it actually made things slower on random 100x100
+  // problems because of the overhead involved. so we'll stick with the
+  // simple method for now.
+  for (int i=0; i<nN; i++) p[i+nC] = dDot (AROW(i+nC),q,nC);
+}
+
+
+void dLCP::pN_plusequals_ANi (dReal *p, int i, int sign)
+{
+  dReal *aptr = AROW(i)+nC;
+  if (sign > 0) {
+    for (int i=0; i<nN; i++) p[i+nC] += aptr[i];
+  }
+  else {
+    for (int i=0; i<nN; i++) p[i+nC] -= aptr[i];
+  }
+}
+
+
+void dLCP::solve1 (dReal *a, int i, int dir, int only_transfer)
+{
+  // the `Dell' and `ell' that are computed here are saved. if index i is
+  // later added to the factorization then they can be reused.
+  //
+  // @@@ question: do we need to solve for entire delta_x??? yes, but
+  //     only if an x goes below 0 during the step.
+
+  int j;
+  if (nC > 0) {
+    dReal *aptr = AROW(i);
+#   ifdef NUB_OPTIMIZATIONS
+    // if nub>0, initial part of aptr[] is guaranteed unpermuted
+    for (j=0; j<nub; j++) Dell[j] = aptr[j];
+    for (j=nub; j<nC; j++) Dell[j] = aptr[C[j]];
+#   else
+    for (j=0; j<nC; j++) Dell[j] = aptr[C[j]];
+#   endif
+    dSolveL1 (L,Dell,nC,nskip);
+    for (j=0; j<nC; j++) ell[j] = Dell[j] * d[j];
+
+    if (!only_transfer) {
+      for (j=0; j<nC; j++) tmp[j] = ell[j];
+      dSolveL1T (L,tmp,nC,nskip);
+      if (dir > 0) {
+	for (j=0; j<nC; j++) a[C[j]] = -tmp[j];
+      }
+      else {
+	for (j=0; j<nC; j++) a[C[j]] = tmp[j];
+      }
+    }
+  }
+}
+
+
+void dLCP::unpermute()
+{
+  // now we have to un-permute x and w
+  int j;
+  dReal *tmp = (dReal*) ALLOCA (n*sizeof(dReal));
+  memcpy (tmp,x,n*sizeof(dReal));
+  for (j=0; j<n; j++) x[p[j]] = tmp[j];
+  memcpy (tmp,w,n*sizeof(dReal));
+  for (j=0; j<n; j++) w[p[j]] = tmp[j];
+}
+
+#endif // dLCP_FAST
+
+//***************************************************************************
+// an unoptimized Dantzig LCP driver routine for the basic LCP problem.
+// must have lo=0, hi=dInfinity, and nub=0.
+
+void dSolveLCPBasic (int n, dReal *A, dReal *x, dReal *b,
+		     dReal *w, int nub, dReal *lo, dReal *hi)
+{
+  dAASSERT (n>0 && A && x && b && w && nub == 0);
+
+  int i,k;
+  int nskip = dPAD(n);
+  dReal *L = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
+  dReal *d = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *delta_x = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *delta_w = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *Dell = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *ell = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *tmp = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal **Arows = (dReal**) ALLOCA (n*sizeof(dReal*));
+  int *p = (int*) ALLOCA (n*sizeof(int));
+  int *C = (int*) ALLOCA (n*sizeof(int));
+  int *dummy = (int*) ALLOCA (n*sizeof(int));
+
+  dLCP lcp (n,0,A,x,b,w,tmp,tmp,L,d,Dell,ell,tmp,dummy,dummy,p,C,Arows);
+  nub = lcp.getNub();
+
+  for (i=0; i<n; i++) {
+    w[i] = lcp.AiC_times_qC (i,x) - b[i];
+    if (w[i] >= 0) {
+      lcp.transfer_i_to_N (i);
+    }
+    else {
+      for (;;) {
+	// compute: delta_x(C) = -A(C,C)\A(C,i)
+	dSetZero (delta_x,n);
+	lcp.solve1 (delta_x,i);
+	delta_x[i] = 1;
+
+	// compute: delta_w = A*delta_x
+	dSetZero (delta_w,n);
+	lcp.pN_equals_ANC_times_qC (delta_w,delta_x);
+	lcp.pN_plusequals_ANi (delta_w,i);
+        delta_w[i] = lcp.AiC_times_qC (i,delta_x) + lcp.Aii(i);
+
+	// find index to switch
+	int si = i;		// si = switch index
+	int si_in_N = 0;	// set to 1 if si in N
+	dReal s = -w[i]/delta_w[i];
+
+	if (s <= 0) {
+	  dMessage (d_ERR_LCP, "LCP internal error, s <= 0 (s=%.4e)",s);
+	  if (i < (n-1)) {
+	    dSetZero (x+i,n-i);
+	    dSetZero (w+i,n-i);
+	  }
+	  goto done;
+	}
+
+	for (k=0; k < lcp.numN(); k++) {
+	  if (delta_w[lcp.indexN(k)] < 0) {
+	    dReal s2 = -w[lcp.indexN(k)] / delta_w[lcp.indexN(k)];
+	    if (s2 < s) {
+	      s = s2;
+	      si = lcp.indexN(k);
+	      si_in_N = 1;
+	    }
+	  }
+	}
+	for (k=0; k < lcp.numC(); k++) {
+	  if (delta_x[lcp.indexC(k)] < 0) {
+	    dReal s2 = -x[lcp.indexC(k)] / delta_x[lcp.indexC(k)];
+	    if (s2 < s) {
+	      s = s2;
+	      si = lcp.indexC(k);
+	      si_in_N = 0;
+	    }
+	  }
+	}
+
+	// apply x = x + s * delta_x
+	lcp.pC_plusequals_s_times_qC (x,s,delta_x);
+	x[i] += s;
+	lcp.pN_plusequals_s_times_qN (w,s,delta_w);
+	w[i] += s * delta_w[i];
+
+	// switch indexes between sets if necessary
+	if (si==i) {
+	  w[i] = 0;
+	  lcp.transfer_i_to_C (i);
+	  break;
+	}
+	if (si_in_N) {
+          w[si] = 0;
+	  lcp.transfer_i_from_N_to_C (si);
+	}
+	else {
+          x[si] = 0;
+	  lcp.transfer_i_from_C_to_N (si);
+	}
+      }
+    }
+  }
+
+ done:
+  lcp.unpermute();
+}
+
+//***************************************************************************
+// an optimized Dantzig LCP driver routine for the lo-hi LCP problem.
+
+void dSolveLCP (int n, dReal *A, dReal *x, dReal *b,
+		dReal *w, int nub, dReal *lo, dReal *hi, int *findex)
+{
+  dAASSERT (n>0 && A && x && b && w && lo && hi && nub >= 0 && nub <= n);
+  int i,k,hit_first_friction_index = 0;
+  int nskip = dPAD(n);
+
+  // if all the variables are unbounded then we can just factor, solve,
+  // and return
+  if (nub >= n) {
+    dFactorLDLT (A,w,n,nskip);		// use w for d
+    dSolveLDLT (A,w,b,n,nskip);
+    memcpy (x,b,n*sizeof(dReal));
+    dSetZero (w,n);
+    return;
+  }
+
+# ifndef dNODEBUG
+  // check restrictions on lo and hi
+  for (k=0; k<n; k++) dIASSERT (lo[k] <= 0 && hi[k] >= 0);
+# endif
+
+  dReal *L = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
+  dReal *d = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *delta_x = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *delta_w = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *Dell = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *ell = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal **Arows = (dReal**) ALLOCA (n*sizeof(dReal*));
+  int *p = (int*) ALLOCA (n*sizeof(int));
+  int *C = (int*) ALLOCA (n*sizeof(int));
+  int dir;
+  dReal dirf;
+
+  // for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i)
+  int *state = (int*) ALLOCA (n*sizeof(int));
+
+  // create LCP object. note that tmp is set to delta_w to save space, this
+  // optimization relies on knowledge of how tmp is used, so be careful!
+  dLCP lcp (n,nub,A,x,b,w,lo,hi,L,d,Dell,ell,delta_w,state,findex,p,C,Arows);
+  nub = lcp.getNub();
+
+  // loop over all indexes nub..n-1. for index i, if x(i),w(i) satisfy the
+  // LCP conditions then i is added to the appropriate index set. otherwise
+  // x(i),w(i) is driven either +ve or -ve to force it to the valid region.
+  // as we drive x(i), x(C) is also adjusted to keep w(C) at zero.
+  // while driving x(i) we maintain the LCP conditions on the other variables
+  // 0..i-1. we do this by watching out for other x(i),w(i) values going
+  // outside the valid region, and then switching them between index sets
+  // when that happens.
+
+  for (i=nub; i<n; i++) {
+    // the index i is the driving index and indexes i+1..n-1 are "dont care",
+    // i.e. when we make changes to the system those x's will be zero and we
+    // don't care what happens to those w's. in other words, we only consider
+    // an (i+1)*(i+1) sub-problem of A*x=b+w.
+
+    // if we've hit the first friction index, we have to compute the lo and
+    // hi values based on the values of x already computed. we have been
+    // permuting the indexes, so the values stored in the findex vector are
+    // no longer valid. thus we have to temporarily unpermute the x vector. 
+    // for the purposes of this computation, 0*infinity = 0 ... so if the
+    // contact constraint's normal force is 0, there should be no tangential
+    // force applied.
+
+    if (hit_first_friction_index == 0 && findex && findex[i] >= 0) {
+      // un-permute x into delta_w, which is not being used at the moment
+      for (k=0; k<n; k++) delta_w[p[k]] = x[k];
+
+      // set lo and hi values
+      for (k=i; k<n; k++) {
+	dReal wfk = delta_w[findex[k]];
+	if (wfk == 0) {
+	  hi[k] = 0;
+	  lo[k] = 0;
+	}
+	else {
+	  hi[k] = dFabs (hi[k] * wfk);
+	  lo[k] = -hi[k];
+	}
+      }
+      hit_first_friction_index = 1;
+    }
+
+    // thus far we have not even been computing the w values for indexes
+    // greater than i, so compute w[i] now.
+    w[i] = lcp.AiC_times_qC (i,x) + lcp.AiN_times_qN (i,x) - b[i];
+
+    // if lo=hi=0 (which can happen for tangential friction when normals are
+    // 0) then the index will be assigned to set N with some state. however,
+    // set C's line has zero size, so the index will always remain in set N.
+    // with the "normal" switching logic, if w changed sign then the index
+    // would have to switch to set C and then back to set N with an inverted
+    // state. this is pointless, and also computationally expensive. to
+    // prevent this from happening, we use the rule that indexes with lo=hi=0
+    // will never be checked for set changes. this means that the state for
+    // these indexes may be incorrect, but that doesn't matter.
+
+    // see if x(i),w(i) is in a valid region
+    if (lo[i]==0 && w[i] >= 0) {
+      lcp.transfer_i_to_N (i);
+      state[i] = 0;
+    }
+    else if (hi[i]==0 && w[i] <= 0) {
+      lcp.transfer_i_to_N (i);
+      state[i] = 1;
+    }
+    else if (w[i]==0) {
+      // this is a degenerate case. by the time we get to this test we know
+      // that lo != 0, which means that lo < 0 as lo is not allowed to be +ve,
+      // and similarly that hi > 0. this means that the line segment
+      // corresponding to set C is at least finite in extent, and we are on it.
+      // NOTE: we must call lcp.solve1() before lcp.transfer_i_to_C()
+      lcp.solve1 (delta_x,i,0,1);
+      lcp.transfer_i_to_C (i);
+    }
+    else {
+      // we must push x(i) and w(i)
+      for (;;) {
+	// find direction to push on x(i)
+	if (w[i] <= 0) {
+	  dir = 1;
+	  dirf = REAL(1.0);
+	}
+	else {
+	  dir = -1;
+	  dirf = REAL(-1.0);
+	}
+
+	// compute: delta_x(C) = -dir*A(C,C)\A(C,i)
+	lcp.solve1 (delta_x,i,dir);
+	// note that delta_x[i] = dirf, but we wont bother to set it
+
+	// compute: delta_w = A*delta_x ... note we only care about
+        // delta_w(N) and delta_w(i), the rest is ignored
+	lcp.pN_equals_ANC_times_qC (delta_w,delta_x);
+	lcp.pN_plusequals_ANi (delta_w,i,dir);
+        delta_w[i] = lcp.AiC_times_qC (i,delta_x) + lcp.Aii(i)*dirf;
+
+	// find largest step we can take (size=s), either to drive x(i),w(i)
+	// to the valid LCP region or to drive an already-valid variable
+	// outside the valid region.
+
+	int cmd = 1;		// index switching command
+	int si = 0;		// si = index to switch if cmd>3
+	dReal s = -w[i]/delta_w[i];
+	if (dir > 0) {
+	  if (hi[i] < dInfinity) {
+	    dReal s2 = (hi[i]-x[i])/dirf;		// step to x(i)=hi(i)
+	    if (s2 < s) {
+	      s = s2;
+	      cmd = 3;
+	    }
+	  }
+	}
+	else {
+	  if (lo[i] > -dInfinity) {
+	    dReal s2 = (lo[i]-x[i])/dirf;		// step to x(i)=lo(i)
+	    if (s2 < s) {
+	      s = s2;
+	      cmd = 2;
+	    }
+	  }
+	}
+
+	for (k=0; k < lcp.numN(); k++) {
+	  if ((state[lcp.indexN(k)]==0 && delta_w[lcp.indexN(k)] < 0) ||
+	      (state[lcp.indexN(k)]!=0 && delta_w[lcp.indexN(k)] > 0)) {
+	    // don't bother checking if lo=hi=0
+	    if (lo[lcp.indexN(k)] == 0 && hi[lcp.indexN(k)] == 0) continue;
+	    dReal s2 = -w[lcp.indexN(k)] / delta_w[lcp.indexN(k)];
+	    if (s2 < s) {
+	      s = s2;
+	      cmd = 4;
+	      si = lcp.indexN(k);
+	    }
+	  }
+	}
+
+	for (k=nub; k < lcp.numC(); k++) {
+	  if (delta_x[lcp.indexC(k)] < 0 && lo[lcp.indexC(k)] > -dInfinity) {
+	    dReal s2 = (lo[lcp.indexC(k)]-x[lcp.indexC(k)]) /
+	      delta_x[lcp.indexC(k)];
+	    if (s2 < s) {
+	      s = s2;
+	      cmd = 5;
+	      si = lcp.indexC(k);
+	    }
+	  }
+	  if (delta_x[lcp.indexC(k)] > 0 && hi[lcp.indexC(k)] < dInfinity) {
+	    dReal s2 = (hi[lcp.indexC(k)]-x[lcp.indexC(k)]) /
+	      delta_x[lcp.indexC(k)];
+	    if (s2 < s) {
+	      s = s2;
+	      cmd = 6;
+	      si = lcp.indexC(k);
+	    }
+	  }
+	}
+
+	//static char* cmdstring[8] = {0,"->C","->NL","->NH","N->C",
+	//			     "C->NL","C->NH"};
+	//printf ("cmd=%d (%s), si=%d\n",cmd,cmdstring[cmd],(cmd>3) ? si : i);
+
+	// if s <= 0 then we've got a problem. if we just keep going then
+	// we're going to get stuck in an infinite loop. instead, just cross
+	// our fingers and exit with the current solution.
+	if (s <= 0) {
+	  dMessage (d_ERR_LCP, "LCP internal error, s <= 0 (s=%.4e)",s);
+	  if (i < (n-1)) {
+	    dSetZero (x+i,n-i);
+	    dSetZero (w+i,n-i);
+	  }
+	  goto done;
+	}
+
+	// apply x = x + s * delta_x
+	lcp.pC_plusequals_s_times_qC (x,s,delta_x);
+	x[i] += s * dirf;
+
+	// apply w = w + s * delta_w
+	lcp.pN_plusequals_s_times_qN (w,s,delta_w);
+	w[i] += s * delta_w[i];
+
+	// switch indexes between sets if necessary
+	switch (cmd) {
+	case 1:		// done
+	  w[i] = 0;
+	  lcp.transfer_i_to_C (i);
+	  break;
+	case 2:		// done
+	  x[i] = lo[i];
+	  state[i] = 0;
+	  lcp.transfer_i_to_N (i);
+	  break;
+	case 3:		// done
+	  x[i] = hi[i];
+	  state[i] = 1;
+	  lcp.transfer_i_to_N (i);
+	  break;
+	case 4:		// keep going
+	  w[si] = 0;
+	  lcp.transfer_i_from_N_to_C (si);
+	  break;
+	case 5:		// keep going
+	  x[si] = lo[si];
+	  state[si] = 0;
+	  lcp.transfer_i_from_C_to_N (si);
+	  break;
+	case 6:		// keep going
+	  x[si] = hi[si];
+	  state[si] = 1;
+	  lcp.transfer_i_from_C_to_N (si);
+	  break;
+	}
+
+	if (cmd <= 3) break;
+      }
+    }
+  }
+
+ done:
+  lcp.unpermute();
+}
+
+//***************************************************************************
+// accuracy and timing test
+
+extern "C" void dTestSolveLCP()
+{
+  int n = 100;
+  int i,nskip = dPAD(n);
+  const dReal tol = REAL(1e-9);
+  printf ("dTestSolveLCP()\n");
+
+  dReal *A = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
+  dReal *x = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *b = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *w = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *lo = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *hi = (dReal*) ALLOCA (n*sizeof(dReal));
+
+  dReal *A2 = (dReal*) ALLOCA (n*nskip*sizeof(dReal));
+  dReal *b2 = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *lo2 = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *hi2 = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *tmp1 = (dReal*) ALLOCA (n*sizeof(dReal));
+  dReal *tmp2 = (dReal*) ALLOCA (n*sizeof(dReal));
+
+  double total_time = 0;
+  for (int count=0; count < 1000; count++) {
+
+    // form (A,b) = a random positive definite LCP problem
+    dMakeRandomMatrix (A2,n,n,1.0);
+    dMultiply2 (A,A2,A2,n,n,n);
+    dMakeRandomMatrix (x,n,1,1.0);
+    dMultiply0 (b,A,x,n,n,1);
+    for (i=0; i<n; i++) b[i] += (dRandReal()*REAL(0.2))-REAL(0.1);
+
+    // choose `nub' in the range 0..n-1
+    int nub = 50; //dRandInt (n);
+
+    // make limits
+    for (i=0; i<nub; i++) lo[i] = -dInfinity;
+    for (i=0; i<nub; i++) hi[i] = dInfinity;
+    //for (i=nub; i<n; i++) lo[i] = 0;
+    //for (i=nub; i<n; i++) hi[i] = dInfinity;
+    //for (i=nub; i<n; i++) lo[i] = -dInfinity;
+    //for (i=nub; i<n; i++) hi[i] = 0;
+    for (i=nub; i<n; i++) lo[i] = -(dRandReal()*REAL(1.0))-REAL(0.01);
+    for (i=nub; i<n; i++) hi[i] =  (dRandReal()*REAL(1.0))+REAL(0.01);
+
+    // set a few limits to lo=hi=0
+    /*
+    for (i=0; i<10; i++) {
+      int j = dRandInt (n-nub) + nub;
+      lo[j] = 0;
+      hi[j] = 0;
+    }
+    */
+
+    // solve the LCP. we must make copy of A,b,lo,hi (A2,b2,lo2,hi2) for
+    // SolveLCP() to permute. also, we'll clear the upper triangle of A2 to
+    // ensure that it doesn't get referenced (if it does, the answer will be
+    // wrong).
+
+    memcpy (A2,A,n*nskip*sizeof(dReal));
+    dClearUpperTriangle (A2,n);
+    memcpy (b2,b,n*sizeof(dReal));
+    memcpy (lo2,lo,n*sizeof(dReal));
+    memcpy (hi2,hi,n*sizeof(dReal));
+    dSetZero (x,n);
+    dSetZero (w,n);
+
+    dStopwatch sw;
+    dStopwatchReset (&sw);
+    dStopwatchStart (&sw);
+
+    dSolveLCP (n,A2,x,b2,w,nub,lo2,hi2,0);
+
+    dStopwatchStop (&sw);
+    double time = dStopwatchTime(&sw);
+    total_time += time;
+    double average = total_time / double(count+1) * 1000.0;
+
+    // check the solution
+
+    dMultiply0 (tmp1,A,x,n,n,1);
+    for (i=0; i<n; i++) tmp2[i] = b[i] + w[i];
+    dReal diff = dMaxDifference (tmp1,tmp2,n,1);
+    // printf ("\tA*x = b+w, maximum difference = %.6e - %s (1)\n",diff,
+    //	    diff > tol ? "FAILED" : "passed");
+    if (diff > tol) dDebug (0,"A*x = b+w, maximum difference = %.6e",diff);
+    int n1=0,n2=0,n3=0;
+    for (i=0; i<n; i++) {
+      if (x[i]==lo[i] && w[i] >= 0) {
+	n1++;	// ok
+      }
+      else if (x[i]==hi[i] && w[i] <= 0) {
+	n2++;	// ok
+      }
+      else if (x[i] >= lo[i] && x[i] <= hi[i] && w[i] == 0) {
+	n3++;	// ok
+      }
+      else {
+	dDebug (0,"FAILED: i=%d x=%.4e w=%.4e lo=%.4e hi=%.4e",i,
+		x[i],w[i],lo[i],hi[i]);
+      }
+    }
+
+    // pacifier
+    printf ("passed: NL=%3d NH=%3d C=%3d   ",n1,n2,n3);
+    printf ("time=%10.3f ms  avg=%10.4f\n",time * 1000.0,average);
+  }
+}
diff -Naur xmoto-0.1.10/src/ode/s/lcp.h xmoto-0.1.10-patched/src/ode/s/lcp.h
--- xmoto-0.1.10/src/ode/s/lcp.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/lcp.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,58 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+given (A,b,lo,hi), solve the LCP problem: A*x = b+w, where each x(i),w(i)
+satisfies one of
+	(1) x = lo, w >= 0
+	(2) x = hi, w <= 0
+	(3) lo < x < hi, w = 0
+A is a matrix of dimension n*n, everything else is a vector of size n*1.
+lo and hi can be +/- dInfinity as needed. the first `nub' variables are
+unbounded, i.e. hi and lo are assumed to be +/- dInfinity.
+
+we restrict lo(i) <= 0 and hi(i) >= 0.
+
+the original data (A,b) may be modified by this function.
+
+if the `findex' (friction index) parameter is nonzero, it points to an array
+of index values. in this case constraints that have findex[i] >= 0 are
+special. all non-special constraints are solved for, then the lo and hi values
+for the special constraints are set:
+  hi[i] = abs( hi[i] * x[findex[i]] )
+  lo[i] = -hi[i]
+and the solution continues. this mechanism allows a friction approximation
+to be implemented. the first `nub' variables are assumed to have findex < 0.
+
+*/
+
+
+#ifndef _ODE_LCP_H_
+#define _ODE_LCP_H_
+
+
+void dSolveLCP (int n, dReal *A, dReal *x, dReal *b, dReal *w,
+		int nub, dReal *lo, dReal *hi, int *findex);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/mass.cpp xmoto-0.1.10-patched/src/ode/s/mass.cpp
--- xmoto-0.1.10/src/ode/s/mass.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/mass.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,313 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/config.h>
+#include <ode/mass.h>
+#include <ode/odemath.h>
+#include <ode/matrix.h>
+
+
+#define _I(i,j) I[(i)*4+(j)]
+
+
+// return 1 if ok, 0 if bad
+
+static int checkMass (dMass *m)
+{
+  int i;
+
+  if (m->mass <= 0) {
+    dDEBUGMSG ("mass must be > 0");
+    return 0;
+  }
+  if (!dIsPositiveDefinite (m->I,3)) {
+    dDEBUGMSG ("inertia must be positive definite");
+    return 0;
+  }
+
+  // verify that the center of mass position is consistent with the mass
+  // and inertia matrix. this is done by checking that the inertia around
+  // the center of mass is also positive definite. from the comment in
+  // dMassTranslate(), if the body is translated so that its center of mass
+  // is at the point of reference, then the new inertia is:
+  //   I + mass*crossmat(c)^2
+  // note that requiring this to be positive definite is exactly equivalent
+  // to requiring that the spatial inertia matrix
+  //   [ mass*eye(3,3)   M*crossmat(c)^T ]
+  //   [ M*crossmat(c)   I               ]
+  // is positive definite, given that I is PD and mass>0. see the theorem
+  // about partitioned PD matrices for proof.
+
+  dMatrix3 I2,chat;
+  dSetZero (chat,12);
+  dCROSSMAT (chat,m->c,4,+,-);
+  dMULTIPLY0_333 (I2,chat,chat);
+  for (i=0; i<3; i++) I2[i] = m->I[i] + m->mass*I2[i];
+  for (i=4; i<7; i++) I2[i] = m->I[i] + m->mass*I2[i];
+  for (i=8; i<11; i++) I2[i] = m->I[i] + m->mass*I2[i];
+  if (!dIsPositiveDefinite (I2,3)) {
+    dDEBUGMSG ("center of mass inconsistent with mass parameters");
+    return 0;
+  }
+  return 1;
+}
+
+
+void dMassSetZero (dMass *m)
+{
+  dAASSERT (m);
+  m->mass = REAL(0.0);
+  dSetZero (m->c,sizeof(m->c) / sizeof(dReal));
+  dSetZero (m->I,sizeof(m->I) / sizeof(dReal));
+}
+
+
+void dMassSetParameters (dMass *m, dReal themass,
+			 dReal cgx, dReal cgy, dReal cgz,
+			 dReal I11, dReal I22, dReal I33,
+			 dReal I12, dReal I13, dReal I23)
+{
+  dAASSERT (m);
+  dMassSetZero (m);
+  m->mass = themass;
+  m->c[0] = cgx;
+  m->c[1] = cgy;
+  m->c[2] = cgz;
+  m->_I(0,0) = I11;
+  m->_I(1,1) = I22;
+  m->_I(2,2) = I33;
+  m->_I(0,1) = I12;
+  m->_I(0,2) = I13;
+  m->_I(1,2) = I23;
+  m->_I(1,0) = I12;
+  m->_I(2,0) = I13;
+  m->_I(2,1) = I23;
+  checkMass (m);
+}
+
+
+void dMassSetSphere (dMass *m, dReal density, dReal radius)
+{
+  dMassSetSphereTotal (m, (REAL(4.0)/REAL(3.0)) * M_PI *
+			  radius*radius*radius * density, radius);
+}
+
+
+void dMassSetSphereTotal (dMass *m, dReal total_mass, dReal radius)
+{
+  dAASSERT (m);
+  dMassSetZero (m);
+  m->mass = total_mass;
+  dReal II = REAL(0.4) * total_mass * radius*radius;
+  m->_I(0,0) = II;
+  m->_I(1,1) = II;
+  m->_I(2,2) = II;
+
+# ifndef dNODEBUG
+  checkMass (m);
+# endif
+}
+
+
+void dMassSetCappedCylinder (dMass *m, dReal density, int direction,
+			     dReal radius, dReal length)
+{
+  dReal M1,M2,Ia,Ib;
+  dAASSERT (m);
+  dUASSERT (direction >= 1 && direction <= 3,"bad direction number");
+  dMassSetZero (m);
+  M1 = M_PI*radius*radius*length*density;			// cylinder mass
+  M2 = (REAL(4.0)/REAL(3.0))*M_PI*radius*radius*radius*density;	// total cap mass
+  m->mass = M1+M2;
+  Ia = M1*(REAL(0.25)*radius*radius + (REAL(1.0)/REAL(12.0))*length*length) +
+    M2*(REAL(0.4)*radius*radius + REAL(0.375)*radius*length + REAL(0.25)*length*length);
+  Ib = (M1*REAL(0.5) + M2*REAL(0.4))*radius*radius;
+  m->_I(0,0) = Ia;
+  m->_I(1,1) = Ia;
+  m->_I(2,2) = Ia;
+  m->_I(direction-1,direction-1) = Ib;
+
+# ifndef dNODEBUG
+  checkMass (m);
+# endif
+}
+
+
+void dMassSetCappedCylinderTotal (dMass *m, dReal total_mass, int direction,
+			     dReal a, dReal b)
+{
+  dMassSetCappedCylinder (m, 1.0, direction, a, b);
+  dMassAdjust (m, total_mass);
+}
+
+
+void dMassSetCylinder (dMass *m, dReal density, int direction,
+		       dReal radius, dReal length)
+{
+  dMassSetCylinderTotal (m, M_PI*radius*radius*length*density,
+			    direction, radius, length);
+}
+
+void dMassSetCylinderTotal (dMass *m, dReal total_mass, int direction,
+			    dReal radius, dReal length)
+{
+  dReal r2,I;
+  dAASSERT (m);
+  dMassSetZero (m);
+  r2 = radius*radius;
+  m->mass = total_mass;
+  I = total_mass*(REAL(0.25)*r2 + (REAL(1.0)/REAL(12.0))*length*length);
+  m->_I(0,0) = I;
+  m->_I(1,1) = I;
+  m->_I(2,2) = I;
+  m->_I(direction-1,direction-1) = total_mass*REAL(0.5)*r2;
+
+# ifndef dNODEBUG
+  checkMass (m);
+# endif
+}
+
+
+void dMassSetBox (dMass *m, dReal density,
+		  dReal lx, dReal ly, dReal lz)
+{
+  dMassSetBoxTotal (m, lx*ly*lz*density, lx, ly, lz);
+}
+
+
+void dMassSetBoxTotal (dMass *m, dReal total_mass,
+		       dReal lx, dReal ly, dReal lz)
+{
+  dAASSERT (m);
+  dMassSetZero (m);
+  m->mass = total_mass;
+  m->_I(0,0) = total_mass/REAL(12.0) * (ly*ly + lz*lz);
+  m->_I(1,1) = total_mass/REAL(12.0) * (lx*lx + lz*lz);
+  m->_I(2,2) = total_mass/REAL(12.0) * (lx*lx + ly*ly);
+
+# ifndef dNODEBUG
+  checkMass (m);
+# endif
+}
+
+
+void dMassAdjust (dMass *m, dReal newmass)
+{
+  dAASSERT (m);
+  dReal scale = newmass / m->mass;
+  m->mass = newmass;
+  for (int i=0; i<3; i++) for (int j=0; j<3; j++) m->_I(i,j) *= scale;
+
+# ifndef dNODEBUG
+  checkMass (m);
+# endif
+}
+
+
+void dMassTranslate (dMass *m, dReal x, dReal y, dReal z)
+{
+  // if the body is translated by `a' relative to its point of reference,
+  // the new inertia about the point of reference is:
+  //
+  //   I + mass*(crossmat(c)^2 - crossmat(c+a)^2)
+  //
+  // where c is the existing center of mass and I is the old inertia.
+
+  int i,j;
+  dMatrix3 ahat,chat,t1,t2;
+  dReal a[3];
+
+  dAASSERT (m);
+
+  // adjust inertia matrix
+  dSetZero (chat,12);
+  dCROSSMAT (chat,m->c,4,+,-);
+  a[0] = x + m->c[0];
+  a[1] = y + m->c[1];
+  a[2] = z + m->c[2];
+  dSetZero (ahat,12);
+  dCROSSMAT (ahat,a,4,+,-);
+  dMULTIPLY0_333 (t1,ahat,ahat);
+  dMULTIPLY0_333 (t2,chat,chat);
+  for (i=0; i<3; i++) for (j=0; j<3; j++)
+    m->_I(i,j) += m->mass * (t2[i*4+j]-t1[i*4+j]);
+
+  // ensure perfect symmetry
+  m->_I(1,0) = m->_I(0,1);
+  m->_I(2,0) = m->_I(0,2);
+  m->_I(2,1) = m->_I(1,2);
+
+  // adjust center of mass
+  m->c[0] += x;
+  m->c[1] += y;
+  m->c[2] += z;
+
+# ifndef dNODEBUG
+  checkMass (m);
+# endif
+}
+
+
+void dMassRotate (dMass *m, const dMatrix3 R)
+{
+  // if the body is rotated by `R' relative to its point of reference,
+  // the new inertia about the point of reference is:
+  //
+  //   R * I * R'
+  //
+  // where I is the old inertia.
+
+  dMatrix3 t1;
+  dReal t2[3];
+
+  dAASSERT (m);
+
+  // rotate inertia matrix
+  dMULTIPLY2_333 (t1,m->I,R);
+  dMULTIPLY0_333 (m->I,R,t1);
+
+  // ensure perfect symmetry
+  m->_I(1,0) = m->_I(0,1);
+  m->_I(2,0) = m->_I(0,2);
+  m->_I(2,1) = m->_I(1,2);
+
+  // rotate center of mass
+  dMULTIPLY0_331 (t2,R,m->c);
+  m->c[0] = t2[0];
+  m->c[1] = t2[1];
+  m->c[2] = t2[2];
+
+# ifndef dNODEBUG
+  checkMass (m);
+# endif
+}
+
+
+void dMassAdd (dMass *a, const dMass *b)
+{
+  int i;
+  dAASSERT (a && b);
+  dReal denom = dRecip (a->mass + b->mass);
+  for (i=0; i<3; i++) a->c[i] = (a->c[i]*a->mass + b->c[i]*b->mass)*denom;
+  a->mass += b->mass;
+  for (i=0; i<12; i++) a->I[i] += b->I[i];
+}
diff -Naur xmoto-0.1.10/src/ode/s/mat.cpp xmoto-0.1.10-patched/src/ode/s/mat.cpp
--- xmoto-0.1.10/src/ode/s/mat.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/mat.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,230 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/config.h>
+#include <ode/misc.h>
+#include <ode/matrix.h>
+#include <ode/error.h>
+#include <ode/memory.h>
+#include "mat.h"
+
+
+dMatrix::dMatrix()
+{
+  n = 0;
+  m = 0;
+  data = 0;
+}
+
+
+dMatrix::dMatrix (int rows, int cols)
+{
+  if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
+  n = rows;
+  m = cols;
+  data = (dReal*) dAlloc (n*m*sizeof(dReal));
+  dSetZero (data,n*m);
+}
+
+
+dMatrix::dMatrix (const dMatrix &a)
+{
+  n = a.n;
+  m = a.m;
+  data = (dReal*) dAlloc (n*m*sizeof(dReal));
+  memcpy (data,a.data,n*m*sizeof(dReal));
+}
+
+
+dMatrix::dMatrix (int rows, int cols,
+		    dReal *_data, int rowskip, int colskip)
+{
+  if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
+  n = rows;
+  m = cols;
+  data = (dReal*) dAlloc (n*m*sizeof(dReal));
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++) data[i*m+j] = _data[i*rowskip + j*colskip];
+  }
+}
+
+
+dMatrix::~dMatrix()
+{
+  if (data) dFree (data,n*m*sizeof(dReal));
+}
+
+
+dReal & dMatrix::operator () (int i, int j)
+{
+  if (i < 0 || i >= n || j < 0 || j >= m) dDebug (0,"bad matrix (i,j)");
+  return data [i*m+j];
+}
+
+
+void dMatrix::operator= (const dMatrix &a)
+{
+  if (data) dFree (data,n*m*sizeof(dReal));
+  n = a.n;
+  m = a.m;
+  if (n > 0 && m > 0) {
+    data = (dReal*) dAlloc (n*m*sizeof(dReal));
+    memcpy (data,a.data,n*m*sizeof(dReal));
+  }
+  else data = 0;
+}
+
+
+void dMatrix::operator= (dReal a)
+{
+  for (int i=0; i<n*m; i++) data[i] = a;
+}
+
+
+dMatrix dMatrix::transpose()
+{
+  dMatrix r (m,n);
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++) r.data[j*n+i] = data[i*m+j];
+  }
+  return r;
+}
+
+
+dMatrix dMatrix::select (int np, int *p, int nq, int *q)
+{
+  if (np < 1 || nq < 1) dDebug (0,"Matrix select, bad index array sizes");
+  dMatrix r (np,nq);
+  for (int i=0; i<np; i++) {
+    for (int j=0; j<nq; j++) {
+      if (p[i] < 0 || p[i] >= n || q[i] < 0 || q[i] >= m)
+	dDebug (0,"Matrix select, bad index arrays");
+      r.data[i*nq+j] = data[p[i]*m+q[j]];
+    }
+  }
+  return r;
+}
+
+
+dMatrix dMatrix::operator + (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"matrix +, mismatched sizes");
+  dMatrix r (n,m);
+  for (int i=0; i<n*m; i++) r.data[i] = data[i] + a.data[i];
+  return r;
+}
+
+
+dMatrix dMatrix::operator - (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"matrix -, mismatched sizes");
+  dMatrix r (n,m);
+  for (int i=0; i<n*m; i++) r.data[i] = data[i] - a.data[i];
+  return r;
+}
+
+
+dMatrix dMatrix::operator - ()
+{
+  dMatrix r (n,m);
+  for (int i=0; i<n*m; i++) r.data[i] = -data[i];
+  return r;
+}
+
+
+dMatrix dMatrix::operator * (const dMatrix &a)
+{
+  if (m != a.n) dDebug (0,"matrix *, mismatched sizes");
+  dMatrix r (n,a.m);
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<a.m; j++) {
+      dReal sum = 0;
+      for (int k=0; k<m; k++) sum += data[i*m+k] * a.data[k*a.m+j];
+      r.data [i*a.m+j] = sum;
+    }
+  }
+  return r;
+}
+
+
+void dMatrix::operator += (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"matrix +=, mismatched sizes");
+  for (int i=0; i<n*m; i++) data[i] += a.data[i];
+}
+
+
+void dMatrix::operator -= (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"matrix -=, mismatched sizes");
+  for (int i=0; i<n*m; i++) data[i] -= a.data[i];
+}
+
+
+void dMatrix::clearUpperTriangle()
+{
+  if (n != m) dDebug (0,"clearUpperTriangle() only works on square matrices");
+  for (int i=0; i<n; i++) {
+    for (int j=i+1; j<m; j++) data[i*m+j] = 0;
+  }
+}
+
+
+void dMatrix::clearLowerTriangle()
+{
+  if (n != m) dDebug (0,"clearLowerTriangle() only works on square matrices");
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<i; j++) data[i*m+j] = 0;
+  }
+}
+
+
+void dMatrix::makeRandom (dReal range)
+{
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++)
+      data[i*m+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
+  }
+}
+
+
+void dMatrix::print (char *fmt, FILE *f)
+{
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++) fprintf (f,fmt,data[i*m+j]);
+    fprintf (f,"\n");
+  }
+}
+
+
+dReal dMatrix::maxDifference (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"maxDifference(), mismatched sizes");
+  dReal max = 0;
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++) {
+      dReal diff = dFabs(data[i*m+j] - a.data[i*m+j]);
+      if (diff > max) max = diff;
+    }
+  }
+  return max;
+}
diff -Naur xmoto-0.1.10/src/ode/s/mat.h xmoto-0.1.10-patched/src/ode/s/mat.h
--- xmoto-0.1.10/src/ode/s/mat.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/mat.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,71 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// matrix class. this is mostly for convenience in the testing code, it is
+// not optimized at all. correctness is much more importance here.
+
+#ifndef _ODE_MAT_H_
+#define _ODE_MAT_H_
+
+#include <ode/common.h>
+
+
+class dMatrix {
+  int n,m;		// matrix dimension, n,m >= 0
+  dReal *data;		// if nonzero, n*m elements allocated on the heap
+
+public:
+  // constructors, destructors
+  dMatrix();				// make default 0x0 matrix
+  dMatrix (int rows, int cols);		// construct zero matrix of given size
+  dMatrix (const dMatrix &);		// construct copy of given matrix
+  // create copy of given data - element (i,j) is data[i*rowskip+j*colskip]
+  dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip);
+  ~dMatrix();				// destructor
+
+  // data movement
+  dReal & operator () (int i, int j);	// reference an element
+  void operator= (const dMatrix &);	// matrix = matrix
+  void operator= (dReal);		// matrix = scalar
+  dMatrix transpose();			// return transposed matrix
+  // return a permuted submatrix of this matrix, made up of the rows in p
+  // and the columns in q. p has np elements, q has nq elements.
+  dMatrix select (int np, int *p, int nq, int *q);
+
+  // operators
+  dMatrix operator + (const dMatrix &);
+  dMatrix operator - (const dMatrix &);
+  dMatrix operator - ();
+  dMatrix operator * (const dMatrix &);
+  void operator += (const dMatrix &);
+  void operator -= (const dMatrix &);
+
+  // utility
+  void clearUpperTriangle();
+  void clearLowerTriangle();
+  void makeRandom (dReal range);
+  void print (char *fmt = "%10.4f ", FILE *f=stdout);
+  dReal maxDifference (const dMatrix &);
+};
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/matrix.cpp xmoto-0.1.10-patched/src/ode/s/matrix.cpp
--- xmoto-0.1.10/src/ode/s/matrix.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/matrix.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,358 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/common.h>
+#include <ode/matrix.h>
+
+// misc defines
+#define ALLOCA dALLOCA16
+
+
+void dSetZero (dReal *a, int n)
+{
+  dAASSERT (a && n >= 0);
+  while (n > 0) {
+    *(a++) = 0;
+    n--;
+  }
+}
+
+
+void dSetValue (dReal *a, int n, dReal value)
+{
+  dAASSERT (a && n >= 0);
+  while (n > 0) {
+    *(a++) = value;
+    n--;
+  }
+}
+
+
+void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
+{
+  int i,j,k,qskip,rskip,rpad;
+  dAASSERT (A && B && C && p>0 && q>0 && r>0);
+  qskip = dPAD(q);
+  rskip = dPAD(r);
+  rpad = rskip - r;
+  dReal sum;
+  const dReal *b,*c,*bb;
+  bb = B;
+  for (i=p; i; i--) {
+    for (j=0 ; j<r; j++) {
+      c = C + j;
+      b = bb;
+      sum = 0;
+      for (k=q; k; k--, c+=rskip) sum += (*(b++))*(*c);
+      *(A++) = sum; 
+    }
+    A += rpad;
+    bb += qskip;
+  }
+}
+
+
+void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
+{
+  int i,j,k,pskip,rskip;
+  dReal sum;
+  dAASSERT (A && B && C && p>0 && q>0 && r>0);
+  pskip = dPAD(p);
+  rskip = dPAD(r);
+  for (i=0; i<p; i++) {
+    for (j=0; j<r; j++) {
+      sum = 0;
+      for (k=0; k<q; k++) sum += B[i+k*pskip] * C[j+k*rskip];
+      A[i*rskip+j] = sum;
+    }
+  }
+}
+
+
+void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
+{
+  int i,j,k,z,rpad,qskip;
+  dReal sum;
+  const dReal *bb,*cc;
+  dAASSERT (A && B && C && p>0 && q>0 && r>0);
+  rpad = dPAD(r) - r;
+  qskip = dPAD(q);
+  bb = B;
+  for (i=p; i; i--) {
+    cc = C;
+    for (j=r; j; j--) {
+      z = 0;
+      sum = 0;
+      for (k=q; k; k--,z++) sum += bb[z] * cc[z];
+      *(A++) = sum; 
+      cc += qskip;
+    }
+    A += rpad;
+    bb += qskip;
+  }
+}
+
+
+int dFactorCholesky (dReal *A, int n)
+{
+  int i,j,k,nskip;
+  dReal sum,*a,*b,*aa,*bb,*cc,*recip;
+  dAASSERT (n > 0 && A);
+  nskip = dPAD (n);
+  recip = (dReal*) ALLOCA (n * sizeof(dReal));
+  aa = A;
+  for (i=0; i<n; i++) {
+    bb = A;
+    cc = A + i*nskip;
+    for (j=0; j<i; j++) {
+      sum = *cc;
+      a = aa;
+      b = bb;
+      for (k=j; k; k--) sum -= (*(a++))*(*(b++));
+      *cc = sum * recip[j];
+      bb += nskip;
+      cc++;
+    }
+    sum = *cc;
+    a = aa;
+    for (k=i; k; k--, a++) sum -= (*a)*(*a);
+    if (sum <= REAL(0.0)) return 0;
+    *cc = dSqrt(sum);
+    recip[i] = dRecip (*cc);
+    aa += nskip;
+  }
+  return 1;
+}
+
+
+void dSolveCholesky (const dReal *L, dReal *b, int n)
+{
+  int i,k,nskip;
+  dReal sum,*y;
+  dAASSERT (n > 0 && L && b);
+  nskip = dPAD (n);
+  y = (dReal*) ALLOCA (n*sizeof(dReal));
+  for (i=0; i<n; i++) {
+    sum = 0;
+    for (k=0; k < i; k++) sum += L[i*nskip+k]*y[k];
+    y[i] = (b[i]-sum)/L[i*nskip+i];
+  }
+  for (i=n-1; i >= 0; i--) {
+    sum = 0;
+    for (k=i+1; k < n; k++) sum += L[k*nskip+i]*b[k];
+    b[i] = (y[i]-sum)/L[i*nskip+i];
+  }
+}
+
+
+int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n)
+{
+  int i,j,nskip;
+  dReal *L,*x;
+  dAASSERT (n > 0 && A && Ainv);
+  nskip = dPAD (n);
+  L = (dReal*) ALLOCA (nskip*n*sizeof(dReal));
+  memcpy (L,A,nskip*n*sizeof(dReal));
+  x = (dReal*) ALLOCA (n*sizeof(dReal));
+  if (dFactorCholesky (L,n)==0) return 0;
+  dSetZero (Ainv,n*nskip);	// make sure all padding elements set to 0
+  for (i=0; i<n; i++) {
+    for (j=0; j<n; j++) x[j] = 0;
+    x[i] = 1;
+    dSolveCholesky (L,x,n);
+    for (j=0; j<n; j++) Ainv[j*nskip+i] = x[j];
+  }
+  return 1;  
+}
+
+
+int dIsPositiveDefinite (const dReal *A, int n)
+{
+  dReal *Acopy;
+  dAASSERT (n > 0 && A);
+  int nskip = dPAD (n);
+  Acopy = (dReal*) ALLOCA (nskip*n * sizeof(dReal));
+  memcpy (Acopy,A,nskip*n * sizeof(dReal));
+  return dFactorCholesky (Acopy,n);
+}
+
+
+/***** this has been replaced by a faster version
+void dSolveL1T (const dReal *L, dReal *b, int n, int nskip)
+{
+  int i,j;
+  dAASSERT (L && b && n >= 0 && nskip >= n);
+  dReal sum;
+  for (i=n-2; i>=0; i--) {
+    sum = 0;
+    for (j=i+1; j<n; j++) sum += L[j*nskip+i]*b[j];
+    b[i] -= sum;
+  }
+}
+*/
+
+
+void dVectorScale (dReal *a, const dReal *d, int n)
+{
+  dAASSERT (a && d && n >= 0);
+  for (int i=0; i<n; i++) a[i] *= d[i];
+}
+
+
+void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip)
+{
+  dAASSERT (L && d && b && n > 0 && nskip >= n);
+  dSolveL1 (L,b,n,nskip);
+  dVectorScale (b,d,n);
+  dSolveL1T (L,b,n,nskip);
+}
+
+
+void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip)
+{
+  int j,p;
+  dReal *W1,*W2,W11,W21,alpha1,alpha2,alphanew,gamma1,gamma2,k1,k2,Wp,ell,dee;
+  dAASSERT (L && d && a && n > 0 && nskip >= n);
+
+  if (n < 2) return;
+  W1 = (dReal*) ALLOCA (n*sizeof(dReal));
+  W2 = (dReal*) ALLOCA (n*sizeof(dReal));
+
+  W1[0] = 0;
+  W2[0] = 0;
+  for (j=1; j<n; j++) W1[j] = W2[j] = a[j] * M_SQRT1_2;
+  W11 = (REAL(0.5)*a[0]+1)*M_SQRT1_2;
+  W21 = (REAL(0.5)*a[0]-1)*M_SQRT1_2;
+
+  alpha1=1;
+  alpha2=1;
+
+  dee = d[0];
+  alphanew = alpha1 + (W11*W11)*dee;
+  dee /= alphanew;
+  gamma1 = W11 * dee;
+  dee *= alpha1;
+  alpha1 = alphanew;
+  alphanew = alpha2 - (W21*W21)*dee;
+  dee /= alphanew;
+  gamma2 = W21 * dee;
+  alpha2 = alphanew;
+  k1 = REAL(1.0) - W21*gamma1;
+  k2 = W21*gamma1*W11 - W21;
+  for (p=1; p<n; p++) {
+    Wp = W1[p];
+    ell = L[p*nskip];
+    W1[p] =    Wp - W11*ell;
+    W2[p] = k1*Wp +  k2*ell;
+  }
+
+  for (j=1; j<n; j++) {
+    dee = d[j];
+    alphanew = alpha1 + (W1[j]*W1[j])*dee;
+    dee /= alphanew;
+    gamma1 = W1[j] * dee;
+    dee *= alpha1;
+    alpha1 = alphanew;
+    alphanew = alpha2 - (W2[j]*W2[j])*dee;
+    dee /= alphanew;
+    gamma2 = W2[j] * dee;
+    dee *= alpha2;
+    d[j] = dee;
+    alpha2 = alphanew;
+
+    k1 = W1[j];
+    k2 = W2[j];
+    for (p=j+1; p<n; p++) {
+      ell = L[p*nskip+j];
+      Wp = W1[p] - k1 * ell;
+      ell += gamma1 * Wp;
+      W1[p] = Wp;
+      Wp = W2[p] - k2 * ell;
+      ell -= gamma2 * Wp;
+      W2[p] = Wp;
+      L[p*nskip+j] = ell;
+    }
+  }
+}
+
+
+// macros for dLDLTRemove() for accessing A - either access the matrix
+// directly or access it via row pointers. we are only supposed to reference
+// the lower triangle of A (it is symmetric), but indexes i and j come from
+// permutation vectors so they are not predictable. so do a test on the
+// indexes - this should not slow things down too much, as we don't do this
+// in an inner loop.
+
+#define _GETA(i,j) (A[i][j])
+//#define _GETA(i,j) (A[(i)*nskip+(j)])
+#define GETA(i,j) ((i > j) ? _GETA(i,j) : _GETA(j,i))
+
+
+void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
+		  int n1, int n2, int r, int nskip)
+{
+  int i;
+  dAASSERT(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 &&
+	   n1 >= n2 && nskip >= n1);
+  #ifndef dNODEBUG
+  for (i=0; i<n2; i++) dIASSERT(p[i] >= 0 && p[i] < n1);
+  #endif
+
+  if (r==n2-1) {
+    return;		// deleting last row/col is easy
+  }
+  else if (r==0) {
+    dReal *a = (dReal*) ALLOCA (n2 * sizeof(dReal));
+    for (i=0; i<n2; i++) a[i] = -GETA(p[i],p[0]);
+    a[0] += REAL(1.0);
+    dLDLTAddTL (L,d,a,n2,nskip);
+  }
+  else {
+    dReal *t = (dReal*) ALLOCA (r * sizeof(dReal));
+    dReal *a = (dReal*) ALLOCA ((n2-r) * sizeof(dReal));
+    for (i=0; i<r; i++) t[i] = L[r*nskip+i] / d[i];
+    for (i=0; i<(n2-r); i++)
+      a[i] = dDot(L+(r+i)*nskip,t,r) - GETA(p[r+i],p[r]);
+    a[0] += REAL(1.0);
+    dLDLTAddTL (L + r*nskip+r, d+r, a, n2-r, nskip);
+  }
+
+  // snip out row/column r from L and d
+  dRemoveRowCol (L,n2,nskip,r);
+  if (r < (n2-1)) memmove (d+r,d+r+1,(n2-r-1)*sizeof(dReal));
+}
+
+
+void dRemoveRowCol (dReal *A, int n, int nskip, int r)
+{
+  int i;
+  dAASSERT(A && n > 0 && nskip >= n && r >= 0 && r < n);
+  if (r >= n-1) return;
+  if (r > 0) {
+    for (i=0; i<r; i++)
+      memmove (A+i*nskip+r,A+i*nskip+r+1,(n-r-1)*sizeof(dReal));
+    for (i=r; i<(n-1); i++)
+      memcpy (A+i*nskip,A+i*nskip+nskip,r*sizeof(dReal));
+  }
+  for (i=r; i<(n-1); i++)
+    memcpy (A+i*nskip+r,A+i*nskip+nskip+r+1,(n-r-1)*sizeof(dReal));
+}
diff -Naur xmoto-0.1.10/src/ode/s/memory.cpp xmoto-0.1.10-patched/src/ode/s/memory.cpp
--- xmoto-0.1.10/src/ode/s/memory.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/memory.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,87 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/config.h>
+#include <ode/memory.h>
+#include <ode/error.h>
+
+
+static dAllocFunction *allocfn = 0;
+static dReallocFunction *reallocfn = 0;
+static dFreeFunction *freefn = 0;
+
+
+
+void dSetAllocHandler (dAllocFunction *fn)
+{
+  allocfn = fn;
+}
+
+
+void dSetReallocHandler (dReallocFunction *fn)
+{
+  reallocfn = fn;
+}
+
+
+void dSetFreeHandler (dFreeFunction *fn)
+{
+  freefn = fn;
+}
+
+
+dAllocFunction *dGetAllocHandler()
+{
+  return allocfn;
+}
+
+
+dReallocFunction *dGetReallocHandler()
+{
+  return reallocfn;
+}
+
+
+dFreeFunction *dGetFreeHandler()
+{
+  return freefn;
+}
+
+
+void * dAlloc (size_t size)
+{
+  if (allocfn) return allocfn (size); else return malloc (size);
+}
+
+
+void * dRealloc (void *ptr, size_t oldsize, size_t newsize)
+{
+  if (reallocfn) return reallocfn (ptr,oldsize,newsize);
+  else return realloc (ptr,newsize);
+}
+
+
+void dFree (void *ptr, size_t size)
+{
+  if (!ptr) return;
+  if (freefn) freefn (ptr,size); else free (ptr);
+}
diff -Naur xmoto-0.1.10/src/ode/s/misc.cpp xmoto-0.1.10-patched/src/ode/s/misc.cpp
--- xmoto-0.1.10/src/ode/s/misc.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/misc.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,147 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/config.h>
+#include <ode/misc.h>
+#include <ode/matrix.h>
+
+//****************************************************************************
+// random numbers
+
+static unsigned long seed = 0;
+
+unsigned long dRand()
+{
+  seed = (1664525L*seed + 1013904223L) & 0xffffffff;
+  return seed;
+}
+
+
+unsigned long  dRandGetSeed()
+{
+  return seed;
+}
+
+
+void dRandSetSeed (unsigned long s)
+{
+  seed = s;
+}
+
+
+int dTestRand()
+{
+  unsigned long oldseed = seed;
+  int ret = 1;
+  seed = 0;
+  if (dRand() != 0x3c6ef35f || dRand() != 0x47502932 ||
+      dRand() != 0xd1ccf6e9 || dRand() != 0xaaf95334 ||
+      dRand() != 0x6252e503) ret = 0;
+  seed = oldseed;
+  return ret;
+}
+
+
+int dRandInt (int n)
+{
+  double a = double(n) / 4294967296.0;
+  return (int) (double(dRand()) * a);
+}
+
+
+dReal dRandReal()
+{
+  return ((dReal) dRand()) / ((dReal) 0xffffffff);
+}
+
+//****************************************************************************
+// matrix utility stuff
+
+void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f)
+{
+  int i,j;
+  int skip = dPAD(m);
+  for (i=0; i<n; i++) {
+    for (j=0; j<m; j++) fprintf (f,fmt,A[i*skip+j]);
+    fprintf (f,"\n");
+  }
+}
+
+
+void dMakeRandomVector (dReal *A, int n, dReal range)
+{
+  int i;
+  for (i=0; i<n; i++) A[i] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
+}
+
+
+void dMakeRandomMatrix (dReal *A, int n, int m, dReal range)
+{
+  int i,j;
+  int skip = dPAD(m);
+  dSetZero (A,n*skip);
+  for (i=0; i<n; i++) {
+    for (j=0; j<m; j++) A[i*skip+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
+  }
+}
+
+
+void dClearUpperTriangle (dReal *A, int n)
+{
+  int i,j;
+  int skip = dPAD(n);
+  for (i=0; i<n; i++) {
+    for (j=i+1; j<n; j++) A[i*skip+j] = 0;
+  }
+}
+
+
+dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m)
+{
+  int i,j;
+  int skip = dPAD(m);
+  dReal diff,max;
+  max = 0;
+  for (i=0; i<n; i++) {
+    for (j=0; j<m; j++) {
+      diff = dFabs(A[i*skip+j] - B[i*skip+j]);
+      if (diff > max) max = diff;
+    }
+  }
+  return max;
+}
+
+
+dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n)
+{
+  int i,j;
+  int skip = dPAD(n);
+  dReal diff,max;
+  max = 0;
+  for (i=0; i<n; i++) {
+    for (j=0; j<=i; j++) {
+      diff = dFabs(A[i*skip+j] - B[i*skip+j]);
+      if (diff > max) max = diff;
+    }
+  }
+  return max;
+}
diff -Naur xmoto-0.1.10/src/ode/s/objects.h xmoto-0.1.10-patched/src/ode/s/objects.h
--- xmoto-0.1.10/src/ode/s/objects.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/objects.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,125 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// object, body, and world structs.
+
+
+#ifndef _ODE_OBJECT_H_
+#define _ODE_OBJECT_H_
+
+#include <ode/common.h>
+#include <ode/memory.h>
+#include <ode/mass.h>
+#include "array.h"
+
+
+// some body flags
+
+enum {
+  dxBodyFlagFiniteRotation = 1,		// use finite rotations
+  dxBodyFlagFiniteRotationAxis = 2,	// use finite rotations only along axis
+  dxBodyDisabled = 4,			// body is disabled
+  dxBodyNoGravity = 8,			// body is not influenced by gravity
+  dxBodyAutoDisable = 16		// enable auto-disable on body
+};
+
+
+// base class that does correct object allocation / deallocation
+
+struct dBase {
+  void *operator new (size_t size) { return dAlloc (size); }
+  void operator delete (void *ptr, size_t size) { dFree (ptr,size); }
+  void *operator new[] (size_t size) { return dAlloc (size); }
+  void operator delete[] (void *ptr, size_t size) { dFree (ptr,size); }
+};
+
+
+// base class for bodies and joints
+
+struct dObject : public dBase {
+  dxWorld *world;		// world this object is in
+  dObject *next;		// next object of this type in list
+  dObject **tome;		// pointer to previous object's next ptr
+  void *userdata;		// user settable data
+  int tag;			// used by dynamics algorithms
+};
+
+
+// auto disable parameters
+struct dxAutoDisable {
+  dReal linear_threshold;	// linear (squared) velocity treshold
+  dReal angular_threshold;	// angular (squared) velocity treshold
+  dReal idle_time;		// time the body needs to be idle to auto-disable it
+  int idle_steps;		// steps the body needs to be idle to auto-disable it
+};
+
+
+// quick-step parameters
+struct dxQuickStepParameters {
+  int num_iterations;		// number of SOR iterations to perform
+  dReal w;			// the SOR over-relaxation parameter
+};
+
+
+// contact generation parameters
+struct dxContactParameters {
+  dReal max_vel;		// maximum correcting velocity
+  dReal min_depth;		// thickness of 'surface layer'
+};
+
+
+struct dxBody : public dObject {
+  dxJointNode *firstjoint;	// list of attached joints
+  int flags;			// some dxBodyFlagXXX flags
+  dGeomID geom;			// first collision geom associated with body
+  dMass mass;			// mass parameters about POR
+  dMatrix3 invI;		// inverse of mass.I
+  dReal invMass;		// 1 / mass.mass
+  dVector3 pos;			// position of POR (point of reference)
+  dQuaternion q;		// orientation quaternion
+  dMatrix3 R;			// rotation matrix, always corresponds to q
+  dVector3 lvel,avel;		// linear and angular velocity of POR
+  dVector3 facc,tacc;		// force and torque accumulators
+  dVector3 finite_rot_axis;	// finite rotation axis, unit length or 0=none
+
+  // auto-disable information
+  dxAutoDisable adis;		// auto-disable parameters
+  dReal adis_timeleft;		// time left to be idle
+  int adis_stepsleft;		// steps left to be idle
+};
+
+
+struct dxWorld : public dBase {
+  dxBody *firstbody;		// body linked list
+  dxJoint *firstjoint;		// joint linked list
+  int nb,nj;			// number of bodies and joints in lists
+  dVector3 gravity;		// gravity vector (m/s/s)
+  dReal global_erp;		// global error reduction parameter
+  dReal global_cfm;		// global costraint force mixing parameter
+  dxAutoDisable adis;		// auto-disable parameters
+  int adis_flag;		// auto-disable flag for new bodies
+  dxQuickStepParameters qs;
+  dxContactParameters contactp;
+};
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/obstack.cpp xmoto-0.1.10-patched/src/ode/s/obstack.cpp
--- xmoto-0.1.10/src/ode/s/obstack.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/obstack.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,130 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/common.h>
+#include <ode/error.h>
+#include <ode/memory.h>
+#include "obstack.h"
+
+//****************************************************************************
+// macros and constants
+
+#define ROUND_UP_OFFSET_TO_EFFICIENT_SIZE(arena,ofs) \
+  ofs = (size_t) (dEFFICIENT_SIZE( ((intP)(arena)) + ofs ) - ((intP)(arena)) );
+
+#define MAX_ALLOC_SIZE \
+  ((size_t)(dOBSTACK_ARENA_SIZE - sizeof (Arena) - EFFICIENT_ALIGNMENT + 1))
+
+//****************************************************************************
+// dObStack
+
+dObStack::dObStack()
+{
+  first = 0;
+  last = 0;
+  current_arena = 0;
+  current_ofs = 0;
+}
+
+
+dObStack::~dObStack()
+{
+  // free all arenas
+  Arena *a,*nexta;
+  a = first;
+  while (a) {
+    nexta = a->next;
+    dFree (a,dOBSTACK_ARENA_SIZE);
+    a = nexta;
+  }
+}
+
+
+void *dObStack::alloc (int num_bytes)
+{
+  if ((size_t)num_bytes > MAX_ALLOC_SIZE) dDebug (0,"num_bytes too large");
+
+  // allocate or move to a new arena if necessary
+  if (!first) {
+    // allocate the first arena if necessary
+    first = last = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
+    first->next = 0;
+    first->used = sizeof (Arena);
+    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
+  }
+  else {
+    // we already have one or more arenas, see if a new arena must be used
+    if ((last->used + num_bytes) > dOBSTACK_ARENA_SIZE) {
+      if (!last->next) {
+	last->next = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
+	last->next->next = 0;
+      }
+      last = last->next;
+      last->used = sizeof (Arena);
+      ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
+    }
+  }
+
+  // allocate an area in the arena
+  char *c = ((char*) last) + last->used;
+  last->used += num_bytes;
+  ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
+  return c;
+}
+
+
+void dObStack::freeAll()
+{
+  last = first;
+  if (first) {
+    first->used = sizeof(Arena);
+    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
+  }
+}
+
+
+void *dObStack::rewind()
+{
+  current_arena = first;
+  current_ofs = sizeof (Arena);
+  if (current_arena) {
+    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs)
+    return ((char*) current_arena) + current_ofs;
+  }
+  else return 0;
+}
+
+
+void *dObStack::next (int num_bytes)
+{
+  // this functions like alloc, except that no new storage is ever allocated
+  if (!current_arena) return 0;
+  current_ofs += num_bytes;
+  ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
+  if (current_ofs >= current_arena->used) {
+    current_arena = current_arena->next;
+    if (!current_arena) return 0;
+    current_ofs = sizeof (Arena);
+    ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
+  }
+  return ((char*) current_arena) + current_ofs;
+}
diff -Naur xmoto-0.1.10/src/ode/s/obstack.h xmoto-0.1.10-patched/src/ode/s/obstack.h
--- xmoto-0.1.10/src/ode/s/obstack.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/obstack.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,68 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_OBSTACK_H_
+#define _ODE_OBSTACK_H_
+
+#include "objects.h" 
+
+// each obstack Arena pointer points to a block of this many bytes
+#define dOBSTACK_ARENA_SIZE 16384
+
+
+struct dObStack : public dBase {
+  struct Arena {
+    Arena *next;	// next arena in linked list
+    int used;		// total number of bytes used in this arena, counting
+  };			//   this header
+
+  Arena *first;		// head of the arena linked list. 0 if no arenas yet
+  Arena *last;		// arena where blocks are currently being allocated
+
+  // used for iterator
+  Arena *current_arena;
+  int current_ofs;
+
+  dObStack();
+  ~dObStack();
+
+  void *alloc (int num_bytes);
+  // allocate a block in the last arena, allocating a new arena if necessary.
+  // it is a runtime error if num_bytes is larger than the arena size.
+
+  void freeAll();
+  // free all blocks in all arenas. this does not deallocate the arenas
+  // themselves, so future alloc()s will reuse them.
+
+  void *rewind();
+  // rewind the obstack iterator, and return the address of the first
+  // allocated block. return 0 if there are no allocated blocks.
+
+  void *next (int num_bytes);
+  // return the address of the next allocated block. 'num_bytes' is the size
+  // of the previous block. this returns null if there are no more arenas.
+  // the sequence of 'num_bytes' parameters passed to next() during a
+  // traversal of the list must exactly match the parameters passed to alloc().
+};
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/ode.cpp xmoto-0.1.10-patched/src/ode/s/ode.cpp
--- xmoto-0.1.10/src/ode/s/ode.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/ode.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,1515 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifdef _MSC_VER
+#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
+#endif
+
+// this source file is mostly concerned with the data structures, not the
+// numerics.
+
+#include "objects.h"
+#include <ode/ode.h>
+#include "joint.h"
+#include <ode/odemath.h>
+#include <ode/matrix.h>
+#include "step.h"
+#include "quickstep.h"
+#include "util.h"
+#include <ode/memory.h>
+#include <ode/error.h>
+
+// misc defines
+#define ALLOCA dALLOCA16
+
+//****************************************************************************
+// utility
+
+static inline void initObject (dObject *obj, dxWorld *w)
+{
+  obj->world = w;
+  obj->next = 0;
+  obj->tome = 0;
+  obj->userdata = 0;
+  obj->tag = 0;
+}
+
+
+// add an object `obj' to the list who's head pointer is pointed to by `first'.
+
+static inline void addObjectToList (dObject *obj, dObject **first)
+{
+  obj->next = *first;
+  obj->tome = first;
+  if (*first) (*first)->tome = &obj->next;
+  (*first) = obj;
+}
+
+
+// remove the object from the linked list
+
+static inline void removeObjectFromList (dObject *obj)
+{
+  if (obj->next) obj->next->tome = obj->tome;
+  *(obj->tome) = obj->next;
+  // safeguard
+  obj->next = 0;
+  obj->tome = 0;
+}
+
+
+// remove the joint from neighbour lists of all connected bodies
+
+static void removeJointReferencesFromAttachedBodies (dxJoint *j)
+{
+  for (int i=0; i<2; i++) {
+    dxBody *body = j->node[i].body;
+    if (body) {
+      dxJointNode *n = body->firstjoint;
+      dxJointNode *last = 0;
+      while (n) {
+	if (n->joint == j) {
+	  if (last) last->next = n->next;
+	  else body->firstjoint = n->next;
+	  break;
+	}
+	last = n;
+	n = n->next;
+      }
+    }
+  }
+  j->node[0].body = 0;
+  j->node[0].next = 0;
+  j->node[1].body = 0;
+  j->node[1].next = 0;
+}
+
+//****************************************************************************
+// debugging
+
+// see if an object list loops on itself (if so, it's bad).
+
+static int listHasLoops (dObject *first)
+{
+  if (first==0 || first->next==0) return 0;
+  dObject *a=first,*b=first->next;
+  int skip=0;
+  while (b) {
+    if (a==b) return 1;
+    b = b->next;
+    if (skip) a = a->next;
+    skip ^= 1;
+  }
+  return 0;
+}
+
+
+// check the validity of the world data structures
+
+static void checkWorld (dxWorld *w)
+{
+  dxBody *b;
+  dxJoint *j;
+
+  // check there are no loops
+  if (listHasLoops (w->firstbody)) dDebug (0,"body list has loops");
+  if (listHasLoops (w->firstjoint)) dDebug (0,"joint list has loops");
+
+  // check lists are well formed (check `tome' pointers)
+  for (b=w->firstbody; b; b=(dxBody*)b->next) {
+    if (b->next && b->next->tome != &b->next)
+      dDebug (0,"bad tome pointer in body list");
+  }
+  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
+    if (j->next && j->next->tome != &j->next)
+      dDebug (0,"bad tome pointer in joint list");
+  }
+
+  // check counts
+  int n = 0;
+  for (b=w->firstbody; b; b=(dxBody*)b->next) n++;
+  if (w->nb != n) dDebug (0,"body count incorrect");
+  n = 0;
+  for (j=w->firstjoint; j; j=(dxJoint*)j->next) n++;
+  if (w->nj != n) dDebug (0,"joint count incorrect");
+
+  // set all tag values to a known value
+  static int count = 0;
+  count++;
+  for (b=w->firstbody; b; b=(dxBody*)b->next) b->tag = count;
+  for (j=w->firstjoint; j; j=(dxJoint*)j->next) j->tag = count;
+
+  // check all body/joint world pointers are ok
+  for (b=w->firstbody; b; b=(dxBody*)b->next) if (b->world != w)
+    dDebug (0,"bad world pointer in body list");
+  for (j=w->firstjoint; j; j=(dxJoint*)j->next) if (j->world != w)
+    dDebug (0,"bad world pointer in joint list");
+
+  /*
+  // check for half-connected joints - actually now these are valid
+  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
+    if (j->node[0].body || j->node[1].body) {
+      if (!(j->node[0].body && j->node[1].body))
+	dDebug (0,"half connected joint found");
+    }
+  }
+  */
+
+  // check that every joint node appears in the joint lists of both bodies it
+  // attaches
+  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
+    for (int i=0; i<2; i++) {
+      if (j->node[i].body) {
+	int ok = 0;
+	for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) {
+	  if (n->joint == j) ok = 1;
+	}
+	if (ok==0) dDebug (0,"joint not in joint list of attached body");
+      }
+    }
+  }
+
+  // check all body joint lists (correct body ptrs)
+  for (b=w->firstbody; b; b=(dxBody*)b->next) {
+    for (dxJointNode *n=b->firstjoint; n; n=n->next) {
+      if (&n->joint->node[0] == n) {
+	if (n->joint->node[1].body != b)
+	  dDebug (0,"bad body pointer in joint node of body list (1)");
+      }
+      else {
+	if (n->joint->node[0].body != b)
+	  dDebug (0,"bad body pointer in joint node of body list (2)");
+      }
+      if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body");
+    }
+  }
+
+  // check all body pointers in joints, check they are distinct
+  for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
+    if (j->node[0].body && (j->node[0].body == j->node[1].body))
+      dDebug (0,"non-distinct body pointers in joint");
+    if ((j->node[0].body && j->node[0].body->tag != count) ||
+	(j->node[1].body && j->node[1].body->tag != count))
+      dDebug (0,"bad body pointer in joint");
+  }
+}
+
+
+void dWorldCheck (dxWorld *w)
+{
+  checkWorld (w);
+}
+
+//****************************************************************************
+// body
+
+dxBody *dBodyCreate (dxWorld *w)
+{
+  dAASSERT (w);
+  dxBody *b = new dxBody;
+  initObject (b,w);
+  b->firstjoint = 0;
+  b->flags = 0;
+  b->geom = 0;
+  dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0);
+  dSetZero (b->invI,4*3);
+  b->invI[0] = 1;
+  b->invI[5] = 1;
+  b->invI[10] = 1;
+  b->invMass = 1;
+  dSetZero (b->pos,4);
+  dSetZero (b->q,4);
+  b->q[0] = 1;
+  dRSetIdentity (b->R);
+  dSetZero (b->lvel,4);
+  dSetZero (b->avel,4);
+  dSetZero (b->facc,4);
+  dSetZero (b->tacc,4);
+  dSetZero (b->finite_rot_axis,4);
+  addObjectToList (b,(dObject **) &w->firstbody);
+  w->nb++;
+
+  // set auto-disable parameters
+  dBodySetAutoDisableDefaults (b);	// must do this after adding to world
+  b->adis_stepsleft = b->adis.idle_steps;
+  b->adis_timeleft = b->adis.idle_time;
+
+  return b;
+}
+
+
+void dBodyDestroy (dxBody *b)
+{
+  dAASSERT (b);
+
+  // all geoms that link to this body must be notified that the body is about
+  // to disappear. note that the call to dGeomSetBody(geom,0) will result in
+  // dGeomGetBodyNext() returning 0 for the body, so we must get the next body
+  // before setting the body to 0.
+  dxGeom *next_geom = 0;
+  for (dxGeom *geom = b->geom; geom; geom = next_geom) {
+    next_geom = dGeomGetBodyNext (geom);
+    dGeomSetBody (geom,0);
+  }
+
+  // detach all neighbouring joints, then delete this body.
+  dxJointNode *n = b->firstjoint;
+  while (n) {
+    // sneaky trick to speed up removal of joint references (black magic)
+    n->joint->node[(n == n->joint->node)].body = 0;
+
+    dxJointNode *next = n->next;
+    n->next = 0;
+    removeJointReferencesFromAttachedBodies (n->joint);
+    n = next;
+  }
+  removeObjectFromList (b);
+  b->world->nb--;
+  delete b;
+}
+
+
+void dBodySetData (dBodyID b, void *data)
+{
+  dAASSERT (b);
+  b->userdata = data;
+}
+
+
+void *dBodyGetData (dBodyID b)
+{
+  dAASSERT (b);
+  return b->userdata;
+}
+
+
+void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z)
+{
+  dAASSERT (b);
+  b->pos[0] = x;
+  b->pos[1] = y;
+  b->pos[2] = z;
+
+  // notify all attached geoms that this body has moved
+  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
+    dGeomMoved (geom);
+}
+
+
+void dBodySetRotation (dBodyID b, const dMatrix3 R)
+{
+  dAASSERT (b && R);
+  dQuaternion q;
+  dRtoQ (R,q);
+  dNormalize4 (q);
+  b->q[0] = q[0];
+  b->q[1] = q[1];
+  b->q[2] = q[2];
+  b->q[3] = q[3];
+  dQtoR (b->q,b->R);
+
+  // notify all attached geoms that this body has moved
+  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
+    dGeomMoved (geom);
+}
+
+
+void dBodySetQuaternion (dBodyID b, const dQuaternion q)
+{
+  dAASSERT (b && q);
+  b->q[0] = q[0];
+  b->q[1] = q[1];
+  b->q[2] = q[2];
+  b->q[3] = q[3];
+  dNormalize4 (b->q);
+  dQtoR (b->q,b->R);
+
+  // notify all attached geoms that this body has moved
+  for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
+    dGeomMoved (geom);
+}
+
+
+void dBodySetLinearVel  (dBodyID b, dReal x, dReal y, dReal z)
+{
+  dAASSERT (b);
+  b->lvel[0] = x;
+  b->lvel[1] = y;
+  b->lvel[2] = z;
+}
+
+
+void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z)
+{
+  dAASSERT (b);
+  b->avel[0] = x;
+  b->avel[1] = y;
+  b->avel[2] = z;
+}
+
+
+const dReal * dBodyGetPosition (dBodyID b)
+{
+  dAASSERT (b);
+  return b->pos;
+}
+
+
+const dReal * dBodyGetRotation (dBodyID b)
+{
+  dAASSERT (b);
+  return b->R;
+}
+
+
+const dReal * dBodyGetQuaternion (dBodyID b)
+{
+  dAASSERT (b);
+  return b->q;
+}
+
+
+const dReal * dBodyGetLinearVel (dBodyID b)
+{
+  dAASSERT (b);
+  return b->lvel;
+}
+
+
+const dReal * dBodyGetAngularVel (dBodyID b)
+{
+  dAASSERT (b);
+  return b->avel;
+}
+
+
+void dBodySetMass (dBodyID b, const dMass *mass)
+{
+  dAASSERT (b && mass);
+  memcpy (&b->mass,mass,sizeof(dMass));
+  if (dInvertPDMatrix (b->mass.I,b->invI,3)==0) {
+    dDEBUGMSG ("inertia must be positive definite");
+    dRSetIdentity (b->invI);
+  }
+  b->invMass = dRecip(b->mass.mass);
+}
+
+
+void dBodyGetMass (dBodyID b, dMass *mass)
+{
+  dAASSERT (b && mass);
+  memcpy (mass,&b->mass,sizeof(dMass));
+}
+
+
+void dBodyAddForce (dBodyID b, dReal fx, dReal fy, dReal fz)
+{
+  dAASSERT (b);
+  b->facc[0] += fx;
+  b->facc[1] += fy;
+  b->facc[2] += fz;
+}
+
+
+void dBodyAddTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
+{
+  dAASSERT (b);
+  b->tacc[0] += fx;
+  b->tacc[1] += fy;
+  b->tacc[2] += fz;
+}
+
+
+void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz)
+{
+  dAASSERT (b);
+  dVector3 t1,t2;
+  t1[0] = fx;
+  t1[1] = fy;
+  t1[2] = fz;
+  t1[3] = 0;
+  dMULTIPLY0_331 (t2,b->R,t1);
+  b->facc[0] += t2[0];
+  b->facc[1] += t2[1];
+  b->facc[2] += t2[2];
+}
+
+
+void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
+{
+  dAASSERT (b);
+  dVector3 t1,t2;
+  t1[0] = fx;
+  t1[1] = fy;
+  t1[2] = fz;
+  t1[3] = 0;
+  dMULTIPLY0_331 (t2,b->R,t1);
+  b->tacc[0] += t2[0];
+  b->tacc[1] += t2[1];
+  b->tacc[2] += t2[2];
+}
+
+
+void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
+			 dReal px, dReal py, dReal pz)
+{
+  dAASSERT (b);
+  b->facc[0] += fx;
+  b->facc[1] += fy;
+  b->facc[2] += fz;
+  dVector3 f,q;
+  f[0] = fx;
+  f[1] = fy;
+  f[2] = fz;
+  q[0] = px - b->pos[0];
+  q[1] = py - b->pos[1];
+  q[2] = pz - b->pos[2];
+  dCROSS (b->tacc,+=,q,f);
+}
+
+
+void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
+			    dReal px, dReal py, dReal pz)
+{
+  dAASSERT (b);
+  dVector3 prel,f,p;
+  f[0] = fx;
+  f[1] = fy;
+  f[2] = fz;
+  f[3] = 0;
+  prel[0] = px;
+  prel[1] = py;
+  prel[2] = pz;
+  prel[3] = 0;
+  dMULTIPLY0_331 (p,b->R,prel);
+  b->facc[0] += f[0];
+  b->facc[1] += f[1];
+  b->facc[2] += f[2];
+  dCROSS (b->tacc,+=,p,f);
+}
+
+
+void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
+			    dReal px, dReal py, dReal pz)
+{
+  dAASSERT (b);
+  dVector3 frel,f;
+  frel[0] = fx;
+  frel[1] = fy;
+  frel[2] = fz;
+  frel[3] = 0;
+  dMULTIPLY0_331 (f,b->R,frel);
+  b->facc[0] += f[0];
+  b->facc[1] += f[1];
+  b->facc[2] += f[2];
+  dVector3 q;
+  q[0] = px - b->pos[0];
+  q[1] = py - b->pos[1];
+  q[2] = pz - b->pos[2];
+  dCROSS (b->tacc,+=,q,f);
+}
+
+
+void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
+			       dReal px, dReal py, dReal pz)
+{
+  dAASSERT (b);
+  dVector3 frel,prel,f,p;
+  frel[0] = fx;
+  frel[1] = fy;
+  frel[2] = fz;
+  frel[3] = 0;
+  prel[0] = px;
+  prel[1] = py;
+  prel[2] = pz;
+  prel[3] = 0;
+  dMULTIPLY0_331 (f,b->R,frel);
+  dMULTIPLY0_331 (p,b->R,prel);
+  b->facc[0] += f[0];
+  b->facc[1] += f[1];
+  b->facc[2] += f[2];
+  dCROSS (b->tacc,+=,p,f);
+}
+
+
+const dReal * dBodyGetForce (dBodyID b)
+{
+  dAASSERT (b);
+  return b->facc;
+}
+
+
+const dReal * dBodyGetTorque (dBodyID b)
+{
+  dAASSERT (b);
+  return b->tacc;
+}
+
+
+void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z)
+{
+  dAASSERT (b);
+  b->facc[0] = x;
+  b->facc[1] = y;
+  b->facc[2] = z;
+}
+
+
+void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z)
+{
+  dAASSERT (b);
+  b->tacc[0] = x;
+  b->tacc[1] = y;
+  b->tacc[2] = z;
+}
+
+
+void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz,
+			  dVector3 result)
+{
+  dAASSERT (b);
+  dVector3 prel,p;
+  prel[0] = px;
+  prel[1] = py;
+  prel[2] = pz;
+  prel[3] = 0;
+  dMULTIPLY0_331 (p,b->R,prel);
+  result[0] = p[0] + b->pos[0];
+  result[1] = p[1] + b->pos[1];
+  result[2] = p[2] + b->pos[2];
+}
+
+
+void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz,
+			  dVector3 result)
+{
+  dAASSERT (b);
+  dVector3 prel,p;
+  prel[0] = px;
+  prel[1] = py;
+  prel[2] = pz;
+  prel[3] = 0;
+  dMULTIPLY0_331 (p,b->R,prel);
+  result[0] = b->lvel[0];
+  result[1] = b->lvel[1];
+  result[2] = b->lvel[2];
+  dCROSS (result,+=,b->avel,p);
+}
+
+
+void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz,
+		       dVector3 result)
+{
+  dAASSERT (b);
+  dVector3 p;
+  p[0] = px - b->pos[0];
+  p[1] = py - b->pos[1];
+  p[2] = pz - b->pos[2];
+  p[3] = 0;
+  result[0] = b->lvel[0];
+  result[1] = b->lvel[1];
+  result[2] = b->lvel[2];
+  dCROSS (result,+=,b->avel,p);
+}
+
+
+void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz,
+			  dVector3 result)
+{
+  dAASSERT (b);
+  dVector3 prel;
+  prel[0] = px - b->pos[0];
+  prel[1] = py - b->pos[1];
+  prel[2] = pz - b->pos[2];
+  prel[3] = 0;
+  dMULTIPLY1_331 (result,b->R,prel);
+}
+
+
+void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz,
+			 dVector3 result)
+{
+  dAASSERT (b);
+  dVector3 p;
+  p[0] = px;
+  p[1] = py;
+  p[2] = pz;
+  p[3] = 0;
+  dMULTIPLY0_331 (result,b->R,p);
+}
+
+
+void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz,
+			   dVector3 result)
+{
+  dAASSERT (b);
+  dVector3 p;
+  p[0] = px;
+  p[1] = py;
+  p[2] = pz;
+  p[3] = 0;
+  dMULTIPLY1_331 (result,b->R,p);
+}
+
+
+void dBodySetFiniteRotationMode (dBodyID b, int mode)
+{
+  dAASSERT (b);
+  b->flags &= ~(dxBodyFlagFiniteRotation | dxBodyFlagFiniteRotationAxis);
+  if (mode) {
+    b->flags |= dxBodyFlagFiniteRotation;
+    if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 ||
+	b->finite_rot_axis[2] != 0) {
+      b->flags |= dxBodyFlagFiniteRotationAxis;
+    }
+  }
+}
+
+
+void dBodySetFiniteRotationAxis (dBodyID b, dReal x, dReal y, dReal z)
+{
+  dAASSERT (b);
+  b->finite_rot_axis[0] = x;
+  b->finite_rot_axis[1] = y;
+  b->finite_rot_axis[2] = z;
+  if (x != 0 || y != 0 || z != 0) {
+    dNormalize3 (b->finite_rot_axis);
+    b->flags |= dxBodyFlagFiniteRotationAxis;
+  }
+  else {
+    b->flags &= ~dxBodyFlagFiniteRotationAxis;
+  }
+}
+
+
+int dBodyGetFiniteRotationMode (dBodyID b)
+{
+  dAASSERT (b);
+  return ((b->flags & dxBodyFlagFiniteRotation) != 0);
+}
+
+
+void dBodyGetFiniteRotationAxis (dBodyID b, dVector3 result)
+{
+  dAASSERT (b);
+  result[0] = b->finite_rot_axis[0];
+  result[1] = b->finite_rot_axis[1];
+  result[2] = b->finite_rot_axis[2];
+}
+
+
+int dBodyGetNumJoints (dBodyID b)
+{
+  dAASSERT (b);
+  int count=0;
+  for (dxJointNode *n=b->firstjoint; n; n=n->next, count++);
+  return count;
+}
+
+
+dJointID dBodyGetJoint (dBodyID b, int index)
+{
+  dAASSERT (b);
+  int i=0;
+  for (dxJointNode *n=b->firstjoint; n; n=n->next, i++) {
+    if (i == index) return n->joint;
+  }
+  return 0;
+}
+
+
+void dBodyEnable (dBodyID b)
+{
+  dAASSERT (b);
+  b->flags &= ~dxBodyDisabled;
+  b->adis_stepsleft = b->adis.idle_steps;
+  b->adis_timeleft = b->adis.idle_time;
+}
+
+
+void dBodyDisable (dBodyID b)
+{
+  dAASSERT (b);
+  b->flags |= dxBodyDisabled;
+}
+
+
+int dBodyIsEnabled (dBodyID b)
+{
+  dAASSERT (b);
+  return ((b->flags & dxBodyDisabled) == 0);
+}
+
+
+void dBodySetGravityMode (dBodyID b, int mode)
+{
+  dAASSERT (b);
+  if (mode) b->flags &= ~dxBodyNoGravity;
+  else b->flags |= dxBodyNoGravity;
+}
+
+
+int dBodyGetGravityMode (dBodyID b)
+{
+  dAASSERT (b);
+  return ((b->flags & dxBodyNoGravity) == 0);
+}
+
+
+// body auto-disable functions
+
+dReal dBodyGetAutoDisableLinearThreshold (dBodyID b)
+{
+	dAASSERT(b);
+	return dSqrt (b->adis.linear_threshold);
+}
+
+
+void dBodySetAutoDisableLinearThreshold (dBodyID b, dReal linear_threshold)
+{
+	dAASSERT(b);
+	b->adis.linear_threshold = linear_threshold * linear_threshold;
+}
+
+
+dReal dBodyGetAutoDisableAngularThreshold (dBodyID b)
+{
+	dAASSERT(b);
+	return dSqrt (b->adis.angular_threshold);
+}
+
+
+void dBodySetAutoDisableAngularThreshold (dBodyID b, dReal angular_threshold)
+{
+	dAASSERT(b);
+	b->adis.angular_threshold = angular_threshold * angular_threshold;
+}
+
+
+int dBodyGetAutoDisableSteps (dBodyID b)
+{
+	dAASSERT(b);
+	return b->adis.idle_steps;
+}
+
+
+void dBodySetAutoDisableSteps (dBodyID b, int steps)
+{
+	dAASSERT(b);
+	b->adis.idle_steps = steps;
+}
+
+
+dReal dBodyGetAutoDisableTime (dBodyID b)
+{
+	dAASSERT(b);
+	return b->adis.idle_time;
+}
+
+
+void dBodySetAutoDisableTime (dBodyID b, dReal time)
+{
+	dAASSERT(b);
+	b->adis.idle_time = time;
+}
+
+
+int dBodyGetAutoDisableFlag (dBodyID b)
+{
+	dAASSERT(b);
+	return ((b->flags & dxBodyAutoDisable) != 0);
+}
+
+
+void dBodySetAutoDisableFlag (dBodyID b, int do_auto_disable)
+{
+	dAASSERT(b);
+	if (!do_auto_disable) b->flags &= ~dxBodyAutoDisable;
+	else b->flags |= dxBodyAutoDisable;
+}
+
+
+void dBodySetAutoDisableDefaults (dBodyID b)
+{
+	dAASSERT(b);
+	dWorldID w = b->world;
+	dAASSERT(w);
+	b->adis = w->adis;
+	dBodySetAutoDisableFlag (b, w->adis_flag);
+}
+
+//****************************************************************************
+// joints
+
+static void dJointInit (dxWorld *w, dxJoint *j)
+{
+  dIASSERT (w && j);
+  initObject (j,w);
+  j->vtable = 0;
+  j->flags = 0;
+  j->node[0].joint = j;
+  j->node[0].body = 0;
+  j->node[0].next = 0;
+  j->node[1].joint = j;
+  j->node[1].body = 0;
+  j->node[1].next = 0;
+  dSetZero (j->lambda,6);
+  addObjectToList (j,(dObject **) &w->firstjoint);
+  w->nj++;
+}
+
+
+static dxJoint *createJoint (dWorldID w, dJointGroupID group,
+			     dxJoint::Vtable *vtable)
+{
+  dIASSERT (w && vtable);
+  dxJoint *j;
+  if (group) {
+    j = (dxJoint*) group->stack.alloc (vtable->size);
+    group->num++;
+  }
+  else j = (dxJoint*) dAlloc (vtable->size);
+  dJointInit (w,j);
+  j->vtable = vtable;
+  if (group) j->flags |= dJOINT_INGROUP;
+  if (vtable->init) vtable->init (j);
+  j->feedback = 0;
+  return j;
+}
+
+
+dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group)
+{
+  dAASSERT (w);
+  return createJoint (w,group,&__dball_vtable);
+}
+
+
+dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group)
+{
+  dAASSERT (w);
+  return createJoint (w,group,&__dhinge_vtable);
+}
+
+
+dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group)
+{
+  dAASSERT (w);
+  return createJoint (w,group,&__dslider_vtable);
+}
+
+
+dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group,
+			       const dContact *c)
+{
+  dAASSERT (w && c);
+  dxJointContact *j = (dxJointContact *)
+    createJoint (w,group,&__dcontact_vtable);
+  j->contact = *c;
+  return j;
+}
+
+
+dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group)
+{
+  dAASSERT (w);
+  return createJoint (w,group,&__dhinge2_vtable);
+}
+
+
+dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group)
+{
+  dAASSERT (w);
+  return createJoint (w,group,&__duniversal_vtable);
+}
+
+
+dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group)
+{
+  dAASSERT (w);
+  return createJoint (w,group,&__dfixed_vtable);
+}
+
+
+dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group)
+{
+  dAASSERT (w);
+  return createJoint (w,group,&__dnull_vtable);
+}
+
+
+dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group)
+{
+  dAASSERT (w);
+  return createJoint (w,group,&__damotor_vtable);
+}
+
+
+void dJointDestroy (dxJoint *j)
+{
+  dAASSERT (j);
+  if (j->flags & dJOINT_INGROUP) return;
+  removeJointReferencesFromAttachedBodies (j);
+  removeObjectFromList (j);
+  j->world->nj--;
+  dFree (j,j->vtable->size);
+}
+
+
+dJointGroupID dJointGroupCreate (int max_size)
+{
+  // not any more ... dUASSERT (max_size > 0,"max size must be > 0");
+  dxJointGroup *group = new dxJointGroup;
+  group->num = 0;
+  return group;
+}
+
+
+void dJointGroupDestroy (dJointGroupID group)
+{
+  dAASSERT (group);
+  dJointGroupEmpty (group);
+  delete group;
+}
+
+
+void dJointGroupEmpty (dJointGroupID group)
+{
+  // the joints in this group are detached starting from the most recently
+  // added (at the top of the stack). this helps ensure that the various
+  // linked lists are not traversed too much, as the joints will hopefully
+  // be at the start of those lists.
+  // if any group joints have their world pointer set to 0, their world was
+  // previously destroyed. no special handling is required for these joints.
+
+  dAASSERT (group);
+  int i;
+  dxJoint **jlist = (dxJoint**) ALLOCA (group->num * sizeof(dxJoint*));
+  dxJoint *j = (dxJoint*) group->stack.rewind();
+  for (i=0; i < group->num; i++) {
+    jlist[i] = j;
+    j = (dxJoint*) (group->stack.next (j->vtable->size));
+  }
+  for (i=group->num-1; i >= 0; i--) {
+    if (jlist[i]->world) {
+      removeJointReferencesFromAttachedBodies (jlist[i]);
+      removeObjectFromList (jlist[i]);
+      jlist[i]->world->nj--;
+    }
+  }
+  group->num = 0;
+  group->stack.freeAll();
+}
+
+
+void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2)
+{
+  // check arguments
+  dUASSERT (joint,"bad joint argument");
+  dUASSERT (body1 == 0 || body1 != body2,"can't have body1==body2");
+  dxWorld *world = joint->world;
+  dUASSERT ( (!body1 || body1->world == world) &&
+	     (!body2 || body2->world == world),
+	     "joint and bodies must be in same world");
+
+  // check if the joint can not be attached to just one body
+  dUASSERT (!((joint->flags & dJOINT_TWOBODIES) &&
+	      ((body1 != 0) ^ (body2 != 0))),
+	    "joint can not be attached to just one body");
+
+  // remove any existing body attachments
+  if (joint->node[0].body || joint->node[1].body) {
+    removeJointReferencesFromAttachedBodies (joint);
+  }
+
+  // if a body is zero, make sure that it is body2, so 0 --> node[1].body
+  if (body1==0) {
+    body1 = body2;
+    body2 = 0;
+    joint->flags |= dJOINT_REVERSE;
+  }
+  else {
+    joint->flags &= (~dJOINT_REVERSE);
+  }
+
+  // attach to new bodies
+  joint->node[0].body = body1;
+  joint->node[1].body = body2;
+  if (body1) {
+    joint->node[1].next = body1->firstjoint;
+    body1->firstjoint = &joint->node[1];
+  }
+  else joint->node[1].next = 0;
+  if (body2) {
+    joint->node[0].next = body2->firstjoint;
+    body2->firstjoint = &joint->node[0];
+  }
+  else {
+    joint->node[0].next = 0;
+  }
+}
+
+
+void dJointSetData (dxJoint *joint, void *data)
+{
+  dAASSERT (joint);
+  joint->userdata = data;
+}
+
+
+void *dJointGetData (dxJoint *joint)
+{
+  dAASSERT (joint);
+  return joint->userdata;
+}
+
+
+int dJointGetType (dxJoint *joint)
+{
+  dAASSERT (joint);
+  return joint->vtable->typenum;
+}
+
+
+dBodyID dJointGetBody (dxJoint *joint, int index)
+{
+  dAASSERT (joint);
+  if (index == 0 || index == 1) {
+    if (joint->flags & dJOINT_REVERSE) return joint->node[1-index].body;
+    else return joint->node[index].body;
+  }
+  else return 0;
+}
+
+
+void dJointSetFeedback (dxJoint *joint, dJointFeedback *f)
+{
+  dAASSERT (joint);
+  joint->feedback = f;
+}
+
+
+dJointFeedback *dJointGetFeedback (dxJoint *joint)
+{
+  dAASSERT (joint);
+  return joint->feedback;
+}
+
+
+int dAreConnected (dBodyID b1, dBodyID b2)
+{
+  dAASSERT (b1 && b2);
+  // look through b1's neighbour list for b2
+  for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
+    if (n->body == b2) return 1;
+  }
+  return 0;
+}
+
+
+int dAreConnectedExcluding (dBodyID b1, dBodyID b2, int joint_type)
+{
+  dAASSERT (b1 && b2);
+  // look through b1's neighbour list for b2
+  for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
+    if (dJointGetType (n->joint) != joint_type && n->body == b2) return 1;
+  }
+  return 0;
+}
+
+//****************************************************************************
+// world
+
+dxWorld * dWorldCreate()
+{
+  dxWorld *w = new dxWorld;
+  w->firstbody = 0;
+  w->firstjoint = 0;
+  w->nb = 0;
+  w->nj = 0;
+  dSetZero (w->gravity,4);
+  w->global_erp = REAL(0.2);
+#if defined(dSINGLE)
+  w->global_cfm = 1e-5f;
+#elif defined(dDOUBLE)
+  w->global_cfm = 1e-10;
+#else
+  #error dSINGLE or dDOUBLE must be defined
+#endif
+
+  w->adis.linear_threshold = REAL(0.001)*REAL(0.001);	// (magnitude squared)
+  w->adis.angular_threshold = REAL(0.001)*REAL(0.001);	// (magnitude squared)
+  w->adis.idle_steps = 10;
+  w->adis.idle_time = 0;
+  w->adis_flag = 0;
+
+  w->qs.num_iterations = 20;
+  w->qs.w = REAL(1.3);
+
+  w->contactp.max_vel = dInfinity;
+  w->contactp.min_depth = 0;
+
+  return w;
+}
+
+
+void dWorldDestroy (dxWorld *w)
+{
+  // delete all bodies and joints
+  dAASSERT (w);
+  dxBody *nextb, *b = w->firstbody;
+  while (b) {
+    nextb = (dxBody*) b->next;
+    delete b;
+    b = nextb;
+  }
+  dxJoint *nextj, *j = w->firstjoint;
+  while (j) {
+    nextj = (dxJoint*)j->next;
+    if (j->flags & dJOINT_INGROUP) {
+      // the joint is part of a group, so "deactivate" it instead
+      j->world = 0;
+      j->node[0].body = 0;
+      j->node[0].next = 0;
+      j->node[1].body = 0;
+      j->node[1].next = 0;
+      dMessage (0,"warning: destroying world containing grouped joints");
+    }
+    else {
+      dFree (j,j->vtable->size);
+    }
+    j = nextj;
+  }
+  delete w;
+}
+
+
+void dWorldSetGravity (dWorldID w, dReal x, dReal y, dReal z)
+{
+  dAASSERT (w);
+  w->gravity[0] = x;
+  w->gravity[1] = y;
+  w->gravity[2] = z;
+}
+
+
+void dWorldGetGravity (dWorldID w, dVector3 g)
+{
+  dAASSERT (w);
+  g[0] = w->gravity[0];
+  g[1] = w->gravity[1];
+  g[2] = w->gravity[2];
+}
+
+
+void dWorldSetERP (dWorldID w, dReal erp)
+{
+  dAASSERT (w);
+  w->global_erp = erp;
+}
+
+
+dReal dWorldGetERP (dWorldID w)
+{
+  dAASSERT (w);
+  return w->global_erp;
+}
+
+
+void dWorldSetCFM (dWorldID w, dReal cfm)
+{
+  dAASSERT (w);
+  w->global_cfm = cfm;
+}
+
+
+dReal dWorldGetCFM (dWorldID w)
+{
+  dAASSERT (w);
+  return w->global_cfm;
+}
+
+
+void dWorldStep (dWorldID w, dReal stepsize)
+{
+  dUASSERT (w,"bad world argument");
+  dUASSERT (stepsize > 0,"stepsize must be > 0");
+  dxProcessIslands (w,stepsize,&dInternalStepIsland);
+}
+
+
+void dWorldQuickStep (dWorldID w, dReal stepsize)
+{
+  dUASSERT (w,"bad world argument");
+  dUASSERT (stepsize > 0,"stepsize must be > 0");
+  dxProcessIslands (w,stepsize,&dxQuickStepper);
+}
+
+
+void dWorldImpulseToForce (dWorldID w, dReal stepsize,
+			   dReal ix, dReal iy, dReal iz,
+			   dVector3 force)
+{
+  dAASSERT (w);
+  stepsize = dRecip(stepsize);
+  force[0] = stepsize * ix;
+  force[1] = stepsize * iy;
+  force[2] = stepsize * iz;
+  // @@@ force[3] = 0;
+}
+
+
+// world auto-disable functions
+
+dReal dWorldGetAutoDisableLinearThreshold (dWorldID w)
+{
+	dAASSERT(w);
+	return dSqrt (w->adis.linear_threshold);
+}
+
+
+void dWorldSetAutoDisableLinearThreshold (dWorldID w, dReal linear_threshold)
+{
+	dAASSERT(w);
+	w->adis.linear_threshold = linear_threshold * linear_threshold;
+}
+
+
+dReal dWorldGetAutoDisableAngularThreshold (dWorldID w)
+{
+	dAASSERT(w);
+	return dSqrt (w->adis.angular_threshold);
+}
+
+
+void dWorldSetAutoDisableAngularThreshold (dWorldID w, dReal angular_threshold)
+{
+	dAASSERT(w);
+	w->adis.angular_threshold = angular_threshold * angular_threshold;
+}
+
+
+int dWorldGetAutoDisableSteps (dWorldID w)
+{
+	dAASSERT(w);
+	return w->adis.idle_steps;
+}
+
+
+void dWorldSetAutoDisableSteps (dWorldID w, int steps)
+{
+	dAASSERT(w);
+	w->adis.idle_steps = steps;
+}
+
+
+dReal dWorldGetAutoDisableTime (dWorldID w)
+{
+	dAASSERT(w);
+	return w->adis.idle_time;
+}
+
+
+void dWorldSetAutoDisableTime (dWorldID w, dReal time)
+{
+	dAASSERT(w);
+	w->adis.idle_time = time;
+}
+
+
+int dWorldGetAutoDisableFlag (dWorldID w)
+{
+	dAASSERT(w);
+	return w->adis_flag;
+}
+
+
+void dWorldSetAutoDisableFlag (dWorldID w, int do_auto_disable)
+{
+	dAASSERT(w);
+	w->adis_flag = (do_auto_disable != 0);
+}
+
+
+void dWorldSetQuickStepNumIterations (dWorldID w, int num)
+{
+	dAASSERT(w);
+	w->qs.num_iterations = num;
+}
+
+
+int dWorldGetQuickStepNumIterations (dWorldID w)
+{
+	dAASSERT(w);
+	return w->qs.num_iterations;
+}
+
+
+void dWorldSetQuickStepW (dWorldID w, dReal param)
+{
+	dAASSERT(w);
+	w->qs.w = param;
+}
+
+
+dReal dWorldGetQuickStepW (dWorldID w)
+{
+	dAASSERT(w);
+	return w->qs.w;
+}
+
+
+void dWorldSetContactMaxCorrectingVel (dWorldID w, dReal vel)
+{
+	dAASSERT(w);
+	w->contactp.max_vel = vel;
+}
+
+
+dReal dWorldGetContactMaxCorrectingVel (dWorldID w)
+{
+	dAASSERT(w);
+	return w->contactp.max_vel;
+}
+
+
+void dWorldSetContactSurfaceLayer (dWorldID w, dReal depth)
+{
+	dAASSERT(w);
+	w->contactp.min_depth = depth;
+}
+
+
+dReal dWorldGetContactSurfaceLayer (dWorldID w)
+{
+	dAASSERT(w);
+	return w->contactp.min_depth;
+}
+
+//****************************************************************************
+// testing
+
+#define NUM 100
+
+#define DO(x)
+
+
+extern "C" void dTestDataStructures()
+{
+  int i;
+  DO(printf ("testDynamicsStuff()\n"));
+
+  dBodyID body [NUM];
+  int nb = 0;
+  dJointID joint [NUM];
+  int nj = 0;
+
+  for (i=0; i<NUM; i++) body[i] = 0;
+  for (i=0; i<NUM; i++) joint[i] = 0;
+
+  DO(printf ("creating world\n"));
+  dWorldID w = dWorldCreate();
+  checkWorld (w);
+
+  for (;;) {
+    if (nb < NUM && dRandReal() > 0.5) {
+      DO(printf ("creating body\n"));
+      body[nb] = dBodyCreate (w);
+      DO(printf ("\t--> %p\n",body[nb]));
+      nb++;
+      checkWorld (w);
+      DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
+    }
+    if (nj < NUM && nb > 2 && dRandReal() > 0.5) {
+      dBodyID b1 = body [dRand() % nb];
+      dBodyID b2 = body [dRand() % nb];
+      if (b1 != b2) {
+	DO(printf ("creating joint, attaching to %p,%p\n",b1,b2));
+	joint[nj] = dJointCreateBall (w,0);
+	DO(printf ("\t-->%p\n",joint[nj]));
+	checkWorld (w);
+	dJointAttach (joint[nj],b1,b2);
+	nj++;
+	checkWorld (w);
+	DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
+      }
+    }
+    if (nj > 0 && nb > 2 && dRandReal() > 0.5) {
+      dBodyID b1 = body [dRand() % nb];
+      dBodyID b2 = body [dRand() % nb];
+      if (b1 != b2) {
+	int k = dRand() % nj;
+	DO(printf ("reattaching joint %p\n",joint[k]));
+	dJointAttach (joint[k],b1,b2);
+	checkWorld (w);
+	DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
+      }
+    }
+    if (nb > 0 && dRandReal() > 0.5) {
+      int k = dRand() % nb;
+      DO(printf ("destroying body %p\n",body[k]));
+      dBodyDestroy (body[k]);
+      checkWorld (w);
+      for (; k < (NUM-1); k++) body[k] = body[k+1];
+      nb--;
+      DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
+    }
+    if (nj > 0 && dRandReal() > 0.5) {
+      int k = dRand() % nj;
+      DO(printf ("destroying joint %p\n",joint[k]));
+      dJointDestroy (joint[k]);
+      checkWorld (w);
+      for (; k < (NUM-1); k++) joint[k] = joint[k+1];
+      nj--;
+      DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
+    }
+  }
+
+  /*
+  printf ("creating world\n");
+  dWorldID w = dWorldCreate();
+  checkWorld (w);
+  printf ("creating body\n");
+  dBodyID b1 = dBodyCreate (w);
+  checkWorld (w);
+  printf ("creating body\n");
+  dBodyID b2 = dBodyCreate (w);
+  checkWorld (w);
+  printf ("creating joint\n");
+  dJointID j = dJointCreateBall (w);
+  checkWorld (w);
+  printf ("attaching joint\n");
+  dJointAttach (j,b1,b2);
+  checkWorld (w);
+  printf ("destroying joint\n");
+  dJointDestroy (j);
+  checkWorld (w);
+  printf ("destroying body\n");
+  dBodyDestroy (b1);
+  checkWorld (w);
+  printf ("destroying body\n");
+  dBodyDestroy (b2);
+  checkWorld (w);
+  printf ("destroying world\n");
+  dWorldDestroy (w);
+  */
+}
diff -Naur xmoto-0.1.10/src/ode/s/odemath.cpp xmoto-0.1.10-patched/src/ode/s/odemath.cpp
--- xmoto-0.1.10/src/ode/s/odemath.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/odemath.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,156 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/common.h>
+#include <ode/odemath.h>
+
+
+// this may be called for vectors `a' with extremely small magnitude, for
+// example the result of a cross product on two nearly perpendicular vectors.
+// we must be robust to these small vectors. to prevent numerical error,
+// first find the component a[i] with the largest magnitude and then scale
+// all the components by 1/a[i]. then we can compute the length of `a' and
+// scale the components by 1/l. this has been verified to work with vectors
+// containing the smallest representable numbers.
+
+void dNormalize3 (dVector3 a)
+{
+  dReal a0,a1,a2,aa0,aa1,aa2,l;
+  dAASSERT (a);
+  a0 = a[0];
+  a1 = a[1];
+  a2 = a[2];
+  aa0 = dFabs(a0);
+  aa1 = dFabs(a1);
+  aa2 = dFabs(a2);
+  if (aa1 > aa0) {
+    if (aa2 > aa1) {
+      goto aa2_largest;
+    }
+    else {		// aa1 is largest
+      a0 /= aa1;
+      a2 /= aa1;
+      l = dRecipSqrt (a0*a0 + a2*a2 + 1);
+      a[0] = a0*l;
+      a[1] = dCopySign(l,a1);
+      a[2] = a2*l;
+    }
+  }
+  else {
+    if (aa2 > aa0) {
+      aa2_largest:	// aa2 is largest
+      a0 /= aa2;
+      a1 /= aa2;
+      l = dRecipSqrt (a0*a0 + a1*a1 + 1);
+      a[0] = a0*l;
+      a[1] = a1*l;
+      a[2] = dCopySign(l,a2);
+    }
+    else {		// aa0 is largest
+      if (aa0 <= 0) {
+	// dDEBUGMSG ("vector has zero size"); ... this messace is annoying
+	a[0] = 1;	// if all a's are zero, this is where we'll end up.
+	a[1] = 0;	// return a default unit length vector.
+	a[2] = 0;
+	return;
+      }
+      a1 /= aa0;
+      a2 /= aa0;
+      l = dRecipSqrt (a1*a1 + a2*a2 + 1);
+      a[0] = dCopySign(l,a0);
+      a[1] = a1*l;
+      a[2] = a2*l;
+    }
+  }
+}
+
+
+/* OLD VERSION */
+/*
+void dNormalize3 (dVector3 a)
+{
+  dASSERT (a);
+  dReal l = dDOT(a,a);
+  if (l > 0) {
+    l = dRecipSqrt(l);
+    a[0] *= l;
+    a[1] *= l;
+    a[2] *= l;
+  }
+  else {
+    a[0] = 1;
+    a[1] = 0;
+    a[2] = 0;
+  }
+}
+*/
+
+
+void dNormalize4 (dVector4 a)
+{
+  dAASSERT (a);
+  dReal l = dDOT(a,a)+a[3]*a[3];
+  if (l > 0) {
+    l = dRecipSqrt(l);
+    a[0] *= l;
+    a[1] *= l;
+    a[2] *= l;
+    a[3] *= l;
+  }
+  else {
+    dDEBUGMSG ("vector has zero size");
+    a[0] = 1;
+    a[1] = 0;
+    a[2] = 0;
+    a[3] = 0;
+  }
+}
+
+
+void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q)
+{
+  dAASSERT (n && p && q);
+  if (dFabs(n[2]) > M_SQRT1_2) {
+    // choose p in y-z plane
+    dReal a = n[1]*n[1] + n[2]*n[2];
+    dReal k = dRecipSqrt (a);
+    p[0] = 0;
+    p[1] = -n[2]*k;
+    p[2] = n[1]*k;
+    // set q = n x p
+    q[0] = a*k;
+    q[1] = -n[0]*p[2];
+    q[2] = n[0]*p[1];
+  }
+  else {
+    // choose p in x-y plane
+    dReal a = n[0]*n[0] + n[1]*n[1];
+    dReal k = dRecipSqrt (a);
+    p[0] = -n[1]*k;
+    p[1] = n[0]*k;
+    p[2] = 0;
+    // set q = n x p
+    q[0] = -n[2]*p[1];
+    q[1] = n[2]*p[0];
+    q[2] = a*k;
+  }
+}
diff -Naur xmoto-0.1.10/src/ode/s/quickstep.cpp xmoto-0.1.10-patched/src/ode/s/quickstep.cpp
--- xmoto-0.1.10/src/ode/s/quickstep.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/quickstep.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,787 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include "objects.h"
+#include "joint.h"
+#include <ode/config.h>
+#include <ode/odemath.h>
+#include <ode/rotation.h>
+#include <ode/timer.h>
+#include <ode/error.h>
+#include <ode/matrix.h>
+#include <ode/misc.h>
+#include "lcp.h"
+#include "util.h"
+
+#define ALLOCA dALLOCA16
+
+typedef const dReal *dRealPtr;
+typedef dReal *dRealMutablePtr;
+#define dRealArray(name,n) dReal name[n];
+#define dRealAllocaArray(name,n) dReal *name = (dReal*) ALLOCA ((n)*sizeof(dReal));
+
+//***************************************************************************
+// configuration
+
+// for the SOR and CG methods:
+// uncomment the following line to use warm starting. this definitely
+// help for motor-driven joints. unfortunately it appears to hurt
+// with high-friction contacts using the SOR method. use with care
+
+#define WARM_STARTING 1
+
+
+// for the SOR method:
+// uncomment the following line to determine a new constraint-solving
+// order for each iteration. however, the qsort per iteration is expensive,
+// and the optimal order is somewhat problem dependent. 
+// @@@ try the leaf->root ordering.
+
+//#define REORDER_CONSTRAINTS 1
+
+
+// for the SOR method:
+// uncomment the following line to randomly reorder constraint rows
+// during the solution. depending on the situation, this can help a lot
+// or hardly at all, but it doesn't seem to hurt.
+
+#define RANDOMLY_REORDER_CONSTRAINTS 1
+
+//***************************************************************************
+// testing stuff
+
+#ifdef TIMING
+#define IFTIMING(x) x
+#else
+#define IFTIMING(x) /* */
+#endif
+
+//***************************************************************************
+// various common computations involving the matrix J
+
+// compute iMJ = inv(M)*J'
+
+static void compute_invM_JT (int m, dRealMutablePtr J, dRealMutablePtr iMJ, int *jb,
+	dxBody * const *body, dRealPtr invI)
+{
+	int i,j;
+	dRealMutablePtr iMJ_ptr = iMJ;
+	dRealMutablePtr J_ptr = J;
+	for (i=0; i<m; i++) {
+		int b1 = jb[i*2];	
+		int b2 = jb[i*2+1];
+		dReal k = body[b1]->invMass;
+		for (j=0; j<3; j++) iMJ_ptr[j] = k*J_ptr[j];
+		dMULTIPLY0_331 (iMJ_ptr + 3, invI + 12*b1, J_ptr + 3);
+		if (b2 >= 0) {
+			k = body[b2]->invMass;
+			for (j=0; j<3; j++) iMJ_ptr[j+6] = k*J_ptr[j+6];
+			dMULTIPLY0_331 (iMJ_ptr + 9, invI + 12*b2, J_ptr + 9);
+		}
+		J_ptr += 12;
+		iMJ_ptr += 12;
+	}
+}
+
+
+// compute out = inv(M)*J'*in.
+
+static void multiply_invM_JT (int m, int nb, dRealMutablePtr iMJ, int *jb,
+	dRealMutablePtr in, dRealMutablePtr out)
+{
+	int i,j;
+	dSetZero (out,6*nb);
+	dRealPtr iMJ_ptr = iMJ;
+	for (i=0; i<m; i++) {
+		int b1 = jb[i*2];	
+		int b2 = jb[i*2+1];
+		dRealMutablePtr out_ptr = out + b1*6;
+		for (j=0; j<6; j++) out_ptr[j] += iMJ_ptr[j] * in[i];
+		iMJ_ptr += 6;
+		if (b2 >= 0) {
+			out_ptr = out + b2*6;
+			for (j=0; j<6; j++) out_ptr[j] += iMJ_ptr[j] * in[i];
+		}
+		iMJ_ptr += 6;
+	}
+}
+
+
+// compute out = J*in.
+
+static void multiply_J (int m, dRealMutablePtr J, int *jb,
+	dRealMutablePtr in, dRealMutablePtr out)
+{
+	int i,j;
+	dRealPtr J_ptr = J;
+	for (i=0; i<m; i++) {
+		int b1 = jb[i*2];	
+		int b2 = jb[i*2+1];
+		dReal sum = 0;
+		dRealMutablePtr in_ptr = in + b1*6;
+		for (j=0; j<6; j++) sum += J_ptr[j] * in_ptr[j];				
+		J_ptr += 6;
+		if (b2 >= 0) {
+			in_ptr = in + b2*6;
+			for (j=0; j<6; j++) sum += J_ptr[j] * in_ptr[j];				
+		}
+		J_ptr += 6;
+		out[i] = sum;
+	}
+}
+
+
+// compute out = (J*inv(M)*J' + cfm)*in.
+// use z as an nb*6 temporary.
+
+static void multiply_J_invM_JT (int m, int nb, dRealMutablePtr J, dRealMutablePtr iMJ, int *jb,
+	dRealPtr cfm, dRealMutablePtr z, dRealMutablePtr in, dRealMutablePtr out)
+{
+	multiply_invM_JT (m,nb,iMJ,jb,in,z);
+	multiply_J (m,J,jb,z,out);
+
+	// add cfm
+	for (int i=0; i<m; i++) out[i] += cfm[i] * in[i];
+}
+
+//***************************************************************************
+// conjugate gradient method with jacobi preconditioner
+// THIS IS EXPERIMENTAL CODE that doesn't work too well, so it is ifdefed out.
+//
+// adding CFM seems to be critically important to this method.
+
+#if 0
+
+static inline dReal dot (int n, dRealPtr x, dRealPtr y)
+{
+	dReal sum=0;
+	for (int i=0; i<n; i++) sum += x[i]*y[i];
+	return sum;
+}
+
+
+// x = y + z*alpha
+
+static inline void add (int n, dRealMutablePtr x, dRealPtr y, dRealPtr z, dReal alpha)
+{
+	for (int i=0; i<n; i++) x[i] = y[i] + z[i]*alpha;
+}
+
+
+static void CG_LCP (int m, int nb, dRealMutablePtr J, int *jb, dxBody * const *body,
+	dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr fc, dRealMutablePtr b,
+	dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
+	dxQuickStepParameters *qs)
+{
+	int i,j;
+	const int num_iterations = qs->num_iterations;
+
+	// precompute iMJ = inv(M)*J'
+	dRealAllocaArray (iMJ,m*12);
+	compute_invM_JT (m,J,iMJ,jb,body,invI);
+
+	dReal last_rho = 0;
+	dRealAllocaArray (r,m);
+	dRealAllocaArray (z,m);
+	dRealAllocaArray (p,m);
+	dRealAllocaArray (q,m);
+
+	// precompute 1 / diagonals of A
+	dRealAllocaArray (Ad,m);
+	dRealPtr iMJ_ptr = iMJ;
+	dRealPtr J_ptr = J;
+	for (i=0; i<m; i++) {
+		dReal sum = 0;
+		for (j=0; j<6; j++) sum += iMJ_ptr[j] * J_ptr[j];
+		if (jb[i*2+1] >= 0) {
+			for (j=6; j<12; j++) sum += iMJ_ptr[j] * J_ptr[j];
+		}
+		iMJ_ptr += 12;
+		J_ptr += 12;
+		Ad[i] = REAL(1.0) / (sum + cfm[i]);
+	}
+
+#ifdef WARM_STARTING
+	// compute residual r = b - A*lambda
+	multiply_J_invM_JT (m,nb,J,iMJ,jb,cfm,fc,lambda,r);
+	for (i=0; i<m; i++) r[i] = b[i] - r[i];
+#else
+	dSetZero (lambda,m);
+	memcpy (r,b,m*sizeof(dReal));		// residual r = b - A*lambda
+#endif
+	
+	for (int iteration=0; iteration < num_iterations; iteration++) {
+		for (i=0; i<m; i++) z[i] = r[i]*Ad[i];	// z = inv(M)*r
+		dReal rho = dot (m,r,z);		// rho = r'*z
+		
+		// @@@
+		// we must check for convergence, otherwise rho will go to 0 if
+		// we get an exact solution, which will introduce NaNs into the equations.
+		if (rho < 1e-10) {
+			printf ("CG returned at iteration %d\n",iteration);
+			break;
+		}
+		
+		if (iteration==0) {
+			memcpy (p,z,m*sizeof(dReal));	// p = z
+		}
+		else {
+			add (m,p,z,p,rho/last_rho);	// p = z + (rho/last_rho)*p
+		}
+		
+		// compute q = (J*inv(M)*J')*p
+		multiply_J_invM_JT (m,nb,J,iMJ,jb,cfm,fc,p,q);
+	
+		dReal alpha = rho/dot (m,p,q);		// alpha = rho/(p'*q)
+		add (m,lambda,lambda,p,alpha);		// lambda = lambda + alpha*p
+		add (m,r,r,q,-alpha);			// r = r - alpha*q
+		last_rho = rho;
+	}
+
+	// compute fc = inv(M)*J'*lambda
+	multiply_invM_JT (m,nb,iMJ,jb,lambda,fc);
+
+#if 0
+	// measure solution error
+	multiply_J_invM_JT (m,nb,J,iMJ,jb,cfm,fc,lambda,r);
+	dReal error = 0;
+	for (i=0; i<m; i++) error += dFabs(r[i] - b[i]);
+	printf ("lambda error = %10.6e\n",error);
+#endif
+}
+
+#endif
+
+//***************************************************************************
+// SOR-LCP method
+
+// nb is the number of bodies in the body array.
+// J is an m*12 matrix of constraint rows
+// jb is an array of first and second body numbers for each constraint row
+// invI is the global frame inverse inertia for each body (stacked 3x3 matrices)
+//
+// this returns lambda and fc (the constraint force).
+// note: fc is returned as inv(M)*J'*lambda, the constraint force is actually J'*lambda
+//
+// b, lo and hi are modified on exit
+
+
+struct IndexError {
+	dReal error;		// error to sort on
+	int findex;
+	int index;		// row index
+};
+
+
+#ifdef REORDER_CONSTRAINTS
+
+static int compare_index_error (const void *a, const void *b)
+{
+	const IndexError *i1 = (IndexError*) a;
+	const IndexError *i2 = (IndexError*) b;
+	if (i1->findex < 0 && i2->findex >= 0) return -1;
+	if (i1->findex >= 0 && i2->findex < 0) return 1;
+	if (i1->error < i2->error) return -1;
+	if (i1->error > i2->error) return 1;
+	return 0;
+}
+
+#endif
+
+
+static void SOR_LCP (int m, int nb, dRealMutablePtr J, int *jb, dxBody * const *body,
+	dRealPtr invI, dRealMutablePtr lambda, dRealMutablePtr fc, dRealMutablePtr b,
+	dRealMutablePtr lo, dRealMutablePtr hi, dRealPtr cfm, int *findex,
+	dxQuickStepParameters *qs)
+{
+	const int num_iterations = qs->num_iterations;
+	const dReal sor_w = qs->w;		// SOR over-relaxation parameter
+
+	int i,j;
+
+#ifdef WARM_STARTING
+	// for warm starting, this seems to be necessary to prevent
+	// jerkiness in motor-driven joints. i have no idea why this works.
+	for (i=0; i<m; i++) lambda[i] *= 0.9;
+#else
+	dSetZero (lambda,m);
+#endif
+
+	// the lambda computed at the previous iteration.
+	// this is used to measure error for when we are reordering the indexes.
+	dRealAllocaArray (last_lambda,m);
+
+	// a copy of the 'hi' vector in case findex[] is being used
+	dRealAllocaArray (hicopy,m);
+	memcpy (hicopy,hi,m*sizeof(dReal));
+
+	// precompute iMJ = inv(M)*J'
+	dRealAllocaArray (iMJ,m*12);
+	compute_invM_JT (m,J,iMJ,jb,body,invI);
+
+	// compute fc=(inv(M)*J')*lambda. we will incrementally maintain fc
+	// as we change lambda.
+#ifdef WARM_STARTING
+	multiply_invM_JT (m,nb,iMJ,jb,lambda,fc);
+#else
+	dSetZero (fc,nb*6);
+#endif
+
+	// precompute 1 / diagonals of A
+	dRealAllocaArray (Ad,m);
+	dRealPtr iMJ_ptr = iMJ;
+	dRealMutablePtr J_ptr = J;
+	for (i=0; i<m; i++) {
+		dReal sum = 0;
+		for (j=0; j<6; j++) sum += iMJ_ptr[j] * J_ptr[j];
+		if (jb[i*2+1] >= 0) {
+			for (j=6; j<12; j++) sum += iMJ_ptr[j] * J_ptr[j];
+		}
+		iMJ_ptr += 12;
+		J_ptr += 12;
+		Ad[i] = sor_w / (sum + cfm[i]);
+	}
+
+	// scale J and b by Ad
+	J_ptr = J;
+	for (i=0; i<m; i++) {
+		for (j=0; j<12; j++) {
+			J_ptr[0] *= Ad[i];
+			J_ptr++;
+		}
+		b[i] *= Ad[i];
+	}
+
+	// scale Ad by CFM
+	for (i=0; i<m; i++) Ad[i] *= cfm[i];
+
+	// order to solve constraint rows in
+	IndexError *order = (IndexError*) alloca (m*sizeof(IndexError));
+
+#ifndef REORDER_CONSTRAINTS
+	// make sure constraints with findex < 0 come first.
+	j=0;
+	for (i=0; i<m; i++) if (findex[i] < 0) order[j++].index = i;
+	for (i=0; i<m; i++) if (findex[i] >= 0) order[j++].index = i;
+	dIASSERT (j==m);
+#endif
+
+	for (int iteration=0; iteration < num_iterations; iteration++) {
+
+#ifdef REORDER_CONSTRAINTS
+		// constraints with findex < 0 always come first.
+		if (iteration < 2) {
+			// for the first two iterations, solve the constraints in
+			// the given order
+			for (i=0; i<m; i++) {
+				order[i].error = i;
+				order[i].findex = findex[i];
+				order[i].index = i;
+			}
+		}
+		else {
+			// sort the constraints so that the ones converging slowest
+			// get solved last. use the absolute (not relative) error.
+			for (i=0; i<m; i++) {
+				dReal v1 = dFabs (lambda[i]);
+				dReal v2 = dFabs (last_lambda[i]);
+				dReal max = (v1 > v2) ? v1 : v2;
+				if (max > 0) {
+					//@@@ relative error: order[i].error = dFabs(lambda[i]-last_lambda[i])/max;
+					order[i].error = dFabs(lambda[i]-last_lambda[i]);
+				}
+				else {
+					order[i].error = dInfinity;
+				}
+				order[i].findex = findex[i];
+				order[i].index = i;
+			}
+		}
+		qsort (order,m,sizeof(IndexError),&compare_index_error);
+#endif
+#ifdef RANDOMLY_REORDER_CONSTRAINTS
+                if ((iteration & 7) == 0) {
+			for (i=1; i<m; ++i) {
+				IndexError tmp = order[i];
+				int swapi = dRandInt(i+1);
+				order[i] = order[swapi];
+				order[swapi] = tmp;
+			}
+                }
+#endif
+
+		//@@@ potential optimization: swap lambda and last_lambda pointers rather
+		//    than copying the data. we must make sure lambda is properly
+		//    returned to the caller
+		memcpy (last_lambda,lambda,m*sizeof(dReal));
+
+		for (int i=0; i<m; i++) {
+			// @@@ potential optimization: we could pre-sort J and iMJ, thereby
+			//     linearizing access to those arrays. hmmm, this does not seem
+			//     like a win, but we should think carefully about our memory
+			//     access pattern.
+		
+			int index = order[i].index;
+			J_ptr = J + index*12;
+			iMJ_ptr = iMJ + index*12;
+		
+			// set the limits for this constraint. note that 'hicopy' is used.
+			// this is the place where the QuickStep method differs from the
+			// direct LCP solving method, since that method only performs this
+			// limit adjustment once per time step, whereas this method performs
+			// once per iteration per constraint row.
+			// the constraints are ordered so that all lambda[] values needed have
+			// already been computed.
+			if (findex[index] >= 0) {
+				hi[index] = dFabs (hicopy[index] * lambda[findex[index]]);
+				lo[index] = -hi[index];
+			}
+
+			int b1 = jb[index*2];
+			int b2 = jb[index*2+1];
+			dReal delta = b[index] - lambda[index]*Ad[index];
+			dRealMutablePtr fc_ptr = fc + 6*b1;
+			
+			// @@@ potential optimization: SIMD-ize this and the b2 >= 0 case
+			delta -=fc_ptr[0] * J_ptr[0] + fc_ptr[1] * J_ptr[1] +
+				fc_ptr[2] * J_ptr[2] + fc_ptr[3] * J_ptr[3] +
+				fc_ptr[4] * J_ptr[4] + fc_ptr[5] * J_ptr[5];
+			// @@@ potential optimization: handle 1-body constraints in a separate
+			//     loop to avoid the cost of test & jump?
+			if (b2 >= 0) {
+				fc_ptr = fc + 6*b2;
+				delta -=fc_ptr[0] * J_ptr[6] + fc_ptr[1] * J_ptr[7] +
+					fc_ptr[2] * J_ptr[8] + fc_ptr[3] * J_ptr[9] +
+					fc_ptr[4] * J_ptr[10] + fc_ptr[5] * J_ptr[11];
+			}
+
+			// compute lambda and clamp it to [lo,hi].
+			// @@@ potential optimization: does SSE have clamping instructions
+			//     to save test+jump penalties here?
+			dReal new_lambda = lambda[index] + delta;
+			if (new_lambda < lo[index]) {
+				delta = lo[index]-lambda[index];
+				lambda[index] = lo[index];
+			}
+			else if (new_lambda > hi[index]) {
+				delta = hi[index]-lambda[index];
+				lambda[index] = hi[index];
+			}
+			else {
+				lambda[index] = new_lambda;
+			}
+
+			//@@@ a trick that may or may not help
+			//dReal ramp = (1-((dReal)(iteration+1)/(dReal)num_iterations));
+			//delta *= ramp;
+		
+			// update fc.
+			// @@@ potential optimization: SIMD for this and the b2 >= 0 case
+			fc_ptr = fc + 6*b1;
+			fc_ptr[0] += delta * iMJ_ptr[0];
+			fc_ptr[1] += delta * iMJ_ptr[1];
+			fc_ptr[2] += delta * iMJ_ptr[2];
+			fc_ptr[3] += delta * iMJ_ptr[3];
+			fc_ptr[4] += delta * iMJ_ptr[4];
+			fc_ptr[5] += delta * iMJ_ptr[5];
+			// @@@ potential optimization: handle 1-body constraints in a separate
+			//     loop to avoid the cost of test & jump?
+			if (b2 >= 0) {
+				fc_ptr = fc + 6*b2;
+				fc_ptr[0] += delta * iMJ_ptr[6];
+				fc_ptr[1] += delta * iMJ_ptr[7];
+				fc_ptr[2] += delta * iMJ_ptr[8];
+				fc_ptr[3] += delta * iMJ_ptr[9];
+				fc_ptr[4] += delta * iMJ_ptr[10];
+				fc_ptr[5] += delta * iMJ_ptr[11];
+			}
+		}
+	}
+}
+
+
+void dxQuickStepper (dxWorld *world, dxBody * const *body, int nb,
+		     dxJoint * const *_joint, int nj, dReal stepsize)
+{
+	int i,j;
+	IFTIMING(dTimerStart("preprocessing");)
+
+	dReal stepsize1 = dRecip(stepsize);
+
+	// number all bodies in the body list - set their tag values
+	for (i=0; i<nb; i++) body[i]->tag = i;
+	
+	// make a local copy of the joint array, because we might want to modify it.
+	// (the "dxJoint *const*" declaration says we're allowed to modify the joints
+	// but not the joint array, because the caller might need it unchanged).
+	//@@@ do we really need to do this? we'll be sorting constraint rows individually, not joints
+	dxJoint **joint = (dxJoint**) alloca (nj * sizeof(dxJoint*));
+	memcpy (joint,_joint,nj * sizeof(dxJoint*));
+	
+	// for all bodies, compute the inertia tensor and its inverse in the global
+	// frame, and compute the rotational force and add it to the torque
+	// accumulator. I and invI are a vertical stack of 3x4 matrices, one per body.
+	dRealAllocaArray (I,3*4*nb);	// need to remember all I's for feedback purposes only
+	dRealAllocaArray (invI,3*4*nb);
+	for (i=0; i<nb; i++) {
+		dMatrix3 tmp;
+		// compute inertia tensor in global frame
+		dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->R);
+		dMULTIPLY0_333 (I+i*12,body[i]->R,tmp);
+		// compute inverse inertia tensor in global frame
+		dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R);
+		dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp);
+		// compute rotational force
+		dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel);
+		dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
+	}
+
+	// add the gravity force to all bodies
+	for (i=0; i<nb; i++) {
+		if ((body[i]->flags & dxBodyNoGravity)==0) {
+			body[i]->facc[0] += body[i]->mass.mass * world->gravity[0];
+			body[i]->facc[1] += body[i]->mass.mass * world->gravity[1];
+			body[i]->facc[2] += body[i]->mass.mass * world->gravity[2];
+		}
+	}
+
+	// get joint information (m = total constraint dimension, nub = number of unbounded variables).
+	// joints with m=0 are inactive and are removed from the joints array
+	// entirely, so that the code that follows does not consider them.
+	//@@@ do we really need to save all the info1's
+	dxJoint::Info1 *info = (dxJoint::Info1*) alloca (nj*sizeof(dxJoint::Info1));
+	for (i=0, j=0; j<nj; j++) {	// i=dest, j=src
+		joint[j]->vtable->getInfo1 (joint[j],info+i);
+		dIASSERT (info[i].m >= 0 && info[i].m <= 6 && info[i].nub >= 0 && info[i].nub <= info[i].m);
+		if (info[i].m > 0) {
+			joint[i] = joint[j];
+			i++;
+		}
+	}
+	nj = i;
+
+	// create the row offset array
+	int m = 0;
+	int *ofs = (int*) alloca (nj*sizeof(int));
+	for (i=0; i<nj; i++) {
+		ofs[i] = m;
+		m += info[i].m;
+	}
+
+	// if there are constraints, compute the constraint force
+	dRealAllocaArray (J,m*12);
+	int *jb = (int*) alloca (m*2*sizeof(int));
+	if (m > 0) {
+		// create a constraint equation right hand side vector `c', a constraint
+		// force mixing vector `cfm', and LCP low and high bound vectors, and an
+		// 'findex' vector.
+		dRealAllocaArray (c,m);
+		dRealAllocaArray (cfm,m);
+		dRealAllocaArray (lo,m);
+		dRealAllocaArray (hi,m);
+		int *findex = (int*) alloca (m*sizeof(int));
+		dSetZero (c,m);
+		dSetValue (cfm,m,world->global_cfm);
+		dSetValue (lo,m,-dInfinity);
+		dSetValue (hi,m, dInfinity);
+		for (i=0; i<m; i++) findex[i] = -1;
+		
+		// get jacobian data from constraints. an m*12 matrix will be created
+		// to store the two jacobian blocks from each constraint. it has this
+		// format:
+		//
+		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 \    .
+		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2  }-- jacobian for joint 0, body 1 and body 2 (3 rows)
+		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 /
+		//   l1 l1 l1 a1 a1 a1 l2 l2 l2 a2 a2 a2 }--- jacobian for joint 1, body 1 and body 2 (3 rows)
+		//   etc...
+		//
+		//   (lll) = linear jacobian data
+		//   (aaa) = angular jacobian data
+		//
+		IFTIMING (dTimerNow ("create J");)
+		dSetZero (J,m*12);
+		dxJoint::Info2 Jinfo;
+		Jinfo.rowskip = 12;
+		Jinfo.fps = stepsize1;
+		Jinfo.erp = world->global_erp;
+		for (i=0; i<nj; i++) {
+			Jinfo.J1l = J + ofs[i]*12;
+			Jinfo.J1a = Jinfo.J1l + 3;
+			Jinfo.J2l = Jinfo.J1l + 6;
+			Jinfo.J2a = Jinfo.J1l + 9;
+			Jinfo.c = c + ofs[i];
+			Jinfo.cfm = cfm + ofs[i];
+			Jinfo.lo = lo + ofs[i];
+			Jinfo.hi = hi + ofs[i];
+			Jinfo.findex = findex + ofs[i];
+			joint[i]->vtable->getInfo2 (joint[i],&Jinfo);
+			// adjust returned findex values for global index numbering
+			for (j=0; j<info[i].m; j++) {
+				if (findex[ofs[i] + j] >= 0) findex[ofs[i] + j] += ofs[i];
+			}
+		}
+
+		// create an array of body numbers for each joint row
+		int *jb_ptr = jb;
+		for (i=0; i<nj; i++) {
+			int b1 = (joint[i]->node[0].body) ? (joint[i]->node[0].body->tag) : -1;
+			int b2 = (joint[i]->node[1].body) ? (joint[i]->node[1].body->tag) : -1;
+			for (j=0; j<info[i].m; j++) {
+				jb_ptr[0] = b1;
+				jb_ptr[1] = b2;
+				jb_ptr += 2;
+			}
+		}
+		dIASSERT (jb_ptr == jb+2*m);
+
+		// compute the right hand side `rhs'
+		IFTIMING (dTimerNow ("compute rhs");)
+		dRealAllocaArray (tmp1,nb*6);
+		// put v/h + invM*fe into tmp1
+		for (i=0; i<nb; i++) {
+			dReal body_invMass = body[i]->invMass;
+			for (j=0; j<3; j++) tmp1[i*6+j] = body[i]->facc[j] * body_invMass + body[i]->lvel[j] * stepsize1;
+			dMULTIPLY0_331 (tmp1 + i*6 + 3,invI + i*12,body[i]->tacc);
+			for (j=0; j<3; j++) tmp1[i*6+3+j] += body[i]->avel[j] * stepsize1;
+		}
+
+		// put J*tmp1 into rhs
+		dRealAllocaArray (rhs,m);
+		multiply_J (m,J,jb,tmp1,rhs);
+
+		// complete rhs
+		for (i=0; i<m; i++) rhs[i] = c[i]*stepsize1 - rhs[i];
+
+		// scale CFM
+		for (i=0; i<m; i++) cfm[i] *= stepsize1;
+
+		// load lambda from the value saved on the previous iteration
+		dRealAllocaArray (lambda,m);
+#ifdef WARM_STARTING
+		dSetZero (lambda,m);	//@@@ shouldn't be necessary
+		for (i=0; i<nj; i++) {
+			memcpy (lambda+ofs[i],joint[i]->lambda,info[i].m * sizeof(dReal));
+		}
+#endif
+
+		// solve the LCP problem and get lambda and invM*constraint_force
+		IFTIMING (dTimerNow ("solving LCP problem");)
+		dRealAllocaArray (cforce,nb*6);
+		SOR_LCP (m,nb,J,jb,body,invI,lambda,cforce,rhs,lo,hi,cfm,findex,&world->qs);
+
+#ifdef WARM_STARTING
+		// save lambda for the next iteration
+		//@@@ note that this doesn't work for contact joints yet, as they are
+		// recreated every iteration
+		for (i=0; i<nj; i++) {
+			memcpy (joint[i]->lambda,lambda+ofs[i],info[i].m * sizeof(dReal));
+		}
+#endif
+
+		// note that the SOR method overwrites rhs and J at this point, so
+		// they should not be used again.
+		
+		// add stepsize * cforce to the body velocity
+		for (i=0; i<nb; i++) {
+			for (j=0; j<3; j++) body[i]->lvel[j] += stepsize * cforce[i*6+j];
+			for (j=0; j<3; j++) body[i]->avel[j] += stepsize * cforce[i*6+3+j];
+		}
+
+		// if joint feedback is requested, compute the constraint force.
+		// BUT: cforce is inv(M)*J'*lambda, whereas we want just J'*lambda,
+		// so we must compute M*cforce.
+		// @@@ if any joint has a feedback request we compute the entire
+		//     adjusted cforce, which is not the most efficient way to do it.
+		for (j=0; j<nj; j++) {
+			if (joint[j]->feedback) {
+				// compute adjusted cforce
+				for (i=0; i<nb; i++) {
+					dReal k = body[i]->mass.mass;
+					cforce [i*6+0] *= k;
+					cforce [i*6+1] *= k;
+					cforce [i*6+2] *= k;
+					dVector3 tmp;
+					dMULTIPLY0_331 (tmp, I + 12*i, cforce + i*6 + 3);
+					cforce [i*6+3] = tmp[0];
+					cforce [i*6+4] = tmp[1];
+					cforce [i*6+5] = tmp[2];
+				}
+				// compute feedback for this and all remaining joints
+				for (; j<nj; j++) {
+					dJointFeedback *fb = joint[j]->feedback;
+					if (fb) {
+						int b1 = joint[j]->node[0].body->tag;
+						memcpy (fb->f1,cforce+b1*6,3*sizeof(dReal));
+						memcpy (fb->t1,cforce+b1*6+3,3*sizeof(dReal));
+						if (joint[j]->node[1].body) {
+							int b2 = joint[j]->node[1].body->tag;
+							memcpy (fb->f2,cforce+b2*6,3*sizeof(dReal));
+							memcpy (fb->t2,cforce+b2*6+3,3*sizeof(dReal));
+						}
+					}
+				}
+			}
+		}
+	}
+
+	// compute the velocity update:
+	// add stepsize * invM * fe to the body velocity
+
+	IFTIMING (dTimerNow ("compute velocity update");)
+	for (i=0; i<nb; i++) {
+		dReal body_invMass = body[i]->invMass;
+		for (j=0; j<3; j++) body[i]->lvel[j] += stepsize * body_invMass * body[i]->facc[j];
+		for (j=0; j<3; j++) body[i]->tacc[j] *= stepsize;	
+		dMULTIPLYADD0_331 (body[i]->avel,invI + i*12,body[i]->tacc);
+	}
+
+#if 0
+	// check that the updated velocity obeys the constraint (this check needs unmodified J)
+	dRealAllocaArray (vel,nb*6);
+	for (i=0; i<nb; i++) {
+		for (j=0; j<3; j++) vel[i*6+j] = body[i]->lvel[j];
+		for (j=0; j<3; j++) vel[i*6+3+j] = body[i]->avel[j];
+	}
+	dRealAllocaArray (tmp,m);
+	multiply_J (m,J,jb,vel,tmp);
+	dReal error = 0;
+	for (i=0; i<m; i++) error += dFabs(tmp[i]);
+	printf ("velocity error = %10.6e\n",error);
+#endif
+
+	// update the position and orientation from the new linear/angular velocity
+	// (over the given timestep)
+	IFTIMING (dTimerNow ("update position");)
+	for (i=0; i<nb; i++) dxStepBody (body[i],stepsize);
+
+	IFTIMING (dTimerNow ("tidy up");)
+
+	// zero all force accumulators
+	for (i=0; i<nb; i++) {
+		dSetZero (body[i]->facc,3);
+		dSetZero (body[i]->tacc,3);
+	}
+
+	IFTIMING (dTimerEnd();)
+	IFTIMING (if (m > 0) dTimerReport (stdout,1);)
+}
diff -Naur xmoto-0.1.10/src/ode/s/quickstep.h xmoto-0.1.10-patched/src/ode/s/quickstep.h
--- xmoto-0.1.10/src/ode/s/quickstep.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/quickstep.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,33 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#ifndef _ODE_QUICK_STEP_H_
+#define _ODE_QUICK_STEP_H_
+
+#include <ode/common.h>
+
+
+void dxQuickStepper (dxWorld *world, dxBody * const *body, int nb,
+		     dxJoint * const *_joint, int nj, dReal stepsize);
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/rotation.cpp xmoto-0.1.10-patched/src/ode/s/rotation.cpp
--- xmoto-0.1.10/src/ode/s/rotation.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/rotation.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,304 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+quaternions have the format: (s,vx,vy,vz) where (vx,vy,vz) is the
+"rotation axis" and s is the "rotation angle".
+
+*/
+
+#include <ode/rotation.h>
+#include <ode/odemath.h>
+
+
+#define _R(i,j) R[(i)*4+(j)]
+
+#define SET_3x3_IDENTITY \
+  _R(0,0) = REAL(1.0); \
+  _R(0,1) = REAL(0.0); \
+  _R(0,2) = REAL(0.0); \
+  _R(0,3) = REAL(0.0); \
+  _R(1,0) = REAL(0.0); \
+  _R(1,1) = REAL(1.0); \
+  _R(1,2) = REAL(0.0); \
+  _R(1,3) = REAL(0.0); \
+  _R(2,0) = REAL(0.0); \
+  _R(2,1) = REAL(0.0); \
+  _R(2,2) = REAL(1.0); \
+  _R(2,3) = REAL(0.0);
+
+
+void dRSetIdentity (dMatrix3 R)
+{
+  dAASSERT (R);
+  SET_3x3_IDENTITY;
+}
+
+
+void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
+			 dReal angle)
+{
+  dAASSERT (R);
+  dQuaternion q;
+  dQFromAxisAndAngle (q,ax,ay,az,angle);
+  dQtoR (q,R);
+}
+
+
+void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi)
+{
+  dReal sphi,cphi,stheta,ctheta,spsi,cpsi;
+  dAASSERT (R);
+  sphi = dSin(phi);
+  cphi = dCos(phi);
+  stheta = dSin(theta);
+  ctheta = dCos(theta);
+  spsi = dSin(psi);
+  cpsi = dCos(psi);
+  _R(0,0) = cpsi*ctheta;
+  _R(0,1) = spsi*ctheta;
+  _R(0,2) =-stheta;
+  _R(1,0) = cpsi*stheta*sphi - spsi*cphi;
+  _R(1,1) = spsi*stheta*sphi + cpsi*cphi;
+  _R(1,2) = ctheta*sphi;
+  _R(2,0) = cpsi*stheta*cphi + spsi*sphi;
+  _R(2,1) = spsi*stheta*cphi - cpsi*sphi;
+  _R(2,2) = ctheta*cphi;
+}
+
+
+void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
+		  dReal bx, dReal by, dReal bz)
+{
+  dReal l,k;
+  dAASSERT (R);
+  l = dSqrt (ax*ax + ay*ay + az*az);
+  if (l <= REAL(0.0)) {
+    dDEBUGMSG ("zero length vector");
+    return;
+  }
+  l = dRecip(l);
+  ax *= l;
+  ay *= l;
+  az *= l;
+  k = ax*bx + ay*by + az*bz;
+  bx -= k*ax;
+  by -= k*ay;
+  bz -= k*az;
+  l = dSqrt (bx*bx + by*by + bz*bz);
+  if (l <= REAL(0.0)) {
+    dDEBUGMSG ("zero length vector");
+    return;
+  }
+  l = dRecip(l);
+  bx *= l;
+  by *= l;
+  bz *= l;
+  _R(0,0) = ax;
+  _R(1,0) = ay;
+  _R(2,0) = az;
+  _R(0,1) = bx;
+  _R(1,1) = by;
+  _R(2,1) = bz;
+  _R(0,2) = - by*az + ay*bz;
+  _R(1,2) = - bz*ax + az*bx;
+  _R(2,2) = - bx*ay + ax*by;
+}
+
+
+void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az)
+{
+  dVector3 n,p,q;
+  n[0] = ax;
+  n[1] = ay;
+  n[2] = az;
+  dNormalize3 (n);
+  dPlaneSpace (n,p,q);
+  _R(0,0) = p[0];
+  _R(1,0) = p[1];
+  _R(2,0) = p[2];
+  _R(0,1) = q[0];
+  _R(1,1) = q[1];
+  _R(2,1) = q[2];
+  _R(0,2) = n[0];
+  _R(1,2) = n[1];
+  _R(2,2) = n[2];
+}
+
+
+void dQSetIdentity (dQuaternion q)
+{
+  dAASSERT (q);
+  q[0] = 1;
+  q[1] = 0;
+  q[2] = 0;
+  q[3] = 0;
+}
+
+
+void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
+			 dReal angle)
+{
+  dAASSERT (q);
+  dReal l = ax*ax + ay*ay + az*az;
+  if (l > REAL(0.0)) {
+    angle *= REAL(0.5);
+    q[0] = dCos (angle);
+    l = dSin(angle) * dRecipSqrt(l);
+    q[1] = ax*l;
+    q[2] = ay*l;
+    q[3] = az*l;
+  }
+  else {
+    q[0] = 1;
+    q[1] = 0;
+    q[2] = 0;
+    q[3] = 0;
+  }
+}
+
+
+void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
+{
+  dAASSERT (qa && qb && qc);
+  qa[0] = qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
+  qa[1] = qb[0]*qc[1] + qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
+  qa[2] = qb[0]*qc[2] + qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
+  qa[3] = qb[0]*qc[3] + qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
+}
+
+
+void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
+{
+  dAASSERT (qa && qb && qc);
+  qa[0] = qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3];
+  qa[1] = qb[0]*qc[1] - qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2];
+  qa[2] = qb[0]*qc[2] - qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3];
+  qa[3] = qb[0]*qc[3] - qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1];
+}
+
+
+void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
+{
+  dAASSERT (qa && qb && qc);
+  qa[0] =  qb[0]*qc[0] + qb[1]*qc[1] + qb[2]*qc[2] + qb[3]*qc[3];
+  qa[1] = -qb[0]*qc[1] + qb[1]*qc[0] - qb[2]*qc[3] + qb[3]*qc[2];
+  qa[2] = -qb[0]*qc[2] + qb[2]*qc[0] - qb[3]*qc[1] + qb[1]*qc[3];
+  qa[3] = -qb[0]*qc[3] + qb[3]*qc[0] - qb[1]*qc[2] + qb[2]*qc[1];
+}
+
+
+void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc)
+{
+  dAASSERT (qa && qb && qc);
+  qa[0] =  qb[0]*qc[0] - qb[1]*qc[1] - qb[2]*qc[2] - qb[3]*qc[3];
+  qa[1] = -qb[0]*qc[1] - qb[1]*qc[0] + qb[2]*qc[3] - qb[3]*qc[2];
+  qa[2] = -qb[0]*qc[2] - qb[2]*qc[0] + qb[3]*qc[1] - qb[1]*qc[3];
+  qa[3] = -qb[0]*qc[3] - qb[3]*qc[0] + qb[1]*qc[2] - qb[2]*qc[1];
+}
+
+
+// dRfromQ(), dQfromR() and dDQfromW() are derived from equations in "An Introduction
+// to Physically Based Modeling: Rigid Body Simulation - 1: Unconstrained
+// Rigid Body Dynamics" by David Baraff, Robotics Institute, Carnegie Mellon
+// University, 1997.
+
+void dRfromQ (dMatrix3 R, const dQuaternion q)
+{
+  dAASSERT (q && R);
+  // q = (s,vx,vy,vz)
+  dReal qq1 = 2*q[1]*q[1];
+  dReal qq2 = 2*q[2]*q[2];
+  dReal qq3 = 2*q[3]*q[3];
+  _R(0,0) = 1 - qq2 - qq3;
+  _R(0,1) = 2*(q[1]*q[2] - q[0]*q[3]);
+  _R(0,2) = 2*(q[1]*q[3] + q[0]*q[2]);
+  _R(1,0) = 2*(q[1]*q[2] + q[0]*q[3]);
+  _R(1,1) = 1 - qq1 - qq3;
+  _R(1,2) = 2*(q[2]*q[3] - q[0]*q[1]);
+  _R(2,0) = 2*(q[1]*q[3] - q[0]*q[2]);
+  _R(2,1) = 2*(q[2]*q[3] + q[0]*q[1]);
+  _R(2,2) = 1 - qq1 - qq2;
+}
+
+
+void dQfromR (dQuaternion q, const dMatrix3 R)
+{
+  dAASSERT (q && R);
+  dReal tr,s;
+  tr = _R(0,0) + _R(1,1) + _R(2,2);
+  if (tr >= 0) {
+    s = dSqrt (tr + 1);
+    q[0] = REAL(0.5) * s;
+    s = REAL(0.5) * dRecip(s);
+    q[1] = (_R(2,1) - _R(1,2)) * s;
+    q[2] = (_R(0,2) - _R(2,0)) * s;
+    q[3] = (_R(1,0) - _R(0,1)) * s;
+  }
+  else {
+    // find the largest diagonal element and jump to the appropriate case
+    if (_R(1,1) > _R(0,0)) {
+      if (_R(2,2) > _R(1,1)) goto case_2;
+      goto case_1;
+    }
+    if (_R(2,2) > _R(0,0)) goto case_2;
+    goto case_0;
+
+    case_0:
+    s = dSqrt((_R(0,0) - (_R(1,1) + _R(2,2))) + 1);
+    q[1] = REAL(0.5) * s;
+    s = REAL(0.5) * dRecip(s);
+    q[2] = (_R(0,1) + _R(1,0)) * s;
+    q[3] = (_R(2,0) + _R(0,2)) * s;
+    q[0] = (_R(2,1) - _R(1,2)) * s;
+    return;
+
+    case_1:
+    s = dSqrt((_R(1,1) - (_R(2,2) + _R(0,0))) + 1);
+    q[2] = REAL(0.5) * s;
+    s = REAL(0.5) * dRecip(s);
+    q[3] = (_R(1,2) + _R(2,1)) * s;
+    q[1] = (_R(0,1) + _R(1,0)) * s;
+    q[0] = (_R(0,2) - _R(2,0)) * s;
+    return;
+
+    case_2:
+    s = dSqrt((_R(2,2) - (_R(0,0) + _R(1,1))) + 1);
+    q[3] = REAL(0.5) * s;
+    s = REAL(0.5) * dRecip(s);
+    q[1] = (_R(2,0) + _R(0,2)) * s;
+    q[2] = (_R(1,2) + _R(2,1)) * s;
+    q[0] = (_R(1,0) - _R(0,1)) * s;
+    return;
+  }
+}
+
+
+void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q)
+{
+  dAASSERT (w && q && dq);
+  dq[0] = REAL(0.5)*(- w[0]*q[1] - w[1]*q[2] - w[2]*q[3]);
+  dq[1] = REAL(0.5)*(  w[0]*q[0] + w[1]*q[3] - w[2]*q[2]);
+  dq[2] = REAL(0.5)*(- w[0]*q[3] + w[1]*q[0] + w[2]*q[1]);
+  dq[3] = REAL(0.5)*(  w[0]*q[2] - w[1]*q[1] + w[2]*q[0]);
+}
diff -Naur xmoto-0.1.10/src/ode/s/stack.h xmoto-0.1.10-patched/src/ode/s/stack.h
--- xmoto-0.1.10/src/ode/s/stack.h	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/stack.h	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,138 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* this comes from the `reuse' library. copy any changes back to the source.
+
+these stack allocation functions are a replacement for alloca(), except that
+they allocate memory from a separate pool.
+
+advantages over alloca():
+  - consecutive allocations are guaranteed to be contiguous with increasing
+    address.
+  - functions can allocate stack memory that is returned to the caller,
+    in other words pushing and popping stack frames is optional.
+
+disadvantages compared to alloca():
+  - less portable
+  - slightly slower, although still orders of magnitude faster than malloc().
+  - longjmp() and exceptions do not deallocate stack memory (but who cares?).
+
+just like alloca():
+  - using too much stack memory does not fail gracefully, it fails with a
+    segfault.
+
+*/
+
+
+#ifndef _ODE_STACK_H_
+#define _ODE_STACK_H_
+
+
+#ifdef WIN32
+#include "windows.h"
+#endif
+
+
+struct dStack {
+  char *base;		// bottom of the stack
+  int size;		// maximum size of the stack
+  char *pointer;	// current top of the stack
+  char *frame;		// linked list of stack frame ptrs
+# ifdef WIN32		// stuff for windows:
+  int pagesize;		//   - page size - this is ASSUMED to be a power of 2
+  int committed;	//   - bytes committed in allocated region
+#endif
+
+  // initialize the stack. `max_size' is the maximum size that the stack can
+  // reach. on unix and windows a `virtual' memory block of this size is
+  // mapped into the address space but does not actually consume physical
+  // memory until it is referenced - so it is safe to set this to a high value.
+
+  void init (int max_size);
+
+
+  // destroy the stack. this unmaps any virtual memory that was allocated.
+
+  void destroy();
+
+
+  // allocate `size' bytes from the stack and return a pointer to the allocated
+  // memory. `size' must be >= 0. the returned pointer will be aligned to the
+  // size of a long int.
+
+  char * alloc (int size)
+  {
+    char *ret = pointer;
+    pointer += ((size-1) | (sizeof(long int)-1) )+1;
+#   ifdef WIN32
+    // for windows we need to commit pages as they are required
+    if ((pointer-base) > committed) {
+      committed = ((pointer-base-1) | (pagesize-1))+1;	// round up to pgsize
+      VirtualAlloc (base,committed,MEM_COMMIT,PAGE_READWRITE);
+    }
+#   endif
+    return ret;
+  }
+
+
+  // return the address that will be returned by the next call to alloc()
+
+  char *nextAlloc()
+  {
+    return pointer;
+  }
+
+
+  // push and pop the current size of the stack. pushFrame() saves the current
+  // frame pointer on the stack, and popFrame() retrieves it. a typical
+  // stack-using function will bracket alloc() calls with pushFrame() and
+  // popFrame(). both functions return the current stack pointer - this should
+  // be the same value for the two bracketing calls. calling popFrame() too
+  // many times will result in a segfault.
+
+  char * pushFrame()
+  {
+    char *newframe = pointer;
+    char **addr = (char**) alloc (sizeof(char*));
+    *addr = frame;
+    frame = newframe;
+    return newframe;
+
+    /* OLD CODE
+	*((char**)pointer) = frame;
+	frame = pointer;
+	char *ret = pointer;
+	pointer += sizeof(char*);
+	return ret;
+    */
+  }
+
+  char * popFrame()
+  {
+    pointer = frame;
+    frame = *((char**)pointer);
+    return pointer;
+  }
+};
+
+
+#endif
diff -Naur xmoto-0.1.10/src/ode/s/step.cpp xmoto-0.1.10-patched/src/ode/s/step.cpp
--- xmoto-0.1.10/src/ode/s/step.cpp	1970-01-01 01:00:00.000000000 +0100
+++ xmoto-0.1.10-patched/src/ode/s/step.cpp	2005-12-03 11:54:23.000000000 +0100
@@ -0,0 +1,999 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; wi