[ODE] new stuff

[Russ Smith]

i've added a bunch of ODE code to the CVS, and updated the userguide:

  * added dBodySetForce(), dBodySetTorque(), dWorldImpulseToForce(),    
    dBodyGetPosRelPoint(), dBodyGetPosRelPoint(), dBodyVectorToWorld(),
    dBodyVectorFromWorld().

  * added dBodyGetPointVel() (thanks to Colin Reed).

  * added a new C++ interface (from Martin C. Martin, with modifications
    by me). the old C++ interface is now in odecpp_old.h.

read the userguide for descriptions of what the new functions do.

russ.

-- 
Russell Smith
http://www.q12.org