[ODE] a couple of small ode-0.5 changes

[Jani Kajala]

quickstep.cpp(324): 
fixed warning 'loss of precision'
-------------------
   <<<<<<<< from >>>>>>>>
   for (i=0; i<m; i++) lambda[i] *= 0.9;
   <<<<<<<< to >>>>>>>>
   for (i=0; i<m; i++) lambda[i] *= (dReal)0.9;


collision_trimesh.cpp(391): 
added dGeomTriMeshGetData
---------------------------

dTriMeshDataID dGeomTriMeshGetData(dGeomID g)
{
 dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
 return ((dxTriMesh*)g)->Data;
}


collision_trimesh.h(126): 
added dGeomTriMeshGetData
-------------------------

dTriMeshDataID dGeomTriMeshGetData(dGeomID g);


collision_trimesh_internal.h(46): 
added dBase inheritance for memory allocation
---------------------------------

struct dxTriMeshData : public dBase