[ODE] adding direction parameter to CCylinder geom?

[Graham Fyffe]

Hi everyone!  I am playing with adding a specified direction to the
CCylinder geom.  I started by changing the struct from this:

struct dxCCylinder : public dxGeom {
  dReal radius,lz;	// radius, length along z axis
  dxCCylinder (dSpaceID space, dReal _radius, dReal _length);
  void computeAABB();
};

to this:

struct dxCCylinder : public dxGeom {
  int direction;	// 1 = x, 2 = y, 3 = z
  dReal radius,ld;	// radius, length along direction axis
  dxCCylinder (dSpaceID space, int _direction, dReal _radius, dReal _length);
  void computeAABB();
};

and then I made 36 more changes to collision_std.cpp and 5 changes to
collision_trimesh_ccylinder.

Anyhow, it doesn't quite work.  Even trying to roll a ccylinder along
a simple plane geom looks all wonky if I use any axis other than Z.  I
probably missed some changes in the zillions of hard coded matrix
indeces inside collision_std.cpp.

My question is, has anyone else ever made a patch like this?  I mean,
one that works?  :)

- Graham