diff -r 000000000000 -r 2f259fa3e83a ode/src/cylinder.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ode/src/cylinder.cpp	Tue Feb 02 01:00:49 2010 +0200
@@ -0,0 +1,92 @@
+/*************************************************************************
+ *                                                                       *
+ * 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"
+
+// flat cylinder public API
+
+dxCylinder::dxCylinder (dSpaceID space, dReal _radius, dReal _length) :
+dxGeom (space,1)
+{
+
+	type = dCylinderClass;
+	radius = _radius;
+	lz = _length;
+}
+
+
+void dxCylinder::computeAABB()
+{
+    const dMatrix3& R = final_posr->R;
+    const dVector3& pos = final_posr->pos;
+
+	dReal xrange = dFabs (dMUL(R[0],radius)) +	 dFabs (dMUL(R[1],radius)) + dMUL(REAL(0.5),dFabs (dMUL(R[2],lz)));
+	dReal yrange = dFabs (dMUL(R[4],radius)) +   dFabs (dMUL(R[5],radius)) + dMUL(REAL(0.5),dFabs (dMUL(R[6],lz)));
+	dReal zrange = dFabs (dMUL(R[8],radius)) +	 dFabs (dMUL(R[9],radius)) + dMUL(REAL(0.5),dFabs (dMUL(R[10],lz)));
+	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;
+}
+
+
+EXPORT_C dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length)
+{
+	return new dxCylinder (space,radius,length);
+}
+
+EXPORT_C void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length)
+{
+
+	dxCylinder *c = (dxCylinder*) cylinder;
+	c->radius = radius;
+	c->lz = length;
+	dGeomMoved (cylinder);
+}
+
+EXPORT_C void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length)
+{
+
+	dxCylinder *c = (dxCylinder*) cylinder;
+	*radius = c->radius;
+	*length = c->lz;
+}
+
+