fix a rediculous cyl-cyl bug spotted by John Miles <[email protected]>. …

…also

added a readme comment noting that the code exhibits signs of not being
brilliantly conceived/tested.


git-svn-id: https://opende.svn.sourceforge.net/svnroot/opende/trunk/ode@593 685f7672-210f-0410-90b4-fe3ad19314fe

contrib/dCylinder/dCylinder.cpp

@@ -1102,7 +1102,7 @@ int dCollideCylCyl (dxGeom *o1, dxGeom *o2, int flags,
 dReal cylRadius1,cylRadius2;
 dReal cylLength1,cylLength2;
 dGeomCylinderGetParams(o1,&cylRadius1,&cylLength1);
-dGeomCylinderGetParams(o1,&cylRadius2,&cylLength2);
+dGeomCylinderGetParams(o2,&cylRadius2,&cylLength2);
 int num = dCylCyl (dGeomGetPosition(o1),dGeomGetRotation(o1),cylRadius1,cylLength1,
 				   dGeomGetPosition(o2),dGeomGetRotation(o2),cylRadius2,cylLength2,
 				     normal,&depth,&code,flags & NUMC_MASK,contact,skip);

contrib/dCylinder/readme.txt

@@ -1,6 +1,11 @@
-
 readme.txt
 
+WARNING: THIS IS NOT VERY RELIABLE CODE.  IT HAS BUGS.  YOUR
+         SUCCESS MAY VARY.  CONTRIBUTIONS OF FIXES/REWRITES ARE
+         WELCOME.
+
+///////////////////////////////////////////////////////////////////////
+
 Cylinder geometry class.
 
 New in this version: