cylinder-capsule and cylinder-cylinder collisions still not working (ODE problem);
need to stop calling dGeomGetPosition() for planes;
need to rework plane initialization to support creating planes with (a,b,c,d) parameters
git-svn-id: svn://anubis/anaglym/trunk@136 99a6e188-d820-4881-8870-2d33a10e2619