July 16, 2003 steve@borho.org
    Updated autoconf files to fix several build issues.
 
January 03, 2003 msripada@evl.uic.edu
	Fixed a bug in Object.cpp at void Object::do_broadphase of a
	type mismatch bug.
	Fixed the names of of some Standard C++ header includes
	to prevent g++ 3.2.1 from complaining.
	Lots of minor fixes for all the files in the directory include/3D 
	to bring the library up to date with g++ 3.2.1 standards.
	Fixed some header file names in sample/ directory.
	Added a check for qhull_a.h header file and fixed config.h include 
	in Polyhedron.cpp.
	Added a check for qhull library and now depending on its presence
	the -lqhull switch is added during compilation.

October 19, 2002 gino@dtecta.com 
	Renamed SOLID to FreeSOLID, in order to avoid confusion with the
	commercial SOLID at www.libsolid.com.
	Added autoconf/automake files.
	Added broad phase library from SOLID-3.1 and hooked it to the
	Added MoTo library from SOLID-3.1 (for broad phase). 
	This should fix the bug dtDeleteObject!!!!! 
	Created MSVC++ 6.0 project files.
	
August 30, 2001 alok.menghrajani@epfl.ch
	Set the versin number to 2.1.0
	Added a dtTestObjects routine to test collision between
	two specified objects.  It is useful if you are using a
	pre-collision engine.  It was  programmed due to memory
	leaks in the original cache and frame coherence system.
	
	This  routine  will  probably  become  obsolete in  the
	future.

November 3, 2000 Olivier.Michel@cyberbotics.com
	Set the version number to 2.0.2
	Reworked the Makefile so that it works on Windows w/ GCC and creates
	lib/libsolid.a and lib/solid.dll files from the lib/solid.def file.

June 1, 2000, Olivier.Michel@cyberbotics.com
	Set the version number to 2.0.1
	Fixed a couple of memory leaks in src/Object.cpp.
	Reworked the Makefile to create more easily a libsolid.so on Linux
	and added -O3 optimisation level.
	Added a solid.spec file for creating an RPM package.

August 13, 1999
	Fixed the setRotation method and <<-operator in Matrix.h. These
	were still for column-major matrices, however in SOLID 2.0 matrices
	are supposed to be row-major. Also, I modified the setEuler method
	in Quaternion.h. `Yaw' now corresponds with rotation around the
	Y-axis, `pitch' with the X-axis, and `roll' with the Z-axis.

January 24, 1999
	Added a safety margin to the extents of the bounding boxes for
	primitives in correspondence with the absolute error tolerance of
	the GJK intersection test, in order to avoid problems where objects
	are found intersecting whereas their bounding boxes are
	disjoint. Problem spotted by Arthur Johnson Jr.

January 8, 1999
	Renamed some variables and function names. Visual C++ 6.0 is
	troubled by too much variables or functions having the same name.
	Also, dtDeleteObject now removes the responses defined for the
	deleted object. Problems spotted, and fixes suggested by 
	Arthur Johnson Jr. 

December 21, 1998
	Streamlined bounding box computation routines.

December 11, 1998
	Bug fixed in `Basic.h'. Under Linux Redhat 5.2, `RAND_MAX + 1' used
	in the function `rnd()' is a negative number. Bug spotted and
	solved by Jason Surratt. 

September 23, 1998
	Bug fixed in `C-api.cpp' in the computation of the normal in smart
	response, spotted and fix suggested by Arthur Johnson Jr.  

September 14, 1998
	Bug fixed in `C-api.cpp' which prevented the use of multiple
	complex shapes, spotted and solved by Adam Machnik.
 
August 28, 1998 
	Public release of SOLID version 2.0
