--- /dev/null
+#ifndef ODECONFIG_H
+#define ODECONFIG_H
+
+/* Pull in the standard headers */
+#include <stddef.h>
+#include <limits.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <math.h>
+#include <string.h>
+#include <float.h>
+
+
+#if defined(ODE_DLL) || defined(ODE_LIB)
+#define __ODE__
+#endif
+
+/* Define a DLL export symbol for those platforms that need it */
+#if defined(_MSC_VER)
+ #if defined(ODE_DLL)
+ #define ODE_API __declspec(dllexport)
+ #elif !defined(ODE_LIB)
+ #define ODE_DLL_API __declspec(dllimport)
+ #endif
+#endif
+
+#if !defined(ODE_API)
+ #define ODE_API
+#endif
+
+#if defined(_MSC_VER)
+# define ODE_API_DEPRECATED __declspec(deprecated)
+#elif defined (__GNUC__) && ( (__GNUC__ > 3) || ((__GNUC__ == 3) && (__GNUC_MINOR__ >= 1)) )
+# define ODE_API_DEPRECATED __attribute__((__deprecated__))
+#else
+# define ODE_API_DEPRECATED
+#endif
+
+/* Well-defined common data types...need to define for 64 bit systems */
+#if defined(_M_IA64) || defined(__ia64__) || defined(_M_AMD64) || defined(__x86_64__)
+ #define X86_64_SYSTEM 1
+ typedef int int32;
+ typedef unsigned int uint32;
+ typedef short int16;
+ typedef unsigned short uint16;
+ typedef signed char int8;
+ typedef unsigned char uint8;
+#else
+ typedef int int32;
+ typedef unsigned int uint32;
+ typedef short int16;
+ typedef unsigned short uint16;
+ typedef signed char int8;
+ typedef unsigned char uint8;
+#endif
+
+/* Visual C does not define these functions */
+#if defined(_MSC_VER)
+ #define copysignf(x, y) ((float)_copysign(x, y))
+ #define copysign(x, y) _copysign(x, y)
+ #define nextafterf(x, y) _nextafterf(x, y)
+ #define nextafter(x, y) _nextafter(x, y)
+ #if !defined(_WIN64)
+ #define _ODE__NEXTAFTERF_REQUIRED
+ #endif
+#endif
+
+
+
+/* Define the dInfinity macro */
+#ifdef INFINITY
+ #define dInfinity INFINITY
+#elif defined(HUGE_VAL)
+ #ifdef dSINGLE
+ #ifdef HUGE_VALF
+ #define dInfinity HUGE_VALF
+ #else
+ #define dInfinity ((float)HUGE_VAL)
+ #endif
+ #else
+ #define dInfinity HUGE_VAL
+ #endif
+#else
+ #ifdef dSINGLE
+ #define dInfinity ((float)(1.0/0.0))
+ #else
+ #define dInfinity (1.0/0.0)
+ #endif
+#endif
+
+
+#endif