Petr, Way to go. Glad you are using a popular physics engine. Can you keep the prefix short, tbode is getting long I guess it is shorter than tb_ode
So you started with python ode, but are now going the full c++ version conversion, that sounds like it will be adaptable for future ode updates easier that way.
I don't know how you are doing all of this, but I can tell you I DO APPRECIATE IT BIG TIME!!!
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