ode-0.16-lambda.patch

--- include/ode/common.h	Mon Jun  2 23:09:37 2008
+++ include/ode/common.h	Wed Aug  8 08:43:51 2012
@@ -517,6 +517,7 @@
   dVector3 t1;		/* torque applied to body 1 */
   dVector3 f2;		/* force applied to body 2 */
   dVector3 t2;		/* torque applied to body 2 */
+  dReal lambda;
 } dJointFeedback;
 
 
--- ode/src/step.cpp	Thu Jul 24 22:18:40 2008
+++ ode/src/step.cpp	Mon Oct 15 12:58:57 2012
@@ -478,7 +478,8 @@
         currLambda += RLE__RHS_LAMBDA_MAX;
     }
     if (fb != NULL) {
-        if (jointBodyIndex == dJCB__MIN) {
+        fb->lambda = *(rowRhsLambda+RLE_LAMBDA+5*RLE__RHS_LAMBDA_MAX);
+        if (jointBodyIndex == dJCB__MIN) {
             fb->f1[dV3E_X] = sumLX;
             fb->f1[dV3E_Y] = sumLY;
             fb->f1[dV3E_Z] = sumLZ;