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Replace the old Sdk.zig/vendor submodule approach with a full Zig wrapper module that consumers can @import("ode"). The bindings cover World, Body, Mass, Joint (17 types), Space (4 types), Geom (10 types), Heightfield, Rotation utilities, and collision detection. Handle types use file-is-struct with methods, Mass is a value type, and common methods on Geom/Joint types are generated via comptime GeomMethods/JointMethods functions. build.zig exposes the "ode" module with automatic C library linkage and a test step. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Port 3 upstream ODE demos as headless Zig executables (chain, hinge, slider) that print physics state to stdout. Add 5 targeted tests for collision, joints, spaces, mass, and force accumulation. Build fixes: - Work around upstream UBSan trap in lcp.cpp (uninitialized bool array) by compiling it with -fno-sanitize=bool so dWorldStep works in Debug - Define dNODEBUG in non-Debug builds to match CMake behavior - Rename lib root module variable to avoid shadowing the Zig module Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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