In other news, I found out that ODE doesn't support scaling of collision geometry. So no scaling matrices for you, ODE. That means scaling is now only useful for graphical special effects. Oh well. Hmm, Newton does support scaling of collision geometry and seems to be better overall than ODE... so looks like I'll be supporting both. I suppose no one has any clever ideas for hacking scaling of collision geometry in?
I've also fixed a crapload of other things, and done a lot of cleanup. It's actually looking like Spineless will soon be useful again, and much more elegant. Here we come, milestone 0.3. Hoorays!