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diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceUtils.h b/libs/ode-0.16.1/OPCODE/Ice/IceUtils.h
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+++ b/libs/ode-0.16.1/OPCODE/Ice/IceUtils.h
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+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains misc. useful macros & defines.
+ *	\file		IceUtils.h
+ *	\author		Pierre Terdiman (collected from various sources)
+ *	\date		April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __ICEUTILS_H__
+#define __ICEUTILS_H__
+
+//	#define START_RUNONCE	{ static bool __RunOnce__ = false;	if(!__RunOnce__){ -- not thread safe
+//	#define END_RUNONCE		__RunOnce__ = true;}} -- not thread safe
+
+	//! Reverse all the bits in a 32 bit word (from Steve Baker's Cute Code Collection)
+	//! (each line can be done in any order.
+	inline_ void	ReverseBits(udword& n)
+	{
+		n = ((n >>  1) & 0x55555555) | ((n <<  1) & 0xaaaaaaaa);
+		n = ((n >>  2) & 0x33333333) | ((n <<  2) & 0xcccccccc);
+		n = ((n >>  4) & 0x0f0f0f0f) | ((n <<  4) & 0xf0f0f0f0);
+		n = ((n >>  8) & 0x00ff00ff) | ((n <<  8) & 0xff00ff00);
+		n = ((n >> 16) & 0x0000ffff) | ((n << 16) & 0xffff0000);
+		// Etc for larger intergers (64 bits in Java)
+		// NOTE: the >> operation must be unsigned! (>>> in java)
+	}
+
+	//! Count the number of '1' bits in a 32 bit word (from Steve Baker's Cute Code Collection)
+	inline_ udword	CountBits(udword n)
+	{
+		// This relies of the fact that the count of n bits can NOT overflow 
+		// an n bit interger. EG: 1 bit count takes a 1 bit interger, 2 bit counts
+		// 2 bit interger, 3 bit count requires only a 2 bit interger.
+		// So we add all bit pairs, then each nible, then each byte etc...
+		n = (n & 0x55555555) + ((n & 0xaaaaaaaa) >> 1);
+		n = (n & 0x33333333) + ((n & 0xcccccccc) >> 2);
+		n = (n & 0x0f0f0f0f) + ((n & 0xf0f0f0f0) >> 4);
+		n = (n & 0x00ff00ff) + ((n & 0xff00ff00) >> 8);
+		n = (n & 0x0000ffff) + ((n & 0xffff0000) >> 16);
+		// Etc for larger intergers (64 bits in Java)
+		// NOTE: the >> operation must be unsigned! (>>> in java)
+		return n;
+	}
+
+	//! Even faster?
+	inline_ udword	CountBits2(udword bits)
+	{
+		bits = bits - ((bits >> 1) & 0x55555555);
+		bits = ((bits >> 2) & 0x33333333) + (bits & 0x33333333);
+		bits = ((bits >> 4) + bits) & 0x0F0F0F0F;
+		return (bits * 0x01010101) >> 24;
+	}
+
+	//! Spread out bits.	EG	00001111  ->   0101010101
+	//! 						00001010  ->   0100010000
+	//! This is used to interleve to intergers to produce a `Morten Key'
+	//! used in Space Filling Curves (See DrDobbs Journal, July 1999)
+	//! Order is important.
+	inline_ void	SpreadBits(udword& n)
+	{
+		n = ( n & 0x0000ffff) | (( n & 0xffff0000) << 16);
+		n = ( n & 0x000000ff) | (( n & 0x0000ff00) <<  8);
+		n = ( n & 0x000f000f) | (( n & 0x00f000f0) <<  4);
+		n = ( n & 0x03030303) | (( n & 0x0c0c0c0c) <<  2);
+		n = ( n & 0x11111111) | (( n & 0x22222222) <<  1);
+	}
+
+	// Next Largest Power of 2
+	// Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm
+	// that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with
+	// the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next
+	// largest power of 2. For a 32-bit value: 
+	inline_ udword	nlpo2(udword x)
+	{
+		x |= (x >> 1);
+		x |= (x >> 2);
+		x |= (x >> 4);
+		x |= (x >> 8);
+		x |= (x >> 16);
+		return x+1;
+	}
+
+	//! Test to see if a number is an exact power of two (from Steve Baker's Cute Code Collection)
+	inline_ bool	IsPowerOfTwo(udword n)				{ return ((n&(n-1))==0);					}
+
+	//! Zero the least significant '1' bit in a word. (from Steve Baker's Cute Code Collection)
+	inline_ void	ZeroLeastSetBit(udword& n)			{ n&=(n-1);									}
+
+	//! Set the least significant N bits in a word. (from Steve Baker's Cute Code Collection)
+	inline_ void	SetLeastNBits(udword& x, udword n)	{ x|=~(~0<<n);								}
+
+	//! Classic XOR swap (from Steve Baker's Cute Code Collection)
+	//! x ^= y;		/* x' = (x^y) */
+	//! y ^= x;		/* y' = (y^(x^y)) = x */
+	//! x ^= y;		/* x' = (x^y)^x = y */
+	inline_ void	Swap(udword& x, udword& y)			{ x ^= y; y ^= x; x ^= y;					}
+	inline_ void	Swap(uword& x, uword& y)			{ x ^= y; y ^= x; x ^= y;					}
+
+	//! Little/Big endian (from Steve Baker's Cute Code Collection)
+	//!
+	//! Extra comments by Kenny Hoff:
+	//! Determines the byte-ordering of the current machine (little or big endian)
+	//! by setting an integer value to 1 (so least significant bit is now 1); take
+	//! the address of the int and cast to a byte pointer (treat integer as an
+	//! array of four bytes); check the value of the first byte (must be 0 or 1).
+	//! If the value is 1, then the first byte least significant byte and this
+	//! implies LITTLE endian. If the value is 0, the first byte is the most
+	//! significant byte, BIG endian. Examples:
+	//!      integer 1 on BIG endian: 00000000 00000000 00000000 00000001
+	//!   integer 1 on LITTLE endian: 00000001 00000000 00000000 00000000
+	//!---------------------------------------------------------------------------
+	//! int IsLittleEndian()	{ int x=1;	return ( ((char*)(&x))[0] );	}
+	inline_ char	LittleEndian()						{ int i = 1; return *((char*)&i);			}
+
+	//!< Alternative abs function
+	inline_ udword	abs_(sdword x)					{ sdword y= x >> 31;	return (x^y)-y;		}
+
+	//!< Alternative min function
+	inline_ sdword	min_(sdword a, sdword b)			{ sdword delta = b-a;	return a + (delta&(delta>>31));	}
+
+	// Determine if one of the bytes in a 4 byte word is zero
+	inline_	BOOL	HasNullByte(udword x)			{ return ((x + 0xfefefeff) & (~x) & 0x80808080);		}
+
+	// To find the smallest 1 bit in a word  EG: ~~~~~~10---0    =>    0----010---0
+	inline_	udword	LowestOneBit(udword w)			{ return ((w) & (~(w)+1));					}
+//	inline_	udword	LowestOneBit_(udword w)			{ return ((w) & (-(w)));					}
+
+	// Most Significant 1 Bit
+	// Given a binary integer value x, the most significant 1 bit (highest numbered element of a bit set)
+	// can be computed using a SWAR algorithm that recursively "folds" the upper bits into the lower bits.
+	// This process yields a bit vector with the same most significant 1 as x, but all 1's below it.
+	 // Bitwise AND of the original value with the complement of the "folded" value shifted down by one
+	// yields the most significant bit. For a 32-bit value: 
+	inline_ udword	msb32(udword x)
+	{
+		x |= (x >> 1);
+		x |= (x >> 2);
+		x |= (x >> 4);
+		x |= (x >> 8);
+		x |= (x >> 16);
+		return (x & ~(x >> 1));
+	}
+
+	/*
+	"Just call it repeatedly with various input values and always with the same variable as "memory".
+	The sharpness determines the degree of filtering, where 0 completely filters out the input, and 1
+	does no filtering at all.
+
+	I seem to recall from college that this is called an IIR (Infinite Impulse Response) filter. As opposed
+	to the more typical FIR (Finite Impulse Response).
+
+	Also, I'd say that you can make more intelligent and interesting filters than this, for example filters
+	that remove wrong responses from the mouse because it's being moved too fast. You'd want such a filter
+	to be applied before this one, of course."
+
+	(JCAB on Flipcode)
+	*/
+	inline_ float	FeedbackFilter(float val, float& memory, float sharpness)
+	{
+		ASSERT(sharpness>=0.0f && sharpness<=1.0f && "Invalid sharpness value in feedback filter");
+				if(sharpness<0.0f)	sharpness = 0.0f;
+		else	if(sharpness>1.0f)	sharpness = 1.0f;
+		return memory = val * sharpness + memory * (1.0f - sharpness);
+	}
+
+	//! If you can guarantee that your input domain (i.e. value of x) is slightly
+	//! limited (abs(x) must be < ((1<<31u)-32767)), then you can use the
+	//! following code to clamp the resulting value into [-32768,+32767] range:
+	inline_ int	ClampToInt16(int x)
+	{
+//		ASSERT(abs(x) < (int)((1<<31u)-32767));
+
+		int delta = 32767 - x;
+		x += (delta>>31) & delta;
+		delta = x + 32768;
+		x -= (delta>>31) & delta;
+		return x;
+	}
+
+	// Generic functions
+	template<class Type> inline_ void TSwap(Type& a, Type& b)								{ const Type c = a; a = b; b = c;			}
+	template<class Type> inline_ Type TClamp(const Type& x, const Type& lo, const Type& hi)	{ return ((x<lo) ? lo : (x>hi) ? hi : x);	}
+
+	template<class Type> inline_ void TSort(Type& a, Type& b)
+	{
+		if(a>b)	TSwap(a, b);
+	}
+
+	template<class Type> inline_ void TSort(Type& a, Type& b, Type& c)
+	{
+		if(a>b)	TSwap(a, b);
+		if(b>c)	TSwap(b, c);
+		if(a>b)	TSwap(a, b);
+		if(b>c)	TSwap(b, c);
+	}
+
+	// Prevent nasty user-manipulations (strategy borrowed from Charles Bloom)
+//	#define PREVENT_COPY(curclass)	void operator = (const curclass& object)	{	ASSERT(!"Bad use of operator =");	}
+	// ... actually this is better !
+	#define PREVENT_COPY(cur_class)	private: cur_class(const cur_class& object);	cur_class& operator=(const cur_class& object);
+
+	//! TO BE DOCUMENTED
+	#define OFFSET_OF(Class, Member)	(size_t)&(((Class*)0)->Member)
+	//! TO BE DOCUMENTED
+#ifndef ARRAYSIZE
+	#define ARRAYSIZE(p)				(sizeof(p)/sizeof((p)[0]))
+#endif // #ifndef ARRAYSIZE
+
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	/**
+	 *	Returns the alignment of the input address.
+	 *	\fn			Alignment()
+	 *	\param		address	[in] address to check
+	 *	\return		the best alignment (e.g. 1 for odd addresses, etc)
+	 */
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	FUNCTION ICECORE_API udword Alignment(udword address);
+
+	#define IS_ALIGNED_2(x)		((x&1)==0)
+	#define IS_ALIGNED_4(x)		((x&3)==0)
+	#define IS_ALIGNED_8(x)		((x&7)==0)
+
+	inline_ void _prefetch(void const* ptr)		{ (void)*(char const volatile *)ptr;	}
+
+	// Compute implicit coords from an index:
+	// The idea is to get back 2D coords from a 1D index.
+	// For example:
+	//
+	// 0		1		2	...	nbu-1
+	// nbu		nbu+1	i	...
+	//
+	// We have i, we're looking for the equivalent (u=2, v=1) location.
+	//		i = u + v*nbu
+	// <=>	i/nbu = u/nbu + v
+	// Since 0 <= u < nbu, u/nbu = 0 (integer)
+	// Hence: v = i/nbu
+	// Then we simply put it back in the original equation to compute u = i - v*nbu
+	inline_ void Compute2DCoords(udword& u, udword& v, udword i, udword nbu)
+	{
+		v = i / nbu;
+		u = i - (v * nbu);
+	}
+
+	// In 3D:	i = u + v*nbu + w*nbu*nbv
+	// <=>		i/(nbu*nbv) = u/(nbu*nbv) + v/nbv + w
+	// u/(nbu*nbv) is null since u/nbu was null already.
+	// v/nbv is null as well for the same reason.
+	// Hence w = i/(nbu*nbv)
+	// Then we're left with a 2D problem: i' = i - w*nbu*nbv = u + v*nbu
+	inline_ void Compute3DCoords(udword& u, udword& v, udword& w, udword i, udword nbu, udword nbu_nbv)
+	{
+		w = i / (nbu_nbv);
+		Compute2DCoords(u, v, i - (w * nbu_nbv), nbu);
+	}
+
+#endif // __ICEUTILS_H__