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diff --git a/libs/ode-0.16.1/ode/src/simple_cooperative.h b/libs/ode-0.16.1/ode/src/simple_cooperative.h
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+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * Threading base wrapper class header file.                             *
+ * Copyright (C) 2011-2019 Oleh Derevenko. All rights reserved.          *
+ * e-mail: odar@eleks.com (change all "a" to "e")                        *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+ * A simple cooperative class definition
+ * Copyright (c) 2017-2019 Oleh Derevenko, odar@eleks.com (change all "a" to "e")
+ */
+
+
+#ifndef _ODE__PRIVATE_SIMPLE_COOPERATIVE_H_
+#define _ODE__PRIVATE_SIMPLE_COOPERATIVE_H_
+
+
+#include "objects.h"
+#include "threading_base.h"
+
+
+typedef dxThreadingBase dxSimpleCooperative_ThreadingParent;
+class dxSimpleCooperative:
+    public dBase,
+    public dxSimpleCooperative_ThreadingParent,
+    private dxIThreadingDefaultImplProvider
+{
+public:
+    dxSimpleCooperative(const dxThreadingFunctionsInfo *functionInfo, dThreadingImplementationID threadingImpl):
+        dBase(),
+        dxSimpleCooperative_ThreadingParent()
+    {
+        dxSimpleCooperative_ThreadingParent::setThreadingDefaultImplProvider(this);
+        dxSimpleCooperative_ThreadingParent::assignThreadingImpl(functionInfo, threadingImpl);
+    }
+
+    virtual ~dxSimpleCooperative();
+
+public:
+    dxThreadingBase *getRelatedThreading() const { return const_cast<dxSimpleCooperative *>(this); }
+
+private: // dxIThreadingDefaultImplProvider
+    virtual const dxThreadingFunctionsInfo *retrieveThreadingDefaultImpl(dThreadingImplementationID &out_defaultImpl);
+};
+
+
+static inline 
+dxSimpleCooperative *decodeCooperativeID(dCooperativeID cooperative)
+{
+    return (dxSimpleCooperative *)cooperative;
+}
+
+
+#endif // #ifndef _ODE__PRIVATE_SIMPLE_COOPERATIVE_H_