diff --git a/bin/Ode.NET.dll b/bin/Ode.NET.dll
index 40f15a596a..07261a02a8 100644
Binary files a/bin/Ode.NET.dll and b/bin/Ode.NET.dll differ
diff --git a/bin/ode.dll b/bin/ode.dll
index 6166ff8f7d..49dfe18528 100644
Binary files a/bin/ode.dll and b/bin/ode.dll differ
diff --git a/libraries/ode-0.9/build/vs2005/ode.vcproj b/libraries/ode-0.9/build/vs2005/ode.vcproj
index 147bb6fd3c..254ea21114 100644
--- a/libraries/ode-0.9/build/vs2005/ode.vcproj
+++ b/libraries/ode-0.9/build/vs2005/ode.vcproj
@@ -104,6 +104,7 @@
 			OutputDirectory="../../lib/ReleaseDLL"
 			IntermediateDirectory="obj/ode/ReleaseDLL"
 			ConfigurationType="2"
+			UseOfMFC="1"
 			CharacterSet="2"
 			>
 			<Tool
@@ -128,7 +129,7 @@
 				AdditionalIncludeDirectories="../../include;../../OPCODE;../../GIMPACT/include"
 				PreprocessorDefinitions="WIN32;_CRT_SECURE_NO_DEPRECATE;ODE_DLL"
 				StringPooling="true"
-				RuntimeLibrary="2"
+				RuntimeLibrary="0"
 				EnableFunctionLevelLinking="true"
 				UsePrecompiledHeader="0"
 				WarningLevel="3"
@@ -238,9 +239,6 @@
 			<Tool
 				Name="VCALinkTool"
 			/>
-			<Tool
-				Name="VCManifestTool"
-			/>
 			<Tool
 				Name="VCXDCMakeTool"
 			/>
@@ -250,12 +248,6 @@
 			<Tool
 				Name="VCFxCopTool"
 			/>
-			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
 			<Tool
 				Name="VCPostBuildEventTool"
 			/>
@@ -314,9 +306,6 @@
 			<Tool
 				Name="VCALinkTool"
 			/>
-			<Tool
-				Name="VCManifestTool"
-			/>
 			<Tool
 				Name="VCXDCMakeTool"
 			/>
@@ -326,12 +315,6 @@
 			<Tool
 				Name="VCFxCopTool"
 			/>
-			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
 			<Tool
 				Name="VCPostBuildEventTool"
 			/>
@@ -342,674 +325,871 @@
 	<Files>
 		<Filter
 			Name="include"
-			Filter=""
 			>
 			<Filter
 				Name="ode"
-				Filter=""
 				>
 				<File
-					RelativePath="..\..\include\ode\collision.h">
+					RelativePath="..\..\include\ode\collision.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\collision_space.h">
+					RelativePath="..\..\include\ode\collision_space.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\collision_trimesh.h">
+					RelativePath="..\..\include\ode\collision_trimesh.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\common.h">
+					RelativePath="..\..\include\ode\common.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\compatibility.h">
+					RelativePath="..\..\include\ode\compatibility.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\config.h">
+					RelativePath="..\..\include\ode\config.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\contact.h">
+					RelativePath="..\..\include\ode\contact.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\error.h">
+					RelativePath="..\..\include\ode\error.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\export-dif.h">
+					RelativePath="..\..\include\ode\export-dif.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\mass.h">
+					RelativePath="..\..\include\ode\mass.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\matrix.h">
+					RelativePath="..\..\include\ode\matrix.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\memory.h">
+					RelativePath="..\..\include\ode\memory.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\misc.h">
+					RelativePath="..\..\include\ode\misc.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\objects.h">
+					RelativePath="..\..\include\ode\objects.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\ode.h">
+					RelativePath="..\..\include\ode\ode.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\odecpp.h">
+					RelativePath="..\..\include\ode\odecpp.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\odecpp_collision.h">
+					RelativePath="..\..\include\ode\odecpp_collision.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\odemath.h">
+					RelativePath="..\..\include\ode\odemath.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\rotation.h">
+					RelativePath="..\..\include\ode\rotation.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\include\ode\timer.h">
+					RelativePath="..\..\include\ode\timer.h"
+					>
 				</File>
 			</Filter>
 		</Filter>
 		<Filter
 			Name="ode"
-			Filter=""
 			>
 			<Filter
 				Name="src"
-				Filter=""
 				>
 				<File
-					RelativePath="..\..\ode\src\array.h">
+					RelativePath="..\..\ode\src\array.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_kernel.h">
+					RelativePath="..\..\ode\src\array.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_space_internal.h">
+					RelativePath="..\..\ode\src\box.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_std.h">
+					RelativePath="..\..\ode\src\capsule.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_transform.h">
+					RelativePath="..\..\ode\src\collision_cylinder_box.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_internal.h">
+					RelativePath="..\..\ode\src\collision_cylinder_plane.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_util.h">
+					RelativePath="..\..\ode\src\collision_cylinder_sphere.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\heightfield.h">
+					RelativePath="..\..\ode\src\collision_cylinder_trimesh.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\joint.h">
+					RelativePath="..\..\ode\src\collision_kernel.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\lcp.h">
+					RelativePath="..\..\ode\src\collision_kernel.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\mat.h">
+					RelativePath="..\..\ode\src\collision_quadtreespace.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\objects.h">
+					RelativePath="..\..\ode\src\collision_space.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\obstack.h">
+					RelativePath="..\..\ode\src\collision_space_internal.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\quickstep.h">
+					RelativePath="..\..\ode\src\collision_std.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\stack.h">
+					RelativePath="..\..\ode\src\collision_transform.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\step.h">
+					RelativePath="..\..\ode\src\collision_transform.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\testing.h">
+					RelativePath="..\..\ode\src\collision_trimesh_box.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\util.h">
+					RelativePath="..\..\ode\src\collision_trimesh_ccylinder.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\fastdot.c">
+					RelativePath="..\..\ode\src\collision_trimesh_distance.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\fastldlt.c">
+					RelativePath="..\..\ode\src\collision_trimesh_gimpact.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\fastlsolve.c">
+					RelativePath="..\..\ode\src\collision_trimesh_internal.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\fastltsolve.c">
+					RelativePath="..\..\ode\src\collision_trimesh_opcode.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\array.cpp">
+					RelativePath="..\..\ode\src\collision_trimesh_plane.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\box.cpp">
+					RelativePath="..\..\ode\src\collision_trimesh_ray.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\capsule.cpp">
+					RelativePath="..\..\ode\src\collision_trimesh_sphere.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_cylinder_box.cpp">
+					RelativePath="..\..\ode\src\collision_trimesh_trimesh.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_cylinder_plane.cpp">
+					RelativePath="..\..\ode\src\collision_trimesh_trimesh_new.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_cylinder_sphere.cpp">
+					RelativePath="..\..\ode\src\collision_util.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_cylinder_trimesh.cpp">
+					RelativePath="..\..\ode\src\collision_util.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_kernel.cpp">
+					RelativePath="..\..\ode\src\convex.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_quadtreespace.cpp">
+					RelativePath="..\..\ode\src\cylinder.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_space.cpp">
+					RelativePath="..\..\ode\src\error.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_transform.cpp">
+					RelativePath="..\..\ode\src\export-dif.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_box.cpp">
+					RelativePath="..\..\ode\src\fastdot.c"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_ccylinder.cpp">
+					RelativePath="..\..\ode\src\fastldlt.c"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_distance.cpp">
+					RelativePath="..\..\ode\src\fastlsolve.c"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_gimpact.cpp">
+					RelativePath="..\..\ode\src\fastltsolve.c"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_opcode.cpp">
+					RelativePath="..\..\ode\src\heightfield.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_plane.cpp">
+					RelativePath="..\..\ode\src\heightfield.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_ray.cpp">
+					RelativePath="..\..\ode\src\joint.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_sphere.cpp">
+					RelativePath="..\..\ode\src\joint.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_trimesh.cpp">
+					RelativePath="..\..\ode\src\lcp.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_trimesh_trimesh_new.cpp">
+					RelativePath="..\..\ode\src\lcp.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\collision_util.cpp">
+					RelativePath="..\..\ode\src\mass.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\convex.cpp">
+					RelativePath="..\..\ode\src\mat.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\cylinder.cpp">
+					RelativePath="..\..\ode\src\mat.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\error.cpp">
+					RelativePath="..\..\ode\src\matrix.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\export-dif.cpp">
+					RelativePath="..\..\ode\src\memory.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\heightfield.cpp">
+					RelativePath="..\..\ode\src\misc.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\joint.cpp">
+					RelativePath="..\..\ode\src\objects.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\lcp.cpp">
+					RelativePath="..\..\ode\src\obstack.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\mass.cpp">
+					RelativePath="..\..\ode\src\obstack.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\mat.cpp">
+					RelativePath="..\..\ode\src\ode.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\matrix.cpp">
+					RelativePath="..\..\ode\src\odemath.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\memory.cpp">
+					RelativePath="..\..\ode\src\plane.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\misc.cpp">
+					RelativePath="..\..\ode\src\quickstep.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\obstack.cpp">
+					RelativePath="..\..\ode\src\quickstep.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\ode.cpp">
+					RelativePath="..\..\ode\src\ray.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\odemath.cpp">
+					RelativePath="..\..\ode\src\rotation.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\plane.cpp">
+					RelativePath="..\..\ode\src\sphere.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\quickstep.cpp">
+					RelativePath="..\..\ode\src\stack.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\ray.cpp">
+					RelativePath="..\..\ode\src\step.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\rotation.cpp">
+					RelativePath="..\..\ode\src\step.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\sphere.cpp">
+					RelativePath="..\..\ode\src\stepfast.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\step.cpp">
+					RelativePath="..\..\ode\src\testing.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\stepfast.cpp">
+					RelativePath="..\..\ode\src\testing.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\testing.cpp">
+					RelativePath="..\..\ode\src\timer.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\timer.cpp">
+					RelativePath="..\..\ode\src\util.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\ode\src\util.cpp">
+					RelativePath="..\..\ode\src\util.h"
+					>
 				</File>
 			</Filter>
 		</Filter>
 		<Filter
 			Name="GIMPACT"
-			Filter=""
 			>
 			<Filter
 				Name="include"
-				Filter=""
 				>
 				<Filter
 					Name="GIMPACT"
-					Filter=""
 					>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gimpact.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_boxpruning.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_boxpruning.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_contact.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_contact.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_geometry.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_geometry.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_math.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_math.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_memory.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_memory.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_radixsort.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_radixsort.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_tri_capsule_collision.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_trimesh.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_tri_collision.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_tri_capsule_collision.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_tri_sphere_collision.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_tri_collision.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_trimesh.h"
+						>
 					</File>
 					<File
-						RelativePath="..\..\GIMPACT\include\GIMPACT\gim_tri_sphere_collision.h">
+						RelativePath="..\..\GIMPACT\include\GIMPACT\gimpact.h"
+						>
 					</File>
 				</Filter>
 			</Filter>
 			<Filter
 				Name="src"
-				Filter=""
 				>
 				<File
-					RelativePath="..\..\GIMPACT\src\gimpact.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_boxpruning.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_boxpruning.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_contact.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_contact.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_math.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_math.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_memory.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_memory.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_tri_tri_overlap.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_trimesh.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_trimesh.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_trimesh_capsule_collision.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_trimesh_capsule_collision.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_trimesh_ray_collision.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_trimesh_ray_collision.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_trimesh_sphere_collision.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_trimesh_sphere_collision.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_trimesh_trimesh_collision.cpp">
+					RelativePath="..\..\GIMPACT\src\gim_trimesh_trimesh_collision.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\GIMPACT\src\gim_tri_tri_overlap.cpp">
+					RelativePath="..\..\GIMPACT\src\gimpact.cpp"
+					>
 				</File>
 			</Filter>
 		</Filter>
 		<Filter
 			Name="OPCODE"
-			Filter=""
 			>
+			<File
+				RelativePath="..\..\OPCODE\OPC_AABBCollider.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_AABBCollider.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_AABBTree.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_AABBTree.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_BaseModel.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_BaseModel.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_BoxBoxOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_BoxPruning.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_BoxPruning.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_Collider.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_Collider.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_Common.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_Common.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_HybridModel.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_HybridModel.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_IceHook.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_LSSAABBOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_LSSCollider.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_LSSCollider.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_LSSTriOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_MeshInterface.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_MeshInterface.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_Model.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_Model.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_OBBCollider.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_OBBCollider.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_OptimizedTree.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_OptimizedTree.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_Picking.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_Picking.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_PlanesAABBOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_PlanesCollider.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_PlanesCollider.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_PlanesTriOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_RayAABBOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_RayCollider.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_RayCollider.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_RayTriOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_Settings.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_SphereAABBOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_SphereCollider.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_SphereCollider.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_SphereTriOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_SweepAndPrune.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_SweepAndPrune.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_TreeBuilders.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_TreeBuilders.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_TreeCollider.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_TreeCollider.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_TriBoxOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_TriTriOverlap.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_VolumeCollider.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\OPC_VolumeCollider.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\Opcode.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\Opcode.h"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\StdAfx.cpp"
+				>
+			</File>
+			<File
+				RelativePath="..\..\OPCODE\Stdafx.h"
+				>
+			</File>
 			<Filter
 				Name="Ice"
-				Filter=""
 				>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceAABB.h">
+					RelativePath="..\..\OPCODE\Ice\IceAABB.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceAxes.h">
+					RelativePath="..\..\OPCODE\Ice\IceAABB.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceBoundingSphere.h">
+					RelativePath="..\..\OPCODE\Ice\IceAxes.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceContainer.h">
+					RelativePath="..\..\OPCODE\Ice\IceBoundingSphere.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceFPU.h">
+					RelativePath="..\..\OPCODE\Ice\IceContainer.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceHPoint.h">
+					RelativePath="..\..\OPCODE\Ice\IceContainer.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceIndexedTriangle.h">
+					RelativePath="..\..\OPCODE\Ice\IceFPU.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceLSS.h">
+					RelativePath="..\..\OPCODE\Ice\IceHPoint.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceMatrix3x3.h">
+					RelativePath="..\..\OPCODE\Ice\IceHPoint.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceMatrix4x4.h">
+					RelativePath="..\..\OPCODE\Ice\IceIndexedTriangle.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceMemoryMacros.h">
+					RelativePath="..\..\OPCODE\Ice\IceIndexedTriangle.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceOBB.h">
+					RelativePath="..\..\OPCODE\Ice\IceLSS.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IcePairs.h">
+					RelativePath="..\..\OPCODE\Ice\IceMatrix3x3.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IcePlane.h">
+					RelativePath="..\..\OPCODE\Ice\IceMatrix3x3.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IcePoint.h">
+					RelativePath="..\..\OPCODE\Ice\IceMatrix4x4.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IcePreprocessor.h">
+					RelativePath="..\..\OPCODE\Ice\IceMatrix4x4.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceRandom.h">
+					RelativePath="..\..\OPCODE\Ice\IceMemoryMacros.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceRay.h">
+					RelativePath="..\..\OPCODE\Ice\IceOBB.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceRevisitedRadix.h">
+					RelativePath="..\..\OPCODE\Ice\IceOBB.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceSegment.h">
+					RelativePath="..\..\OPCODE\Ice\IcePairs.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceTriangle.h">
+					RelativePath="..\..\OPCODE\Ice\IcePlane.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceTriList.h">
+					RelativePath="..\..\OPCODE\Ice\IcePlane.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceTypes.h">
+					RelativePath="..\..\OPCODE\Ice\IcePoint.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceUtils.h">
+					RelativePath="..\..\OPCODE\Ice\IcePoint.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceAABB.cpp">
+					RelativePath="..\..\OPCODE\Ice\IcePreprocessor.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceContainer.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceRandom.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceHPoint.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceRandom.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceIndexedTriangle.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceRay.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceMatrix3x3.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceRay.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceMatrix4x4.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceRevisitedRadix.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceOBB.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceRevisitedRadix.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IcePlane.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceSegment.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IcePoint.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceSegment.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceRandom.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceTriangle.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceRay.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceTriangle.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceRevisitedRadix.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceTriList.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceSegment.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceTypes.h"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceTriangle.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceUtils.cpp"
+					>
 				</File>
 				<File
-					RelativePath="..\..\OPCODE\Ice\IceUtils.cpp">
+					RelativePath="..\..\OPCODE\Ice\IceUtils.h"
+					>
 				</File>
 			</Filter>
-			<File
-				RelativePath="..\..\OPCODE\Opcode.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_AABBCollider.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_AABBTree.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_BaseModel.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_BoxBoxOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_BoxPruning.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_Collider.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_Common.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_HybridModel.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_IceHook.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_LSSAABBOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_LSSCollider.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_LSSTriOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_MeshInterface.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_Model.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_OBBCollider.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_OptimizedTree.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_Picking.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_PlanesAABBOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_PlanesCollider.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_PlanesTriOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_RayAABBOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_RayCollider.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_RayTriOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_Settings.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_SphereAABBOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_SphereCollider.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_SphereTriOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_SweepAndPrune.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_TreeBuilders.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_TreeCollider.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_TriBoxOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_TriTriOverlap.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_VolumeCollider.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\Stdafx.h">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\Opcode.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_AABBCollider.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_AABBTree.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_BaseModel.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_BoxPruning.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_Collider.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_Common.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_HybridModel.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_LSSCollider.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_MeshInterface.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_Model.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_OBBCollider.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_OptimizedTree.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_Picking.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_PlanesCollider.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_RayCollider.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_SphereCollider.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_SweepAndPrune.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_TreeBuilders.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_TreeCollider.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\OPC_VolumeCollider.cpp">
-			</File>
-			<File
-				RelativePath="..\..\OPCODE\StdAfx.cpp">
-			</File>
 		</Filter>
 	</Files>
 	<Globals>
diff --git a/libraries/ode-0.9/contrib/Ode.NET/Ode.NET.sln b/libraries/ode-0.9/contrib/Ode.NET/Ode.NET.sln
new file mode 100755
index 0000000000..ecc6d9d9d3
--- /dev/null
+++ b/libraries/ode-0.9/contrib/Ode.NET/Ode.NET.sln
@@ -0,0 +1,21 @@
+Microsoft Visual Studio Solution File, Format Version 9.00
+# Visual Studio 2005
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Ode.NET", "Ode/Ode.NET.csproj", "{637D89E7-AA43-EB43-9D2C-5210B740F36B}"
+	ProjectSection(ProjectDependencies) = postProject
+	EndProjectSection
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{637D89E7-AA43-EB43-9D2C-5210B740F36B}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{637D89E7-AA43-EB43-9D2C-5210B740F36B}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{637D89E7-AA43-EB43-9D2C-5210B740F36B}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{637D89E7-AA43-EB43-9D2C-5210B740F36B}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal
diff --git a/libraries/ode-0.9/opensim_build_notes.txt b/libraries/ode-0.9/opensim_build_notes.txt
new file mode 100755
index 0000000000..b5708a0b5a
--- /dev/null
+++ b/libraries/ode-0.9/opensim_build_notes.txt
@@ -0,0 +1,27 @@
+source: 
+http://downloads.sourceforge.net/opende/ode-src-0.9.zip
+
+changes:
+build/vs2005/ode.sln: Configuration Properties/General/Use Of MFC = "Use MFC in a Static Library"
+changed default configuration to release
+created contrib/Ode.NET/Ode.NET.sln using premake --target vs2005
+
+build:
+
+windows:
+compiler: Visual Studio 2005 Express
+build/vs2005/ode.sln
+build all
+copy lib/releasedll/ode.dll to trunk/bin
+
+compiler: Visual Studio 2005 Express
+contrib/Ode.NET
+Ode.NET.sln
+build all
+copy Ode/obj/Release/Ode.NET.dll to trunk/bin
+
+linux:
+configure --enable-shared
+make -k
+ignore the compile errors on drawstuff
+copy libode.so to bin