Index: build/vs2005/ode.vcproj
===================================================================
--- build/vs2005/ode.vcproj	(revision 1198)
+++ build/vs2005/ode.vcproj	(working copy)
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="Windows-1252"?>
 <VisualStudioProject
 	ProjectType="Visual C++"
-	Version="8.00"
+	Version="8,00"
 	Name="ode"
 	ProjectGUID="{2A8430BA-889E-EE4A-B1E3-A3231F6816EE}"
 	RootNamespace="ode"
@@ -213,7 +213,7 @@
 				PreprocessorDefinitions="WIN32;_CRT_SECURE_NO_DEPRECATE;ODE_LIB"
 				MinimalRebuild="true"
 				BasicRuntimeChecks="3"
-				RuntimeLibrary="3"
+				RuntimeLibrary="1"
 				EnableFunctionLevelLinking="true"
 				UsePrecompiledHeader="0"
 				WarningLevel="3"
@@ -239,9 +239,6 @@
 				Name="VCALinkTool"
 			/>
 			<Tool
-				Name="VCManifestTool"
-			/>
-			<Tool
 				Name="VCXDCMakeTool"
 			/>
 			<Tool
@@ -251,12 +248,6 @@
 				Name="VCFxCopTool"
 			/>
 			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
-			<Tool
 				Name="VCPostBuildEventTool"
 			/>
 		</Configuration>
@@ -289,7 +280,7 @@
 				AdditionalIncludeDirectories="../../include;../../OPCODE;../../GIMPACT/include"
 				PreprocessorDefinitions="WIN32;_CRT_SECURE_NO_DEPRECATE;ODE_LIB"
 				StringPooling="true"
-				RuntimeLibrary="2"
+				RuntimeLibrary="0"
 				EnableFunctionLevelLinking="true"
 				UsePrecompiledHeader="0"
 				WarningLevel="3"
@@ -315,9 +306,6 @@
 				Name="VCALinkTool"
 			/>
 			<Tool
-				Name="VCManifestTool"
-			/>
-			<Tool
 				Name="VCXDCMakeTool"
 			/>
 			<Tool
@@ -327,12 +315,6 @@
 				Name="VCFxCopTool"
 			/>
 			<Tool
-				Name="VCAppVerifierTool"
-			/>
-			<Tool
-				Name="VCWebDeploymentTool"
-			/>
-			<Tool
 				Name="VCPostBuildEventTool"
 			/>
 		</Configuration>
@@ -342,674 +324,871 @@
 	<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=""
 			>
-			<Filter
-				Name="Ice"
-				Filter=""
+			<File
+				RelativePath="..\..\OPCODE\OPC_AABBCollider.cpp"
 				>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceAABB.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceAxes.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceBoundingSphere.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceContainer.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceFPU.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceHPoint.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceIndexedTriangle.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceLSS.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceMatrix3x3.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceMatrix4x4.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceMemoryMacros.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceOBB.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IcePairs.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IcePlane.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IcePoint.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IcePreprocessor.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceRandom.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceRay.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceRevisitedRadix.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceSegment.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceTriangle.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceTriList.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceTypes.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceUtils.h">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceAABB.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceContainer.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceHPoint.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceIndexedTriangle.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceMatrix3x3.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceMatrix4x4.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceOBB.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IcePlane.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IcePoint.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceRandom.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceRay.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceRevisitedRadix.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceSegment.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceTriangle.cpp">
-				</File>
-				<File
-					RelativePath="..\..\OPCODE\Ice\IceUtils.cpp">
-				</File>
-			</Filter>
-			<File
-				RelativePath="..\..\OPCODE\Opcode.h">
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_AABBCollider.h">
+				RelativePath="..\..\OPCODE\OPC_AABBCollider.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_AABBTree.h">
+				RelativePath="..\..\OPCODE\OPC_AABBTree.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_BaseModel.h">
+				RelativePath="..\..\OPCODE\OPC_AABBTree.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_BoxBoxOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_BaseModel.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_BoxPruning.h">
+				RelativePath="..\..\OPCODE\OPC_BaseModel.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_Collider.h">
+				RelativePath="..\..\OPCODE\OPC_BoxBoxOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_Common.h">
+				RelativePath="..\..\OPCODE\OPC_BoxPruning.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_HybridModel.h">
+				RelativePath="..\..\OPCODE\OPC_BoxPruning.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_IceHook.h">
+				RelativePath="..\..\OPCODE\OPC_Collider.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_LSSAABBOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_Collider.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_LSSCollider.h">
+				RelativePath="..\..\OPCODE\OPC_Common.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_LSSTriOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_Common.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_MeshInterface.h">
+				RelativePath="..\..\OPCODE\OPC_HybridModel.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_Model.h">
+				RelativePath="..\..\OPCODE\OPC_HybridModel.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_OBBCollider.h">
+				RelativePath="..\..\OPCODE\OPC_IceHook.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_OptimizedTree.h">
+				RelativePath="..\..\OPCODE\OPC_LSSAABBOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_Picking.h">
+				RelativePath="..\..\OPCODE\OPC_LSSCollider.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_PlanesAABBOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_LSSCollider.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_PlanesCollider.h">
+				RelativePath="..\..\OPCODE\OPC_LSSTriOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_PlanesTriOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_MeshInterface.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_RayAABBOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_MeshInterface.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_RayCollider.h">
+				RelativePath="..\..\OPCODE\OPC_Model.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_RayTriOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_Model.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_Settings.h">
+				RelativePath="..\..\OPCODE\OPC_OBBCollider.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_SphereAABBOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_OBBCollider.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_SphereCollider.h">
+				RelativePath="..\..\OPCODE\OPC_OptimizedTree.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_SphereTriOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_OptimizedTree.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_SweepAndPrune.h">
+				RelativePath="..\..\OPCODE\OPC_Picking.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_TreeBuilders.h">
+				RelativePath="..\..\OPCODE\OPC_Picking.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_TreeCollider.h">
+				RelativePath="..\..\OPCODE\OPC_PlanesAABBOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_TriBoxOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_PlanesCollider.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_TriTriOverlap.h">
+				RelativePath="..\..\OPCODE\OPC_PlanesCollider.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_VolumeCollider.h">
+				RelativePath="..\..\OPCODE\OPC_PlanesTriOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\Stdafx.h">
+				RelativePath="..\..\OPCODE\OPC_RayAABBOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\Opcode.cpp">
+				RelativePath="..\..\OPCODE\OPC_RayCollider.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_AABBCollider.cpp">
+				RelativePath="..\..\OPCODE\OPC_RayCollider.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_AABBTree.cpp">
+				RelativePath="..\..\OPCODE\OPC_RayTriOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_BaseModel.cpp">
+				RelativePath="..\..\OPCODE\OPC_Settings.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_BoxPruning.cpp">
+				RelativePath="..\..\OPCODE\OPC_SphereAABBOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_Collider.cpp">
+				RelativePath="..\..\OPCODE\OPC_SphereCollider.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_Common.cpp">
+				RelativePath="..\..\OPCODE\OPC_SphereCollider.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_HybridModel.cpp">
+				RelativePath="..\..\OPCODE\OPC_SphereTriOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_LSSCollider.cpp">
+				RelativePath="..\..\OPCODE\OPC_SweepAndPrune.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_MeshInterface.cpp">
+				RelativePath="..\..\OPCODE\OPC_SweepAndPrune.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_Model.cpp">
+				RelativePath="..\..\OPCODE\OPC_TreeBuilders.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_OBBCollider.cpp">
+				RelativePath="..\..\OPCODE\OPC_TreeBuilders.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_OptimizedTree.cpp">
+				RelativePath="..\..\OPCODE\OPC_TreeCollider.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_Picking.cpp">
+				RelativePath="..\..\OPCODE\OPC_TreeCollider.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_PlanesCollider.cpp">
+				RelativePath="..\..\OPCODE\OPC_TriBoxOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_RayCollider.cpp">
+				RelativePath="..\..\OPCODE\OPC_TriTriOverlap.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_SphereCollider.cpp">
+				RelativePath="..\..\OPCODE\OPC_VolumeCollider.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_SweepAndPrune.cpp">
+				RelativePath="..\..\OPCODE\OPC_VolumeCollider.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_TreeBuilders.cpp">
+				RelativePath="..\..\OPCODE\Opcode.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_TreeCollider.cpp">
+				RelativePath="..\..\OPCODE\Opcode.h"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\OPC_VolumeCollider.cpp">
+				RelativePath="..\..\OPCODE\StdAfx.cpp"
+				>
 			</File>
 			<File
-				RelativePath="..\..\OPCODE\StdAfx.cpp">
+				RelativePath="..\..\OPCODE\Stdafx.h"
+				>
 			</File>
+			<Filter
+				Name="Ice"
+				>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceAABB.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceAABB.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceAxes.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceBoundingSphere.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceContainer.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceContainer.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceFPU.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceHPoint.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceHPoint.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceIndexedTriangle.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceIndexedTriangle.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceLSS.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceMatrix3x3.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceMatrix3x3.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceMatrix4x4.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceMatrix4x4.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceMemoryMacros.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceOBB.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceOBB.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IcePairs.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IcePlane.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IcePlane.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IcePoint.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IcePoint.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IcePreprocessor.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceRandom.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceRandom.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceRay.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceRay.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceRevisitedRadix.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceRevisitedRadix.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceSegment.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceSegment.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceTriangle.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceTriangle.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceTriList.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceTypes.h"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceUtils.cpp"
+					>
+				</File>
+				<File
+					RelativePath="..\..\OPCODE\Ice\IceUtils.h"
+					>
+				</File>
+			</Filter>
 		</Filter>
 	</Files>
 	<Globals>
Index: include/ode/collision.h
===================================================================
--- include/ode/collision.h	(revision 1198)
+++ include/ode/collision.h	(working copy)
@@ -1372,6 +1372,18 @@
 
 /* ************************************************************************ */
 
+/* ***** Sylphis3D support *****/
+class CODETrace {
+public:
+    float mFrac;
+    dReal mEnd[3];
+    dReal mPlane[4];
+    dGeomID mGeomID;
+};
+
+void dRayTrace (dReal *start, dReal *end, dGeomID skip, dSpaceID space, CODETrace *tr);
+/*******************************/
+
 #ifdef __cplusplus
 }
 #endif
Index: include/ode/objects.h
===================================================================
--- include/ode/objects.h	(revision 1198)
+++ include/ode/objects.h	(working copy)
@@ -1933,6 +1933,15 @@
  */
 ODE_API int dAreConnectedExcluding (dBodyID body1, dBodyID body2, int joint_type);
 
+/**
+ * Damping functions 
+ */
+ODE_API void dBodySetLinearDamping(dBodyID b, dReal d);
+ODE_API void dBodySetAngularDamping(dBodyID b, dReal d);
+ODE_API dReal dBodyGetLinearDamping(dBodyID b);
+ODE_API dReal dBodyGetAngularDamping(dBodyID b);
+ODE_API void dBodySetMaxAngularVel(dBodyID b, dReal v);
+ODE_API dReal dBodyGetMaxAngularVel(dBodyID b);
 
 #ifdef __cplusplus
 }
Index: ode/src/collision_kernel.cpp
===================================================================
--- ode/src/collision_kernel.cpp	(revision 1198)
+++ ode/src/collision_kernel.cpp	(working copy)
@@ -1089,3 +1089,60 @@
   opcode_collider_cleanup();
 #endif
 }
+
+//** Sylhis3D Support ***/
+#define GEOM_ENABLED(g) ((g)->gflags & GEOM_ENABLED)
+void dRayTrace (dReal *start, dReal *end, dGeomID skip, dSpaceID space, CODETrace *tr){
+    dVector3 delta;
+    delta[0] = end[0] - start[0];
+    delta[1] = end[1] - start[1];
+    delta[2] = end[2] - start[2];
+    tr->mEnd[0] = end[0];
+    tr->mEnd[1] = end[1];
+    tr->mEnd[2] = end[2];
+    dReal l = dDOT(delta,delta);
+    l = sqrt(l);
+    tr->mFrac = 1.0;
+    tr->mGeomID = 0;
+    
+    if(l == 0.0){
+        return;
+    }
+    delta[0] /= l;
+    delta[1] /= l;
+    delta[2] /= l;
+    dGeomID Ray = dCreateRay(space, l);
+    dGeomRaySet(Ray, start[0], start[1], start[2], delta[0], delta[1], delta[2]);
+    dGeomRaySetParams(Ray, true, true);
+    dGeomRaySetLength(Ray, l);
+    dContact contact;
+    for (dxGeom *g1=space->first; g1; g1=g1->next) {
+        if (GEOM_ENABLED(g1) && g1 != skip){
+            int numc = dCollide (Ray, g1, 1, &contact.geom, sizeof(dContact));
+            if (numc == 0)
+                continue;
+
+            //dReal l = dRecipSqrt(dDOT(contact.fdir1delta,delta));
+            dVector3 temp;
+            temp[0] =  contact.geom.pos[0] - start[0];
+            temp[1] =  contact.geom.pos[1] - start[1];
+            temp[2] =  contact.geom.pos[2] - start[2];
+            float dist = dDOT(temp, temp);
+            dist = sqrt(dist);
+            float frac = dist / l;
+            //if(frac < tr->mFrac){
+                tr->mFrac = frac;
+                tr->mGeomID = g1;
+                tr->mEnd[0] = contact.geom.pos[0];
+                tr->mEnd[1] = contact.geom.pos[1];
+                tr->mEnd[2] = contact.geom.pos[2];
+                tr->mPlane[0] = contact.geom.normal[0];
+                tr->mPlane[1] = contact.geom.normal[1];
+                tr->mPlane[2] = contact.geom.normal[2];
+                dGeomDestroy(Ray);
+                return;
+            //}
+        }
+    }
+    dGeomDestroy(Ray);
+}
Index: ode/src/objects.h
===================================================================
--- ode/src/objects.h	(revision 1198)
+++ ode/src/objects.h	(working copy)
@@ -109,6 +109,7 @@
   dVector3 lvel,avel;		// linear and angular velocity of POR
   dVector3 facc,tacc;		// force and torque accumulators
   dVector3 finite_rot_axis;	// finite rotation axis, unit length or 0=none
+  dReal linearDamping, angularDamping, maxAngularVel;
 
   // auto-disable information
   dxAutoDisable adis;		// auto-disable parameters
Index: ode/src/ode.cpp
===================================================================
--- ode/src/ode.cpp	(revision 1198)
+++ ode/src/ode.cpp	(working copy)
@@ -847,7 +847,42 @@
   return ((b->flags & dxBodyNoGravity) == 0);
 }
 
+void dBodySetLinearDamping(dBodyID b, dReal d)
+{
+	dAASSERT(b);
+	b->linearDamping = d;
+}
 
+void dBodySetAngularDamping(dBodyID b, dReal d)
+{
+	dAASSERT(b);
+	b->angularDamping = d;
+}
+
+dReal dBodyGetLinearDamping(dBodyID b)
+{
+	dAASSERT(b);
+	return b->linearDamping;
+}
+
+dReal dBodyGetAngularDamping(dBodyID b)
+{
+	dAASSERT(b);
+	return b->angularDamping;
+}
+
+void dBodySetMaxAngularVel(dBodyID b, dReal v)
+{
+	dAASSERT(b);
+	b->maxAngularVel = dFabs(v);
+}
+
+dReal dBodyGetMaxAngularVel(dBodyID b)
+{
+	dAASSERT(b);
+	return b->maxAngularVel;
+}
+
 // body auto-disable functions
 
 dReal dBodyGetAutoDisableLinearThreshold (dBodyID b)