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diff --git a/libraries/ode-0.9/OPCODE/Ice/IcePoint.cpp b/libraries/ode-0.9/OPCODE/Ice/IcePoint.cpp
new file mode 100644
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+++ b/libraries/ode-0.9/OPCODE/Ice/IcePoint.cpp
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+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains code for 3D vectors.
+ *      \file           IcePoint.cpp
+ *      \author         Pierre Terdiman
+ *      \date           April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      3D point.
+ *
+ *      The name is "Point" instead of "Vector" since a vector is N-dimensional, whereas a point is an implicit "vector of dimension 3".
+ *      So the choice was between "Point" and "Vector3", the first one looked better (IMHO).
+ *
+ *      Some people, then, use a typedef to handle both points & vectors using the same class: typedef Point Vector3;
+ *      This is bad since it opens the door to a lot of confusion while reading the code. I know it may sounds weird but check this out:
+ *
+ *      \code
+ *              Point P0,P1 = some 3D points;
+ *              Point Delta = P1 - P0;
+ *      \endcode
+ *
+ *      This compiles fine, although you should have written:
+ *
+ *      \code
+ *              Point P0,P1 = some 3D points;
+ *              Vector3 Delta = P1 - P0;
+ *      \endcode
+ *
+ *      Subtle things like this are not caught at compile-time, and when you find one in the code, you never know whether it's a mistake
+ *      from the author or something you don't get.
+ *
+ *      One way to handle it at compile-time would be to use different classes for Point & Vector3, only overloading operator "-" for vectors.
+ *      But then, you get a lot of redundant code in thoses classes, and basically it's really a lot of useless work.
+ *
+ *      Another way would be to use homogeneous points: w=1 for points, w=0 for vectors. That's why the HPoint class exists. Now, to store
+ *      your model's vertices and in most cases, you really want to use Points to save ram.
+ *
+ *      \class          Point
+ *      \author         Pierre Terdiman
+ *      \version        1.0
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace IceMaths;
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Creates a positive unit random vector.
+ *      \return         Self-reference
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Point& Point::PositiveUnitRandomVector()
+{
+        x = UnitRandomFloat();
+        y = UnitRandomFloat();
+        z = UnitRandomFloat();
+        Normalize();
+        return *this;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Creates a unit random vector.
+ *      \return         Self-reference
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Point& Point::UnitRandomVector()
+{
+        x = UnitRandomFloat() - 0.5f;
+        y = UnitRandomFloat() - 0.5f;
+        z = UnitRandomFloat() - 0.5f;
+        Normalize();
+        return *this;
+}
+
+// Cast operator
+// WARNING: not inlined
+Point::operator HPoint() const  { return HPoint(x, y, z, 0.0f); }
+
+Point& Point::Refract(const Point& eye, const Point& n, float refractindex, Point& refracted)
+{
+        //      Point EyePt = eye position
+        //      Point p = current vertex
+        //      Point n = vertex normal
+        //      Point rv = refracted vector
+        //      Eye vector - doesn't need to be normalized
+        Point Env;
+        Env.x = eye.x - x;
+        Env.y = eye.y - y;
+        Env.z = eye.z - z;
+
+        float NDotE = n|Env;
+        float NDotN = n|n;
+        NDotE /= refractindex;
+
+        // Refracted vector
+        refracted = n*NDotE - Env*NDotN;
+
+        return *this;
+}
+
+Point& Point::ProjectToPlane(const Plane& p)
+{
+        *this-= (p.d + (*this|p.n))*p.n;
+        return *this;
+}
+
+void Point::ProjectToScreen(float halfrenderwidth, float halfrenderheight, const Matrix4x4& mat, HPoint& projected) const
+{
+        projected = HPoint(x, y, z, 1.0f) * mat;
+        projected.w = 1.0f / projected.w;
+
+        projected.x*=projected.w;
+        projected.y*=projected.w;
+        projected.z*=projected.w;
+
+        projected.x *= halfrenderwidth;         projected.x += halfrenderwidth;
+        projected.y *= -halfrenderheight;       projected.y += halfrenderheight;
+}
+
+void Point::SetNotUsed()
+{
+        // We use a particular integer pattern : 0xffffffff everywhere. This is a NAN.
+        IR(x) = 0xffffffff;
+        IR(y) = 0xffffffff;
+        IR(z) = 0xffffffff;
+}
+
+BOOL Point::IsNotUsed() const
+{
+        if(IR(x)!=0xffffffff)   return FALSE;
+        if(IR(y)!=0xffffffff)   return FALSE;
+        if(IR(z)!=0xffffffff)   return FALSE;
+        return TRUE;
+}
+
+Point& Point::Mult(const Matrix3x3& mat, const Point& a)
+{
+        x = a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2];
+        y = a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2];
+        z = a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2];
+        return *this;
+}
+
+Point& Point::Mult2(const Matrix3x3& mat1, const Point& a1, const Matrix3x3& mat2, const Point& a2)
+{
+        x = a1.x * mat1.m[0][0] + a1.y * mat1.m[0][1] + a1.z * mat1.m[0][2] + a2.x * mat2.m[0][0] + a2.y * mat2.m[0][1] + a2.z * mat2.m[0][2];
+        y = a1.x * mat1.m[1][0] + a1.y * mat1.m[1][1] + a1.z * mat1.m[1][2] + a2.x * mat2.m[1][0] + a2.y * mat2.m[1][1] + a2.z * mat2.m[1][2];
+        z = a1.x * mat1.m[2][0] + a1.y * mat1.m[2][1] + a1.z * mat1.m[2][2] + a2.x * mat2.m[2][0] + a2.y * mat2.m[2][1] + a2.z * mat2.m[2][2];
+        return *this;
+}
+
+Point& Point::Mac(const Matrix3x3& mat, const Point& a)
+{
+        x += a.x * mat.m[0][0] + a.y * mat.m[0][1] + a.z * mat.m[0][2];
+        y += a.x * mat.m[1][0] + a.y * mat.m[1][1] + a.z * mat.m[1][2];
+        z += a.x * mat.m[2][0] + a.y * mat.m[2][1] + a.z * mat.m[2][2];
+        return *this;
+}
+
+Point& Point::TransMult(const Matrix3x3& mat, const Point& a)
+{
+        x = a.x * mat.m[0][0] + a.y * mat.m[1][0] + a.z * mat.m[2][0];
+        y = a.x * mat.m[0][1] + a.y * mat.m[1][1] + a.z * mat.m[2][1];
+        z = a.x * mat.m[0][2] + a.y * mat.m[1][2] + a.z * mat.m[2][2];
+        return *this;
+}
+
+Point& Point::Transform(const Point& r, const Matrix3x3& rotpos, const Point& linpos)
+{
+        x = r.x * rotpos.m[0][0] + r.y * rotpos.m[0][1] + r.z * rotpos.m[0][2] + linpos.x;
+        y = r.x * rotpos.m[1][0] + r.y * rotpos.m[1][1] + r.z * rotpos.m[1][2] + linpos.y;
+        z = r.x * rotpos.m[2][0] + r.y * rotpos.m[2][1] + r.z * rotpos.m[2][2] + linpos.z;
+        return *this;
+}
+
+Point& Point::InvTransform(const Point& r, const Matrix3x3& rotpos, const Point& linpos)
+{
+        float sx = r.x - linpos.x;
+        float sy = r.y - linpos.y;
+        float sz = r.z - linpos.z;
+        x = sx * rotpos.m[0][0] + sy * rotpos.m[1][0] + sz * rotpos.m[2][0];
+        y = sx * rotpos.m[0][1] + sy * rotpos.m[1][1] + sz * rotpos.m[2][1];
+        z = sx * rotpos.m[0][2] + sy * rotpos.m[1][2] + sz * rotpos.m[2][2];
+        return *this;
+}