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diff --git a/libraries/ode-0.9/OPCODE/Ice/IceRevisitedRadix.h b/libraries/ode-0.9/OPCODE/Ice/IceRevisitedRadix.h
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index 0000000..3bdfc22
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/Ice/IceRevisitedRadix.h
@@ -0,0 +1,65 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains source code from the article "Radix Sort Revisited".
+ *      \file           IceRevisitedRadix.h
+ *      \author         Pierre Terdiman
+ *      \date           April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __ICERADIXSORT_H__
+#define __ICERADIXSORT_H__
+
+        //! Allocate histograms & offsets locally
+        #define RADIX_LOCAL_RAM
+
+        enum RadixHint
+        {
+                RADIX_SIGNED,           //!< Input values are signed
+                RADIX_UNSIGNED,         //!< Input values are unsigned
+
+                RADIX_FORCE_DWORD = 0x7fffffff
+        };
+
+        class ICECORE_API RadixSort
+        {
+                public:
+                // Constructor/Destructor
+                                                                RadixSort();
+                                                                ~RadixSort();
+                // Sorting methods
+                                RadixSort&              Sort(const udword* input, udword nb, RadixHint hint=RADIX_SIGNED);
+                                RadixSort&              Sort(const float* input, udword nb);
+
+                //! Access to results. mRanks is a list of indices in sorted order, i.e. in the order you may further process your data
+                inline_ const udword*   GetRanks()                      const   { return mRanks;                }
+
+                //! mIndices2 gets trashed on calling the sort routine, but otherwise you can recycle it the way you want.
+                inline_ udword*                 GetRecyclable()         const   { return mRanks2;               }
+
+                // Stats
+                                udword                  GetUsedRam()            const;
+                //! Returns the total number of calls to the radix sorter.
+                inline_ udword                  GetNbTotalCalls()       const   { return mTotalCalls;   }
+                //! Returns the number of eraly exits due to temporal coherence.
+                inline_ udword                  GetNbHits()                     const   { return mNbHits;               }
+
+                private:
+#ifndef RADIX_LOCAL_RAM
+                                udword*                 mHistogram;                     //!< Counters for each byte
+                                udword*                 mOffset;                        //!< Offsets (nearly a cumulative distribution function)
+#endif
+                                udword                  mCurrentSize;           //!< Current size of the indices list
+                                udword*                 mRanks;                         //!< Two lists, swapped each pass
+                                udword*                 mRanks2;
+                // Stats
+                                udword                  mTotalCalls;            //!< Total number of calls to the sort routine
+                                udword                  mNbHits;                        //!< Number of early exits due to coherence
+                // Internal methods
+                                void                    CheckResize(udword nb);
+                                bool                    Resize(udword nb);
+        };
+
+#endif // __ICERADIXSORT_H__