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diff --git a/libraries/ode-0.9/ode/src/mat.cpp b/libraries/ode-0.9/ode/src/mat.cpp
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+++ b/libraries/ode-0.9/ode/src/mat.cpp
@@ -0,0 +1,230 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/config.h>
+#include <ode/misc.h>
+#include <ode/matrix.h>
+#include <ode/error.h>
+#include <ode/memory.h>
+#include "mat.h"
+
+
+dMatrix::dMatrix()
+{
+  n = 0;
+  m = 0;
+  data = 0;
+}
+
+
+dMatrix::dMatrix (int rows, int cols)
+{
+  if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
+  n = rows;
+  m = cols;
+  data = (dReal*) dAlloc (n*m*sizeof(dReal));
+  dSetZero (data,n*m);
+}
+
+
+dMatrix::dMatrix (const dMatrix &a)
+{
+  n = a.n;
+  m = a.m;
+  data = (dReal*) dAlloc (n*m*sizeof(dReal));
+  memcpy (data,a.data,n*m*sizeof(dReal));
+}
+
+
+dMatrix::dMatrix (int rows, int cols,
+                    dReal *_data, int rowskip, int colskip)
+{
+  if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
+  n = rows;
+  m = cols;
+  data = (dReal*) dAlloc (n*m*sizeof(dReal));
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++) data[i*m+j] = _data[i*rowskip + j*colskip];
+  }
+}
+
+
+dMatrix::~dMatrix()
+{
+  if (data) dFree (data,n*m*sizeof(dReal));
+}
+
+
+dReal & dMatrix::operator () (int i, int j)
+{
+  if (i < 0 || i >= n || j < 0 || j >= m) dDebug (0,"bad matrix (i,j)");
+  return data [i*m+j];
+}
+
+
+void dMatrix::operator= (const dMatrix &a)
+{
+  if (data) dFree (data,n*m*sizeof(dReal));
+  n = a.n;
+  m = a.m;
+  if (n > 0 && m > 0) {
+    data = (dReal*) dAlloc (n*m*sizeof(dReal));
+    memcpy (data,a.data,n*m*sizeof(dReal));
+  }
+  else data = 0;
+}
+
+
+void dMatrix::operator= (dReal a)
+{
+  for (int i=0; i<n*m; i++) data[i] = a;
+}
+
+
+dMatrix dMatrix::transpose()
+{
+  dMatrix r (m,n);
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++) r.data[j*n+i] = data[i*m+j];
+  }
+  return r;
+}
+
+
+dMatrix dMatrix::select (int np, int *p, int nq, int *q)
+{
+  if (np < 1 || nq < 1) dDebug (0,"Matrix select, bad index array sizes");
+  dMatrix r (np,nq);
+  for (int i=0; i<np; i++) {
+    for (int j=0; j<nq; j++) {
+      if (p[i] < 0 || p[i] >= n || q[i] < 0 || q[i] >= m)
+        dDebug (0,"Matrix select, bad index arrays");
+      r.data[i*nq+j] = data[p[i]*m+q[j]];
+    }
+  }
+  return r;
+}
+
+
+dMatrix dMatrix::operator + (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"matrix +, mismatched sizes");
+  dMatrix r (n,m);
+  for (int i=0; i<n*m; i++) r.data[i] = data[i] + a.data[i];
+  return r;
+}
+
+
+dMatrix dMatrix::operator - (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"matrix -, mismatched sizes");
+  dMatrix r (n,m);
+  for (int i=0; i<n*m; i++) r.data[i] = data[i] - a.data[i];
+  return r;
+}
+
+
+dMatrix dMatrix::operator - ()
+{
+  dMatrix r (n,m);
+  for (int i=0; i<n*m; i++) r.data[i] = -data[i];
+  return r;
+}
+
+
+dMatrix dMatrix::operator * (const dMatrix &a)
+{
+  if (m != a.n) dDebug (0,"matrix *, mismatched sizes");
+  dMatrix r (n,a.m);
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<a.m; j++) {
+      dReal sum = 0;
+      for (int k=0; k<m; k++) sum += data[i*m+k] * a.data[k*a.m+j];
+      r.data [i*a.m+j] = sum;
+    }
+  }
+  return r;
+}
+
+
+void dMatrix::operator += (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"matrix +=, mismatched sizes");
+  for (int i=0; i<n*m; i++) data[i] += a.data[i];
+}
+
+
+void dMatrix::operator -= (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"matrix -=, mismatched sizes");
+  for (int i=0; i<n*m; i++) data[i] -= a.data[i];
+}
+
+
+void dMatrix::clearUpperTriangle()
+{
+  if (n != m) dDebug (0,"clearUpperTriangle() only works on square matrices");
+  for (int i=0; i<n; i++) {
+    for (int j=i+1; j<m; j++) data[i*m+j] = 0;
+  }
+}
+
+
+void dMatrix::clearLowerTriangle()
+{
+  if (n != m) dDebug (0,"clearLowerTriangle() only works on square matrices");
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<i; j++) data[i*m+j] = 0;
+  }
+}
+
+
+void dMatrix::makeRandom (dReal range)
+{
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++)
+      data[i*m+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
+  }
+}
+
+
+void dMatrix::print (char *fmt, FILE *f)
+{
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++) fprintf (f,fmt,data[i*m+j]);
+    fprintf (f,"\n");
+  }
+}
+
+
+dReal dMatrix::maxDifference (const dMatrix &a)
+{
+  if (n != a.n || m != a.m) dDebug (0,"maxDifference(), mismatched sizes");
+  dReal max = 0;
+  for (int i=0; i<n; i++) {
+    for (int j=0; j<m; j++) {
+      dReal diff = dFabs(data[i*m+j] - a.data[i*m+j]);
+      if (diff > max) max = diff;
+    }
+  }
+  return max;
+}