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diff --git a/libraries/ode-0.9/ode/src/mat.h b/libraries/ode-0.9/ode/src/mat.h
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--- a/libraries/ode-0.9/ode/src/mat.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*************************************************************************
- *                                                                       *
- * 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.                     *
- *                                                                       *
- *************************************************************************/
-
-// matrix class. this is mostly for convenience in the testing code, it is
-// not optimized at all. correctness is much more importance here.
-
-#ifndef _ODE_MAT_H_
-#define _ODE_MAT_H_
-
-#include <ode/common.h>
-
-
-class dMatrix {
-  int n,m;              // matrix dimension, n,m >= 0
-  dReal *data;          // if nonzero, n*m elements allocated on the heap
-
-public:
-  // constructors, destructors
-  dMatrix();                            // make default 0x0 matrix
-  dMatrix (int rows, int cols);         // construct zero matrix of given size
-  dMatrix (const dMatrix &);            // construct copy of given matrix
-  // create copy of given data - element (i,j) is data[i*rowskip+j*colskip]
-  dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip);
-  ~dMatrix();                           // destructor
-
-  // data movement
-  dReal & operator () (int i, int j);   // reference an element
-  void operator= (const dMatrix &);     // matrix = matrix
-  void operator= (dReal);               // matrix = scalar
-  dMatrix transpose();                  // return transposed matrix
-  // return a permuted submatrix of this matrix, made up of the rows in p
-  // and the columns in q. p has np elements, q has nq elements.
-  dMatrix select (int np, int *p, int nq, int *q);
-
-  // operators
-  dMatrix operator + (const dMatrix &);
-  dMatrix operator - (const dMatrix &);
-  dMatrix operator - ();
-  dMatrix operator * (const dMatrix &);
-  void operator += (const dMatrix &);
-  void operator -= (const dMatrix &);
-
-  // utility
-  void clearUpperTriangle();
-  void clearLowerTriangle();
-  void makeRandom (dReal range);
-  void print (char *fmt = "%10.4f ", FILE *f=stdout);
-  dReal maxDifference (const dMatrix &);
-};
-
-
-#endif