diff --git a/trunk/unmanaged/ubODE-OpenSim/OPCODE/Ice/IcePoint.h b/trunk/unmanaged/ubODE-OpenSim/OPCODE/Ice/IcePoint.h
index 6fa8b7bb..ae7867c9 100644
--- a/trunk/unmanaged/ubODE-OpenSim/OPCODE/Ice/IcePoint.h
+++ b/trunk/unmanaged/ubODE-OpenSim/OPCODE/Ice/IcePoint.h
@@ -672,6 +672,7 @@ inline_ void iceStore3f(float *res, __m128 ma)
 
             ma = _mm_sub_ps(t3, t4);
             iceStore3f(&x, ma);
+            return *this;
         }
 #else
         inline_ Point& Cross(const Point& a, const Point& b)
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_util.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_util.cpp
index bbad7815..a1025896 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_util.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_util.cpp
@@ -121,7 +121,7 @@ void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
     dSubtractVectors3r4(a1b1, b1, a1);
     da1 = dCalcVectorDot3(a1a2, a1b1);
 
-    dSubtractVectorCross3r4(b1b2, b2, b1);
+    dSubtractVectors3r4(b1b2, b2, b1);
     db1 = dCalcVectorDot3(b1b2, a1b1);
     if (da1 <= 0 && db1 >= 0)
     {
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/osTerrain.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/osTerrain.cpp
index cba9f83d..0dd10fd1 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/osTerrain.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/osTerrain.cpp
@@ -747,8 +747,7 @@ int dxOSTerrain::dCollideOSTerrainZone( const int minX, const int maxX, const in
     // maximum contact point...
     // or in complex mesh case (trimesh and convex)
     // need some test or insights on this before enabling this.
-    const bool isContactNumPointsLimited = 
-        true;
+    const bool isContactNumPointsLimited = true;
 
     bool needFurtherPasses = (o2->type == dTriMeshClass);
     //compute Ratio between Triangle size and O2 aabb size
@@ -1444,7 +1443,7 @@ int dxOSTerrain::dCollideOSTerrainSphere(const int minX, const int maxX, const i
                 }
   
                 depth = 1e30;
-                
+
                 if (!topColide)
                 {
                     if (!lastHbotColide)