diff --git a/trunk/unmanaged/ubODE-OpenSim/OPCODE/OPC_MeshInterface.h b/trunk/unmanaged/ubODE-OpenSim/OPCODE/OPC_MeshInterface.h
index a132e066..491a9a2c 100644
--- a/trunk/unmanaged/ubODE-OpenSim/OPCODE/OPC_MeshInterface.h
+++ b/trunk/unmanaged/ubODE-OpenSim/OPCODE/OPC_MeshInterface.h
@@ -63,8 +63,8 @@ public:
         return mVerts;
     }
 
-    inline_ bool SetStrides(udword tri_stride = sizeof(IndexedTriangle), udword vertex_stride = sizeof(Point)) { return true; }
-    inline_ void SetSingle(bool value) {}
+    //inline_ bool SetStrides(udword tri_stride = sizeof(IndexedTriangle), udword vertex_stride = sizeof(Point)) { return true; }
+    //inline_ void SetSingle(bool value) {}
     inline_ udword GetTriStride() const { return sizeof(IndexedTriangle); }
     inline_ udword GetVertexStride() const { return sizeof(Point); }
 
diff --git a/trunk/unmanaged/ubODE-OpenSim/include/ode/collision.h b/trunk/unmanaged/ubODE-OpenSim/include/ode/collision.h
index 18a4a832..0c8c45f3 100644
--- a/trunk/unmanaged/ubODE-OpenSim/include/ode/collision.h
+++ b/trunk/unmanaged/ubODE-OpenSim/include/ode/collision.h
@@ -452,7 +452,7 @@ enum
  * @returns Boolean execution status
  * @ingroup collide
  */
-ODE_API int dGeomLowLevelControl (dGeomID geom, int controlClass, int controlCode, void *dataValue, int *dataSize);
+//ODE_API int dGeomLowLevelControl (dGeomID geom, int controlClass, int controlCode, void *dataValue, int *dataSize);
 
 
 /**
diff --git a/trunk/unmanaged/ubODE-OpenSim/include/ode/odeconfig.h b/trunk/unmanaged/ubODE-OpenSim/include/ode/odeconfig.h
index b9d8ae7e..3cd7bf03 100644
--- a/trunk/unmanaged/ubODE-OpenSim/include/ode/odeconfig.h
+++ b/trunk/unmanaged/ubODE-OpenSim/include/ode/odeconfig.h
@@ -141,23 +141,8 @@
   #endif
 #endif
 
-
-  /* Visual C does not define these functions */
-#if defined(_MSC_VER)
-  #define _ode_copysignf(x, y) ((float)_copysign(x, y))
-  #define _ode_copysign(x, y) _copysign(x, y)
-  #define _ode_nextafterf(x, y) _nextafterf(x, y)
-  #define _ode_nextafter(x, y) _nextafter(x, y)
-  #if !defined(_WIN64) && defined(dSINGLE)
-    #define _ODE__NEXTAFTERF_REQUIRED
-    ODE_EXTERN_C float _nextafterf(float x, float y);
-  #endif
-#else
   #define _ode_copysignf(x, y) copysignf(x, y)
   #define _ode_copysign(x, y) copysign(x, y)
   #define _ode_nextafterf(x, y) nextafterf(x, y)
   #define _ode_nextafter(x, y) nextafter(x, y)
 #endif
-
-
-#endif
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/box.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/box.cpp
index fab71bda..b3128043 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/box.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/box.cpp
@@ -817,8 +817,8 @@ int dBoxBox (const dVector3 p1, const dMatrix3 R1,
 
     for (j=0; j < n; j++)
     {
-        dReal k1 =  m22 * (ret[j * 2] - c1) - m12 * (ret[j * 2 + 1] - c2);
-        dReal k2 = -m21 * (ret[j * 2] - c1) + m11 * (ret[j * 2 + 1] - c2);
+        k1 =  m22 * (ret[j * 2] - c1) - m12 * (ret[j * 2 + 1] - c2);
+        k2 = -m21 * (ret[j * 2] - c1) + m11 * (ret[j * 2 + 1] - c2);
         for (i = 0; i < 3; i++)
             point[cnum * 3 + i] = center[i] + k1 * Rb[i * 4 + a1] + k2 * Rb[i * 4 + a2];
         dep[cnum] = Sa[codeN] - dCalcVectorDot3(normal2, point + cnum * 3);
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_kernel.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_kernel.cpp
index 0cf45459..7dc0147a 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_kernel.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_kernel.cpp
@@ -471,13 +471,15 @@ void dxGeom::computePosr()
     dMultiply0_333 (final_posr->R, body->posr.R, offset_posr->R);
 }
 
-bool dxGeom::controlGeometry(int /*controlClass*/, int /*controlCode*/, void * /*dataValue*/, int *dataSize)
-{
-    dAASSERT(false && "Control class/code is not supported for current geom");
 
-    *dataSize = 0;
-    return false;
-}
+//bool dxGeom::controlGeometry(int /*controlClass*/, int /*controlCode*/, void * /*dataValue*/, int *dataSize)
+//{
+//    dAASSERT(false && "Control class/code is not supported for current geom");
+
+//    *dataSize = 0;
+//    return false;
+//}
+
 
 //****************************************************************************
 // misc
@@ -864,7 +866,7 @@ void dGeomVectorFromWorld (dGeomID g, dReal px, dReal py, dReal pz, dVector3 res
 }
 
 
-
+/*
 int dGeomLowLevelControl (dxGeom *g, int controlClass, int controlCode, void *dataValue, int *dataSize)
 {
     dAASSERT (g);
@@ -877,7 +879,7 @@ int dGeomLowLevelControl (dxGeom *g, int controlClass, int controlCode, void *da
     bool result = g->controlGeometry(controlClass, controlCode, dataValue, dataSize);
     return result;
 }
-
+*/
 //****************************************************************************
 // C interface that lets the user make new classes. this interface is a lot
 // more cumbersome than C++ subclassing, which is what is used internally
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_kernel.h b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_kernel.h
index 940ad79f..759c9bd1 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_kernel.h
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_kernel.h
@@ -70,9 +70,9 @@ internal data structures and functions for collision detection.
 //		GEOM_DIRTY|GEOM_AABB_BAD|GEOM_POSR_BAD
 
 enum {
-    GEOM_DIRTY	= 1,    // geom is 'dirty', i.e. position unknown
+    GEOM_DIRTY	= 1,      // geom is 'dirty', i.e. position unknown
     GEOM_POSR_BAD = 2,    // geom's final posr is not valid
-    GEOM_AABB_BAD	= 4,    // geom's AABB is not valid
+    GEOM_AABB_BAD	= 4,  // geom's AABB is not valid
     GEOM_PLACEABLE = 8,   // geom is placeable
     GEOM_ENABLED = 16,    // geom is enabled
     GEOM_ZERO_SIZED = 32, // geom is zero sized
@@ -147,8 +147,12 @@ struct dxGeom : public dBase {
         return final_posr;
     };
 
-    bool checkControlValueSizeValidity(void *dataValue, int *dataSize, int iRequiresSize) { return (*dataSize == iRequiresSize && dataValue != 0) ? true : !(*dataSize = iRequiresSize); } // Here it is the intent to return true for 0 required size in any case
-    virtual bool controlGeometry(int controlClass, int controlCode, void *dataValue, int *dataSize);
+//    bool checkControlValueSizeValidity(void *dataValue, int *dataSize, int iRequiresSize)
+//    {
+//        return (*dataSize == iRequiresSize && dataValue != 0) ? true : !(*dataSize = iRequiresSize);
+//    } // Here it is the intent to return true for 0 required size in any case
+    
+//    virtual bool controlGeometry(int controlClass, int controlCode, void *dataValue, int *dataSize);
 
     virtual void computeAABB()=0;
     // compute the AABB for this object and put it in aabb. this function
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_quadtreespace.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_quadtreespace.cpp
index b809327c..19446785 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_quadtreespace.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_quadtreespace.cpp
@@ -44,7 +44,8 @@ const int SPLITS = SPLITAXIS * SPLITAXIS;
 
 #define GEOM_ENABLED(g) (((g)->gflags & GEOM_ENABLE_TEST_MASK) == GEOM_ENABLE_TEST_VALUE)
 
-class Block{
+class Block
+{
 public:
     dReal mMinX, mMaxX;
     dReal mMinZ, mMaxZ;
@@ -73,65 +74,8 @@ public:
 };
 
 
-#ifdef DRAWBLOCKS
-#include "..\..\Include\drawstuff\\drawstuff.h"
-
-static void DrawBlock(Block* Block){
-    dVector3 v[8];
-    v[0][AXIS0] = Block->mMinX;
-    v[0][UP] = REAL(-1.0);
-    v[0][AXIS1] = Block->mMinZ;
-
-    v[1][AXIS0] = Block->mMinX;
-    v[1][UP] = REAL(-1.0);
-    v[1][AXIS1] = Block->mMaxZ;
-
-    v[2][AXIS0] = Block->mMaxX;
-    v[2][UP] = REAL(-1.0);
-    v[2][AXIS1] = Block->mMinZ;
-
-    v[3][AXIS0] = Block->mMaxX;
-    v[3][UP] = REAL(-1.0);
-    v[3][AXIS1] = Block->mMaxZ;
-
-    v[4][AXIS0] = Block->mMinX;
-    v[4][UP] = REAL(1.0);
-    v[4][AXIS1] = Block->mMinZ;
-
-    v[5][AXIS0] = Block->mMinX;
-    v[5][UP] = REAL(1.0);
-    v[5][AXIS1] = Block->mMaxZ;
-
-    v[6][AXIS0] = Block->mMaxX;
-    v[6][UP] = REAL(1.0);
-    v[6][AXIS1] = Block->mMinZ;
-
-    v[7][AXIS0] = Block->mMaxX;
-    v[7][UP] = REAL(1.0);
-    v[7][AXIS1] = Block->mMaxZ;
-
-    // Bottom
-    dsDrawLine(v[0], v[1]);
-    dsDrawLine(v[1], v[3]);
-    dsDrawLine(v[3], v[2]);
-    dsDrawLine(v[2], v[0]);
-
-    // Top
-    dsDrawLine(v[4], v[5]);
-    dsDrawLine(v[5], v[7]);
-    dsDrawLine(v[7], v[6]);
-    dsDrawLine(v[6], v[4]);
-
-    // Sides
-    dsDrawLine(v[0], v[4]);
-    dsDrawLine(v[1], v[5]);
-    dsDrawLine(v[2], v[6]);
-    dsDrawLine(v[3], v[7]);
-}
-#endif	//DRAWBLOCKS
-
-
-void Block::Create(const dReal MinX, const dReal MaxX, const dReal MinZ, const dReal MaxZ, Block* Parent, int Depth, Block*& Blocks){
+void Block::Create(const dReal MinX, const dReal MaxX, const dReal MinZ, const dReal MaxZ, Block* Parent, int Depth, Block*& Blocks)
+{
     dIASSERT(MinX <= MaxX);
     dIASSERT(MinZ <= MaxZ);
 
@@ -146,7 +90,8 @@ void Block::Create(const dReal MinX, const dReal MaxX, const dReal MinZ, const d
 
     this->mParent = Parent;
 
-    if (Depth > 0){
+    if (Depth > 0)
+    {
         mChildren = Blocks;
         Blocks += SPLITS;
 
@@ -157,12 +102,14 @@ void Block::Create(const dReal MinX, const dReal MaxX, const dReal MinZ, const d
         int Index = 0;
 
         dReal ChildRightX = MinX;
-        for (int i = 0; i < SPLITAXIS; i++){
+        for (int i = 0; i < SPLITAXIS; i++)
+        {
             const dReal ChildLeftX = ChildRightX;
             ChildRightX = (i != SPLITAXIS - 1) ? ChildLeftX + ChildExtentX : MaxX;
 
             dReal ChildRightZ = MinZ;
-            for (int j = 0; j < SPLITAXIS; j++){
+            for (int j = 0; j < SPLITAXIS; j++)
+            {
                 const dReal ChildLeftZ = ChildRightZ;
                 ChildRightZ = (j != SPLITAXIS - 1) ? ChildLeftZ + ChildExtentZ : MaxZ;
 
@@ -175,23 +122,25 @@ void Block::Create(const dReal MinX, const dReal MaxX, const dReal MinZ, const d
 }
 
 void Block::Collide(void* UserData, dNearCallback* Callback){
-#ifdef DRAWBLOCKS
-    DrawBlock(this);
-#endif
     // Collide the local list
     dxGeom* g = mFirst;
-    while (g){
-        if (GEOM_ENABLED(g)){
+    while (g)
+    {
+        if (GEOM_ENABLED(g))
+        {
             Collide(g, g->next_ex, UserData, Callback);
         }
         g = g->next_ex;
     }
 
     // Recurse for children
-    if (mChildren){
-        for (int i = 0; i < SPLITS; i++){
+    if (mChildren)
+    {
+        for (int i = 0; i < SPLITS; i++)
+        {
             Block &CurrentChild = mChildren[i];
-            if (CurrentChild.mGeomCount <= 1){	// Early out
+            if (CurrentChild.mGeomCount <= 1)
+            {	// Early out
                 continue;
             }
             CurrentChild.Collide(UserData, Callback);
@@ -200,37 +149,39 @@ void Block::Collide(void* UserData, dNearCallback* Callback){
 }
 
 // Note: g2 is assumed to be in this Block
-void Block::Collide(dxGeom* g1, dxGeom* g2, void* UserData, dNearCallback* Callback){
-#ifdef DRAWBLOCKS
-    DrawBlock(this);
-#endif
+void Block::Collide(dxGeom* g1, dxGeom* g2, void* UserData, dNearCallback* Callback)
+{
     // Collide against local list
-    while (g2){
-        if (GEOM_ENABLED(g2)){
+    while (g2)
+    {
+        if (GEOM_ENABLED(g2))
+        {
             collideAABBs (g1, g2, UserData, Callback);
         }
         g2 = g2->next_ex;
     }
 
     // Collide against children
-    if (mChildren){
-        for (int i = 0; i < SPLITS; i++){
+    if (mChildren)
+    {
+        for (int i = 0; i < SPLITS; i++)
+        {
             Block &CurrentChild = mChildren[i];
             // Early out for empty blocks
-            if (CurrentChild.mGeomCount == 0){
+            if (CurrentChild.mGeomCount == 0)
+            {
                 continue;
             }
 
             // Does the geom's AABB collide with the block?
             // Don't do AABB tests for single geom blocks.
-            if (CurrentChild.mGeomCount == 1){
-                //
-            }
-            else if (true){
+            if (CurrentChild.mGeomCount > 1)
+            {
                 if (g1->aabb[AXIS0 * 2 + 0] >= CurrentChild.mMaxX ||
                     g1->aabb[AXIS0 * 2 + 1] < CurrentChild.mMinX ||
                     g1->aabb[AXIS1 * 2 + 0] >= CurrentChild.mMaxZ ||
-                    g1->aabb[AXIS1 * 2 + 1] < CurrentChild.mMinZ) continue;
+                    g1->aabb[AXIS1 * 2 + 1] < CurrentChild.mMinZ)
+                    continue;
             }
             CurrentChild.Collide(g1, CurrentChild.mFirst, UserData, Callback);
         }
@@ -248,7 +199,8 @@ void Block::CollideLocal(dxGeom* g2, void* UserData, dNearCallback* Callback){
     }
 }
 
-void Block::AddObject(dGeomID Object){
+void Block::AddObject(dGeomID Object)
+{
     // Add the geom
     Object->next_ex = mFirst;
     mFirst = Object;
@@ -256,23 +208,27 @@ void Block::AddObject(dGeomID Object){
 
     // Now traverse upwards to tell that we have a geom
     Block* Block = this;
-    do{
+    do
+    {
         Block->mGeomCount++;
         Block = Block->mParent;
     }
     while (Block);
 }
 
-void Block::DelObject(dGeomID Object){
+void Block::DelObject(dGeomID Object)
+{
     // Del the geom
     dxGeom* g = mFirst;
     dxGeom* Last = 0;
-    while (g){
-        if (g == Object){
-            if (Last){
+    while (g)
+    {
+        if (g == Object)
+        {
+            if (Last)
                 Last->next_ex = g->next_ex;
-            }
-            else mFirst = g->next_ex;
+            else
+                mFirst = g->next_ex;
 
             break;
         }
@@ -284,17 +240,20 @@ void Block::DelObject(dGeomID Object){
 
     // Now traverse upwards to tell that we have lost a geom
     Block* Block = this;
-    do{
+    do
+    {
         Block->mGeomCount--;
         Block = Block->mParent;
     }
     while (Block);
 }
 
-void Block::Traverse(dGeomID Object){
+void Block::Traverse(dGeomID Object)
+{
     Block* NewBlock = GetBlock(Object->aabb);
 
-    if (NewBlock != this){
+    if (NewBlock != this)
+    {
         // Remove the geom from the old block and add it to the new block.
         // This could be more optimal, but the loss should be very small.
         DelObject(Object);
@@ -302,25 +261,36 @@ void Block::Traverse(dGeomID Object){
     }
 }
 
-bool Block::Inside(const dReal* AABB){
-    return AABB[AXIS0 * 2 + 0] >= mMinX && AABB[AXIS0 * 2 + 1] < mMaxX && AABB[AXIS1 * 2 + 0] >= mMinZ && AABB[AXIS1 * 2 + 1] < mMaxZ;
+bool Block::Inside(const dReal* AABB)
+{
+    return AABB[AXIS0 * 2 + 0] >= mMinX &&
+           AABB[AXIS0 * 2 + 1] < mMaxX &&
+           AABB[AXIS1 * 2 + 0] >= mMinZ &&
+           AABB[AXIS1 * 2 + 1] < mMaxZ;
 }
 
-Block* Block::GetBlock(const dReal* AABB){
-    if (Inside(AABB)){
+Block* Block::GetBlock(const dReal* AABB)
+{
+    if (Inside(AABB))
+    {
         return GetBlockChild(AABB);	// Child or this will have a good block
     }
-    else if (mParent){
+    else if (mParent)
+    {
         return mParent->GetBlock(AABB);	// Parent has a good block
     }
     else return this;	// We are at the root, so we have little choice
 }
 
-Block* Block::GetBlockChild(const dReal* AABB){
-    if (mChildren){
-        for (int i = 0; i < SPLITS; i++){
+Block* Block::GetBlockChild(const dReal* AABB)
+{
+    if (mChildren)
+    {
+        for (int i = 0; i < SPLITS; i++)
+        {
             Block &CurrentChild = mChildren[i];
-            if (CurrentChild.Inside(AABB)){
+            if (CurrentChild.Inside(AABB))
+            {
                 return CurrentChild.GetBlockChild(AABB);	// Child will have good block
             }
         }
@@ -331,7 +301,9 @@ Block* Block::GetBlockChild(const dReal* AABB){
 //****************************************************************************
 // quadtree space
 
-struct dxQuadTreeSpace : public dxSpace{
+struct dxQuadTreeSpace : public dxSpace
+{
+    size_t BlockCount;
     Block* Blocks;	// Blocks[0] is the root
 
     dArray<dxGeom*> DirtyList;
@@ -351,49 +323,40 @@ struct dxQuadTreeSpace : public dxSpace{
     void collide(void* UserData, dNearCallback* Callback);
     void collide2(void* UserData, dxGeom* g1, dNearCallback* Callback);
 
-    // Temp data
-    Block* CurrentBlock;	// Only used while enumerating
-    int* CurrentChild;	// Only used while enumerating
-    int CurrentLevel;	// Only used while enumerating
-    dxGeom* CurrentObject;	// Only used while enumerating
-//    int CurrentIndex;
 };
 
 namespace {
-
-    inline
-    size_t numNodes(int depth) 
+    inline size_t numNodes(int depth) 
     {
         // A 4-ary tree has (4^(depth+1) - 1)/3 nodes
         // Note: split up into multiple constant expressions for readability
-        const int k = depth+1;
-        const size_t fourToNthPlusOne = (size_t)1 << (2*k); // 4^k = 2^(2k)
+        const int k = depth + 1;
+        const size_t fourToNthPlusOne = (size_t)1 << (2 * k); // 4^k = 2^(2k)
         return (fourToNthPlusOne - 1) / 3;
     }
-
 }
 
-
-
-dxQuadTreeSpace::dxQuadTreeSpace(dSpaceID _space, const dVector3 Center, const dVector3 Extents, int Depth) : dxSpace(_space){
+dxQuadTreeSpace::dxQuadTreeSpace(dSpaceID _space, const dVector3 Center, const dVector3 Extents, int Depth) : dxSpace(_space)
+{
     type = dQuadTreeSpaceClass;
-
-    size_t BlockCount = numNodes(Depth);
+    BlockCount = numNodes(Depth);
+    if (BlockCount <= 0)
+        return;
 
     Blocks = (Block*)dAlloc(BlockCount * sizeof(Block));
-    Block* Blocks = this->Blocks + 1;	// This pointer gets modified!
+    if (!Blocks)
+    {
+        BlockCount = 0;
+        return;
+    }
 
     dReal MinX = Center[AXIS0] - Extents[AXIS0];
     dReal MaxX = dNextAfter((Center[AXIS0] + Extents[AXIS0]), (dReal)dInfinity);
     dReal MinZ = Center[AXIS1] - Extents[AXIS1];
     dReal MaxZ = dNextAfter((Center[AXIS1] + Extents[AXIS1]), (dReal)dInfinity);
-    this->Blocks[0].Create(MinX, MaxX, MinZ, MaxZ, 0, Depth, Blocks);
 
-    CurrentBlock = 0;
-    CurrentChild = (int*)dAlloc((Depth + 1) * sizeof(int));
-    CurrentLevel = 0;
-    CurrentObject = 0;
-//    CurrentIndex = -1;
+    Block* nBlocks = this->Blocks + 1;	// This pointer gets modified!
+    this->Blocks[0].Create(MinX, MaxX, MinZ, MaxZ, 0, Depth, nBlocks);
 
     // Init AABB. We initialize to infinity because it is not illegal for an object to be outside of the tree. Its simply inserted in the root block
     aabb[0] = -dInfinity;
@@ -404,18 +367,12 @@ dxQuadTreeSpace::dxQuadTreeSpace(dSpaceID _space, const dVector3 Center, const d
     aabb[5] = dInfinity;
 }
 
-dxQuadTreeSpace::~dxQuadTreeSpace(){
-    int Depth = 0;
-    Block* Current = &Blocks[0];
-    while (Current){
-        Depth++;
-        Current = Current->mChildren;
+dxQuadTreeSpace::~dxQuadTreeSpace()
+{
+    if (Blocks && BlockCount > 0)
+    {
+        dFree(Blocks, BlockCount * sizeof(Block));
     }
-
-    size_t BlockCount = numNodes(Depth);
-
-    dFree(Blocks, BlockCount * sizeof(Block));
-    dFree(CurrentChild, (Depth + 1) * sizeof(int));
 }
 
 dxGeom* dxQuadTreeSpace::getGeom(int Index){
@@ -424,8 +381,6 @@ dxGeom* dxQuadTreeSpace::getGeom(int Index){
     //@@@
     dDebug (0,"dxQuadTreeSpace::getGeom() not yet implemented");
 
-    return 0;
-
     // This doesnt work
 /*
     if (CurrentIndex == Index){
@@ -487,9 +442,8 @@ PARENTRECURSE:
     else for (int i = 0; i < Index; i++){	// this will be verrrrrrry slow
         getGeom(i);
     }
-*/
-
     return 0;
+    */
 }
 
 void dxQuadTreeSpace::add(dxGeom* g){
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_capsule.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_capsule.cpp
index fdf0ff4f..70745277 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_capsule.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_capsule.cpp
@@ -879,7 +879,6 @@ static void dQueryCCTLPotentialCollisionTriangles(OBBCollider &Collider,
     obbRot.m[0][2] = capPtr[8];
     obbRot.m[1][2] = capPtr[9];
     obbRot.m[2][2] = capPtr[10];
-    
 
     Point cCenter(cData.m_vCapsulePosition[0], cData.m_vCapsulePosition[1], cData.m_vCapsulePosition[2]);
     Point cExtents(cData.m_fCapsuleRadius, cData.m_fCapsuleRadius, cData.m_fCapsuleSize);
@@ -888,8 +887,6 @@ static void dQueryCCTLPotentialCollisionTriangles(OBBCollider &Collider,
     Matrix4x4 MeshMatrix;
     MakeMatrix(cData.m_mTriMeshPos, cData.m_mTriMeshRot, MeshMatrix);
 
-
-
     // TC results
     if (TriMesh->doBoxTC)
     {
@@ -918,9 +915,8 @@ static void dQueryCCTLPotentialCollisionTriangles(OBBCollider &Collider,
     else
     {
         Collider.SetTemporalCoherence(false);
-        Collider.Collide(BoxCache, obbCapsule, TriMesh->Data->BVTree, null,null /*&MeshMatrix*/);
+        Collider.Collide(BoxCache, obbCapsule, TriMesh->Data->BVTree, null, &MeshMatrix) ;
     }
-
 }
 
 // capsule - trimesh by CroTeam
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_internal.h b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_internal.h
index dd0af97e..c6ca3de3 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_internal.h
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_internal.h
@@ -249,7 +249,7 @@ struct dxTriMesh : public dxGeom
 
     void ClearTCCache();
 
-    bool controlGeometry(int controlClass, int controlCode, void *dataValue, int *dataSize);
+//    bool controlGeometry(int controlClass, int controlCode, void *dataValue, int *dataSize);
 
     void computeAABB();
 
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_opcode.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_opcode.cpp
index 3736d62a..52dd1a03 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_opcode.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/collision_trimesh_opcode.cpp
@@ -80,7 +80,7 @@ dxTriMeshData::Build(const void* Vertices,int VertexCount,
     Mesh.SetNbTriangles(IndexCount / 3);
     Mesh.SetNbVertices(VertexCount);
     Mesh.SetPointers((IndexedTriangle*)Indices, (Point*)Vertices);
-    Mesh.SetSingle(true);
+    //Mesh.SetSingle(true);
 
     int vertStride = Mesh.GetVertexStride();
 
@@ -265,8 +265,8 @@ void dxTriMeshData::Preprocess()
 
     meshFlags = dxTriMeshData::convex | dxTriMeshData::closedSurface;
 
-    uint8 notconvex = ~dxTriMeshData::convex;
-    uint8 notclosed = ~dxTriMeshData::closedSurface;
+    const uint8 notconvex = (uint8)~dxTriMeshData::convex;
+    const uint8 notclosed = (uint8)~dxTriMeshData::closedSurface;
 
     EdgeRecord* records = new EdgeRecord[numEdges];
 
@@ -541,7 +541,7 @@ void dxTriMesh::ClearTCCache()
     CapsuleTCCache.setSize(0);
 }
 
-
+/*
 bool dxTriMesh::controlGeometry(int controlClass, int controlCode, void *dataValue, int *dataSize)
 {
     if (controlClass == dGeomColliderControlClass) {
@@ -560,7 +560,7 @@ bool dxTriMesh::controlGeometry(int controlClass, int controlCode, void *dataVal
 
     return dxGeom::controlGeometry(controlClass, controlCode, dataValue, dataSize);
 }
-
+*/
 bool dxTriMesh::controlGeometry_SetMergeSphereContacts(int dataValue)
 {
     if (dataValue == dGeomColliderMergeContactsValue__Default) {
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/amotor.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/amotor.cpp
index a66eb911..8531a66d 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/amotor.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/amotor.cpp
@@ -181,7 +181,7 @@ dxJointAMotor::setEulerReferenceVectors()
 void 
 dxJointAMotor::getSureMaxInfo( SureMaxInfo* info )
 {
-    info->max_m = num;
+    info->max_m = (uint8)num;
 }
 
 
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/contact.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/contact.cpp
index 610d45ad..ed30c768 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/contact.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/contact.cpp
@@ -95,8 +95,8 @@ dxJointContact::getInfo1( dxJoint::Info1 *info )
     }
 
     the_m = m;
-    info->m = m;
-    info->nub = nub;
+    info->m = (uint8)m;
+    info->nub = (uint8)nub;
 }
 
 
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/joint.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/joint.cpp
index 4058bc19..fb39c4a2 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/joint.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/joint.cpp
@@ -605,7 +605,8 @@ int dxJointLimitMotor::addLimot( dxJoint *joint,
     const dVector3 ax1, int rotational )
 {
     int srow = row * info->rowskip;
-
+    dxBody *b0;
+    dxBody *b1;
     // if the joint is powered, or has joint limits, add in the extra row
     int powered = fmax > 0;
     if ( powered || limit )
@@ -617,7 +618,7 @@ int dxJointLimitMotor::addLimot( dxJoint *joint,
         J1[srow+1] = ax1[1];
         J1[srow+2] = ax1[2];
 
-        dxBody *b1 = joint->node[1].body;
+        b1 = joint->node[1].body;
         if ( b1 )
         {
             J2[srow+0] = -ax1[0];
@@ -641,7 +642,7 @@ int dxJointLimitMotor::addLimot( dxJoint *joint,
         dVector3 ltd = {0,0,0}; // Linear Torque Decoupling vector (a torque)
         if ( !rotational && b1 )
         {
-            dxBody *b0 = joint->node[0].body;
+            b0 = joint->node[0].body;
             dVector3 c;
             c[0] = REAL( 0.5 ) * ( b1->posr.pos[0] - b0->posr.pos[0] );
             c[1] = REAL( 0.5 ) * ( b1->posr.pos[1] - b0->posr.pos[1] );
@@ -688,14 +689,14 @@ int dxJointLimitMotor::addLimot( dxJoint *joint,
                 
                 dReal fm_ax1_0 = fm*ax1[0], fm_ax1_1 = fm*ax1[1], fm_ax1_2 = fm*ax1[2];
                 
-                dxBody *b0 = joint->node[0].body;
+                b0 = joint->node[0].body;
                 dxWorldProcessContext *world_process_context = b0->world->UnsafeGetWorldProcessingContext(); 
 
                 world_process_context->LockForAddLimotSerialization();
 
                 if ( rotational )
                 {
-                    dxBody *b1 = joint->node[1].body;
+                    b1 = joint->node[1].body;
                     if ( b1 != NULL ) 
                     {
                         dBodyAddTorque( b1, fm_ax1_0, fm_ax1_1, fm_ax1_2 );
@@ -705,7 +706,7 @@ int dxJointLimitMotor::addLimot( dxJoint *joint,
                 }
                 else
                 {
-                    dxBody *b1 = joint->node[1].body;
+                    b1 = joint->node[1].body;
                     if ( b1 != NULL )
                     {
                         // linear limot torque decoupling step: refer to above discussion
@@ -754,7 +755,6 @@ int dxJointLimitMotor::addLimot( dxJoint *joint,
                 if ( bounce > 0 )
                 {
                     // calculate joint velocity
-                    dReal vel;
                     if ( rotational )
                     {
                         vel = dCalcVectorDot3( joint->node[0].body->avel, ax1 );
@@ -908,7 +908,7 @@ int dxJointLimitMotor::addTwoPointLimot( dxJoint *joint, dReal fps,
                 if ( bounce > 0 )
                 {
                     // calculate relative velocity of the two anchor points
-                    dReal vel = 
+                    vel = 
   	                    dCalcVectorDot3( joint->node[0].body->lvel, &(info->J1l[srow])) +
   	                    dCalcVectorDot3( joint->node[0].body->avel, &(info->J1a[srow]));
   	                if (joint->node[1].body) {
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/lmotor.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/lmotor.cpp
index 033d59e5..02c78059 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/lmotor.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/lmotor.cpp
@@ -69,7 +69,7 @@ dxJointLMotor::computeGlobalAxes( dVector3 ax[3] )
 void 
 dxJointLMotor::getSureMaxInfo( SureMaxInfo* info )
 {
-    info->max_m = num;
+    info->max_m = (uint8)num;
 }
 
 void
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/transmission.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/transmission.cpp
index ef0c35f7..cf005087 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/transmission.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/joints/transmission.cpp
@@ -306,22 +306,19 @@ dxJointTransmission::getInfo2( dReal worldFPS,
     // the contact points and tangents across the baseline.
     
     if (mode == dTransmissionChainDrive && delta < 0) {
-        dVector3 d;
-
         dSubtractVectors3r4(d, a[0], a[1]);
         
         for (i = 0 ; i < 2 ; i += 1) {
-            dVector3 nn;
-            dReal a;
+            dVector3 nnv;
+            dReal ra;
             
-            dCalcVectorCross3(nn, n[i], d);
-            a = dCalcVectorDot3(nn, nn);
+            dCalcVectorCross3(nnv, n[i], d);
+            ra = dCalcVectorDot3(nnv, nnv);
             dIASSERT(a > 0);
             
-            dAddScaledVectors3r4(c[i], c[i], nn,
-                               1, -2 * dCalcVectorDot3(c[i], nn) / a);
-            dAddScaledVectors3r4(l[i], l[i], nn,
-                               -1, 2 * dCalcVectorDot3(l[i], nn) / a);
+            ra = 1 / ra;
+            dAddScaledVectors3r4(c[i], c[i], nnv, 1, -2 * dCalcVectorDot3(c[i], nnv) * ra);
+            dAddScaledVectors3r4(l[i], l[i], nnv,-1, 2 * dCalcVectorDot3(l[i], nnv) * ra);
         }
     }
 
diff --git a/trunk/unmanaged/ubODE-OpenSim/ode/src/ode.cpp b/trunk/unmanaged/ubODE-OpenSim/ode/src/ode.cpp
index e51d8bfe..7a00a13a 100644
--- a/trunk/unmanaged/ubODE-OpenSim/ode/src/ode.cpp
+++ b/trunk/unmanaged/ubODE-OpenSim/ode/src/ode.cpp
@@ -180,8 +180,8 @@ static void checkWorld (dxWorld *w)
         for (int i=0; i<2; i++) {
             if (j->node[i].body) {
                 int ok = 0;
-                for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) {
-                    if (n->joint == j) ok = 1;
+                for (dxJointNode *nj = j->node[i].body->firstjoint; nj; nj = nj->next) {
+                    if (nj->joint == j) ok = 1;
                 }
                 if (ok==0) dDebug (0,"joint not in joint list of attached body");
             }
@@ -190,16 +190,16 @@ static void checkWorld (dxWorld *w)
 
     // check all body joint lists (correct body ptrs)
     for (b=w->firstbody; b; b=(dxBody*)b->next) {
-        for (dxJointNode *n=b->firstjoint; n; n=n->next) {
-            if (&n->joint->node[0] == n) {
-                if (n->joint->node[1].body != b)
+        for (dxJointNode *nj=b->firstjoint; nj; nj=nj->next) {
+            if (&nj->joint->node[0] == nj) {
+                if (nj->joint->node[1].body != b)
                     dDebug (0,"bad body pointer in joint node of body list (1)");
             }
             else {
-                if (n->joint->node[0].body != b)
+                if (nj->joint->node[0].body != b)
                     dDebug (0,"bad body pointer in joint node of body list (2)");
             }
-            if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body");
+            if (nj->joint->tag != count) dDebug (0,"bad joint node pointer in body");
         }
     }