diff --git a/Externals/ode/ode/src/collision_kernel.cpp b/Externals/ode/ode/src/collision_kernel.cpp
index 2e76d4d9d06..1a99392e2f7 100644
--- a/Externals/ode/ode/src/collision_kernel.cpp
+++ b/Externals/ode/ode/src/collision_kernel.cpp
@@ -313,8 +313,8 @@ void dGeomSetBody (dxGeom *g, dxBody *b)
 
   if (b) {
     if (!g->body) dFree (g->pos,sizeof(dxPosR));
-    g->pos = b->pos;
-    g->R = b->R;
+    g->pos = b->posr.pos;
+    g->R = b->posr.R;
     dGeomMoved (g);
     if (g->body != b) {
       g->bodyRemove();
@@ -326,8 +326,8 @@ void dGeomSetBody (dxGeom *g, dxBody *b)
       dxPosR *pr = (dxPosR*) dAlloc (sizeof(dxPosR));
       g->pos = pr->pos;
       g->R = pr->R;
-      memcpy (g->pos,g->body->pos,sizeof(dVector3));
-      memcpy (g->R,g->body->R,sizeof(dMatrix3));
+      memcpy (g->pos,g->body->posr.pos,sizeof(dVector3));
+      memcpy (g->R,g->body->posr.R,sizeof(dMatrix3));
       g->bodyRemove();
     }
     // dGeomMoved() should not be called if the body is being set to 0, as the
diff --git a/Externals/ode/ode/src/collision_kernel.h b/Externals/ode/ode/src/collision_kernel.h
index e5f2fb0bf90..c363ec77f5c 100644
--- a/Externals/ode/ode/src/collision_kernel.h
+++ b/Externals/ode/ode/src/collision_kernel.h
@@ -46,14 +46,6 @@ internal data structures and functions for collision detection.
 //****************************************************************************
 // geometry object base class
 
-// position vector and rotation matrix for geometry objects that are not
-// connected to bodies.
-
-struct dxPosR {
-  dVector3 pos;
-  dMatrix3 R;
-};
-
 
 // geom flags.
 //
diff --git a/Externals/ode/ode/src/collision_quadtreespace.cpp b/Externals/ode/ode/src/collision_quadtreespace.cpp
index 6f4a86ee22f..86a1833b163 100644
--- a/Externals/ode/ode/src/collision_quadtreespace.cpp
+++ b/Externals/ode/ode/src/collision_quadtreespace.cpp
@@ -351,7 +351,7 @@ dxQuadTreeSpace::dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Exte
 
 	int BlockCount = 0;
 	for (int i = 0; i <= Depth; i++){
-		BlockCount += (int)powf(SPLITS, i);
+		BlockCount += (int)pow((dReal)SPLITS, i);
 	}
 
 	Blocks = (Block*)dAlloc(BlockCount * sizeof(Block));
@@ -384,7 +384,7 @@ dxQuadTreeSpace::~dxQuadTreeSpace(){
 
 	int BlockCount = 0;
 	for (int i = 0; i < Depth; i++){
-		BlockCount += (int)powf(SPLITS, i);
+		BlockCount += (int)pow((dReal)SPLITS, i);
 	}
 
 	dFree(Blocks, BlockCount * sizeof(Block));
@@ -495,7 +495,8 @@ void dxQuadTreeSpace::remove(dxGeom* g){
 	for (int i = 0; i < DirtyList.size(); i++){
 		if (DirtyList[i] == g){
 			DirtyList.remove(i);
-			break;
+			// (mg) there can be multiple instances of a dirty object on stack  be sure to remove ALL and not just first, for this we decrement i
+			--i;
 		}
 	}
 	
diff --git a/Externals/ode/ode/src/error.cpp b/Externals/ode/ode/src/error.cpp
index 7250d21126f..9b33db55f0c 100644
--- a/Externals/ode/ode/src/error.cpp
+++ b/Externals/ode/ode/src/error.cpp
@@ -23,7 +23,6 @@
 #include <ode/config.h>
 #include <ode/error.h>
 
-#pragma warning(disable:4996)
 
 static dMessageFunction *error_function = 0;
 static dMessageFunction *debug_function = 0;
@@ -119,10 +118,17 @@ extern "C" void dMessage (int num, const char *msg, ...)
 
 #ifdef WIN32
 
+// isn't cygwin annoying!
+#ifdef CYGWIN
+#define _snprintf snprintf
+#define _vsnprintf vsnprintf
+#endif
+
+
 #include "windows.h"
 
-//#ifdef _DEBUG_
-void _cdecl dError (int num, const char *msg, ...)
+
+extern "C" void dError (int num, const char *msg, ...)
 {
   va_list ap;
   va_start (ap,msg);
@@ -138,29 +144,29 @@ void _cdecl dError (int num, const char *msg, ...)
 }
 
 
-void _cdecl dDebug (int num, const char *msg, ...)
+extern "C" void dDebug (int num, const char *msg, ...)
 {
   va_list ap;
   va_start (ap,msg);
   if (debug_function) debug_function (num,msg,ap);
   else {
     char s[1000],title[100];
-    _snprintf	(title,sizeof(title),"ODE INTERNAL ERROR %d",num);
-    _vsnprintf	(s,sizeof(s),msg,ap);
+    _snprintf (title,sizeof(title),"ODE INTERNAL ERROR %d",num);
+    _vsnprintf (s,sizeof(s),msg,ap);
     s[sizeof(s)-1] = 0;
     MessageBox(0,s,title,MB_OK | MB_ICONSTOP);
   }
   abort();
 }
 
-void _cdecl dMessage (int num, const char *msg, ...)
+
+extern "C" void dMessage (int num, const char *msg, ...)
 {
   va_list ap;
   va_start (ap,msg);
   if (message_function) message_function (num,msg,ap);
   else printMessage (num,"ODE Message",msg,ap);
 }
-//#endif
 
 
 #endif
diff --git a/Externals/ode/ode/src/joint.cpp b/Externals/ode/ode/src/joint.cpp
index 17a7b4a8001..2664f194740 100644
--- a/Externals/ode/ode/src/joint.cpp
+++ b/Externals/ode/ode/src/joint.cpp
@@ -78,13 +78,13 @@ static inline void setBall (dxJoint *joint, dxJoint::Info2 *info,
   info->J1l[0] = 1;
   info->J1l[s+1] = 1;
   info->J1l[2*s+2] = 1;
-  dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1);
+  dMULTIPLY0_331 (a1,joint->node[0].body->posr.R,anchor1);
   dCROSSMAT (info->J1a,a1,s,-,+);
   if (joint->node[1].body) {
     info->J2l[0] = -1;
     info->J2l[s+1] = -1;
     info->J2l[2*s+2] = -1;
-    dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2);
+    dMULTIPLY0_331 (a2,joint->node[1].body->posr.R,anchor2);
     dCROSSMAT (info->J2a,a2,s,+,-);
   }
 
@@ -92,8 +92,8 @@ static inline void setBall (dxJoint *joint, dxJoint::Info2 *info,
   dReal k = info->fps * info->erp;
   if (joint->node[1].body) {
     for (int j=0; j<3; j++) {
-		dReal err=a2[j] + joint->node[1].body->pos[j] -
-			a1[j] - joint->node[0].body->pos[j];
+		dReal err=a2[j] + joint->node[1].body->posr.pos[j] -
+			a1[j] - joint->node[0].body->posr.pos[j];
 #ifdef		USE_BALL_MIN_ERR
 	  add_min_err(err,min_ball_err);
 #endif
@@ -103,7 +103,7 @@ static inline void setBall (dxJoint *joint, dxJoint::Info2 *info,
   else {
     for (int j=0; j<3; j++) {
       info->c[j] = k * (anchor2[j] - a1[j] -
-			joint->node[0].body->pos[j]);
+			joint->node[0].body->posr.pos[j]);
     }
   }
 }
@@ -132,7 +132,7 @@ static inline void setBall2 (dxJoint *joint, dxJoint::Info2 *info,
   for (i=0; i<3; i++) info->J1l[i] = axis[i];
   for (i=0; i<3; i++) info->J1l[s+i] = q1[i];
   for (i=0; i<3; i++) info->J1l[2*s+i] = q2[i];
-  dMULTIPLY0_331 (a1,joint->node[0].body->R,anchor1);
+  dMULTIPLY0_331 (a1,joint->node[0].body->posr.R,anchor1);
   dCROSS (info->J1a,=,a1,axis);
   dCROSS (info->J1a+s,=,a1,q1);
   dCROSS (info->J1a+2*s,=,a1,q2);
@@ -140,7 +140,7 @@ static inline void setBall2 (dxJoint *joint, dxJoint::Info2 *info,
     for (i=0; i<3; i++) info->J2l[i] = -axis[i];
     for (i=0; i<3; i++) info->J2l[s+i] = -q1[i];
     for (i=0; i<3; i++) info->J2l[2*s+i] = -q2[i];
-    dMULTIPLY0_331 (a2,joint->node[1].body->R,anchor2);
+    dMULTIPLY0_331 (a2,joint->node[1].body->posr.R,anchor2);
     dCROSS (info->J2a,= -,a2,axis);
     dCROSS (info->J2a+s,= -,a2,q1);
     dCROSS (info->J2a+2*s,= -,a2,q2);
@@ -150,9 +150,9 @@ static inline void setBall2 (dxJoint *joint, dxJoint::Info2 *info,
   dReal k1 = info->fps * erp1;
   dReal k = info->fps * info->erp;
 
-  for (i=0; i<3; i++) a1[i] += joint->node[0].body->pos[i];
+  for (i=0; i<3; i++) a1[i] += joint->node[0].body->posr.pos[i];
   if (joint->node[1].body) {
-    for (i=0; i<3; i++) a2[i] += joint->node[1].body->pos[i];
+    for (i=0; i<3; i++) a2[i] += joint->node[1].body->posr.pos[i];
     info->c[0] = k1 * (dDOT(axis,a2) - dDOT(axis,a1));
     info->c[1] = k * (dDOT(q1,a2) - dDOT(q1,a1));
     info->c[2] = k * (dDOT(q2,a2) - dDOT(q2,a1));
@@ -212,7 +212,7 @@ static void setFixedOrientation(dxJoint *joint, dxJoint::Info2 *info, dQuaternio
     qerr[2] = -qerr[2];
     qerr[3] = -qerr[3];
   }
-  dMULTIPLY0_331 (e,joint->node[0].body->R,qerr+1); // @@@ bad SIMD padding!
+  dMULTIPLY0_331 (e,joint->node[0].body->posr.R,qerr+1); // @@@ bad SIMD padding!
   dReal k = info->fps * info->erp;
   info->c[start_row] = 2*k * e[0];
   info->c[start_row+1] = 2*k * e[1];
@@ -227,17 +227,17 @@ static void setAnchors (dxJoint *j, dReal x, dReal y, dReal z,
 {
   if (j->node[0].body) {
     dReal q[4];
-    q[0] = x - j->node[0].body->pos[0];
-    q[1] = y - j->node[0].body->pos[1];
-    q[2] = z - j->node[0].body->pos[2];
+    q[0] = x - j->node[0].body->posr.pos[0];
+    q[1] = y - j->node[0].body->posr.pos[1];
+    q[2] = z - j->node[0].body->posr.pos[2];
     q[3] = 0;
-    dMULTIPLY1_331 (anchor1,j->node[0].body->R,q);
+    dMULTIPLY1_331 (anchor1,j->node[0].body->posr.R,q);
     if (j->node[1].body) {
-      q[0] = x - j->node[1].body->pos[0];
-      q[1] = y - j->node[1].body->pos[1];
-      q[2] = z - j->node[1].body->pos[2];
+      q[0] = x - j->node[1].body->posr.pos[0];
+      q[1] = y - j->node[1].body->posr.pos[1];
+      q[2] = z - j->node[1].body->posr.pos[2];
       q[3] = 0;
-      dMULTIPLY1_331 (anchor2,j->node[1].body->R,q);
+      dMULTIPLY1_331 (anchor2,j->node[1].body->posr.R,q);
     }
     else {
       anchor2[0] = x;
@@ -263,12 +263,12 @@ static void setAxes (dxJoint *j, dReal x, dReal y, dReal z,
     q[3] = 0;
     dNormalize3 (q);
     if (axis1) {
-      dMULTIPLY1_331 (axis1,j->node[0].body->R,q);
+      dMULTIPLY1_331 (axis1,j->node[0].body->posr.R,q);
       axis1[3] = 0;
     }
     if (axis2) {
       if (j->node[1].body) {
-	dMULTIPLY1_331 (axis2,j->node[1].body->R,q);
+	dMULTIPLY1_331 (axis2,j->node[1].body->posr.R,q);
       }
       else {
 	axis2[0] = x;
@@ -284,10 +284,10 @@ static void setAxes (dxJoint *j, dReal x, dReal y, dReal z,
 static void getAnchor (dxJoint *j, dVector3 result, dVector3 anchor1)
 {
   if (j->node[0].body) {
-    dMULTIPLY0_331 (result,j->node[0].body->R,anchor1);
-    result[0] += j->node[0].body->pos[0];
-    result[1] += j->node[0].body->pos[1];
-    result[2] += j->node[0].body->pos[2];
+    dMULTIPLY0_331 (result,j->node[0].body->posr.R,anchor1);
+    result[0] += j->node[0].body->posr.pos[0];
+    result[1] += j->node[0].body->posr.pos[1];
+    result[2] += j->node[0].body->posr.pos[2];
   }
 }
 
@@ -295,10 +295,10 @@ static void getAnchor (dxJoint *j, dVector3 result, dVector3 anchor1)
 static void getAnchor2 (dxJoint *j, dVector3 result, dVector3 anchor2)
 {
   if (j->node[1].body) {
-    dMULTIPLY0_331 (result,j->node[1].body->R,anchor2);
-    result[0] += j->node[1].body->pos[0];
-    result[1] += j->node[1].body->pos[1];
-    result[2] += j->node[1].body->pos[2];
+    dMULTIPLY0_331 (result,j->node[1].body->posr.R,anchor2);
+    result[0] += j->node[1].body->posr.pos[0];
+    result[1] += j->node[1].body->posr.pos[1];
+    result[2] += j->node[1].body->posr.pos[2];
   }
   else {
     result[0] = anchor2[0];
@@ -311,7 +311,7 @@ static void getAnchor2 (dxJoint *j, dVector3 result, dVector3 anchor2)
 static void getAxis (dxJoint *j, dVector3 result, dVector3 axis1)
 {
   if (j->node[0].body) {
-    dMULTIPLY0_331 (result,j->node[0].body->R,axis1);
+    dMULTIPLY0_331 (result,j->node[0].body->posr.R,axis1);
   }
 }
 
@@ -319,7 +319,7 @@ static void getAxis (dxJoint *j, dVector3 result, dVector3 axis1)
 static void getAxis2 (dxJoint *j, dVector3 result, dVector3 axis2)
 {
   if (j->node[1].body) {
-    dMULTIPLY0_331 (result,j->node[1].body->R,axis2);
+    dMULTIPLY0_331 (result,j->node[1].body->posr.R,axis2);
   }
   else {
     result[0] = axis2[0];
@@ -535,9 +535,9 @@ int dxJointLimitMotor::addLimot (dxJoint *joint,
     dVector3 ltd;	// Linear Torque Decoupling vector (a torque)
     if (!rotational && joint->node[1].body) {
       dVector3 c;
-      c[0]=REAL(0.5)*(joint->node[1].body->pos[0]-joint->node[0].body->pos[0]);
-      c[1]=REAL(0.5)*(joint->node[1].body->pos[1]-joint->node[0].body->pos[1]);
-      c[2]=REAL(0.5)*(joint->node[1].body->pos[2]-joint->node[0].body->pos[2]);
+      c[0]=REAL(0.5)*(joint->node[1].body->posr.pos[0]-joint->node[0].body->posr.pos[0]);
+      c[1]=REAL(0.5)*(joint->node[1].body->posr.pos[1]-joint->node[0].body->posr.pos[1]);
+      c[2]=REAL(0.5)*(joint->node[1].body->posr.pos[2]-joint->node[0].body->posr.pos[2]);
       dCROSS (ltd,=,c,ax1);
       info->J1a[srow+0] = ltd[0];
       info->J1a[srow+1] = ltd[1];
@@ -784,7 +784,7 @@ static void hingeGetInfo2 (dxJointHinge *joint, dxJoint::Info2 *info)
 
   dVector3 ax1;  // length 1 joint axis in global coordinates, from 1st body
   dVector3 p,q;  // plane space vectors for ax1
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
+  dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1);
   dPlaneSpace (ax1,p,q);
 
   int s3=3*info->rowskip;
@@ -824,7 +824,7 @@ static void hingeGetInfo2 (dxJointHinge *joint, dxJoint::Info2 *info)
 
   dVector3 ax2,b;
   if (joint->node[1].body) {
-    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
+    dMULTIPLY0_331 (ax2,joint->node[1].body->posr.R,joint->axis2);
   }
   else {
     ax2[0] = joint->axis2[0];
@@ -984,7 +984,7 @@ extern "C" dReal dJointGetHingeAngleRate (dxJointHinge *joint)
   dUASSERT(joint->vtable == &__dhinge_vtable,"joint is not a Hinge");
   if (joint->node[0].body) {
     dVector3 axis;
-    dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1);
+    dMULTIPLY0_331 (axis,joint->node[0].body->posr.R,joint->axis1);
     dReal rate = dDOT(axis,joint->node[0].body->avel);
     if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
     if (joint->flags & dJOINT_REVERSE) rate = - rate;
@@ -1046,16 +1046,16 @@ extern "C" dReal dJointGetSliderPosition (dxJointSlider *joint)
 
   // get axis1 in global coordinates
   dVector3 ax1,q;
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
+  dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1);
 
   if (joint->node[1].body) {
     // get body2 + offset point in global coordinates
-    dMULTIPLY0_331 (q,joint->node[1].body->R,joint->offset);
-    for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] - q[i] -
-			      joint->node[1].body->pos[i];
+    dMULTIPLY0_331 (q,joint->node[1].body->posr.R,joint->offset);
+    for (int i=0; i<3; i++) q[i] = joint->node[0].body->posr.pos[i] - q[i] -
+			      joint->node[1].body->posr.pos[i];
   }
   else {
-    for (int i=0; i<3; i++) q[i] = joint->node[0].body->pos[i] -
+    for (int i=0; i<3; i++) q[i] = joint->node[0].body->posr.pos[i] -
 			      joint->offset[i];
 
   }
@@ -1070,7 +1070,7 @@ extern "C" dReal dJointGetSliderPositionRate (dxJointSlider *joint)
 
   // get axis1 in global coordinates
   dVector3 ax1;
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
+  dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1);
 
   if (joint->node[1].body) {
     return dDOT(ax1,joint->node[0].body->lvel) -
@@ -1121,11 +1121,11 @@ static void sliderGetInfo2 (dxJointSlider *joint, dxJoint::Info2 *info)
 
   dReal *pos1,*pos2,*R1,*R2;
   dVector3 c;
-  pos1 = joint->node[0].body->pos;
-  R1 = joint->node[0].body->R;
+  pos1 = joint->node[0].body->posr.pos;
+  R1 = joint->node[0].body->posr.R;
   if (joint->node[1].body) {
-    pos2 = joint->node[1].body->pos;
-    R2 = joint->node[1].body->R;
+    pos2 = joint->node[1].body->posr.pos;
+    R2 = joint->node[1].body->posr.R;
     for (i=0; i<3; i++) c[i] = pos2[i] - pos1[i];
   }
   else {
@@ -1195,14 +1195,14 @@ extern "C" void dJointSetSliderAxis (dxJointSlider *joint,
     dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
     dVector3 c;
     for (i=0; i<3; i++)
-      c[i] = joint->node[0].body->pos[i] - joint->node[1].body->pos[i];
-    dMULTIPLY1_331 (joint->offset,joint->node[1].body->R,c);
+      c[i] = joint->node[0].body->posr.pos[i] - joint->node[1].body->posr.pos[i];
+    dMULTIPLY1_331 (joint->offset,joint->node[1].body->posr.R,c);
   }
   else {
     // set joint->qrel to the transpose of the first body's q
     joint->qrel[0] = joint->node[0].body->q[0];
     for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
-    for (i=0; i<3; i++) joint->offset[i] = joint->node[0].body->pos[i];
+    for (i=0; i<3; i++) joint->offset[i] = joint->node[0].body->posr.pos[i];
   }
 }
 
@@ -1327,7 +1327,7 @@ static void contactGetInfo2 (dxJointContact *j, dxJoint::Info2 *info)
 
   // c1,c2 = contact points with respect to body PORs
   dVector3 c1,c2;
-  for (i=0; i<3; i++) c1[i] = j->contact.geom.pos[i] - j->node[0].body->pos[i];
+  for (i=0; i<3; i++) c1[i] = j->contact.geom.pos[i] - j->node[0].body->posr.pos[i];
 
   // set jacobian for normal
   info->J1l[0] = normal[0];
@@ -1336,7 +1336,7 @@ static void contactGetInfo2 (dxJointContact *j, dxJoint::Info2 *info)
   dCROSS (info->J1a,=,c1,normal);
   if (j->node[1].body) {
     for (i=0; i<3; i++) c2[i] = j->contact.geom.pos[i] -
-			  j->node[1].body->pos[i];
+			  j->node[1].body->posr.pos[i];
     info->J2l[0] = -normal[0];
     info->J2l[1] = -normal[1];
     info->J2l[2] = -normal[2];
@@ -1485,8 +1485,8 @@ dxJoint::Vtable __dcontact_special_vtable = {
 static dReal measureHinge2Angle (dxJointHinge2 *joint)
 {
   dVector3 a1,a2;
-  dMULTIPLY0_331 (a1,joint->node[1].body->R,joint->axis2);
-  dMULTIPLY1_331 (a2,joint->node[0].body->R,a1);
+  dMULTIPLY0_331 (a1,joint->node[1].body->posr.R,joint->axis2);
+  dMULTIPLY1_331 (a2,joint->node[0].body->posr.R,a1);
   dReal x = dDOT(joint->v1,a2);
   dReal y = dDOT(joint->v2,a2);
   return -dAtan2 (y,x);
@@ -1547,8 +1547,8 @@ static void hinge2GetInfo1 (dxJointHinge2 *j, dxJoint::Info1 *info)
 
 #define HINGE2_GET_AXIS_INFO(axis,sin_angle,cos_angle) \
   dVector3 ax1,ax2; \
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1); \
-  dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2); \
+  dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1); \
+  dMULTIPLY0_331 (ax2,joint->node[1].body->posr.R,joint->axis2); \
   dCROSS (axis,=,ax1,ax2); \
   sin_angle = dSqrt (axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2]); \
   cos_angle = dDOT (ax1,ax2);
@@ -1613,8 +1613,8 @@ static void makeHinge2V1andV2 (dxJointHinge2 *joint)
   if (joint->node[0].body) {
     // get axis 1 and 2 in global coords
     dVector3 ax1,ax2,v;
-    dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
-    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
+    dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1);
+    dMULTIPLY0_331 (ax2,joint->node[1].body->posr.R,joint->axis2);
 
     // don't do anything if the axis1 or axis2 vectors are zero or the same
     if ((ax1[0]==0 && ax1[1]==0 && ax1[2]==0) ||
@@ -1628,8 +1628,8 @@ static void makeHinge2V1andV2 (dxJointHinge2 *joint)
 
     // make v1 = modified axis2, v2 = axis1 x (modified axis2)
     dCROSS (v,=,ax1,ax2);
-    dMULTIPLY1_331 (joint->v1,joint->node[0].body->R,ax2);
-    dMULTIPLY1_331 (joint->v2,joint->node[0].body->R,v);
+    dMULTIPLY1_331 (joint->v1,joint->node[0].body->posr.R,ax2);
+    dMULTIPLY1_331 (joint->v2,joint->node[0].body->posr.R,v);
   }
 }
 
@@ -1656,7 +1656,7 @@ extern "C" void dJointSetHinge2Axis1 (dxJointHinge2 *joint,
     q[2] = z;
     q[3] = 0;
     dNormalize3 (q);
-    dMULTIPLY1_331 (joint->axis1,joint->node[0].body->R,q);
+    dMULTIPLY1_331 (joint->axis1,joint->node[0].body->posr.R,q);
     joint->axis1[3] = 0;
 
     // compute the sin and cos of the angle between axis 1 and axis 2
@@ -1679,7 +1679,7 @@ extern "C" void dJointSetHinge2Axis2 (dxJointHinge2 *joint,
     q[2] = z;
     q[3] = 0;
     dNormalize3 (q);
-    dMULTIPLY1_331 (joint->axis2,joint->node[1].body->R,q);
+    dMULTIPLY1_331 (joint->axis2,joint->node[1].body->posr.R,q);
     joint->axis1[3] = 0;
 
     // compute the sin and cos of the angle between axis 1 and axis 2
@@ -1736,7 +1736,7 @@ extern "C" void dJointGetHinge2Axis1 (dxJointHinge2 *joint, dVector3 result)
   dUASSERT(result,"bad result argument");
   dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
   if (joint->node[0].body) {
-    dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis1);
+    dMULTIPLY0_331 (result,joint->node[0].body->posr.R,joint->axis1);
   }
 }
 
@@ -1747,7 +1747,7 @@ extern "C" void dJointGetHinge2Axis2 (dxJointHinge2 *joint, dVector3 result)
   dUASSERT(result,"bad result argument");
   dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
   if (joint->node[1].body) {
-    dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis2);
+    dMULTIPLY0_331 (result,joint->node[1].body->posr.R,joint->axis2);
   }
 }
 
@@ -1782,7 +1782,7 @@ extern "C" dReal dJointGetHinge2Angle1Rate (dxJointHinge2 *joint)
   dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
   if (joint->node[0].body) {
     dVector3 axis;
-    dMULTIPLY0_331 (axis,joint->node[0].body->R,joint->axis1);
+    dMULTIPLY0_331 (axis,joint->node[0].body->posr.R,joint->axis1);
     dReal rate = dDOT(axis,joint->node[0].body->avel);
     if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
     return rate;
@@ -1797,7 +1797,7 @@ extern "C" dReal dJointGetHinge2Angle2Rate (dxJointHinge2 *joint)
   dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
   if (joint->node[0].body && joint->node[1].body) {
     dVector3 axis;
-    dMULTIPLY0_331 (axis,joint->node[1].body->R,joint->axis2);
+    dMULTIPLY0_331 (axis,joint->node[1].body->posr.R,joint->axis2);
     dReal rate = dDOT(axis,joint->node[0].body->avel);
     if (joint->node[1].body) rate -= dDOT(axis,joint->node[1].body->avel);
     return rate;
@@ -1813,8 +1813,8 @@ extern "C" void dJointAddHinge2Torques (dxJointHinge2 *joint, dReal torque1, dRe
   dUASSERT(joint->vtable == &__dhinge2_vtable,"joint is not a hinge2");
 
   if (joint->node[0].body && joint->node[1].body) {
-    dMULTIPLY0_331 (axis1,joint->node[0].body->R,joint->axis1);
-    dMULTIPLY0_331 (axis2,joint->node[1].body->R,joint->axis2);
+    dMULTIPLY0_331 (axis1,joint->node[0].body->posr.R,joint->axis1);
+    dMULTIPLY0_331 (axis2,joint->node[1].body->posr.R,joint->axis2);
     axis1[0] = axis1[0] * torque1 + axis2[0] * torque2;
     axis1[1] = axis1[1] * torque1 + axis2[1] * torque2;
     axis1[2] = axis1[2] * torque1 + axis2[2] * torque2;
@@ -1860,11 +1860,11 @@ static void universalInit (dxJointUniversal *j)
 
 static void getUniversalAxes(dxJointUniversal *joint, dVector3 ax1, dVector3 ax2)
 {
-  // This says "ax1 = joint->node[0].body->R * joint->axis1"
-  dMULTIPLY0_331 (ax1,joint->node[0].body->R,joint->axis1);
+  // This says "ax1 = joint->node[0].body->posr.R * joint->axis1"
+  dMULTIPLY0_331 (ax1,joint->node[0].body->posr.R,joint->axis1);
 
   if (joint->node[1].body) {
-    dMULTIPLY0_331 (ax2,joint->node[1].body->R,joint->axis2);
+    dMULTIPLY0_331 (ax2,joint->node[1].body->posr.R,joint->axis2);
   }
   else {
     ax2[0] = joint->axis2[0];
@@ -2321,9 +2321,9 @@ static void amotorComputeGlobalAxes (dxJointAMotor *joint, dVector3 ax[3])
 {
   if (joint->mode == dAMotorEuler) {
     // special handling for euler mode
-    dMULTIPLY0_331 (ax[0],joint->node[0].body->R,joint->axis[0]);
+    dMULTIPLY0_331 (ax[0],joint->node[0].body->posr.R,joint->axis[0]);
     if (joint->node[1].body) {
-      dMULTIPLY0_331 (ax[2],joint->node[1].body->R,joint->axis[2]);
+      dMULTIPLY0_331 (ax[2],joint->node[1].body->posr.R,joint->axis[2]);
     }
     else {
       ax[2][0] = joint->axis[2][0];
@@ -2337,12 +2337,12 @@ static void amotorComputeGlobalAxes (dxJointAMotor *joint, dVector3 ax[3])
     for (int i=0; i < joint->num; i++) {
       if (joint->rel[i] == 1) {
 	// relative to b1
-	dMULTIPLY0_331 (ax[i],joint->node[0].body->R,joint->axis[i]);
+	dMULTIPLY0_331 (ax[i],joint->node[0].body->posr.R,joint->axis[i]);
       }
       if (joint->rel[i] == 2) {
 	// relative to b2
         dIASSERT(joint->node[1].body);
-	dMULTIPLY0_331 (ax[i],joint->node[1].body->R,joint->axis[i]);
+	dMULTIPLY0_331 (ax[i],joint->node[1].body->posr.R,joint->axis[i]);
       }
       else {
 	// global - just copy it
@@ -2369,9 +2369,9 @@ static void amotorComputeEulerAngles (dxJointAMotor *joint, dVector3 ax[3])
 
   // calculate references in global frame
   dVector3 ref1,ref2;
-  dMULTIPLY0_331 (ref1,joint->node[0].body->R,joint->reference1);
+  dMULTIPLY0_331 (ref1,joint->node[0].body->posr.R,joint->reference1);
   if (joint->node[1].body) {
-    dMULTIPLY0_331 (ref2,joint->node[1].body->R,joint->reference2);
+    dMULTIPLY0_331 (ref2,joint->node[1].body->posr.R,joint->reference2);
   }
   else {
     ref2[0] = joint->reference2[0];
@@ -2405,14 +2405,14 @@ static void amotorSetEulerReferenceVectors (dxJointAMotor *j)
 {
   if (j->node[0].body && j->node[1].body) {
     dVector3 r;		// axis[2] and axis[0] in global coordinates
-    dMULTIPLY0_331 (r,j->node[1].body->R,j->axis[2]);
-    dMULTIPLY1_331 (j->reference1,j->node[0].body->R,r);
-    dMULTIPLY0_331 (r,j->node[0].body->R,j->axis[0]);
-    dMULTIPLY1_331 (j->reference2,j->node[1].body->R,r);
+    dMULTIPLY0_331 (r,j->node[1].body->posr.R,j->axis[2]);
+    dMULTIPLY1_331 (j->reference1,j->node[0].body->posr.R,r);
+    dMULTIPLY0_331 (r,j->node[0].body->posr.R,j->axis[0]);
+    dMULTIPLY1_331 (j->reference2,j->node[1].body->posr.R,r);
   }
   else if (j->node[0].body) {
-     dMULTIPLY1_331 (j->reference1,j->node[0].body->R,j->axis[2]);
-     dMULTIPLY0_331 (j->reference2,j->node[0].body->R,j->axis[0]);
+     dMULTIPLY1_331 (j->reference1,j->node[0].body->posr.R,j->axis[2]);
+     dMULTIPLY0_331 (j->reference2,j->node[0].body->posr.R,j->axis[0]);
   }
 }
 
@@ -2522,11 +2522,11 @@ extern "C" void dJointSetAMotorAxis (dxJointAMotor *joint, int anum, int rel,
   r[3] = 0;
   if (rel > 0) {
     if (rel==1) {
-      dMULTIPLY1_331 (joint->axis[anum],joint->node[0].body->R,r);
+      dMULTIPLY1_331 (joint->axis[anum],joint->node[0].body->posr.R,r);
     }
     else {
       dIASSERT (joint->node[1].body);
-      dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->R,r);
+      dMULTIPLY1_331 (joint->axis[anum],joint->node[1].body->posr.R,r);
     }
   }
   else {
@@ -2594,10 +2594,10 @@ extern "C" void dJointGetAMotorAxis (dxJointAMotor *joint, int anum,
   if (anum > 2) anum = 2;
   if (joint->rel[anum] > 0) {
     if (joint->rel[anum]==1) {
-      dMULTIPLY0_331 (result,joint->node[0].body->R,joint->axis[anum]);
+      dMULTIPLY0_331 (result,joint->node[0].body->posr.R,joint->axis[anum]);
     }
     else {
-      dMULTIPLY0_331 (result,joint->node[1].body->R,joint->axis[anum]);
+      dMULTIPLY0_331 (result,joint->node[1].body->posr.R,joint->axis[anum]);
     }
   }
   else {
@@ -2730,7 +2730,7 @@ static void fixedGetInfo2 (dxJointFixed *joint, dxJoint::Info2 *info)
   info->J1l[2*s+2] = 1;
 
   dVector3 ofs;
-  dMULTIPLY0_331 (ofs,joint->node[0].body->R,joint->offset);
+  dMULTIPLY0_331 (ofs,joint->node[0].body->posr.R,joint->offset);
   if (joint->node[1].body) {
     dCROSSMAT (info->J1a,ofs,s,+,-);
     info->J2l[0] = -1;
@@ -2742,12 +2742,12 @@ static void fixedGetInfo2 (dxJointFixed *joint, dxJoint::Info2 *info)
   dReal k = info->fps * info->erp;
   if (joint->node[1].body) {
     for (int j=0; j<3; j++)
-      info->c[j] = k * (joint->node[1].body->pos[j] -
-			joint->node[0].body->pos[j] + ofs[j]);
+      info->c[j] = k * (joint->node[1].body->posr.pos[j] -
+			joint->node[0].body->posr.pos[j] + ofs[j]);
   }
   else {
     for (int j=0; j<3; j++)
-      info->c[j] = k * (joint->offset[j] - joint->node[0].body->pos[j]);
+      info->c[j] = k * (joint->offset[j] - joint->node[0].body->posr.pos[j]);
   }
 }
 
@@ -2765,15 +2765,15 @@ extern "C" void dJointSetFixed (dxJointFixed *joint)
     if (joint->node[1].body) {
       dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
       dReal ofs[4];
-      for (i=0; i<4; i++) ofs[i] = joint->node[0].body->pos[i];
-      for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->pos[i];
-      dMULTIPLY1_331 (joint->offset,joint->node[0].body->R,ofs);
+      for (i=0; i<4; i++) ofs[i] = joint->node[0].body->posr.pos[i];
+      for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->posr.pos[i];
+      dMULTIPLY1_331 (joint->offset,joint->node[0].body->posr.R,ofs);
     }
     else {
       // set joint->qrel to the transpose of the first body's q
       joint->qrel[0] = joint->node[0].body->q[0];
       for (i=1; i<4; i++) joint->qrel[i] = -joint->node[0].body->q[i];
-      for (i=0; i<4; i++) joint->offset[i] = joint->node[0].body->pos[i];
+      for (i=0; i<4; i++) joint->offset[i] = joint->node[0].body->posr.pos[i];
     }
   }
 }
@@ -2791,15 +2791,15 @@ extern "C" void dJointSetFixedQuaternionPos (dxJointFixed *joint,dQuaternion qua
     if (joint->node[1].body) {
      /* dQMultiply1 (joint->qrel,joint->node[0].body->q,joint->node[1].body->q);
       dReal ofs[4];
-      for (i=0; i<4; i++) ofs[i] = joint->node[0].body->pos[i];
-      for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->pos[i];
-      dMULTIPLY1_331 (joint->offset,joint->node[0].body->R,ofs);*/
+      for (i=0; i<4; i++) ofs[i] = joint->node[0].body->posr.pos[i];
+      for (i=0; i<4; i++) ofs[i] -= joint->node[1].body->posr.pos[i];
+      dMULTIPLY1_331 (joint->offset,joint->node[0].body->posr.R,ofs);*/
     }
     else {
       // set joint->qrel to the transpose of the first body's q
       joint->qrel[0] = quaternion[0];//joint->node[0].body->q[0];
       for (i=1; i<4; i++) joint->qrel[i] = -quaternion[i];//-joint->node[0].body->q[i];
-      for (i=0; i<4; i++) joint->offset[i] = pos[i];//joint->node[0].body->pos[i];
+      for (i=0; i<4; i++) joint->offset[i] = pos[i];//joint->node[0].body->posr.pos[i];
     }
   }
 }
diff --git a/Externals/ode/ode/src/objects.h b/Externals/ode/ode/src/objects.h
index 21c353bb74a..02c469a9a2b 100644
--- a/Externals/ode/ode/src/objects.h
+++ b/Externals/ode/ode/src/objects.h
@@ -87,6 +87,15 @@ struct dxContactParameters {
 };
 
 
+
+// position vector and rotation matrix for geometry objects that are not
+// connected to bodies.
+
+struct dxPosR {
+  dVector3 pos;
+  dMatrix3 R;
+};
+
 struct dxBody : public dObject {
   dxJointNode *firstjoint;	// list of attached joints
   int flags;			// some dxBodyFlagXXX flags
@@ -94,9 +103,8 @@ struct dxBody : public dObject {
   dMass mass;			// mass parameters about POR
   dMatrix3 invI;		// inverse of mass.I
   dReal invMass;		// 1 / mass.mass
-  dVector3 pos;			// position of POR (point of reference)
+  dxPosR posr;			// position and orientation of point of reference
   dQuaternion q;		// orientation quaternion
-  dMatrix3 R;			// rotation matrix, always corresponds to q
   dVector3 lvel,avel;		// linear and angular velocity of POR
   dVector3 facc,tacc;		// force and torque accumulators
   dVector3 finite_rot_axis;	// finite rotation axis, unit length or 0=none
diff --git a/Externals/ode/ode/src/ode.cpp b/Externals/ode/ode/src/ode.cpp
index 87f23246e06..0c70ad223de 100644
--- a/Externals/ode/ode/src/ode.cpp
+++ b/Externals/ode/ode/src/ode.cpp
@@ -262,10 +262,10 @@ dxBody *dBodyCreate (dxWorld *w)
   b->invI[5] = 1;
   b->invI[10] = 1;
   b->invMass = 1;
-  dSetZero (b->pos,4);
+  dSetZero (b->posr.pos,4);
   dSetZero (b->q,4);
   b->q[0] = 1;
-  dRSetIdentity (b->R);
+  dRSetIdentity (b->posr.R);
   dSetZero (b->lvel,4);
   dSetZero (b->avel,4);
   dSetZero (b->facc,4);
@@ -328,9 +328,9 @@ void *dBodyGetData (dBodyID b)
 void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z)
 {
   dAASSERT (b);
-  b->pos[0] = x;
-  b->pos[1] = y;
-  b->pos[2] = z;
+  b->posr.pos[0] = x;
+  b->posr.pos[1] = y;
+  b->posr.pos[2] = z;
 
   // notify all attached geoms that this body has moved
   for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
@@ -348,7 +348,7 @@ void dBodySetRotation (dBodyID b, const dMatrix3 R)
   b->q[1] = q[1];
   b->q[2] = q[2];
   b->q[3] = q[3];
-  dQtoR (b->q,b->R);
+  dQtoR (b->q,b->posr.R);
 
   // notify all attached geoms that this body has moved
   for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
@@ -364,7 +364,7 @@ void dBodySetQuaternion (dBodyID b, const dQuaternion q)
   b->q[2] = q[2];
   b->q[3] = q[3];
   dNormalize4 (b->q);
-  dQtoR (b->q,b->R);
+  dQtoR (b->q,b->posr.R);
 
   // notify all attached geoms that this body has moved
   for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
@@ -393,14 +393,14 @@ void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z)
 const dReal * dBodyGetPosition (dBodyID b)
 {
   dAASSERT (b);
-  return b->pos;
+  return b->posr.pos;
 }
 
 
 const dReal * dBodyGetRotation (dBodyID b)
 {
   dAASSERT (b);
-  return b->R;
+  return b->posr.R;
 }
 
 
@@ -470,7 +470,7 @@ void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz)
   t1[1] = fy;
   t1[2] = fz;
   t1[3] = 0;
-  dMULTIPLY0_331 (t2,b->R,t1);
+  dMULTIPLY0_331 (t2,b->posr.R,t1);
   b->facc[0] += t2[0];
   b->facc[1] += t2[1];
   b->facc[2] += t2[2];
@@ -485,7 +485,7 @@ void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
   t1[1] = fy;
   t1[2] = fz;
   t1[3] = 0;
-  dMULTIPLY0_331 (t2,b->R,t1);
+  dMULTIPLY0_331 (t2,b->posr.R,t1);
   b->tacc[0] += t2[0];
   b->tacc[1] += t2[1];
   b->tacc[2] += t2[2];
@@ -503,9 +503,9 @@ void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
   f[0] = fx;
   f[1] = fy;
   f[2] = fz;
-  q[0] = px - b->pos[0];
-  q[1] = py - b->pos[1];
-  q[2] = pz - b->pos[2];
+  q[0] = px - b->posr.pos[0];
+  q[1] = py - b->posr.pos[1];
+  q[2] = pz - b->posr.pos[2];
   dCROSS (b->tacc,+=,q,f);
 }
 
@@ -523,7 +523,7 @@ void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
   prel[1] = py;
   prel[2] = pz;
   prel[3] = 0;
-  dMULTIPLY0_331 (p,b->R,prel);
+  dMULTIPLY0_331 (p,b->posr.R,prel);
   b->facc[0] += f[0];
   b->facc[1] += f[1];
   b->facc[2] += f[2];
@@ -540,14 +540,14 @@ void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
   frel[1] = fy;
   frel[2] = fz;
   frel[3] = 0;
-  dMULTIPLY0_331 (f,b->R,frel);
+  dMULTIPLY0_331 (f,b->posr.R,frel);
   b->facc[0] += f[0];
   b->facc[1] += f[1];
   b->facc[2] += f[2];
   dVector3 q;
-  q[0] = px - b->pos[0];
-  q[1] = py - b->pos[1];
-  q[2] = pz - b->pos[2];
+  q[0] = px - b->posr.pos[0];
+  q[1] = py - b->posr.pos[1];
+  q[2] = pz - b->posr.pos[2];
   dCROSS (b->tacc,+=,q,f);
 }
 
@@ -565,8 +565,8 @@ void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
   prel[1] = py;
   prel[2] = pz;
   prel[3] = 0;
-  dMULTIPLY0_331 (f,b->R,frel);
-  dMULTIPLY0_331 (p,b->R,prel);
+  dMULTIPLY0_331 (f,b->posr.R,frel);
+  dMULTIPLY0_331 (p,b->posr.R,prel);
   b->facc[0] += f[0];
   b->facc[1] += f[1];
   b->facc[2] += f[2];
@@ -615,10 +615,10 @@ void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz,
   prel[1] = py;
   prel[2] = pz;
   prel[3] = 0;
-  dMULTIPLY0_331 (p,b->R,prel);
-  result[0] = p[0] + b->pos[0];
-  result[1] = p[1] + b->pos[1];
-  result[2] = p[2] + b->pos[2];
+  dMULTIPLY0_331 (p,b->posr.R,prel);
+  result[0] = p[0] + b->posr.pos[0];
+  result[1] = p[1] + b->posr.pos[1];
+  result[2] = p[2] + b->posr.pos[2];
 }
 
 
@@ -631,7 +631,7 @@ void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz,
   prel[1] = py;
   prel[2] = pz;
   prel[3] = 0;
-  dMULTIPLY0_331 (p,b->R,prel);
+  dMULTIPLY0_331 (p,b->posr.R,prel);
   result[0] = b->lvel[0];
   result[1] = b->lvel[1];
   result[2] = b->lvel[2];
@@ -644,9 +644,9 @@ void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz,
 {
   dAASSERT (b);
   dVector3 p;
-  p[0] = px - b->pos[0];
-  p[1] = py - b->pos[1];
-  p[2] = pz - b->pos[2];
+  p[0] = px - b->posr.pos[0];
+  p[1] = py - b->posr.pos[1];
+  p[2] = pz - b->posr.pos[2];
   p[3] = 0;
   result[0] = b->lvel[0];
   result[1] = b->lvel[1];
@@ -660,11 +660,11 @@ void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz,
 {
   dAASSERT (b);
   dVector3 prel;
-  prel[0] = px - b->pos[0];
-  prel[1] = py - b->pos[1];
-  prel[2] = pz - b->pos[2];
+  prel[0] = px - b->posr.pos[0];
+  prel[1] = py - b->posr.pos[1];
+  prel[2] = pz - b->posr.pos[2];
   prel[3] = 0;
-  dMULTIPLY1_331 (result,b->R,prel);
+  dMULTIPLY1_331 (result,b->posr.R,prel);
 }
 
 
@@ -677,7 +677,7 @@ void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz,
   p[1] = py;
   p[2] = pz;
   p[3] = 0;
-  dMULTIPLY0_331 (result,b->R,p);
+  dMULTIPLY0_331 (result,b->posr.R,p);
 }
 
 
@@ -690,7 +690,7 @@ void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz,
   p[1] = py;
   p[2] = pz;
   p[3] = 0;
-  dMULTIPLY1_331 (result,b->R,p);
+  dMULTIPLY1_331 (result,b->posr.R,p);
 }
 
 
diff --git a/Externals/ode/ode/src/quickstep.cpp b/Externals/ode/ode/src/quickstep.cpp
index d23daf4438d..d9fb0abb6ee 100644
--- a/Externals/ode/ode/src/quickstep.cpp
+++ b/Externals/ode/ode/src/quickstep.cpp
@@ -786,11 +786,11 @@ void dxQuickStepper (dxWorld *world, dxBody * const *body, int nb,
 		dIASSERT(dValid(b->tacc[0])&&dValid(b->tacc[1])&&dValid(b->tacc[2]));
 #endif
 		// compute inertia tensor in global frame
-		dMULTIPLY2_333 (tmp,b->mass.I,body[i]->R);
-		dMULTIPLY0_333 (I+i*12,b->R,tmp);
+		dMULTIPLY2_333 (tmp,b->mass.I,body[i]->posr.R);
+		dMULTIPLY0_333 (I+i*12,b->posr.R,tmp);
 		// compute inverse inertia tensor in global frame
-		dMULTIPLY2_333 (tmp,b->invI,b->R);
-		dMULTIPLY0_333 (invI+i*12,b->R,tmp);
+		dMULTIPLY2_333 (tmp,b->invI,b->posr.R);
+		dMULTIPLY0_333 (invI+i*12,b->posr.R,tmp);
 		// compute rotational force
 		dMULTIPLY0_331 (tmp,I+i*12,b->avel);
 
diff --git a/Externals/ode/ode/src/step.cpp b/Externals/ode/ode/src/step.cpp
index 84ab6c69614..1bbf6e0d5e5 100644
--- a/Externals/ode/ode/src/step.cpp
+++ b/Externals/ode/ode/src/step.cpp
@@ -243,11 +243,11 @@ void dInternalStepIsland_x1 (dxWorld *world, dxBody * const *body, int nb,
   for (i=0; i<nb; i++) {
     dReal tmp[12];
     // compute inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->R);
-    dMULTIPLY0_333 (I+i*12,body[i]->R,tmp);
+    dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->posr.R);
+    dMULTIPLY0_333 (I+i*12,body[i]->posr.R,tmp);
     // compute inverse inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R);
-    dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp);
+    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->posr.R);
+    dMULTIPLY0_333 (invI+i*12,body[i]->posr.R,tmp);
     // compute rotational force
     dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel);
     dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
@@ -555,11 +555,11 @@ void dInternalStepIsland_x2 (dxWorld *world, dxBody * const *body, int nb,
   for (i=0; i<nb; i++) {
     dReal tmp[12];
     // compute inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->R);
-    dMULTIPLY0_333 (I+i*12,body[i]->R,tmp);
+    dMULTIPLY2_333 (tmp,body[i]->mass.I,body[i]->posr.R);
+    dMULTIPLY0_333 (I+i*12,body[i]->posr.R,tmp);
     // compute inverse inertia tensor in global frame
-    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->R);
-    dMULTIPLY0_333 (invI+i*12,body[i]->R,tmp);
+    dMULTIPLY2_333 (tmp,body[i]->invI,body[i]->posr.R);
+    dMULTIPLY0_333 (invI+i*12,body[i]->posr.R,tmp);
     // compute rotational force
     dMULTIPLY0_331 (tmp,I+i*12,body[i]->avel);
     dCROSS (body[i]->tacc,-=,body[i]->avel,tmp);
diff --git a/Externals/ode/ode/src/stepfast.cpp b/Externals/ode/ode/src/stepfast.cpp
index 1818aa03cde..eb30dba46a6 100644
--- a/Externals/ode/ode/src/stepfast.cpp
+++ b/Externals/ode/ode/src/stepfast.cpp
@@ -250,7 +250,7 @@ moveAndRotateBody (dxBody * b, dReal h)
 
 	// handle linear velocity
 	for (j = 0; j < 3; j++)
-		b->pos[j] += h * b->lvel[j];
+		b->posr.pos[j] += h * b->lvel[j];
 
 	if (b->flags & dxBodyFlagFiniteRotation)
 	{
@@ -319,7 +319,7 @@ moveAndRotateBody (dxBody * b, dReal h)
 
 	// normalize the quaternion and convert it to a rotation matrix
 	dNormalize4 (b->q);
-	dQtoR (b->q, b->R);
+	dQtoR (b->q, b->posr.R);
 
 	// notify all attached geoms that this body has moved
 	for (dxGeom * geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
@@ -461,8 +461,8 @@ dInternalStepFast (dxWorld * world, dxBody * body[2], dReal * GI[2], dReal * Gin
 		dSolveLCP (m, A, lambda, rhs, residual, nub, lo, hi, Jinfo.findex);
 #endif
 
-	//����� ���  LCP - solver replacement �� ������� � ���� Source control
-	//������ ����� �� �� �����������
+	//здесь был  LCP - solver replacement он остался в базе Source control
+	//скорее всего он не понадобится
 
 	// compute the constraint force `cforce'
 #	ifdef TIMING
@@ -609,59 +609,59 @@ dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoin
 
 	if (m)
 	{
-		// create a constraint equation right hand side vector `c', a constraint
-		// force mixing vector `cfm', and LCP low and high bound vectors, and an
-		// 'findex' vector.
+	// create a constraint equation right hand side vector `c', a constraint
+	// force mixing vector `cfm', and LCP low and high bound vectors, and an
+	// 'findex' vector.
 		c = (dReal *) ALLOCA (m * sizeof (dReal));
 		cfm = (dReal *) ALLOCA (m * sizeof (dReal));
 		lo = (dReal *) ALLOCA (m * sizeof (dReal));
 		hi = (dReal *) ALLOCA (m * sizeof (dReal));
 		findex = (int *) ALLOCA (m * sizeof (int));
-		dSetZero (c, m);
-		dSetValue (cfm, m, world->global_cfm);
-		dSetValue (lo, m, -dInfinity);
-		dSetValue (hi, m, dInfinity);
-
-
-		// get jacobian data from constraints. a (2*m)x8 matrix will be created
-		// to store the two jacobian blocks from each constraint. it has this
-		// format:
-		//
-		//   l l l 0 a a a 0  \    .
-		//   l l l 0 a a a 0   }-- jacobian body 1 block for joint 0 (3 rows)
-		//   l l l 0 a a a 0  /
-		//   l l l 0 a a a 0  \    .
-		//   l l l 0 a a a 0   }-- jacobian body 2 block for joint 0 (3 rows)
-		//   l l l 0 a a a 0  /
-		//   l l l 0 a a a 0  }--- jacobian body 1 block for joint 1 (1 row)
-		//   l l l 0 a a a 0  }--- jacobian body 2 block for joint 1 (1 row)
-		//   etc...
-		//
-		//   (lll) = linear jacobian data
-		//   (aaa) = angular jacobian data
-		//
+	dSetZero (c, m);
+	dSetValue (cfm, m, world->global_cfm);
+	dSetValue (lo, m, -dInfinity);
+	dSetValue (hi, m, dInfinity);
+
+
+	// get jacobian data from constraints. a (2*m)x8 matrix will be created
+	// to store the two jacobian blocks from each constraint. it has this
+	// format:
+	//
+	//   l l l 0 a a a 0  \    .
+	//   l l l 0 a a a 0   }-- jacobian body 1 block for joint 0 (3 rows)
+	//   l l l 0 a a a 0  /
+	//   l l l 0 a a a 0  \    .
+	//   l l l 0 a a a 0   }-- jacobian body 2 block for joint 0 (3 rows)
+	//   l l l 0 a a a 0  /
+	//   l l l 0 a a a 0  }--- jacobian body 1 block for joint 1 (1 row)
+	//   l l l 0 a a a 0  }--- jacobian body 2 block for joint 1 (1 row)
+	//   etc...
+	//
+	//   (lll) = linear jacobian data
+	//   (aaa) = angular jacobian data
+	//
 #   ifdef TIMING
-		dTimerNow ("create J");
+	dTimerNow ("create J");
 #   endif
 		J = (dReal *) ALLOCA (2 * m * 8 * sizeof (dReal));
 		dSetZero (J, 2 * m * 8);
 		Jinfo = (dxJoint::Info2 *) ALLOCA (nj * sizeof (dxJoint::Info2));
-		for (i = 0; i < nj; i++)
-		{
-			Jinfo[i].rowskip = 8;
-			Jinfo[i].fps = dRecip (stepsize);
-			Jinfo[i].erp = world->global_erp;
-			Jinfo[i].J1l = J + 2 * 8 * ofs[i];
-			Jinfo[i].J1a = Jinfo[i].J1l + 4;
-			Jinfo[i].J2l = Jinfo[i].J1l + 8 * info[i].m;
-			Jinfo[i].J2a = Jinfo[i].J2l + 4;
-			Jinfo[i].c = c + ofs[i];
-			Jinfo[i].cfm = cfm + ofs[i];
-			Jinfo[i].lo = lo + ofs[i];
-			Jinfo[i].hi = hi + ofs[i];
-			Jinfo[i].findex = findex + ofs[i];
-			//joints[i]->vtable->getInfo2 (joints[i], Jinfo+i);
-		}
+	for (i = 0; i < nj; i++)
+	{
+		Jinfo[i].rowskip = 8;
+		Jinfo[i].fps = dRecip (stepsize);
+		Jinfo[i].erp = world->global_erp;
+		Jinfo[i].J1l = J + 2 * 8 * ofs[i];
+		Jinfo[i].J1a = Jinfo[i].J1l + 4;
+		Jinfo[i].J2l = Jinfo[i].J1l + 8 * info[i].m;
+		Jinfo[i].J2a = Jinfo[i].J2l + 4;
+		Jinfo[i].c = c + ofs[i];
+		Jinfo[i].cfm = cfm + ofs[i];
+		Jinfo[i].lo = lo + ofs[i];
+		Jinfo[i].hi = hi + ofs[i];
+		Jinfo[i].findex = findex + ofs[i];
+		//joints[i]->vtable->getInfo2 (joints[i], Jinfo+i);
+	}
 
 	}
 
@@ -675,8 +675,8 @@ dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoin
 		{
 			saveFacc[b * 4 + i] = bodies[b]->facc[i];
 			saveTacc[b * 4 + i] = bodies[b]->tacc[i];
-			bodies[b]->tag = b;
 		}
+                bodies[b]->tag = b;
 	}
 
 	for (iter = 0; iter < maxiterations; iter++)
@@ -698,11 +698,11 @@ dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoin
 			// @@@ check computation of rotational force.
 
 			// compute inertia tensor in global frame
-			dMULTIPLY2_333 (tmp, body->mass.I, body->R);
-			dMULTIPLY0_333 (globalI + b * 12, body->R, tmp);
+			dMULTIPLY2_333 (tmp, body->mass.I, body->posr.R);
+			dMULTIPLY0_333 (globalI + b * 12, body->posr.R, tmp);
 			// compute inverse inertia tensor in global frame
-			dMULTIPLY2_333 (tmp, body->invI, body->R);
-			dMULTIPLY0_333 (globalInvI + b * 12, body->R, tmp);
+			dMULTIPLY2_333 (tmp, body->invI, body->posr.R);
+			dMULTIPLY0_333 (globalInvI + b * 12, body->posr.R, tmp);
 
 			for (i = 0; i < 4; i++)
 				body->tacc[i] = saveTacc[b * 4 + i];
@@ -747,7 +747,6 @@ dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoin
 		//now iterate through the random ordered joint array we created.
 		for (j = 0; j < nj; j++)
 		{
-
 #ifdef TIMING
 			dTimerNow ("setting up joint");
 #endif
@@ -776,7 +775,7 @@ dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoin
 			}
 
 			joints[j]->vtable->getInfo2 (joints[j], Jinfo + j);
-			
+
 			//dInternalStepIslandFast is an exact copy of the old routine with one
 			//modification: the calculated forces are added back to the facc and tacc
 			//vectors instead of applying them to the bodies and moving them.
@@ -807,23 +806,8 @@ dInternalStepIslandFast (dxWorld * world, dxBody * const *bodies, int nb, dxJoin
 
 			for (i = 0; i < 4; i++)
 			{
-#ifdef			NOISING
-				const dReal RAND_MAX_2=16383;
-				const dReal NOISE_EPSILON=0.000000831f;
-#define NOISE()	(1.f+(RAND_MAX_2-rand()%RAND_MAX)*NOISE_EPSILON)
-				dReal noise=NOISE();
-				dReal mul=ministep*noise;
-				body->facc[i] *= mul;
-				noise=NOISE();
-				mul=ministep*noise;
-				body->tacc[i] *= mul;
-#else
-				
 				body->facc[i] *= ministep;
 				body->tacc[i] *= ministep;
-				
-#endif
-
 			}
 
 			//apply torque
@@ -959,8 +943,7 @@ processIslandsFast (dxWorld * world, dReal stepsize, int maxiterations)
 			b = stack[--stacksize];	// pop body off stack
 			autoDepth = autostack[stacksize];
 			body[bcount++] = b;	// put body on body list
-
-quickstart:
+		  quickstart:
 
 			// traverse and tag all body's joints, add untagged connected bodies
 			// to stack
diff --git a/Externals/ode/ode/src/testing.cpp b/Externals/ode/ode/src/testing.cpp
index fb13084d2f1..a22f8657680 100644
--- a/Externals/ode/ode/src/testing.cpp
+++ b/Externals/ode/ode/src/testing.cpp
@@ -31,7 +31,6 @@ static const dReal tol = 1.0e-9;
 static const dReal tol = 1.0e-5f;
 #endif
 
-#ifdef _DEBUG
 
 // matrix header on the stack
 
@@ -156,7 +155,7 @@ static void myDebug (int num, const char *msg, va_list ap)
 }
 
 
-extern "C" void dTestMatrixComparison()
+extern "C" ODE_API void dTestMatrixComparison()
 {
   volatile int i;
   printf ("dTestMatrixComparison()\n");
@@ -242,5 +241,3 @@ extern "C" void dTestMatrixComparison()
   }
   dSetDebugHandler (orig_debug);
 }
-
-#endif
diff --git a/Externals/ode/ode/src/timer.cpp b/Externals/ode/ode/src/timer.cpp
index 0d2ef252158..b6110ab5b05 100644
--- a/Externals/ode/ode/src/timer.cpp
+++ b/Externals/ode/ode/src/timer.cpp
@@ -103,31 +103,54 @@ double dTimerTicksPerSecond()
 
 #define PENTIUM_HZ (500e6)
 
-
 static inline void getClockCount (unsigned long cc[2])
 {
+#ifndef X86_64_SYSTEM	
   asm volatile (
 	"rdtsc\n"
 	"movl %%eax,(%%esi)\n"
 	"movl %%edx,4(%%esi)\n"
 	: : "S" (cc) : "%eax","%edx","cc","memory");
+#else
+  asm volatile (
+	"rdtsc\n"
+	"movl %%eax,(%%rsi)\n"
+	"movl %%edx,4(%%rsi)\n"
+	: : "S" (cc) : "%eax","%edx","cc","memory");
+#endif  
 }
 
 
 static inline void serialize()
 {
+#ifndef X86_64_SYSTEM
   asm volatile (
 	"mov $0,%%eax\n"
+	"push %%ebx\n"
+	"cpuid\n"
+	"pop %%ebx\n"
+	: : : "%eax","%ecx","%edx","cc","memory");
+#else
+  asm volatile (
+	"mov $0,%%rax\n"
+	"push %%rbx\n"
 	"cpuid\n"
-	: : : "%eax","%ebx","%ecx","%edx","cc","memory");
+	"pop %%rbx\n"
+	: : : "%rax","%rcx","%rdx","cc","memory");
+#endif
 }
 
 
 static inline double loadClockCount (unsigned long a[2])
 {
   double ret;
+#ifndef X86_64_SYSTEM
   asm volatile ("fildll %1; fstpl %0" : "=m" (ret) : "m" (a[0]) :
 		"cc","memory");
+#else
+  asm volatile ("fildll %1; fstpl %0" : "=m" (ret) : "m" (a[0]) :
+		"cc","memory");
+#endif  
   return ret;
 }
 
@@ -339,7 +362,6 @@ static void fprintDoubleWithPrefix (FILE *f, double a, char *fmt)
   fprintf (f,"n");
 }
 
-#ifdef _DEBUG
 void dTimerReport (FILE *fout, int average)
 {
   int i;
@@ -396,4 +418,3 @@ void dTimerReport (FILE *fout, int average)
   }
   fprintf (fout,"\n");
 }
-#endif
diff --git a/Externals/ode/ode/src/util.cpp b/Externals/ode/ode/src/util.cpp
index 6519f3e6eca..a08bf2ac723 100644
--- a/Externals/ode/ode/src/util.cpp
+++ b/Externals/ode/ode/src/util.cpp
@@ -98,7 +98,7 @@ void dxStepBody (dxBody *b, dReal h)
 dIASSERT(dValid(b->avel[0])&&dValid(b->avel[1])&&dValid(b->avel[2]));
 #endif
   // handle linear velocity
-  for (j=0; j<3; j++) b->pos[j] += h * b->lvel[j];
+  for (j=0; j<3; j++) b->posr.pos[j] += h * b->lvel[j];
 
   if (b->flags & dxBodyFlagFiniteRotation) {
     dVector3 irv;	// infitesimal rotation vector
@@ -160,7 +160,7 @@ dIASSERT(dValid(b->avel[0])&&dValid(b->avel[1])&&dValid(b->avel[2]));
 
   // normalize the quaternion and convert it to a rotation matrix
   dNormalize4 (b->q);
-  dQtoR (b->q,b->R);
+  dQtoR (b->q,b->posr.R);
 
   // notify all attached geoms that this body has moved
   for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
diff --git a/src/xrPhysics/PHElement.cpp b/src/xrPhysics/PHElement.cpp
index dda207e2e8b..d9877c6928f 100644
--- a/src/xrPhysics/PHElement.cpp
+++ b/src/xrPhysics/PHElement.cpp
@@ -1562,9 +1562,9 @@ static void dBodyGetPointForce(dBodyID b, dReal px, dReal py, dReal pz, dVector3
 {
     VERIFY(b);
     dVector3 p;
-    p[0] = px - b->pos[0];
-    p[1] = py - b->pos[1];
-    p[2] = pz - b->pos[2];
+    p[0] = px - b->posr.pos[0];
+    p[1] = py - b->posr.pos[1];
+    p[2] = pz - b->posr.pos[2];
     p[3] = 0;
     result[0] = b->facc[0];
     result[1] = b->facc[1];
diff --git a/src/xrPhysics/PHFracture.cpp b/src/xrPhysics/PHFracture.cpp
index bf8834f0665..0e3ffdce638 100644
--- a/src/xrPhysics/PHFracture.cpp
+++ b/src/xrPhysics/PHFracture.cpp
@@ -461,15 +461,15 @@ bool CPHFracture::Update(CPHElement* element)
     dMatrix3 glI1, glI2, glInvI, tmp;
 
     // compute inertia tensors in global frame
-    dMULTIPLY2_333(tmp, body->invI, body->R);
-    dMULTIPLY0_333(glInvI, body->R, tmp);
+    dMULTIPLY2_333(tmp, body->invI, body->posr.R);
+    dMULTIPLY0_333(glInvI, body->posr.R, tmp);
 
-    dMULTIPLY2_333(tmp, m_firstM.I, body->R);
-    dMULTIPLY0_333(glI1, body->R, tmp);
+    dMULTIPLY2_333(tmp, m_firstM.I, body->posr.R);
+    dMULTIPLY0_333(glI1, body->posr.R, tmp);
 
-    dMULTIPLY2_333(tmp, m_secondM.I, body->R);
-    dMULTIPLY0_333(glI2, body->R, tmp);
-    // both parts have eqiual start angular vel same as have body so we ignore it
+    dMULTIPLY2_333(tmp, m_secondM.I, body->posr.R);
+    dMULTIPLY0_333(glI2, body->posr.R, tmp);
+    // both parts have equal start angular vel same as have body so we ignore it
 
     // compute breaking torque
     /// break_torque=glI2*glInvI*first_part_torque-glI1*glInvI*second_part_torque+crossproduct(second_in_bone,second_part_force)-crossproduct(first_in_bone,first_part_force)
diff --git a/src/xrPhysics/Physics.cpp b/src/xrPhysics/Physics.cpp
index feb73243cc8..b06d20bbc34 100644
--- a/src/xrPhysics/Physics.cpp
+++ b/src/xrPhysics/Physics.cpp
@@ -419,12 +419,12 @@ void BodyCutForce(dBodyID body, float l_limit, float w_limit)
     dMatrix3 tmp, invI, I;
 
     // compute inertia tensor in global frame
-    dMULTIPLY2_333(tmp, m.I, body->R);
-    dMULTIPLY0_333(I, body->R, tmp);
+    dMULTIPLY2_333(tmp, m.I, body->posr.R);
+    dMULTIPLY0_333(I, body->posr.R, tmp);
 
     // compute inverse inertia tensor in global frame
-    dMULTIPLY2_333(tmp, body->invI, body->R);
-    dMULTIPLY0_333(invI, body->R, tmp);
+    dMULTIPLY2_333(tmp, body->invI, body->posr.R);
+    dMULTIPLY0_333(invI, body->posr.R, tmp);
 
     // angular accel
     dVector3 wa;